KR101944021B1 - System and method for mapping shape using building scan data - Google Patents

Abstract

The present invention relates to a system and a method for mapping a shape using scan data of a building. More specifically, the present invention relates to a system and a method for mapping a shape using scan data of a building which receive scan data for an atypical building planar object or a typical building cross-sectional object to generate a planar shape.

Description

TECHNICAL FIELD [0001] The present invention relates to a shape mapping system and method using scan data of a building,

The present invention relates to a shape mapping system and method using scan data of a building, and more particularly, to a shape mapping system and method using scan data of a building that receives scan data of an atypical structure plane object or a stereolithography cross- Mapping system and method.

Conventionally, a shape has been created through a method of extracting a two-dimensional section parallel to the floor in a three-dimensional point cloud scanned indoor space of a building to generate a reference line for generating a wall.

However, the above method has a problem in that it is impossible to extract atypical indoor space and it is difficult to generate an atypical outdoor building shape.

Published Japanese Patent Application No. 10-2017-0102752, Sep. 12, 2017, entitled " A 3D feature extraction and classification system using mobile laser scanning data and a method therefor,

The object of the present invention is to provide a shape mapping system using scan data of a building capable of generating a planar shape by receiving scan data for a planar object of an atypical structure or a cross- And a method.

According to an aspect of the present invention, there is provided a shape mapping system using scan data of a building, comprising: a user terminal receiving scan data of a building from a user; And a shape mapping device for performing shape mapping on the scan data input from the user terminal and transmitting the shape mapping to the user terminal.

According to a preferred embodiment of the present invention,

A preprocessing unit for receiving scan data from the user terminal and performing a preprocessing process; An irregular-shaped mapping unit for receiving the preprocessed data and performing shape mapping when the scan data received from the user terminal is data for an atypical building plane object; And a stereolithographic mapping unit for receiving the preprocessed data and performing shape mapping when the scan data received from the user terminal is data for a cross-sectional shape object of the stereolithographic structure.

According to a preferred embodiment of the present invention, the preprocessing unit comprises: a PCD acquisition unit for obtaining a PCD (Point Cloud Data) file from scan data input from a user terminal; A grid dividing unit dividing the PCD file acquired by the PCD acquisition unit into grid units; A grid filtering unit for filtering the grid divided by the grid dividing unit; And an LOD generator for generating an LOD (Level of Detail) of a PCD file included in the grid through a predetermined definition using the grid filtered by the grid filtering unit.

According to a preferred embodiment of the present invention, the atypical shape mapping unit comprises: a segment generation unit receiving data processed by the preprocessing unit and generating segments according to curvature and shape similarity in a PCD file of each grid; A main component analysis unit that receives data from the segment generation unit and generates a base vector through principal component analysis in a PCD file of each grid; A 2D mapping unit which receives data from the principal component analysis unit and performs 2D mapping of a PCD file of each grid using the basis vector generated by the principal component analysis unit; An outline extracting unit for receiving the 2D mapping-performed data from the 2D mapping unit and extracting an outline from the PCD file of each grid; An outline filtering unit for filtering the outlines extracted by the outline extraction unit to remove noise; And a contour combining unit for combining the contour lines filtered by the contour filtering unit in a planar shape to generate a planar shape for walls, ceilings, and floors having different heights and transmitting the planar shapes to the user terminal.

According to a preferred embodiment of the present invention, the stereolithographic mapping unit comprises: a 2D section generation unit for receiving 2D data pre-processed by the preprocessing unit and performing 2D mapping of a PCD file of each grid using a cutting plane; An outline generation unit for receiving the 2D mapping data generated by the 2D section generation unit and extracting an outline from the PCD file of each grid; And a shape generation unit that receives the outlines extracted by the outline generation unit, generates a wall plan shape using a height value and a protrusion vector, and transmits the wall plan shape to the user terminal.

According to a preferred embodiment of the present invention, there is provided a shape mapping method using a shape mapping system using scan data for a building, the shape mapping method comprising: A step of a user inputting scan data for a building through a user terminal; And a step B in which the shape mapping apparatus receives scan data from the user terminal, performs shape mapping, and transmits the shape data to the user terminal.

According to a preferred embodiment of the present invention, in the step B, the preprocessing unit receives the scan data from the user terminal and performs preprocessing; When the atypical shape mapping unit receives the scan data received from the user terminal for the atypical structure plane object, performs the shape mapping by receiving the preprocessed data from the preprocessing unit; And performing a shape mapping by receiving the preprocessed data when the scan shape data input from the user terminal is the data of the stereoscopic structure cross-sectional object.

According to a preferred embodiment of the present invention, the step of performing the preprocessing step includes the steps of: obtaining a PCD (Point Cloud Data) file from scan data input from a user terminal; Dividing a PCD file acquired by the PCD acquisition unit into grid units; Performing a filtering operation of the grid partitioned by the grid filtering unit; And generating an LOD (Level of Detail) of a PCD file included in the grid through a predetermined definition by using the grid filtered by the LOD generation unit by the grid filtering unit.

According to a preferred embodiment of the present invention, the step of performing the shape mapping of the atypical shape mapping unit comprises the steps of: the segment generating unit receives the data preprocessed from the preprocessing unit, receives the preprocessed data from the preprocessing unit, ); The principal component analysis unit receiving data from the segment generation unit and generating a basis vector through principal component analysis in a PCD file of each grid; Performing a 2D mapping of a PCD file of each grid by using a basis vector generated by the principal component analysis unit, the 2D mapping unit receiving data from the principal component analysis unit; Extracting an outline from the PCD file of each grid by receiving the 2D mapping performed by the 2D mapping unit; Filtering the outline extracted by the outline extracting unit to remove noise; And the shape combining unit combines the outlines filtered by the outline filtering unit in a planar shape to generate a planar shape for walls, ceilings, and floors having different heights, and transmitting the planar shapes to the user terminal.

According to a preferred embodiment of the present invention, in the step of performing shape mapping, the 2D section generating unit receives data pre-processed by the preprocessing unit and performs 2D mapping of the PCD file of each grid using the cut plane ; The outline generation unit receiving the 2D mapping data and extracting an outline from the PCD file of each grid; And the shape generation unit receives the outlines extracted by the outline generation unit, and generates a wall plane shape using the height value and the protrusion vector, and transmits the wall plane shape to the user terminal.

The shape mapping system and method using the scan data of the building disclosed in the present invention can generate a planar shape by receiving scan data for a planar object of an irregular structure or a cross section of a regular structure.

1 is a schematic diagram of an overall system according to an embodiment of the present invention.
2 is a schematic view of a pretreatment unit according to an embodiment of the present invention.
3 is a schematic diagram of an irregular-shaped mapping unit according to an embodiment of the present invention.
4 is a structural view of a shape-contour mapping unit according to an embodiment of the present invention.
Figure 5 illustrates a contour mapping flowchart through a system in accordance with an embodiment of the present invention.
6 is a flowchart illustrating a shape mapping process according to scan data according to an exemplary embodiment of the present invention.
FIG. 7 is a flowchart illustrating a preprocessing procedure of the preprocessing unit according to an embodiment of the present invention.
8 is a flowchart showing a shape mapping process of an irregular-shaped mapping unit according to a temporary example of the present invention
Fig. 9 is a flowchart showing a shape mapping process of a shape-mapping unit according to a temporary example of the present invention
10 is an illustration of an exemplary shape mapping of an irregular shape mapping unit according to an embodiment of the present invention
Fig. 11 is a diagram showing an example of shape mapping of a shape-contour mapping unit according to an embodiment of the present invention

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features, and advantages of the present invention will become more readily apparent from the following description of preferred embodiments with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms.

Where the terms first, second, etc. are used herein to describe components, these components should not be limited by such terms. These terms have only been used to distinguish one component from another. The embodiments described and exemplified herein also include their complementary embodiments.

It is to be understood that the elements (or elements) may be implemented in any form of software, hardware, or software, application programs, and hardware, unless the context requires otherwise.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing the specific embodiments below, various specific details have been set forth in order to explain the invention in greater detail and to assist in understanding it. In some instances, it should be noted that portions of the invention that are not commonly known in the description of the invention and are not significantly related to the invention do not describe confusing reasons for explaining the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a structural view of an overall system according to an embodiment of the present invention. FIG. 2 is a structural view of a preprocessing unit according to an embodiment of the present invention, and FIG. 3 is a structural view of an irregular shape mapping unit according to an embodiment of the present invention And FIG. 4 is a structural view of a shape-contour mapping unit according to an embodiment of the present invention. 1 to 4, the shape mapping system using scan data of a building according to the present invention includes a user terminal 100 receiving scan data for a building from a user, And a shape-mapping device 200 for performing shape mapping on the object. The shape mapping apparatus includes a preprocessing unit 210 for receiving scan data from the user terminal 100 and performing a preprocessing process, and a control unit 210 for, when the scan data received from the user terminal 100 is data for an atypical structure plane object An amorphous shape mapping unit 220 for receiving the preprocessed data from the preprocessing unit 210 and performing shape mapping, and a preprocessing unit 220 for, if the scan data received from the user terminal 100 is data for a cross- And a shape-mapping unit 230 that receives the preprocessed data and performs shape mapping. The preprocessing unit 210 further includes a PCD acquisition unit 211, a grid division unit 212, a grid filtering unit 213 and an LOD generation unit 214. The irregular shape mapping unit 220 The image processing apparatus may further include a segment generating unit 221, a principal component analyzing unit 222, a 2D mapping unit 223, an outline extracting unit 224, an outline filtering unit 225, and a shape combining unit 226, The shape mapping unit 230 further includes a 2D section generation unit 231, an outline generation unit 232, and a shape generation unit 233. The user terminal 100 may be a general personal computer (PC) or a portable mobile phone, a smart phone, a tablet computer, a notebook computer, a PDA (personal digital assistant), a PMP Portable Multimedia Player) or the like, and it is sufficient if the device capable of inputting the building scan data into the shape mapping device 200 is sufficient. The communication between the user terminal 100 and the shape mapping apparatus 200 may be performed by a local area network (LAN), a wide area network (WAN), a value added network (VAN) Such as a Personal Area Network (PAN), a mobile radio communication network, or a satellite communication network.

5 is a shape mapping flowchart through a system according to an embodiment of the present invention. As shown in FIG. 5, the shape mapping using the system according to the present invention largely includes a step S100 of inputting scan data for a building through the user terminal 100, The process proceeds to step S200 in which the scan data is received from the terminal 100 and the shape mapping is performed and transmitted to the user terminal 100. [

Hereinafter, the process will be described in detail with reference to FIGS. FIG. 6 is a flow chart of a shape mapping according to scan data according to an embodiment of the present invention, and FIG. 7 is a flowchart of a preprocessing process of a preprocessing unit according to an embodiment of the present invention. 6, when the scan data is input from the user terminal 100, the preprocessing unit 210 performs a preprocessing step S210. In operation S210, It goes on like this. First, the PCD acquiring unit 211 acquires a PCD (Point Cloud Data) file from the scan data input from the user terminal (S211). Obtaining the PCD file in step S211 means obtaining a handle (HANDLE) that can access the PCD file, and the handle includes a path of the PCD file. The PCD file is a set of POINTs, and there is no stored order, and the POINT may include X, Y, and Z values and DATA. The PCD file can be defined as follows.

PCD = {point *}

point = {x, y, z, data}

data = {normal, intensity, RGB}

normal = normal vector

intensity = reflection intensity

RGB = {red, green, blue}

* = multiple

Next, the grid dividing unit 212 divides the PCD file acquired by the PCD obtaining unit 211 into grid units (S212). The reason for performing the step S212 is that the scanned data is large data having a number of millions to tens of millions of points or more. This is because it is difficult to load and process the data directly into memory, so it is necessary to divide the PCD into grid units.

Next, the grid filtering unit 213 performs a filtering operation of the grid divided by the grid dividing unit 212 (S213). In the step S213, clusters are generated using the clustering algorithm according to the density in the PCD files of the separated grids, and noise clusters having a low density are removed.

Finally, the LOD generation unit 214 generates a level-of-detail (LOD) of a PCD file included in the grid through a predetermined definition using the grid filtered by the grid filtering unit 213 (S214) do. In step S214, the LOD is defined as follows.

LOD = {LOD_name, LOD_density, sampling_method}

LOD_name = LOD name

LOD_density = distance between points

sampling_method = LOD_density

As shown in FIG. 6, the shape mapping process according to the present invention is divided into two processes. First, when the scan data subjected to the preprocessing process by the preprocessing unit 210 is data for an irregular structure plane object, an irregular shape mapping unit 220 performs the shape mapping by receiving the scan data that has been pre-processed by the preprocessing unit 210 (S220). FIG. 8 is a shape mapping flowchart of an irregular shape mapping unit according to an exemplary embodiment of the present invention, and FIG. 10 is an exemplary shape mapping of an irregular shape mapping unit according to an embodiment of the present invention. As shown in FIGS. 8 and 10, the step S220 proceeds as follows. First, the segment generating unit 221 receives the preprocessing data from the preprocessing unit 210 and generates a segment according to the curvature and shape similarity in the PCD file of each grid (S221). The step S221 is performed through a region growing algorithm and a RANSAC (Random Absolute Consensus) calculation module.

Next, the principal component analysis unit 222 receives data from the segment generation unit 221, and performs a step S222 of generating a basis vector through principal component analysis in the PCD file of each grid. The step (S222) obtains a basis vector for the PCD file using PCA (Principal Component Analysis).

In operation S223, the 2D mapping unit 223 receives data from the principal component analysis unit 222 and performs 2D mapping of the PCD file of each grid using the basis vector generated by the principal component analysis unit 222. [ . The step (S223) is performed by a method of obtaining a dimensional transformation matrix M using the basis vector and applying it to a PCD file to perform 2D mapping.

Next, the outline extractor 224 receives the 2D mapping data from the 2D mapping unit 223 and extracts an outline from the PCD file of each grid (S224). The outline extraction method in step S224 is performed by selecting one of the concave hull and convex hull methods, and the extracted outline is stored in the geojson format.

Next, the outline filtering unit 225 performs a step S225 of filtering the outlines extracted by the outline extracting unit 224 to remove noise. The reason why the step S225 is performed is that the extracted outline is a POLYLINE connected to a number of POINTs. Since the scanned data includes a lot of noise, it is necessary to remove the noise through the smoothing algorithm. The algorithm uses the POLYLINE approximation.

Finally, the shape combining unit 226 combines the outlines filtered by the outline filtering unit 225 in a planar shape to generate planar shapes for walls, ceilings, and floors having different heights, and transmits them to the user terminal 100 Step S226 is performed. The plane shape generated through the step S226 is stored as a geojson format file.

6, when the preprocessing process performed by the preprocessing unit 210 is data for a cross-sectional object of a stereolithography structure, the shape-mapping unit 230 performs preprocessing by the preprocessing unit 210, And performs the shape mapping by receiving the scan data (S230). FIG. 9 is a shape mapping flowchart of a stereomorphic shape mapping unit according to a temporary example of the present invention, and FIG. 11 is an illustration of an exemplary shape mapping of a stereomorphic shape mapping unit according to an embodiment of the present invention. As shown in FIGS. 9 and 11, the step S230 proceeds as follows. First, the 2D section generator 231 receives the preprocessed data from the preprocessor 210 and performs 2D mapping of the PCD file of each grid using the cut plane (S231). Next, The 2D section generation unit 231 receives the 2D mapping data and extracts an outline from the PCD file of each grid (S232). In step S231, the outline is extracted through a RANSAC calculation module and connected to form a POLYLINE.

Finally, the shape generating unit 233 receives the outlines extracted by the outline generating unit 232, generates a wall plane shape using a height value and an extrusion vector, and transmits the wall plane shape to the user terminal 100 (step S233). The plane shape generated through the step S233 is stored as a geojson format file.

As described above, in order to perform shape mapping through the shape mapping system using the scan data of the building according to the present invention, a support operator and an operator parameter are required. Operators and parameters

S2G-MD = {MS-OP *}

* = multiple. Repeat from 0 to n.

Can be defined as above, and can be configured as shown in Table 1 below.

Component name Operator function S2G_mapping setDimensionUnit Set the unit of measure. Inputs are dimension units by length and angle scan_to_LOD defineLOD The input is a grid_space value that defines the LOD name and LOD semantics,
sampling specifies how to get representative points in the space partitioned by grid_space

sampling = {near_point, middle_point, average_point}
near_point = grid get closest point in center
middle_point = Calculate and obtain center point in grid
average_point = Get the mean of all points in grid PCD loadPCD The input is the path where the PCD file is located, and the output is the loaded PCD object. scan_to_grid createGrid Input is PCD, grid interval, output is divided grid and partitioned PCD scan_to_filter createCluster The input is the grid or PCD, the minimum number of points min_data, the maximum distance between points in the cluster, max_distance, and the output is cluster filter_min_data_removal The input is the minimum number of points contained in the cluster, and the output is a cluster that has not been removed. scan_to_LOD createLOD The inputs are PCD, and the predefined LOD, and the output is the PCD converted according to the LOD scan_to_segment Segmentation Inputs are PCD, region growing algorithm and curvature curvature for applying RANSAC, RANSAC model type model, RANSAC tolerance tolerance. S2G_mapping createSeedPlane The input is the PCD, and the output is the seed plane shape. refiningGeometry The input is the grid containing the seed plane shape and the output is the merged plane shape. S2G_mapping_rule executeS2GM The input is the path where the rule script file is located. scan_to_outline createOutline Inputs are PCD, outline calculation mode, tolerance tolerance. The output is an outline shape. The outline is a polyline.

mode = {concave_hull, convex_hull}
tolerance = tolerance angle outline_to_smoothing smoothingOutline Inputs are outline, allowable value tolerance for smoothing, and output is smoothed outline. merge_plane mergePlane Inputs are plane geometry, tolerance tolerance, and output is a merged plane shape. scan_to_section createSection The input is the PCD, cutting plane, and the output is the 2D PCD mapped to the cutting plane. scan_to_pline createPline The input is the allowable value tolerance of the 2D PCD, RANSAC line model, and the output is the polyline shape to which the line is connected. pline_to_extrusion extrudeSurface The input is 2D polyline, extrusion vector, extrusion height, and the result is a protruding surface shape.

Table 2 below shows a configuration example in which the above-mentioned operators and parameters are sequentially executed or a control command for controlling the execution flow is required.

Control command Configuration function module {name, [sequence], function *} name = Module name
[] = Options Define module function {name, var *, sequence *} name = function name Define function there {var, [type], name, [{'=', value}}} name = variable name
value = variable value
[] = Optional
type = {integer, real, string} Define variables sequence {begin, call | if | elseif | endif | while, end} Define sequential processing structure begin none Define start in sequential processing structure end none Define an end in a sequential structure equation {left_var, '=', right_eq}
right_eq = {'(', var, eq_op, var, ')', [eq_op, right_eq]} *
eq_op = {'+' | '-' | '/' | '*'} call {name, parameter, [return_value]}
name = MS-OP name
parameter = {var name, '=', value} *
return = {var *} Invokes MS-OP or function if condition Define conditional statements elseif condition Define conditional statements while condition Define loop condition {cp, {and | or, cp} *} cp = {left var, c-op, right var}
cp-op = {'<', '>', '<=', '>=','==','!='} Define conditions return value Return value

The control of the system according to the present invention can be implemented in various languages such as XML or python using the above-mentioned operators, parameters and control commands, and the following is an embodiment thereof.

<! DOCTYPE S2G "S2G-MCC.dtd">

<S2G>

<module name = 'scan to geometry for informal'>

<sequence>

<begin>

<call name = 'setDimensionUnit' parameter = 'length = meter, angle = degree' />

<call name = 'defineLOD' parameter = 'LOD2, space = 2cm, origin = near' />

* <call name = 'getPCD' return = 'PCD' />

<call name = 'createGrid' parameter = 'PCD, space = 5, origin = left_bottom' return = 'grids' />

<equation> g = grids.begin </ equation>

<while condition = 'g! = null'>

<begin>

<call name = 'segmentation' parameter = 'g.PCD, Normal.curvature.tolerance = 0.1, RANSAC.model = plane, RANSAC.tolerance = 0.1' return = 'g.segments' />

<call name = 'nextElement' parameter = 'g' return = 'g'>

<end>

</ while>

<end>

</ sequence>

</ module>

</ S2G>

Below is an example implemented with python.

setDimensionUnit (length = meter, angle = degree)

defineLOD ("LOD2", space = 2cm, origin = near)

PCD = getPCD (path)

grids = createGrid (PCD, space = 5, origin = left_bottom)

grids = createCluster (grids, min_data = 50, max_distance = 0.5)

grids = filter_min_data_removal (grids, min_data = 100)

grids = createLOD (grids, "LOD2")

for g in grids:

g.segments = segmentation (g.PCD, Normal.curvature.tolerance = 0.1, RANSAC.model = plane, RANSAC.tolerance = 0.1)

geometries = createSeedPlane (grids)

geometries = refiningGeometry (geometries, outline.smoothing.pruning.perpendicular = 0.05)

Accordingly, as described above, the shape mapping system using the scan data of the building according to the present invention receives the scan data of the building from the user through the user terminal 100, receives the atypical structure plane object, It is possible to create a planar shape for a cross-section object of a building, thereby solving the conventional problems.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or essential characteristics thereof. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

* 100: User terminal
200: contour mapping device
210:
211: PCD acquisition section
212: Grid divider
213: Grid filtering unit
214: LOD generator
220: irregular shape mapping unit
221: segment generation unit
222: Principal component analysis unit
223: 2D mapping unit
224: Outline Extraction Unit
225: Outline Filtering Unit
226:
230: orthopedic shape mapping unit
231: 2D section generating section
232: Outline generation unit
233:

Claims (10)

1. A shape mapping system using scan data for a building,
A user terminal (100) for receiving scan data for a building from a user; And
A shape mapping device 200 for performing shape mapping of the scan data received from the user terminal 100 and transmitting the shape data to the user terminal 100;
, &Lt; / RTI &
The shape mapping apparatus (200)
A preprocessor 210 for receiving scan data from the user terminal 100 and performing a preprocessing process;
An irregular-shaped mapping unit 220 for receiving the preprocessed data from the preprocessing unit 210 and performing shape mapping when the scan data received from the user terminal 100 is data for an irregular building plane object; And
A normal shape mapping unit 230 for receiving the data processed by the preprocessing unit 210 and performing shape mapping when the scan data received from the user terminal 100 is data for a cross-sectional object of a stereolithographic structure;
, &Lt; / RTI &
The irregular-shaped shape mapping unit 220,
The pre-processing unit 210 receives the preprocessed data and generates a segment according to the curvature and shape similarity in the PCD file of each grid using a region growing algorithm and a RANSAC algorithm (Random Access Consensus) A segment generating unit 221;
A main component analysis unit 222 for receiving data from the segment generation unit 221 and generating a base vector by principal component analysis in a PCD file of each grid using a PCA (Principal Component Analysis) algorithm;
A 2D mapping unit 223 that receives data from the principal component analysis unit 222 and obtains a dimensional transformation matrix M using the basis vectors generated by the principal component analysis unit 222 and performs 2D mapping of the PCD files of the respective grids;
The 2D mapping unit 223 receives the 2D mapping data and extracts the outline from the PCD file of each grid through a convex polygon (Convex Hull) method or a concave polygon (Concave Hull) method, An outline extracting unit 224 for storing the outline;
An outline filtering unit 225 for filtering the outlines extracted by the outline extraction unit 224 through a smoothing algorithm using a POLYLINE approximation method to remove noise; And
A contour combining unit for combining the contours filtered by the contour filtering unit 225 into planar shapes to generate planar shapes for walls, ceilings, and floors having different heights, storing the planar shapes in a geojson format, and transmitting them to the user terminal 100 226);
A shape mapping system using scan data for a building.
delete The method according to claim 1,
The preprocessing unit 210,
A PCD acquiring unit 211 for acquiring a PCD (Point Cloud Data) file from the scan data received from the user terminal 100;
A grid dividing unit 212 dividing the PCD file acquired by the PCD acquiring unit 211 into grid units;
A grid filtering unit 213 for filtering the grid divided by the grid dividing unit 212; And
An LOD generation unit 214 for generating an LOD (Level of Detail) of a PCD file included in the grid through a predetermined definition using the grid filtered by the grid filtering unit 213;
A shape mapping system using scan data for a building.
delete The method according to claim 1,
The orthopedic shape mapping unit 230,
A 2D section generating unit 231 for receiving data pre-processed by the preprocessing unit 210 and performing 2D mapping of a PCD file of each grid using a cutting plane;
An outline generation unit 232 receiving the 2D mapping data from the 2D section generation unit 231 and extracting an outline from the PCD file of each grid; And
A shape generation unit 233 that receives the outlines extracted by the outline generation unit 232, generates a wall plane shape using a height value and a protrusion vector, and transmits the wall plane shape to the user terminal 100;
A shape mapping system using scan data for a building.
A shape mapping method using a shape mapping system using scan data for a building,
A step A of the user inputting the scan data for the building through the user terminal 100; And
A step B in which the shape mapping apparatus 200 receives scan data from the user terminal 100 and performs shape mapping and transmits the shape data to the user terminal 100;
, &Lt; / RTI &
In the step B,
The preprocessing unit 210 receives the scan data from the user terminal 100 and performs preprocessing;
When the atypical shape mapping unit 220 receives the scan data received from the user terminal 100 as the data for the atypical structure plane object, receiving the preprocessed data from the preprocessing unit 210 and performing shape mapping; And
If the scan data received from the user terminal 100 is data for a cross-sectional shape object of the stereoscopic structure, performing a shape mapping by receiving the preprocessed data from the preprocessing unit 210;
, &Lt; / RTI &
The step of performing shape mapping by the atypical shape mapping unit 220 may include:
The segment generating unit 221 receives the data preprocessed from the preprocessing unit 210 and generates the segmented PCD file according to the curvature and shape similarity in the PCD file of each grid using a region growing algorithm and a random access consensus Generating a segment;
The principal component analyzing unit 222 receives data from the segment generating unit 221 and generates a basis vector through principal component analysis in a PCD file of each grid using a Principal Component Analysis (PCA) algorithm;
The 2D mapping unit 223 receives the data from the principal component analysis unit 222 and obtains the dimensional transformation matrix M by using the basis vector generated by the principal component analysis unit 222 and performs 2D mapping of the PCD file of each grid step;
The outline extractor 224 receives the 2D mapping data from the 2D mapping unit 223 and receives the data from the PCD file of each grid through either the convex polygon (Convex Hull) method or the concave polygon (Concave Hull) Extracting an outline and storing it in a geojson format;
The outline filtering unit 225 filters the outlines extracted by the outline extracting unit 224 through a smoothing algorithm using a POLYLINE approximation method to remove noise; And
The shape combining unit 226 combines the outlines filtered by the outline filtering unit 225 in a planar shape to generate planar shapes for walls, ceilings, and floors having different heights, stores them in a geojson format, ;
A shape mapping method using a shape mapping system using scan data for a building.
delete The method according to claim 6,
In the pre-processing unit 210,
Obtaining a PCD (Point Cloud Data) file from the scan data received from the user terminal 100 by the PCD acquiring unit 211;
Dividing the PCD file acquired by the PCD acquiring unit 211 into grid units;
Performing a filtering operation of the grid divided by the grid dividing unit (212) by the grid filtering unit (213); And
Generating an LOD (Level of Detail) of a PCD file included in the grid through a predetermined definition using the grid filtered by the grid filtering unit 213;
A shape mapping method using a shape mapping system using scan data for a building.
delete The method according to claim 6,
The step of the shape mapping unit 230 performs shape mapping,
The 2D section generation unit 231 receives the preprocessed data from the preprocessing unit 210 and performs 2D mapping of the PCD file of each grid using the cut plane;
The outline generation unit 232 receives the 2D mapping data from the 2D section generation unit 231 and extracts the outline from the PCD file of each grid; And
The shape generation unit 233 receives the outlines extracted by the outline generation unit 232, generates a wall plane shape using a height value and a protrusion vector, and transmits the wall plane shape to the user terminal 100;
A shape mapping method using a shape mapping system using scan data for a building.

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