KR101073432B1 - Devices and methods for constructing city management system integrated 3 dimensional space information - Google Patents

Abstract

The present invention relates to an apparatus and method for constructing a city management system incorporating three-dimensional spatial information. The present invention relates to a geographic information system (GIS) information and a storage unit for storing spatial information corresponding to GIS information, based on GIS information and spatial information. By acquiring and visualizing a three-dimensional spatial model by integrating image information acquired from a plurality of image acquisition cameras arranged, GIS information and spatial information of a region in which the image acquisition camera is disposed, a plurality of image acquisitions arranged in a predetermined area are acquired. Using the image information acquired from the camera to build a city management system integrating three-dimensional spatial information. According to the present invention, by mapping the real-time information acquired from the sensor and the image acquisition camera to the three-dimensional space model in conjunction with the three-dimensional GIS layer data, there is an advantage that can be visualized by reflecting the events occurring in the urban space in real time .

Description

Devices and methods for constructing city management system integrated 3 dimensional space information

The present invention relates to an apparatus and method for constructing a city management system incorporating three-dimensional spatial information. The present invention relates to a three-dimensional space corresponding to a region where an event occurs from image information acquired from a plurality of image acquisition cameras distributed in urban space. An apparatus and method for constructing a city management system incorporating three-dimensional spatial information for mapping and visualizing a model in real time.

In general, image acquisition cameras are widely distributed and operated in urban spaces. In general, images obtained in real time are separated from 3D GIS data or 3D indoor drawing data and provided as the image itself to provide analysis related to geographic information. It has a hard disadvantage.

In order to solve the above disadvantages, it displays the location where the image acquisition camera is installed on the two-dimensional map, and if the user selects a region of interest, the image itself acquired in real time from the image acquisition camera installed at the corresponding location is separated from the user. It has evolved into a form of visualization in the interface.

Recently, as a more advanced form, an apparatus and method for realizing augmented reality-based virtual reality by mapping images acquired in real time from a stereo camera to a virtual three-dimensional spatial model have been proposed.

The above-described apparatus and method tracks the viewpoint of the image capturing camera as the viewpoint of the virtual camera changes, and maps the entire real-time image to the 3D model. In this case, the method may include determining whether to map to a three-dimensional model superimposed in units of pixels of an image by using depth information obtained from a stereo camera. The apparatus may further include means for detecting a moving object by analyzing a background of successive image image frames of the image capturing camera. In addition, an apparatus and method for automatically switching between virtual reality and augmented reality by tracking the viewpoint of an image acquisition camera have been proposed.

Currently, in urban spaces, image acquisition cameras are distributed in a wide range of areas, both indoors and outdoors, and positions and postures are fixed. However, many image acquisition cameras include a function of changing the position or posture in real time. In addition, it may be a problem to map the entire real-time original image acquired from the image acquisition camera to the 3D model due to privacy protection and security, and if the 3D GIS layer information overlapping the image is linked, Local information can be easily analyzed.

Conventional techniques are limited to mapping images acquired in real time from an image acquisition camera installed outdoors in units of pixels to the outside of an outdoor space object. In addition, there is a lack of integrated control of a plurality of real-time controllable image acquisition cameras distributed in a wide area, and there is a disadvantage in that the method of linking GIS data and image data is limited.

An object of the present invention is to obtain a plurality of image acquisition cameras distributed in urban space from various sensors attached to three-dimensional indoor and outdoor spatial models and urban space objects in order to maximize the effectiveness of real-time image-based urban management system. The present invention provides an apparatus and method for constructing a city management system incorporating three-dimensional spatial information that can be integratedly managed in connection with acquired real-time field information or event information detected from an image acquisition camera.

In addition, another object of the present invention is to process the image obtained in real time from the image acquisition camera on the basis of a real-time event, and to map the sensor data obtained in real time from the sensors installed in the urban space to a three-dimensional spatial model to visualize An urban management system construction apparatus and method incorporating dimensional spatial information are provided.

In order to achieve the above object, a city management system incorporating three-dimensional spatial information according to the present invention integrates three-dimensional spatial information using image information acquired from a plurality of image acquisition cameras arranged in a predetermined area. An apparatus for constructing a city management system, comprising: a storage unit for storing geographic information system (GIS) information and indoor and outdoor spatial information including an indoor drawing, and the plurality of image acquisitions disposed at positions corresponding to the GIS information and the indoor and outdoor spatial information Event processing unit for detecting the event according to the change of the spatial information for each image by reading the images acquired from the cameras, the GIS information and the indoor and outdoor spatial information by integrating the images obtained from the plurality of image acquisition cameras in the indoor and outdoor Create a three-dimensional space model for the space, and if the event is detected to take a video A spatial model generator for integrating the image information acquired from the image acquisition camera into the three-dimensional space model of the region where the image acquisition camera is disposed, and a spatial model for visualizing the three-dimensional space model generated by the space model generator. It includes an implementation.

When the event is detected, a control signal for calculating a region value corresponding to each layer of the 3D spatial model and controlling the attitude of the image acquisition camera disposed in the region based on the region value of each layer is obtained. It further comprises a control unit for transmitting.

The apparatus may further include an image processor extracting a frame image for integrating into regions corresponding to each layer of the 3D space model from the image acquired from the image acquisition camera.

The spatial model generator is configured to obtain a frame image corresponding to an area value of each layer of the three-dimensional spatial model among the frame images, and map the obtained frame image to an area corresponding to each layer corresponding to the corresponding layer. It features.

The image information acquired from the image acquisition camera may include at least one of an image of a region where the image acquisition camera is disposed, photographing information of the corresponding image, position information and attitude information of the image acquisition camera.

On the other hand, in order to achieve the above object, a city management system incorporating three-dimensional spatial information according to the present invention, the three-dimensional spatial information using the image information obtained from a plurality of image acquisition cameras arranged in a predetermined area; A method of constructing an integrated city management system, the method comprising: generating a 3D spatial model of a corresponding indoor and outdoor space by integrating images acquired from the plurality of image acquisition cameras disposed at positions corresponding to GIS information and indoor and outdoor spatial information; Reading image information of a corresponding region received in real time from the plurality of image acquisition cameras to detect an event according to a change of spatial information for each image; and when the event is detected, the image acquisition camera photographing the image Zero received in real time from the image acquisition camera in the three-dimensional space model of the arranged area In step, and wherein the integrating of integrating information comprises the step of visualizing the three-dimensional models of the image information is integrated.

The integrating may include calculating an area value corresponding to each layer of the three-dimensional space model, and a posture of the corresponding image acquisition camera with the image acquisition camera arranged in the corresponding area based on the area value for each layer. Sending a control signal for controlling the.

The method may further include extracting a frame image for integrating into an area corresponding to each layer of the 3D spatial model from the image received from the image acquisition camera.

The integrating may include obtaining a frame image corresponding to an area value of each layer of the three-dimensional space model of the frame image, and mapping the obtained frame image to an area corresponding to each layer corresponding to each layer. It further comprises the step.

The image information acquired from the image acquisition camera may include at least one of an image of a region where the image acquisition camera is disposed, photographing information of the corresponding image, position information and attitude information of the image acquisition camera.

According to the present invention, in order to detect the events occurring in the urban space from the sensor and the image acquisition camera and to acquire accurate real-time field image, it integrates the plurality of cameras which are widely distributed and installed in the urban area in conjunction with the 3D GIS layer data. The advantage of controlling and processing real-time images and optionally mapping them to three-dimensional spatial models for visualization.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 is a system configuration diagram to which the apparatus for constructing a city management system incorporating three-dimensional spatial information according to the present invention is applied.

An apparatus for building augmented reality-based city management system incorporating three-dimensional spatial information according to the present invention, as shown in FIG. 1, by using images acquired from a plurality of image acquisition cameras 100 arranged in a predetermined area It includes a city management server 200 for building three-dimensional spatial data.

At this time, when the city management server 200 has the GIS information and indoor and outdoor space information, and acquires the image information of the location through the image acquisition camera 100 disposed at a position corresponding to the GIS information and indoor and outdoor space information, The city management system for the area will be built by integrating the acquired image information, GIS information and indoor / outdoor spatial information.

Here, the Geographic Information System (GIS) is a geographic information system that integrates and processes geographic data that occupies a location in space and attribute data related thereto, and efficiently collects various types of geographic information. The overall organization of hardware, software, geographic data, and human resources used to store, update, process, analyze, and print.

Thus, with reference to Figures 2 and 3, it will be described in more detail a device for constructing augmented reality-based city management system incorporating three-dimensional spatial information according to the present invention.

First, Figure 2 is a block diagram referred to explain the configuration of the image acquisition camera according to the present invention.

2, the image acquisition camera 100 according to the present invention includes a sensor unit 110, a camera 120, a position sensor 130, an attitude detector 140, an image processor 150, and an image storage. The unit 160 and the communication unit 170 is included.

The sensor unit 110 is a means for detecting the environment information of the region where the image acquisition camera 100 is installed and whether an event has occurred in the region.

The camera 120 is a means for capturing an image of a corresponding area according to a control command of the image processor 150. The position detecting unit 130 is a means for acquiring position information such as a pointer of an image captured by the camera 120 when the position of the corresponding image acquisition camera 100 and an image captured by the camera 120 change. to be. The posture detector 140 is a means for detecting a movement of the image acquisition camera 100, and detects a photographing direction of the camera 120 and a moving direction of the camera 120.

The image processor 150 first controls the synchronization of the sensor unit 110, the camera 120, the position sensor 130, and the posture detector 140. In addition, the image processor 150 receives the control command from the city management server 200 to process an operation corresponding to the control command. At this time, the image processing unit 150 outputs a signal for controlling the operation of the camera 120, the position sensor 130 and the attitude sensor 140 according to the control command of the city management server. In addition, the image processor 150 may provide the city management server 200 with the image captured by the camera 120 and the information detected by the position detecting unit 130 and the posture detecting unit 140.

The image storage unit 160 stores an image photographed by the camera 120, information detected by the position detecting unit 130 and the posture detecting unit 140, and the like. At this time, the image and position information and the posture information of the camera 120 stored in the image storage unit 160 is synchronized and stored. Thereafter, the image processor 150 may provide the city management server 200 with information stored in the image storage unit 160 at the request of the city management server 200.

The communication unit 170 is a means for performing communication with the city management server 200. The communication unit 170 transmits the control command of the city management server 200 to the image processing unit 150, and also outputs information from the image processing unit 150. The city management server 200 to be delivered.

3 is a block diagram referred to to explain the configuration of the city management server according to the present invention.

Referring to FIG. 3, the city management server 200 according to the present invention includes a communication unit 210, an event processor 220, a controller 230, a space model generator 240, a space model implementer 250, and storage. The unit 260 is included.

The communication unit 210 is a means for communicating with at least one image acquisition camera 100.

The event processor 220 is a means for processing an event based on the information received from the image acquisition camera 100. If it is detected that an event has occurred from the information received from the image acquisition camera 100, the controller 230 notifies this to build a spatial model corresponding to the event. Here, the event detected by the event processor 220 is an event generated when the spatial information of the region is changed from the image of the region where the image acquisition camera 100 is disposed.

The storage unit 260 stores indoor and outdoor spatial information of a predetermined region. In other words, the storage unit 260 includes a GIS data storage unit 261 in which GIS data is stored and an indoor data storage unit 263 in which indoor data such as an indoor drawing is stored. In addition, the storage unit 260 stores a three-dimensional spatial model integrating the image input in real time from the image acquisition camera 100 and the stored indoor and outdoor spatial information.

When a signal indicating that a specific event has occurred is input from the event processor 220, the controller 230 extracts a 3D spatial model of a corresponding region from the storage 260 according to the detected event. In addition, the controller 230 checks the image acquisition camera 100 in the region or the surrounding area where the event occurs, and transmits a control command for acquiring the image of the corresponding position to the identified image acquisition camera 100.

Therefore, the image acquisition camera 100 located in the area and its surroundings adjusts the shooting position to a specific point according to the control command of the city management server 200, and captures the image of the corresponding location in real time for the city management server 200. )

In this case, the image processor 270 processes the image captured by the image acquisition camera 100 for each frame by the control command of the controller 230. In this case, the controller 230 extracts a frame image corresponding to each region value of the 3D spatial model generated by the spatial model generator 240. The image processor 270 removes the remaining frame image except the extracted frame image.

The spatial model generator 240 integrates the information acquired from the image acquisition camera 100, the three-dimensional spatial model extracted from the storage unit 260, and the frame-by-frame image obtained from the image processor 150. At this time, the spatial model generator 240 maps the frame image extracted by the controller to the 3D spatial model.

The spatial model implementor 250 visualizes the integrated image from the spatial model generator 240.

4A to 6B are exemplary views referred to for describing the operation of the control device of the image acquisition camera 100 for building an augmented reality-based city management system incorporating three-dimensional spatial information according to the present invention.

First, FIG. 4 illustrates spatial model information stored in the storage unit 260 of the city management server 200. Referring to FIG. 4, first, FIG. 4A extracts an area corresponding to a 3D road layer of an area corresponding to an image acquired from the image acquisition camera 100. In addition, FIG. 4B is a view illustrating a region corresponding to a 3D building layer of a region corresponding to an image acquired from the image acquisition camera 100.

In addition, although FIG. 4C is not visible in the image corresponding to the road layer of FIG. 4A, the region corresponding to the 3D water pipe layer is extracted by GIS data of a region corresponding to the image acquired from the image acquisition camera 100.

5 is an exemplary diagram illustrating an operation of extracting and integrating a region corresponding to the layer of FIG. 4 from an image captured by an image acquisition camera.

First, Figure 5 (a) shows the image taken from the image acquisition camera.

FIG. 5B is an image corresponding to the road layer shown in FIG. 4A from the image of FIG. 5A. In addition, FIG. 5C extracts an image corresponding to the building layer shown in FIG. 4B from the image (a) of FIG. 5. 5 (d) shows an image extracted from (b) and (c) of FIG. 5 and an image of the water pipe layer extracted from (c) of FIG. 4 integrated by the spatial model generator 240. will be.

6A and 6B are exemplary views of a three-dimensional space model implemented using FIG. 5D. FIG. 6A shows a front view, and FIG. 6B shows a top view.

In other words, the spatial model generator 240 is an image processed by the image processor 270, a 3D spatial model generated by the spatial model generator 240, or extracted from the storage unit 260, and a sensor unit ( Integrating the sensor data acquired in 110 generates a three-dimensional spatial model. At this time, the spatial model implementation unit 250 based on the three-dimensional spatial model generated by the spatial model generator 240 and the frame image obtained from the image acquisition camera 100 and the sensor data of the image acquisition camera 100 Visualize the dimensional space model.

The operation flow of the present invention configured as described above will be described.

7A and 7B are flowcharts illustrating an operation flow of a control method of an image acquisition camera for implementing an augmented reality based city management system integrating real-time image and 3D indoor and outdoor spatial information according to the present invention.

First, the controller 230 transmits an operation control command to the image acquisition camera 100. In this case, the event processor 220 detects an event from information acquired by the operation of the sensor unit 110, the camera 120, the position sensor 130, and the posture detector 140 of the image acquisition camera 100. do. At this time, the spatial model generator 240 uses the initial setting values of the image acquisition camera 100 and the image received from the image acquisition camera 100 to apply the GIS data and the indoor / outdoor spatial data extracted from the storage unit 260. Create a 3D spatial model by mapping.

7A and 7B illustrate an operation of visualizing by reflecting a corresponding event in a spatial model of a region where an event occurs in a state where a 3D spatial model is generated as described above.

7A and 7B, when the event processing unit 220 does not detect an event from the sensor unit 110 or the image acquisition unit 110, the event processing unit 220 basically has a viewpoint of an image acquisition camera. It will handle the event that changes. If the camera viewpoint of the image received from the image acquisition camera 100 is changed, the event processor 220 detects an event of a corresponding region and notifies the event to the controller 230.

When a predetermined event is detected by the event processor 220 (S700), the controller 230 checks the position information received from the position sensor 130 of the image acquisition camera 100 (S710). In this case, the controller 230 checks whether the corresponding area is an indoor space or an outdoor space based on the received location information (S720). If the indoor space, the controller 230 extracts the indoor space model of the area from the storage unit 260 (S730), otherwise extracts the GIS space model of the area (S725).

In this case, the control unit 230 of the image acquisition camera 100 so that the image received from the image acquisition camera 100 can be mapped to as many parts as possible for the three-dimensional spatial model extracted in the process 'S725' or 'S730' Control the operation.

In other words, the controller 230 changes the posture of the image acquisition camera 100 and controls the captured image to be transmitted to the city management server 200 in real time. Here, the controller 230 calculates each region value of the three-dimensional space model extracted in the process 'S725' or 'S730' (S740), and based on the calculated region values, the corresponding image is most frequently in the three-dimensional space. The position and attitude of the image acquisition camera 100 are calculated to be overlapped. Therefore, the controller 230 transmits a control signal for causing the image acquisition camera 100 of the calculated position to take the calculated posture to the corresponding image acquisition camera 100 (S750).

The image acquisition camera 100 disposed at the calculated position changes the posture of the corresponding image acquisition camera 100 according to a control signal transmitted from the city management server 200, and captures an image in the changed posture. 200) to transmit in real time. Accordingly, the controller 230 acquires an image to be mapped to the 3D spatial model through the image acquisition camera 100 of the corresponding region (S760).

After the process 'S760', the controller 230 performs an operation after 'A' of FIG. 7B.

As shown in FIG. 7B, the controller 230 applies a real time image to the image processor 270 to integrate the 3D spatial model and the real time image received from the image acquisition camera 100. In this case, the image processor 270 extracts the frame image from the real-time image applied from the controller 230 (S770).

The controller 230 extracts an image overlapping each region of the 3D spatial model from the frame image extracted by the image processor 270 (S780), and applies the extracted image to the spatial model generator 240. . On the other hand, the image processor 270 removes the remaining images except for the image to be mapped to the three-dimensional space model.

Therefore, the spatial model generator 240 extracts an area to be mapped to the 3D spatial model of the corresponding area from the image applied from the controller 230 (S790), and maps the extracted image area to the 3D spatial model. (S800). At this time, the spatial model generator 240 integrates the GIS data of the region not displayed in the image and the information of the region received from the image acquisition camera 100 into the 3D spatial model.

As an example, the underground facilities extracted from the GIS data are superimposed on the road image of the 3D spatial model. In addition, when the image acquisition camera 100 or its sensor unit 110 is displayed on the three-dimensional space model, the sensor data received from the sensor unit 110 is displayed together in the three-dimensional space model.

Thereafter, the spatial model implementer 250 visualizes the 3D spatial model integrated by the spatial model generator 240 based on the environmental information of the corresponding region received from the image acquisition camera 100.

As described above, the apparatus and method for constructing augmented reality-based city management system incorporating three-dimensional spatial information according to the present invention are not limited to the configuration and method of the embodiments described as described above. The examples may be configured by selectively combining all or part of the embodiments so that various modifications can be made.

1 to 3 are views referred to to explain the configuration of the city management system construction apparatus according to the present invention,

4 and 5 are exemplary views showing an operation of processing an image acquired from an image acquisition camera according to the present invention;

6A and 6B are exemplary views illustrating a three-dimensional spatial model according to the present invention, and

7A and 7B are flowcharts illustrating an operation flow of a method for constructing a city management system according to the present invention.

Claims (10)

An urban management system construction apparatus incorporating three-dimensional spatial information by using image information acquired from a plurality of image acquisition cameras arranged in a predetermined area, A storage unit for storing GIS (Geographic Information System) information and indoor and outdoor spatial information including an indoor drawing; An event processing unit which reads images acquired from the plurality of image acquisition cameras disposed at positions corresponding to the GIS information and the indoor / outdoor spatial information and detects an event according to a change of spatial information for each image; Integrate the images acquired from the plurality of image acquisition cameras into the GIS information and the indoor and outdoor space information to generate a three-dimensional space model for the indoor and outdoor space, and when the event is detected, an image acquisition camera that captures the image is disposed. A spatial model generation unit for integrating image information acquired from the image acquisition camera into the three-dimensional spatial model of an area; And And a spatial model implementation unit for visualizing the three-dimensional spatial model. The method according to claim 1, When the event is detected, a region value corresponding to each layer of the 3D spatial model is calculated, and the posture of the image acquisition camera is controlled by the image acquisition camera disposed in the region based on the region value of each layer. And a control unit which transmits a control signal to the city management system construction apparatus incorporating three-dimensional spatial information. The method according to claim 1, And an image processing unit for extracting a frame image for integrating into areas corresponding to each layer of the 3D spatial model from the image acquired from the image acquisition camera. The method of claim 3, The spatial model generator, A three-dimensional space comprising obtaining a frame image corresponding to the region value of each layer of the three-dimensional space model among the frame images, and mapping the obtained frame image to the region corresponding to each layer corresponding to the layer image City management system construction unit integrating information. The method according to claim 1, Image information acquired from the image acquisition camera, And an image of a region where the image acquisition camera is disposed, photographing information of the corresponding image, location information and posture information of the image acquisition camera. A city management system construction method integrating three-dimensional spatial information by using image information acquired from a plurality of image acquisition cameras arranged in a predetermined area, Generating a three-dimensional space model for the indoor / outdoor space by integrating images acquired from the plurality of image acquisition cameras disposed at positions corresponding to GIS information and indoor / outdoor spatial information; Reading image information of a corresponding region received in real time from the plurality of image acquisition cameras to detect an event according to a change of spatial information of each image; Incorporating image information received from the image acquisition camera in real time into the three-dimensional spatial model of the region where the image acquisition camera is located, when the event is detected; And And visualizing the three-dimensional spatial model in which the image information is integrated in the integrating step. delete delete delete delete

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