JP7375066B2 - Method and system for generating HD maps based on aerial images taken by unmanned aerial vehicles or aircraft - Google Patents

Description

The embodiments relate to a method of generating an HD (High Definition) map based on an aerial image, and more particularly, to a method of generating a high definition (HD) map based on an aerial image. The present invention relates to a method for generating an HD map of a region of interest by obtaining (e.g., an altitude or a three-dimensional position including an altitude).

HD (High Definition) maps are high-precision maps used in fields such as autonomous driving, and are more accurate than conventional maps. For example, HD maps express information about the surrounding environment of a target area in three dimensions, such as roads, terrain heights, and melodies, and are more than 10 times more accurate than conventional maps. For example, an HD map may have an error of less than 10 cm.

HD maps are generated based on data collected by MMS (Mobile Mapping System) vehicles traveling on roads and data surveyed on the ground. As a result, HD maps are affected by errors due to the position of the GPS installed in the MMS and sea level, and also require large-scale survey data, which has the drawback of being extremely expensive.

On the other hand, after generating a true ortho image based on a digital surface model (DSM) and a digital elevation model (DEM) generated based on matched aerial images, Even in the case of the method of generating an HD map using a digital camera, there is a problem in that errors that occur when generating DSM, DEM, and true ortho images are also reflected in the HD map.

Patent Document 1 (published on August 7, 2020) creates an HD map by reconstructing a 3D space using depth prediction information of each object and class information of each object obtained by V2X information fusion technology. Discloses a learning method and learning device for updating.

The information described above is only for aiding understanding and may contain material that does not form part of the prior art.

Korean Published Patent No. 10-2020-0094644

In one embodiment, the three-dimensional position (altitude or three-dimensional position including the altitude) of a facility included in the target area is determined based on aerial images taken of the same target area from different viewpoints, and the determined three-dimensional position is It is an object of the present invention to provide a method for generating an HD map of a region of interest based on location.

One embodiment includes a reference figure selected from a first aerial image in which the target area is photographed from a first viewpoint (viewpoint) viewing the target region, and a second aerial image in which the target region is photographed from a second viewpoint different from the first image viewpoint. Another object of the present invention is to provide a tool for determining the three-dimensional position (altitude or three-dimensional position including altitude) of a reference figure by matching corresponding figures identified from aerial images.

According to one aspect, there is provided a method for generating an HD (High Definition) map based on an aerial image, which is performed by a computer system, the method comprising: a step of selecting a reference figure from an image; a step of identifying a corresponding figure corresponding to the reference figure from a second aerial image photographing the target area from a second viewpoint different from the first aerial image; A method for generating an HD map, the method comprising: determining a three-dimensional position of the reference figure by matching corresponding figures with each other; and generating an HD map of the target area using the determined three-dimensional position. I will provide a.

The determining step includes determining the three-dimensional position and photographing direction of the camera that photographed the first aerial image corresponding to the first viewpoint, and the three-dimensional position of the camera that photographed the second aerial image corresponding to the second viewpoint. A three-dimensional position including the altitude of the reference figure is determined by a triangulation method based on a photographing direction, a first angle from the first viewpoint to the reference figure, and a second angle from the second viewpoint to the corresponding figure. It's fine.

The reference figure may include a vertex of any one of the facilities included in the target area of the first aerial image, or may include the vertex and another vertex of the one facility or the It may include a reference line that is a line connecting the vertices of other facilities among the facilities.

The selecting step includes selecting a reference facility from among the facilities included in the target area of the first aerial image, and using the reference line as at least one guideline that intersects with the reference facility. the step of selecting, the step of identifying identifying a corresponding line corresponding to the guideline from the second aerial image as the corresponding figure, and the step of determining, by matching the guideline and the corresponding line. The method may include determining a three-dimensional position of the guideline, and determining a three-dimensional position of a point where the guideline and the reference facility intersect based on the three-dimensional position of the guideline.

The reference facility may be a center line of a road within the target area, and the guideline may be a line connecting the vertices of two lanes centered on the center line.

The selecting step selects, as the reference line, a line connecting the vertices of the reference facilities among the facilities included in the target area of the first aerial image, and the identifying step includes selecting the line connecting the vertices of the reference facility among the facilities included in the target area of the first aerial image; The step of identifying and determining a corresponding line corresponding to the reference line from the aerial image as the corresponding figure may determine the three-dimensional position of the baseline by matching the reference line and the corresponding line. .

The method for generating the HD map includes the steps of determining the three-dimensional position of the reference facility, and determining the three-dimensional position of at least one surrounding facility around the reference facility based on the three-dimensional position of the reference facility. The method may further include determining the position.

The step of determining the three-dimensional position of the surrounding facility includes adjusting an altitude value corresponding to the three-dimensional position of the reference facility based on a gradient existing between the reference facility and the surrounding facility. and determining a three-dimensional position of the surrounding facility based on the adjusted altitude value.

The reference facility may be a center line of a road within the target area, and the peripheral facilities may be lanes located around the center line.

The method for generating the HD map further includes the step of determining a three-dimensional position of a facility in the target area including the reference figure based on the determined three-dimensional position, and determining the three-dimensional position of the facility. may be determined by calculating the three-dimensional positions of points constituting the facility using an interpolation method based on the determined three-dimensional position of the reference figure.

The determining step includes projecting the first aerial image including the selected reference figure or the selected reference figure onto the second aerial image, and projecting the projected reference figure and the second aerial image. moving the reference figure so that the identified corresponding figure matches the image; and when the identified corresponding figure and the reference figure match, the height value of the corresponding reference figure is set to The method may include determining a three-dimensional position.

The determining step includes a step of outputting an altitude value corresponding to a position moved by the movement of the reference figure, and the altitude value output when the identified corresponding figure and the reference figure match is outputted as the reference figure. It may be determined as a three-dimensional position of the figure.

The moving reference figure may be a layer corresponding to the reference figure.

The method for generating the HD map includes at least one of a digital surface model (DSM) and a digital elevation model (DEM) for the target area using the determined three-dimensional position. The method may further include the step of generating.

The method of generating the HD map may further include generating a true ortho image of the target area based on the generated DSM and DEM.

According to another aspect, a computer system includes at least one processor configured to execute computer-readable instructions contained in memory, the at least one processor having a first view of a region of interest. A reference figure is selected from a first aerial image photographing the target area from a viewpoint, and corresponds to the reference figure from a second aerial image photographing the target area from a second viewpoint different from the first aerial image. identifying a corresponding figure for the target area, determining a three-dimensional position of the reference figure by matching the reference figure and the corresponding figure with each other, and generating an HD map of the target area using the determined three-dimensional position. , providing computer systems.

A process of generating a DSM or DEM by determining the three-dimensional position (altitude or three-dimensional position including altitude) of the facility(s) included in the aerial image from aerial images taken of the target area from different viewpoints. It is possible to generate an HD map of the target area without going through the process. Furthermore, since the HD map is generated using aerial images, there is no need for extensive surveying work or data acquisition work using MMS vehicles.

By utilizing aerial images taken of a target area from different viewpoints, it is possible to accurately determine the three-dimensional position, including the altitude, of a facility that is hidden in a particular aerial image.

In one embodiment, the three-dimensional position (altitude or three-dimensional position including altitude) of facilities included in the target area is determined based on aerial images taken of the same target area from different viewpoints, and an HD map is generated. It is a figure showing a method. 1 is a block diagram illustrating the structure of a computer system that generates HD maps based on aerial imagery in one embodiment. FIG. In one embodiment, the three-dimensional position (altitude or three-dimensional position including altitude) of facilities included in the target area is determined based on aerial images taken of the same target area from different viewpoints, and an HD map is generated. 3 is a flowchart illustrating the method. In one example, the three-dimensional position (altitude or three-dimensional position including altitude) of the reference facility is determined by selecting a guideline from the first aerial photograph and determining the three-dimensional position (altitude or three-dimensional position including altitude) of the guideline. 12 is a flowchart showing a method for determining. In one example, the three-dimensional position (altitude or three-dimensional position including altitude) of the reference facility is determined by selecting a guideline from the first aerial photograph and determining the three-dimensional position (altitude or three-dimensional position including altitude) of the guideline. 12 is a flowchart showing a method for determining. 12 is a flowchart illustrating a method of determining a three-dimensional position (altitude or three-dimensional position including altitude) of a surrounding facility based on the altitude of a reference facility in one example. In one example, a method for determining a three-dimensional position (altitude or three-dimensional position including altitude) of a reference figure by matching a reference figure selected from a first aerial image with a corresponding figure identified from a second aerial image. It is a flowchart showing. FIG. 7 is a diagram illustrating a method of generating a DSM and a DEM of a target area according to a determined altitude, and further generating a true ortho image of the target area, in one example. In one example, a method for determining a three-dimensional position (altitude or three-dimensional position including altitude) of a reference figure by matching a reference figure selected from a first aerial image with a corresponding figure identified from a second aerial image. FIG. In one example, the three-dimensional position (altitude or three-dimensional position including altitude) of the reference facility is determined by selecting a guideline from the first aerial photograph and determining the three-dimensional position (altitude or three-dimensional position including altitude) of the guideline. FIG. 2 is a diagram showing a method for determining . In one example, a method for determining the three-dimensional position (altitude or three-dimensional position including the altitude) of a surrounding facility based on the altitude of the reference facility is shown.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. Identical reference numerals presented in each drawing indicate identical parts.

"Altitude" and "determination of altitude" described in the drawings and detailed description below may be replaced with "three-dimensional position" and "determination of three-dimensional position."

FIG. 1 shows an example in which the three-dimensional position (altitude or three-dimensional position including altitude) of a facility included in a target area is determined based on aerial images taken of the same target area from different viewpoints. FIG. 3 is a diagram showing a method for generating a map.

With reference to FIG. 1, a method for creating an HD (High Definition) map 50 of a target area 30 that corresponds to at least a part of a target location will be described. The HD map 50 is a high-precision map, and may be a map with higher accuracy than conventional maps. For example, as shown in the figure, the HD map 50 may three-dimensionally represent surrounding environment information of the target area 30, such as roads, terrain elevations, and melodies. That is, the HD map 50 may represent information regarding the facilities included in the target area 30 in three dimensions. The facilities included in the target area 30 may include, for example, a road, a center line included (drawn) in the road, and a lane included (drawn) in the road. The HD map 50 may include, for example, a map used when the autonomous vehicle autonomously travels through the target area 30.

The target area 30 may be an area distributed to workers for constructing the HD map 50.

In the embodiment, a computer system (hereinafter referred to as the computer system 100 in FIG. 2) uses aerial images 10 and 20 taken of the target area 30 to determine the three-dimensional position (altitude or three-dimensional position including the altitude) of a facility within the target area 30. position), and generates an HD map 50 of the target area 30 based on the determined three-dimensional position of the facility.

The "altitude" of a facility (or a particular point) may be altitude or elevation. Alternatively, "altitude" may indicate the absolute height of the facility (or a specific point). Alternatively, "altitude" may indicate depth information for a given facility (or a specific point) with respect to a predetermined standard. The reference at this time may be the sea level or the ground.

A three-dimensional location of a particular point as described in this disclosure refers to the altitude of the particular point or a three-dimensional position that includes the altitude of the particular point (e.g., three-dimensional coordinates that include an altitude and a horizontal coordinate). It's fine.

The computer system 100 uses a first aerial image 10 that captures the target area 30 and a second aerial image 20 that captures the target area 30 from a different viewpoint than the first aerial image 10 to capture three images related to the target area 30. A dimensional position or altitude (ie, a three-dimensional position or altitude of a facility (or a particular point) included in the target area 30) may be determined. The first aerial image 10 and the second aerial image 20 may be aligned images. That is, the first aerial image 10 and the second aerial image 20 may be images whose postures are determined. Images described in this disclosure may include images or images.

The first aerial image 10 and the second aerial image 20 are images photographed by an unmanned flying vehicle such as a drone or an aircraft (for index photographing) flying over a target area including the target area 30, or the photographed images are It may be a registered image.

For example, the computer system 100 may specify the same point from the target area 30 of the first aerial image 10 and the target area 30 of the second aerial image 20, and specify the accurate three-dimensional position of the corresponding point. As one example, the computer system 100 may determine the exact three-dimensional location of the point of interest using triangulation techniques.

The computer system 100 calculates the altitude (height) of a specific point based on an aerial photograph, or calculates the altitude of a point for floating contour lines. A three-dimensional position (altitude or three-dimensional position including altitude) for a point in the target area 30 may be determined.

A more specific method by which the computer system 100 determines the three-dimensional position (altitude or three-dimensional position including altitude) of a point in the target area 30 will be described in more detail with reference to FIGS. 2 to 11.

FIG. 2 is a block diagram illustrating the structure of a computer system that generates HD maps based on aerial imagery in one embodiment.

A computer system 100 that executes a method for determining a three-dimensional position of a target area 30 and generating an HD map 50 according to an embodiment described below may be realized by a computer system 100 having the structure shown in FIG. .

Computer system 100 may be a system for executing a program that performs a method of determining the three-dimensional position of region of interest 30 and generating HD map 50 . Such a program may be installed in the computer system 100.

Computer system 100 may be a client terminal used by a user to process tasks for generating HD map 50. Computer system 100 may be an electronic device capable of installing and executing a program that performs a method of determining three-dimensional positions and generating HD map 50. For example, the computer system 100 may be a personal computer (PC), a laptop computer, a laptop computer, a smartphone, a tablet, an Internet of Things (IOT) device, or a wearable computer (wearable computer). ble computer ) etc.

As shown in FIG. 2, computer system 100 may include a memory 110, a processor 120, a communication interface 130, and an input/output interface 140, as components.

Memory 110 is a computer readable storage medium and may include permanent mass storage devices such as random access memory (RAM), read only memory (ROM), and disk drives. Here, a permanent large capacity storage device such as a ROM or a disk drive may be included in the computer device 100 as a separate permanent storage device separate from the memory 110. Additionally, an operating system and at least one program code may be recorded in the memory 110. Such software components may be loaded into memory 110 from a computer-readable storage medium separate from memory 110. Such other computer-readable recording media may include computer-readable recording media such as floppy drives, disks, tapes, DVD/CD-ROM drives, memory cards, and the like. In other embodiments, software components may be loaded into memory 110 through communication interface 130 that is not a computer-readable storage medium. For example, software components may be loaded into memory 110 of computer system 100 based on a computer program installed by a file received over network 160.

Processor 120 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input/output operations. Instructions may be provided to processor 120 by memory 110 or communication interface 130. For example, processor 120 may be configured to execute instructions received according to program code recorded on a storage device, such as memory 110.

Communication interface 130 may provide functionality for computer system 100 to communicate with other electronic devices and each other via network 160. As an example, requests, instructions, data, files, etc. generated by the processor 120 of the computer system 100 according to program codes recorded in a storage device such as the memory 110 may be transmitted to others via the network 160 under the control of the communication interface 130. may be transmitted to the device. Conversely, signals, instructions, data, files, etc. from other devices may be received by computer system 100 through communication interface 130 of computer system 100 via network 160 . Signals, instructions, data, etc. received through communication interface 130 may be communicated to processor 120 and memory 110, files, etc. may be transferred to a storage medium (such as a persistent storage device as described above) that computing device 100 may further include. May be recorded.

The communication method by the communication interface 130 is not limited, and can be applied not only to the communication method using the communication network that the network 160 can include (for example, a mobile communication network, wired Internet, wireless Internet, broadcasting network), but also to devices. It may also include short-range wireless communication between. For example, the network 160 is a PAN (personal area network), a LAN (local area network), a CAN (campus area network), a MAN (metropolitan area network), or a WAN (wide area network). e area network), BBN (broadband network), the Internet, etc. may include any one or more of the networks. Further, network 160 may include any one or more of network topologies including, but not limited to, a bus network, a star network, a ring network, a mesh network, a star-bus network, a tree or a hierarchical network, and the like. It will not be done.

Input/output interface 140 may be a means for interfacing with input/output device 150. For example, input devices may include devices such as a microphone, keyboard, camera, or mouse, and output devices may include devices such as a display, speakers, and the like. As another example, input/output interface 140 may be a means for interfacing with a device that has integrated input and output functionality, such as a touch screen. Input/output device 150 may be a single device with computer system 100.

Also, in other embodiments, computer system 100 may include fewer or more components than those of FIG. 2. However, most prior art components need not be clearly illustrated. For example, computer system 100 may be implemented to include at least some of the input/output devices 150 described above, and may further include other components such as transceivers, cameras, various sensors, databases, etc. But that's fine.

The processor 120 of the computer system 100 determines the three-dimensional position (altitude or three-dimensional position including altitude) of the facility included in the target area 30 based on the aerial images 10, 20, as described below. The method may be configured to perform steps for performing a method of generating HD map 50.

On the other hand, computer system 100 may be a server that communicates with a client terminal used by a user who processes tasks for generating HD map 50. That is, the HD map 50 is generated by determining the three-dimensional position (altitude or three-dimensional position including the altitude) of the facility included in the target area 30 based on the aerial images 10 and 20, as described below. The steps for performing the method may be performed by computer system 100, which is a server in communication with a client terminal.

Alternatively, the HD map 50 is generated by determining the three-dimensional position (altitude or three-dimensional position including altitude) of the facility included in the target area 30 based on the aerial images 10 and 20, as described below. The client terminal and the server may be configured such that at least some of the steps for performing the method are performed at the server.

In the detailed description that follows, for ease of explanation, the steps described above are described as being performed by computer system 100 (which can correspond to either a server and/or a client terminal).

On the other hand, for convenience of explanation, operations performed by processor 120 or other components of computer system 100 and operations performed by applications/programs executed by processor 120 will be described as operations performed by computer system 100. do.

The technical features described above with reference to FIG. 1 can also be applied to FIG. 2 as they are, so duplicate explanations will be omitted.

FIG. 3 shows an example of an HD method in which the three-dimensional position (altitude or three-dimensional position including altitude) of a facility included in a target area is determined based on aerial images taken of the same target area from different viewpoints. 3 is a flowchart showing a method for generating a map.

In step 310, the computer system 100 may obtain a first aerial image 10 of the target area 30. The first aerial image 10 is an image taken by an unmanned flying vehicle such as a drone or an aircraft (for index photography) flying over a target area including the target area 30, or an image in which the taken images are aligned. It's fine. For example, the first aerial image 10 may be an image whose orientation has been determined as an aligned image. As an example, the first aerial image 10 may correspond to an image taken of the ground surface from a vertical direction. Alternatively, the first aerial image 10 may correspond to an image taken vertically or from any direction (ie, from a viewpoint) that makes it easy for a worker to identify and work on the target area.

The computer system 100 may obtain the first aerial image 10 by loading the saved first aerial image 10. A drone or an unmanned aerial vehicle flying over a target area may photograph the target area with a predetermined degree of overlap, and the first aerial image 10 may be determined by matching images with such degree of overlap. The first aerial image 10 may be one in which the target area 30 is photographed from a first viewpoint (viewpoint) viewing the target area 30 vertically (as much as possible) among images in which the target area 30 is photographed. In other words, the first aerial image 10 may be one in which the target area 30 is photographed in such a way that the target area 30 is most perpendicular to the image.

In step 320, the computer system 100 may select a reference shape from the first aerial image 10 that captures the target area 30 from the first viewpoint viewing the target area 30. For example, the user uses a tool for determining the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure from the target area 30 portion of the first aerial image 10 displayed on the screen. The reference shape may be selected (using a provided user interface) and, in accordance with such user input, the computer system 100 may select the reference shape. The reference figure may include at least one of a point, a line, and a plane (closed curve or polygon) selected from within the target area 30. Within the target region 30, the reference figure may serve as a target for determining the altitude value.

The reference figure may include a vertex of any one of the facilities included in the region of interest 30 of the first aerial image 10, or/in addition, the reference figure may include a vertex of any one of the facilities included in the region of interest 30 of the first aerial image 10, and/or/additionally, a relationship between the vertex and the one facility. It may include a reference line that is a line connecting other vertices or vertices of other facilities among the facilities. Each of the facilities included in the target area 30 may include, for example, a road, a center line included (drawn) in the road, and a lane included (drawn) in the road. Alternatively, the facility may be any feature included within the target area 30.

The selected reference figure may be visually distinguished from other parts of the first aerial image 10.

In step 330, the computer system 100 may obtain a second aerial image 20 of the target area 30. Regarding the acquisition of the second aerial image 20 and the second aerial image 20, the similar explanation regarding the first aerial image 10 can be applied as is, and therefore, duplicate explanation will be omitted. However, the second aerial image 20 may be an image of the target area 30 taken from a second viewpoint different from that of the first aerial image 10. In other words, the first aerial image 10 and the second aerial image 20 may be images with different viewpoints. For example, the first aerial image 10 is a photograph of the target area 30 perpendicularly (or as close to perpendicular as possible), whereas the second aerial image 20 is a photograph of the target area 30 that is not vertical. It may be taken from an angle.

The computer system 100 may obtain the second aerial image 20 by loading the saved second aerial image 20. At this time, when the first aerial image 10 is loaded or a reference figure is selected from the first aerial image 10, the computer system 100 may automatically search for and load an appropriate second aerial image 20. For example, the computer system 100 compares the coordinate values included in the first aerial image 10 and the second aerial image 20, which are matching images (or compares the coordinate values of the selected reference figure and the coordinates of the second aerial image 20). A second aerial image 20 that captures the same target area 30 as the first aerial image 10 may be searched and loaded based on the comparison of values).

There may be a plurality of second aerial images 20. The second aerial image 20 may be displayed as a thumbnail when the first aerial image 10 is displayed as the main one on the screen, and when the corresponding thumbnail is selected, the second aerial image 20 is displayed as the main one. This may be displayed on the screen. At this time, the first aerial image 10 may be displayed as a thumbnail. Alternatively, the second aerial images 20 may be arranged on the screen in the same size as the first aerial images 10.

The first aerial image 10 may correspond to a master image, and the second aerial image 20 may correspond to a slave image.

At step 340, the computer system 100 extracts a corresponding figure corresponding to the reference figure selected in the first aerial image 10 from the second aerial image 20, which captures the target area 30 from a second viewpoint different from the first aerial image 10. may be identified. The corresponding figure may be a portion of the second aerial image 20 that is matched to the reference figure of the first aerial image 10.

The corresponding figure may be automatically identified from the second aerial image 20. For example, the computer system 100 compares the first aerial image 10 and the second aerial image 20 (for example, the form (shape or color, etc.) and the second aerial image 20), a corresponding shape corresponding to the reference shape may be identified.

Alternatively, the corresponding figure may be identified from the target region 30 portion of the second aerial image according to a user's selection (eg, using a user interface provided by a tool). For example, the user compares the first aerial image 10 and the second aerial image 20 displayed on the screen, recognizes the part of the second aerial image 20 that corresponds to the reference figure of the first aerial image 10, and selects it as the corresponding figure. In accordance with such user input, computer system 100 may identify corresponding graphics.

The corresponding figure may include at least one of a line and a surface (closed curve or polygon) based on the corresponding reference figure. The corresponding figure may be a comparison target for determining the three-dimensional position (altitude value) of the reference figure.

The first viewpoint includes the three-dimensional position (for example, three-dimensional coordinates (x, y, z)) and the shooting direction (the shooting angle (yaw, roll, pitch) of the camera) of the camera that shot the first aerial image 10. That's fine. Similarly, the second viewpoint is based on the three-dimensional position (for example, three-dimensional coordinates (x, y, z)) and the shooting direction (the shooting angle (yaw, roll, pitch) of the camera that took the second aerial image 20). )) may be included.

At step 350, the computer system 100 determines the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure by matching the reference figure of the first aerial image 10 with the corresponding figure of the second aerial image 20. You may decide.

Below, a method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure by matching the reference figure of the first aerial image 10 and the corresponding figure of the second aerial image 20 with each other will be explained in more detail. do.

The computer system 100 determines a reference figure (consisting of at least one of a point, a line, and a plane) that corresponds to the same area in the target area 30 of the first aerial image 10 and the target area 30 of the second aerial image 20. By specifying the corresponding figure and the corresponding figure, the exact three-dimensional position of the corresponding area (that is, the reference figure) may be specified. For example, computer system 100 may determine the exact three-dimensional location of a point of interest using triangulation techniques. In addition, the computer system 100 uses a method similar to that of a plotter calculating the altitude (height) of a specific point based on an aerial photograph or calculating the altitude of a point for floating contour lines. , the three-dimensional position (altitude or three-dimensional position including the altitude) of the target area 30 with respect to the reference figure may be determined.

As an example, the computer system 100 may determine the three-dimensional position and shooting direction of the camera that captured the first aerial image 10 corresponding to the first viewpoint that has become the base value (through an image matching process), and the position corresponding to the second viewpoint. Based on the three-dimensional position and photographing direction of the camera that photographed the second aerial image 20, the three-dimensional position of a point in the target area common to the first aerial image 10 and the second aerial image 20 may be determined. In determining the three-dimensional position, focal length information and principal point information of the camera may be further used as the camera information.

When the three-dimensional position (x, y, z) and the shooting direction (yaw, roll, pitch) of the camera that took the first aerial image 10 and the second aerial image 20 are determined through the matching process, Two line segments viewing a point commonly included in the images may be determined, and the three-dimensional position of the point may be determined by calculating the intersection of these line segments.

The photographing altitude of the first aerial image 10 and the photographing altitude of the second aerial image 20 may be the same. According to the method described above, the computer system 100 selects a reference figure from the first aerial image 10 and identifies a corresponding corresponding figure from the second aerial image 20, thereby matching the reference figure and the corresponding figure with each other. The three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure may be determined. "Matching" between a reference figure and a corresponding figure means comparing the first aerial image 10 and the second aerial image 20 and/or determining (calculating) the above-mentioned three-dimensional position (altitude or three-dimensional position including altitude). It may mean a comprehensive operation for.

Alternatively, the computer system 100 may determine the parallax between the first viewpoint of the first aerial image 10 and the second viewpoint of the second aerial image 20 (for example, the three-dimensional position of the camera indicated by the first viewpoint and the three-dimensional position of the camera indicated by the second viewpoint). The three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure is determined by the triangulation method based on the first angle from the first viewpoint to the reference figure, and the second angle from the second viewpoint to the corresponding figure. ) may be determined. That is, the computer system 100 may match the reference figure and the corresponding figure, and accurately specify the three-dimensional position of the reference figure by triangulation.

At this time, the first aerial image 10 and the second aerial image 20 are aligned images, and as described above, each image includes the three-dimensional position and shooting direction (expression) of the camera that took the image. It's okay to be there. In other words, the first aerial image 10 and the second aerial image 20 include three-dimensional coordinate information and rotation information (camera yaw, roll, pitch, etc.).

Specifically, the computer system 100 determines the three-dimensional position and photographing direction of the camera that photographed the first aerial image 10 corresponding to the first viewpoint, and the three-dimensional position and photographing direction of the camera that photographed the second aerial image 20 corresponding to the second viewpoint. The position and photographing direction, the first angle from the first viewpoint (i.e., the three-dimensional position of the camera that photographed the first aerial image 10) to the reference figure, and the second viewpoint (that is, the camera that photographed the second aerial image 20). The three-dimensional position including the altitude of the reference figure may be determined by a triangulation method based on the second angle from the three-dimensional position to the corresponding figure.

According to the method described above, the computer system 100 selects a reference figure from the first aerial image 10, identifies a corresponding corresponding figure from the second aerial image 20, and matches the reference figure and the corresponding figure with each other. , the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure may be determined by triangulation.

In step 350, the computer system 100 may determine the three-dimensional position of the facility within the target area 30 including the reference figure based on the three-dimensional position (altitude or three-dimensional position including altitude). The three-dimensional position of such a facility is determined by interpolation based on the three-dimensional position of the determined reference figure, and the three-dimensional position of the points (for example, points between vertices and points between corners) that make up the facility is determined. may be determined by calculating

On the other hand, if a preset reference altitude is used, the computer system 100 may determine the three-dimensional position of a point within the target region using only the first aerial image 10 (ie, one aerial image). The preset reference altitude may be an altitude value (for example, altitude) of a point within the first aerial image 10 or the second aerial image 20. Alternatively, such a reference altitude may be set in a program (e.g., the tool described above) used to determine the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure and generate the HD map. It may be a standard altitude value. The reference altitude may be a surrounding altitude value associated with the first aerial image 10 or the second aerial image 20, and the altitude determined in step 350 may be a value based on such a reference altitude.

For example, the computer system 100 determines the three-dimensional position and shooting direction of the camera that took the first aerial image 10 corresponding to the first viewpoint, the first angle with respect to the reference figure from the first viewpoint, and the preset reference altitude. Based on this, the altitude of the corresponding reference figure may be determined. Further, the computer system 100 may determine the three-dimensional position of the reference figure by determining the horizontal coordinates of the reference figure based on the determined altitude.

The three-dimensional position of the reference figure determined as described above (eg, by triangulation) may include not only the height of the reference figure but also its horizontal coordinates. In other words, in the embodiment, the three-dimensional position of the reference figure is determined using an aerial image in which the three-dimensional position and photographing direction of the camera that photographed the image have been determined. At the same time as the determination, horizontal coordinates can also be determined.

At step 360, computer system 100 may generate HD map 50 of target region 30 using the three-dimensional positions of the reference shapes determined at step 350. That is, the computer system 100 may identify the exact altitude (height) for the facility included in the region of interest 30 in step 350 and use this as height information for the facility to create the HD map 50. May be generated. For example, in embodiments, an HD map 50 may be generated that includes facilities such as lanes determined by concatenating the determined altitude values. The generation of the HD map 50 may further use information contained in the above-mentioned aerial images.

Therefore, according to embodiments, based on the (aligned) aerial images, an HD map 50 of the region of interest 30 can be generated immediately, without having to carry out the process of generating a DSM or DEM. Therefore, according to the embodiment, it is possible to solve the problem of terrain distortion that may occur when generating the HD map 50 by DSM and DEM, and the problem of height distortion of hidden facilities in aerial photographs.

According to the embodiment, it is possible to accurately identify the height of facilities such as center lines or lanes within the target area 30, so that the HD map accurately reflects the height information of such facilities. 50 can be generated.

Furthermore, by utilizing multiple aerial images (that is, aerial images taken of the target area 30 from different viewpoints), the height of facilities that are hidden (by trees, vehicles, shadows, etc.) in a single aerial image can be Accurate identification can be achieved using other aerial images.

The technical features described above with reference to FIGS. 1 and 2 can also be applied to FIG. 3 as they are, so duplicate explanations will be omitted.

4 and 5 show, in one example, the three-dimensional position (altitude or 3 is a flowchart showing a method for determining a three-dimensional position (including altitude).

A method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of a facility corresponding to the reference facility within the target area 30 will be described in more detail with reference to FIGS. 4 and 5.

In step 410, the computer system 100 may select a reference facility from among the facilities included in the target area 30 of the first aerial image 10. For example, a user may select a reference facility from a portion of the region of interest 30 displayed on the screen (e.g., using a user interface provided by a tool), and in accordance with such user input, the computer System 100 may select a reference facility.

At step 420, computer system 100 may select at least one guideline that intersects the reference facility. For example, the user may select at least one guideline from the portion of the target area 30 displayed on the screen (e.g., using a user interface provided by the tool) that intersects the reference facility; The computer system 100 may select the guidelines according to user input.

Each of the selected "guidelines" may correspond to the reference figure described above. In other words, each guideline may be the reference line described above, which corresponds to a line connecting the apex of a certain facility and the other apex of the facility or the apex of other facilities among the facilities. .

The computer system 100 may determine the three-dimensional position (altitude or three-dimensional position including the altitude) of a guideline that is a reference figure.

At this time, in step 340 described above, the computer system 100 may identify a corresponding line corresponding to the guideline from the second aerial image 20 as a corresponding figure.

At step 510, the computer system 100 determines the three-dimensional position of the guideline (altitude or three-dimensional position including the altitude) by matching the guideline of the first aerial image 10 with the corresponding line of the second aerial image 20. good. As a method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of the guideline, the method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure described above can be applied as is. Therefore, duplicate explanations will be omitted.

In step 520, the computer system 100 may determine a three-dimensional position (altitude or three-dimensional position including altitude) of a point where the guideline and the reference facility intersect based on the determined three-dimensional position of the guideline. For example, the computer system 100 may determine the same altitude value as the determined altitude of the guideline as the altitude of the point where the guideline and the reference facility intersect. Alternatively, if the altitudes of both end points of the guideline are different, the computer system 100 may determine the altitude of the point where the guideline and the reference facility intersect by interpolation.

By using the altitude determination method of the guideline described in steps 510 and 520, the altitude and three-dimensional position of the facility that does not include vertices (that is, it is difficult to match the first aerial image 10 and the second aerial image 20) can be determined. can also be determined accurately.

As an example, the reference facility described above may be the center line of the road within the target area 30, and the guideline may be a line connecting the vertices of two lanes centered on the center line.

In this regard, FIG. 10, in one example, selects guidelines 1020-1 to 1020-3 from the first aerial photograph 10 and shows the three-dimensional positions (altitudes or three-dimensional positions including the altitude) of the guidelines 1020-1 to 1020-3. This shows a method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of a reference facility by determining the following.

The center line 1010 displayed in FIG. 10 may correspond to the reference facility described above, and the guidelines 1020-1 to 1020-3 may correspond to the guidelines described above. As shown, each of the guidelines 1020-1 to 1020-3 intersects the center line 1010 and may be selected by connecting the vertices of the lanes centered on the center line 1010.

Steps 510 and 520 may determine the altitude of the point where the guide lines 1020-1 to 1020-3 and the center line 1010 intersect. Using the altitude values of the intersecting points thus determined, the computer system 100 determines the three-dimensional positions (altitudes or three-dimensional positions including altitudes) of the remaining points on the center line 1010 by interpolation. good.

Using the tools described above, the user may select (i.e., draw) the centerline 1010 from the first aerial image 1000 displayed on the screen, and then select the guidelines 1020-1 to 1020 that intersect the centerline 1010. -3 You may select each. Each of these guidelines 1020-1 to 1020-3 may be selected as a reference figure, and the three-dimensional position may be determined.

Meanwhile, in the loaded second aerial image 20, objects corresponding to the corresponding lines and the center line 1010 corresponding to the guidelines 1020-1 to 1020-3, respectively, may be identified, and the computer system 100 may identify the objects corresponding to the corresponding lines and the center line 1010. By matching -1 to 1020-3, the three-dimensional position (altitude or three-dimensional position including altitude) of each of the guidelines 1020-1 to 1020-3 may be determined.

On the other hand, below, an example will be described in which a three-dimensional position (altitude or three-dimensional position including altitude) of a reference facility is determined without using a guideline. If the reference facility is a facility that includes vertices (ra), the three-dimensional position of the reference facility can be accurately determined without using a guideline.

That is, in step 320 described above, the computer system 100 determines a line connecting the vertices of the reference facility among the facilities included in the target area 30 of the first aerial image 10 (corresponding to the reference figure described above). May be selected as a reference line. In step 340, the computer system 100 may identify a corresponding line corresponding to the baseline from the second aerial image 20 as a corresponding figure. At step 350, described above, the computer system 100 may determine the three-dimensional position (altitude or three-dimensional position including altitude) of the reference line by matching the reference line and the corresponding line. The three-dimensional position of the reference facility may be determined based on the determined three-dimensional position of the reference line.

In this way, the three-dimensional position (altitude or three-dimensional position including altitude) of a facility can be determined with or without guidelines depending on the characteristics of the facility (e.g., whether it contains vertices). The dimensional position can be determined.

The technical features described above with reference to FIGS. 1 to 3 can also be applied to FIGS. 4, 5, and 10 as they are, and therefore, redundant explanations will be omitted.

FIG. 6 is a flowchart showing, in one example, a method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of a surrounding facility based on the altitude of the reference facility.

Hereinafter, a method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of surrounding facilities will be described with reference to steps 352 and 354 in FIG. 3 and steps 610 and 620 in FIG.

As shown in step 352 in FIG. 3, computer system 100 determines the three-dimensional location (altitude or location).

As shown in step 354, the computer system 100 calculates the three-dimensional position (altitude or three-dimensional position including altitude) of at least one peripheral facility around the reference facility based on the three-dimensional position of the reference facility. You may decide.

As an example, the reference facility may be the center line of a road within the target area 30, and the surrounding facilities may be lanes located around the center line. Alternatively, the surrounding facilities may include facilities that are at least partially hidden in the aerial image, as facilities around the reference facility.

If it is assumed that there is no (slope) gradient between the reference facility and the surrounding facility (e.g. if the relevant option from the tool mentioned above is selected), the elevation of the surrounding facility will be lower than that of the reference facility. It may be determined to be the same as the altitude. For example, the center line and the side lanes may be assumed to be at the same altitude as each other. At this time, if the altitudes are the same, the three-dimensional position of the relevant peripheral facility can be determined simply by specifying the position of the relevant peripheral facility in the first aerial image 10, and the second aerial image 20 If the projected figure (figure corresponding to the peripheral facility object) matches the position of the corresponding peripheral facility object displayed on the second aerial image 20, additional position confirmation using the second aerial image 20 becomes unnecessary. If the figure projected on the second aerial image 20 and the position of the corresponding peripheral facility displayed on the second aerial image 20 do not match, the position of the projected figure on the second aerial image 20 is By adjusting the position of the facility, the altitude of the facility corresponding to the projected figure may be determined.

Meanwhile, in step 610, the computer system 100 determines an altitude value corresponding to the altitude of the reference facility (which becomes the altitude value of the surrounding facility) due to the gradient that exists between the reference facility and the surrounding facility. may be adjusted.

In step 620, the computer system 100 may determine the three-dimensional position (altitude or three-dimensional position including the altitude) of the surrounding facility based on the adjusted altitude value. The altitude value corresponding to the slope may be adjusted according to user input using a user interface provided by the tools described above. Further, the computer system 100 may automatically adjust the altitude value based on topographical information of the base for the target area 30.

In this regard, FIG. 11 shows, in one example, a method of determining a three-dimensional position (altitude or three-dimensional position including altitude) of a surrounding facility based on a three-dimensional position of a reference facility.

In the illustrated example, the center line 1010 may correspond to the reference facility described above, and the guidelines 1020-1 to 1020-3 may correspond to the guidelines described above. On the other hand, the lane 1110 is a facility located around the center line 1010, and may correspond to the above-mentioned peripheral facility.

Computer system 100 may determine that the elevation of lane 1110 and the elevation of centerline 1010 are the same, assuming that there is no slope in the case of a road. Alternatively, computer system 100 may adjust the elevation of centerline 1010 based on a slope set by the user or terrain information to determine the elevation of lane 1110.

Therefore, according to the embodiment, the three-dimensional positions of the surrounding facilities can be easily determined by simply determining the three-dimensional positions of the reference facilities.

The technical features described above with reference to FIGS. 1 to 5 and FIG. 10 can also be applied to FIGS. 6 and 11 as they are, and therefore redundant explanations will be omitted.

FIG. 7 shows, in one example, the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure by matching the reference figure selected from the first aerial image with the corresponding figure identified from the second aerial image. It is a flow chart showing a method of determining.

In FIG. 7, the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure is obtained by matching the reference figure of the first aerial image 10 and the corresponding figure of the second aerial image 20 using the above-mentioned tool. We will explain how to determine.

Steps 710-740 described below may be included in step 350 described above.

In step 710, the computer system 100 may project the first aerial image 10 including the reference figure and the reference figure onto the second aerial image 20. For example, the computer system 100 may project a layer of the first aerial image 10 or a layer of reference figures onto the second aerial image 20. The reference figure layer may be generated by selecting a reference figure from the first aerial image 10.

In step 720, the computer system 100 may move the projected reference shape so that the corresponding shape identified from the second aerial image 20 matches. The reference figure to be moved may be a layer corresponding to the reference figure. For example, the user may move a layer of reference shapes projected onto the second aerial image 20 (e.g., using a user interface provided by a tool), and in accordance with such user input, the computer The system 100 may move the reference shape onto the second aerial image 20.

In step 740, the computer system 100 may determine the altitude value of the corresponding reference figure as the altitude of the reference figure when the corresponding figure on the second aerial image 20 matches the moving reference figure. For example, at step 730, computer system 100 may move the reference shape (at step 720) and output an altitude value corresponding to the moved position, and an altitude that is output when the corresponding shape and the reference shape match. The value may be determined as the height of the reference shape. The output altitude value may be a height value relative to a reference altitude. The horizontal coordinates of the reference figure may also be determined in a similar manner. Therefore, the three-dimensional position of the reference figure, including altitude and horizontal coordinates, may be determined.

In this regard, FIG. 9 shows, in one example, that the three-dimensional position (altitude or FIG.

As shown in the figure, in the first aerial image 900, a reference line corresponding to a lane may be identified as a reference figure 905. Such a reference figure 905 (a layer of the reference figure 905) may be projected onto the second aerial image 910. The user may move the layer of the projected reference figure 905 between positions 920-1 to 4 (positions corresponding to the corresponding figure 915) using the user interface provided by the above-described tool.

The computer system 100 may determine the three-dimensional position (altitude or three-dimensional position including the altitude) of each of the positions 920-1 to 4 (915) of the projected reference figure 905. In other words, the computer system 100 assumes each of the positions 920-1 to 920-4 (915) as a position where the projected reference figure 905 and the corresponding figure match, and the three-dimensional position of the reference figure 905 at each of the positions. (altitude or three-dimensional position including altitude) may be determined. As a method for determining the three-dimensional position (altitude or three-dimensional position including altitude) of the reference figure 905, the above-mentioned method can be applied as is, and therefore, redundant explanation will be omitted.

As a result, as shown in the figure, the computer system 100 may output the altitude value of the reference figure 905 at each position by moving the projected reference figure 905 through the positions 920-1 to 4 (915). . That is, by moving the position of the reference figure 905 along the epipolar of the corresponding figure in the second aerial image 910, the computer system 100 may change the height of the reference figure 905 and output it.

By moving the projected reference figure 905 between positions 920-1 to 4 (915), the user can set the altitude value (i.e., height 22.7 m) at position 915, which exactly matches the corresponding figure, as the reference figure. It is possible to know that the reference figure 905 corresponds to the figure 905 (in other words, the user can easily identify at what height the reference figure 905 and the corresponding figure should be matched). Therefore, computer system 100 can determine the altitude value of position 915 as the altitude value of reference figure 905.

As described above, since the altitude value of the figure 905 can be determined using the user interface of the tool, it is possible to intuitively grasp the position 915 where the reference figure 905 and the corresponding figure match. The three-dimensional position, including the altitude, of the reference figure 905 can also be conveniently determined.

The technical features described above with reference to FIGS. 1 to 6, FIG. 10, and FIG. 11 can also be applied to FIGS. 7 and 9 as they are, and thus redundant explanations will be omitted.

FIG. 8 is a diagram illustrating, in one example, a method of generating a DSM and a DEM of a target region based on the determined altitude, and further generating a true ortho image of the target region.

As mentioned above, according to embodiments, based on (aligned) aerial images, an HD map 50 of the region of interest 30 can be generated immediately, without having to carry out the process of generating a DSM or DEM. .

At step 810 , computer system 100 uses the determined elevation associated with region of interest 30 to construct a digital surface model (DSM) and a digital elevation model (DEM) of region of interest 30 . At least one of them may be generated. In other words, the computer system 100 does not determine the three-dimensional position (altitude or three-dimensional position including altitude) of the target area 30 based on the DSM or DEM, but first determines the three-dimensional position of the target area 30. , a DSM and/or a DEM may be generated based on the determined altitude.

At step 820, the computer system 100 may generate a true ortho image of the region of interest 30 based on the generated DSM and DEM. Therefore, based on the aerial images, the computer system 100 can construct a three-dimensional map based on the true orthoimage of the region of interest 30.

Information contained in the above-described aerial images may further be used to generate DSM, DEM, and true orthoimages of the region of interest 30.

At least one of a DSM, DEM, and true orthoimage of the region of interest 30 may be generated by the computer system 100 according to a user's selection after the elevation of the region of interest 30 is determined.

The technical features described above with reference to FIGS. 1 to 7 and FIGS. 9 to 11 can also be applied to FIG. 8 as they are, and thus redundant explanations will be omitted.

The apparatus described above may be realized by hardware components, software components, and/or a combination of hardware and software components. For example, the devices and components described in the embodiments include a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or may be implemented using one or more general purpose or special purpose computers, such as various devices capable of executing and responding to instructions. A processing device may execute an operating system (OS) and one or more software applications that execute on the OS. The processing device may also be responsive to execution of the software to access, record, manipulate, process, and generate data. Although for convenience of understanding, one processing device may be described as being used, those skilled in the art will appreciate that a processing device may include multiple processing elements and/or multiple types of processing elements. You will understand. For example, a processing device may include multiple processors or a processor and a controller. Other processing configurations are also possible, such as parallel processors.

Software may include computer programs, code, instructions, or a combination of one or more of these that configure a processing device or instruct a processing device, independently or collectively, to perform operations as desired. You may do so. The software and/or data may be embodied in a machine, component, physical device, computer storage medium or device of any kind for being interpreted by or providing instructions or data to a processing device. good. The software may be distributed on computer systems connected by a network, and may be recorded or executed in a distributed manner. The software and data may be recorded on one or more computer readable storage media.

Methods according to embodiments may be implemented in the form of program instructions executable by various computer means and recorded on computer-readable media. Here, the medium may be one that continuously records a computer-executable program, or one that temporarily records it for execution or download. Also, the medium may be a variety of recording or storage means in the form of a single or multiple hardware combinations, and is not limited to a medium directly connected to a computer system, but may be distributed over a network. It may also exist. Examples of media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, It may also include ROM, RAM, flash memory, etc., and may be configured to record program instructions. Further, other examples of the medium include an application store that distributes applications, a site that supplies or distributes various other software, and a recording medium or storage medium managed by a server.

As mentioned above, although the embodiments have been described based on limited embodiments and drawings, those skilled in the art will be able to make various modifications and variations based on the above description. For example, the techniques described may be performed in a different order than in the manner described, and/or components of the systems, structures, devices, circuits, etc. described may be performed in a different form than in the manner described. Even when combined or combined, opposed or replaced by other components or equivalents, suitable results can be achieved.

Therefore, even if the embodiments are different, if they are equivalent to the scope of the claims, they fall within the scope of the appended claims.

100: Computer System 110: Memory 120: Processor 130: Communication Interface 140: Input/Output Interface 150: Input/Output Device 160: Network

Claims (18)

1. A method of generating an HD map based on aerial imagery performed by a computer system, the method comprising:
selecting a reference figure from a first aerial image photographing the target area from a first viewpoint viewing the target area;
identifying a corresponding figure corresponding to the reference figure from a second aerial image taken of the target area from a second viewpoint different from the first viewpoint;
determining a three-dimensional position of the reference figure by matching the reference figure and the corresponding figure with each other; and generating an HD map of the target area using the determined three-dimensional position ,
The selecting step includes:
A vertex of a first facility among the facilities and a second facility among the facilities that intersect with a point on the reference facility among the facilities included in the target area of the first aerial image. a step of selecting a guideline connecting the vertices of as the reference figure;
including;
The identifying step includes identifying a corresponding line corresponding to the guideline from the second aerial image as the corresponding figure;
The determining step includes:
determining a three-dimensional position of the guideline by matching the guideline with the corresponding line;
determining a three-dimensional position of a point where the guideline and the reference facility intersect based on the three-dimensional position of the guideline;
including,
How to generate HD maps. The determining step includes:
a three-dimensional position and a photographing direction of a camera that photographed the first aerial image, corresponding to the first viewpoint; a three-dimensional position and a photographing direction of a camera that photographed the second aerial image, corresponding to the second viewpoint; determining a three-dimensional position including an altitude of the reference figure by a triangulation method based on a first angle with respect to the reference figure from the first viewpoint and a second angle with respect to the corresponding figure from the second viewpoint;
A method for generating an HD map according to claim 1. The reference facility is a facility that does not include a vertex.
A method for generating an HD map according to claim 1 or 2. the first facility and the second facility are the same facility;
A method for generating an HD map according to claim 1 or 2. The reference facility is a center line of a road in the target area, and the guideline is a line connecting the vertices of two lanes centered on the center line.
A method for generating an HD map according to claim 1 . In the selecting step, a line connecting vertices of reference facilities among facilities included in the target area of the first aerial image is selected as a reference line;
The identifying step includes identifying a corresponding line corresponding to the reference line from the second aerial image as the corresponding figure;
The step of determining determines the three-dimensional position of the reference line by matching the reference line with the corresponding line.
A method for generating an HD map according to claim 1 . further comprising: determining a three-dimensional position of the reference facility; and determining a three-dimensional position of at least one peripheral facility around the reference facility based on the three-dimensional position of the reference facility. A method for generating an HD map according to any one of claims 1 to 6 . The step of determining the three-dimensional position of the surrounding facilities includes:
adjusting an altitude value corresponding to the three-dimensional position of the reference facility based on a slope existing between the reference facility and the surrounding facility; and adjusting an altitude value corresponding to the three-dimensional position of the reference facility based on the adjusted altitude value. 8. The method of generating an HD map according to claim 7, comprising: determining a three-dimensional position. The reference facility is a center line of a road in the target area, and the peripheral facilities are lanes located around the center line.
A method for generating an HD map according to claim 7. further comprising: determining a three-dimensional position of a facility in the target area including the reference figure based on the determined three-dimensional position;
The three-dimensional position of the facility is determined by calculating the three-dimensional positions of points forming the facility by an interpolation method based on the determined three-dimensional position of the reference figure.
A method for generating an HD map according to any one of claims 1 to 9. 1. A method of generating an HD map based on aerial imagery performed by a computer system, the method comprising:
selecting a reference figure from a first aerial image photographing the target area from a first viewpoint viewing the target area, based on input from a user using a tool for determining the three-dimensional position of the target area;
identifying a corresponding figure corresponding to the reference figure from a second aerial image taken of the target area from a second viewpoint different from the first viewpoint;
determining the three-dimensional position of the reference figure by matching the reference figure and the corresponding figure with each other;
generating an HD map of the target area using the determined three-dimensional position;
including;
The determining step includes:
projecting the first aerial image including the selected reference figure or the selected reference figure onto the second aerial image;
Based on an input for moving the reference figure from the user using the tool, move the reference figure so that the projected reference figure and the corresponding figure identified from the second aerial image match. generating an HD map, the method comprising: moving the reference figure; and determining, as the three-dimensional position of the reference figure, an altitude value of the reference figure that corresponds when the identified corresponding figure and the reference figure match. Method. The determining step includes:
outputting an altitude value corresponding to a position moved by moving the reference figure;
determining an altitude value output when the identified corresponding figure and the reference figure match as the three-dimensional position of the reference figure;
A method for generating an HD map according to claim 11. The moving reference figure is a layer corresponding to the reference figure,
A method for generating an HD map according to claim 11. The HD map of claim 1, further comprising: generating at least one of a digital surface model (DSM) and a digital elevation model (DEM) of the target area using the determined three-dimensional position. How to generate. 15. The method of generating an HD map according to claim 14, further comprising: generating a true ortho image of the region of interest based on the generated DSM and DEM. A computer program for causing the computer system to execute the method according to any one of claims 1 to 15. A computer-readable recording medium on which a program for causing the computer system to execute the method according to any one of claims 1 to 15 is recorded. A computer system,
at least one processor configured to execute computer-readable instructions contained in the memory;
The at least one processor includes:
A reference figure is selected from a first aerial image photographing the target area from a first viewpoint viewing the target area, and a reference figure is selected from a second aerial image photographing the target area from a second viewpoint different from the first viewpoint. identifying a corresponding figure corresponding to the figure, determining a three-dimensional position of the reference figure by matching the reference figure and the corresponding figure with each other, and using the determined three-dimensional position an HD map of the target area. generate ,
Said selection is
A vertex of a first facility among the facilities and a second facility among the facilities that intersect with a point on the reference facility among the facilities included in the target area of the first aerial image. selecting a guideline connecting the vertices of as the reference figure;
including;
The identifying includes identifying a corresponding line corresponding to the guideline from the second aerial image as the corresponding figure;
Said determining:
determining a three-dimensional position of the guideline by matching the guideline with the corresponding line;
determining a three-dimensional position of a point where the guideline and the reference facility intersect based on the three-dimensional position of the guideline;
including,
computer system.

Images