KR102067034B1 - Apparatus for extracting vegetation section for 3d navigation and method thereof - Google Patents

Abstract

The present invention relates to an apparatus and method for extracting vegetation sections for three-dimensional navigation, comprising: a data collector for collecting data for vegetation section extraction; a data preprocessor for preprocessing the collected data to generate three-dimensional point data; A header information analysis unit for analyzing header information of the 3D point data, a header information filter unit for extracting a vegetation region by filtering the header information, and each point of the corresponding vegetation region to express the extracted vegetation region Using a class granting unit for assigning a class to data and class information assigned to each point data, generating planar and linear data corresponding to at least one of the size, shape, and area of roadside trees or vegetation areas, and matching the road boundaries Use the surface and linear matching section to make the information W performs the row of trees or the linear interpolation of the vegetation region, and comprising a given linear interpolation and properties that give it the property.

Description

Apparatus and method for extracting vegetation sections for three-dimensional navigation {APPARATUS FOR EXTRACTING VEGETATION SECTION FOR 3D NAVIGATION AND METHOD THEREOF}

The present invention relates to an apparatus and method for extracting vegetation sections for three-dimensional navigation, and more particularly, to a vegetation distribution section for three-dimensional navigation using GPS / INS (Global Positioning System / Inertial Navigation System) data and laser data. The present invention relates to a vegetation section extraction apparatus and method for three-dimensional navigation.

Recently released 3D navigation displays not only roads but also various facilities around the roads and is constantly updated to display the same or similar as possible.

For example, the map displayed through the 3D navigation displays the main road facilities such as roadsides, milestones, billboards, crosswalks, traffic lights, etc. in detail, and is similar to the actual site. There is a trend to enhance the reality by displaying in a variety of patterns.

However, unlike artificial facilities, since vegetation such as roadside trees is not uniform in distribution range and shape, it takes a lot of manpower and time to display vegetation such as roadside trees on the 3D navigation map.

For example, in order to construct and display a target point where vegetation such as roadside trees are distributed in a conventional navigation system using a polyline, a map maker directly checks a target point where vegetation such as roadside trees is distributed and then vectorizes the image. Since the vegetation distribution section needs to be constructed through linearizing the outline of a specific object or group), a lot of manpower and time are required.

Background art of the present invention is disclosed in Republic of Korea Patent No. 10-0888155 (2009.03.04. Registered, a system and method for displaying a three-dimensional map using texture mapping).

The present invention was created to solve the above problems, and the vegetation section extraction apparatus and method for three-dimensional navigation to extract the vegetation distribution section for three-dimensional navigation using GPS / INS data, laser data The purpose is to provide.

Vegetation section extraction apparatus for three-dimensional navigation according to an aspect of the present invention, the data collection unit for collecting the data required for vegetation section extraction; A data preprocessor configured to preprocess the collected data to generate three-dimensional point data; A header information analyzer for analyzing header information of the 3D point data; A header information filter unit filtering the header information to extract a vegetation region; A class granting unit for assigning a class to each point data of the corresponding vegetation region in order to express the extracted vegetation region; A planar and linear matching unit configured to generate planar and linear data corresponding to at least one of the size, shape, and area of the roadside tree or the vegetation area using the class information assigned to each point data and match the road boundary line; And a linear interpolation and attribute assigning unit for performing linear interpolation on the roadside tree or vegetation region using the information related to the road, and assigning the attributes.

In the present invention, the data collection unit, means for receiving Global Positioning System / Inertial Navigation System (GPS / INS) data; And means for receiving laser scan data.

In the present invention, the data pre-processing unit classifies the characteristic of the point data collected through the data collection unit into at least one of ground surface, pool, tree, tree, and building by using the return information of the laser data. It is characterized by recording in the header information.

In the present invention, the header information of the point data includes at least one or more of coordinates, precision, and characteristics of the point data.

In the present invention, the information related to the road, the road boundary line and the vegetation area includes a buffer line is set so as not to be displayed by invading the road area, the attributes of the roadside tree or vegetation area, for the branches and leaves of the roadside tree It characterized in that it comprises at least one of the shape, pattern, and color information.

According to another aspect of the present invention, there is provided a vegetation section extraction method for three-dimensional navigation, comprising: pre-processing data collected by a data collection unit to extract three-dimensional point data; Analyzing, by a header information analyzer, header information of each point data, and extracting a vegetation region by filtering the analyzed header information by a header information filter unit; Assigning a class to each point data by a class assigning unit to display the filtered vegetation region on a 3D navigation screen; Using the class information assigned to each point data, the planar and linear matching unit generating planar and linear data corresponding to at least one of the size, shape and area of the roadside or vegetation area and matching the road boundary line; And performing linear interpolation on the roadside tree or vegetation region using the information related to the road which the linear interpolation and attribute providing unit already know, and assigning the attribute.

In the present invention, in the data preprocessing unit performing the preprocessing, the data preprocessor classifies the characteristics of the point data collected through the data collection unit into at least one of the surface, pool, tree, tree, and building The data is recorded in the header information of each point data.

In the present invention, the header information of the point data includes at least one or more of coordinates, precision, and characteristics of the point data, and the information related to the road includes a road boundary line and a vegetation area invading the road area. And a buffer line set so as not to be set, wherein the attributes of the roadside tree or the vegetation area include at least one of shape, pattern, and color information of branches and leaves of the roadside tree.

The present invention can automatically extract the vegetation distribution section for three-dimensional navigation using GPS / INS data, and laser data to reduce the manpower and time consumption for the reading and construction of vegetation section and the GPS / INS data It also extends the range of uses for convenience functions that can utilize the data, and laser data.

1 is an exemplary view showing a schematic configuration of a vegetation section extraction apparatus for three-dimensional navigation according to an embodiment of the present invention.
2 is an exemplary diagram for explaining a method of extracting point data using return information of the radar data according to the present embodiment.
3 is an exemplary diagram for explaining a method of performing linear interpolation along a road boundary line after extracting a vegetation region according to the present embodiment.
FIG. 4 is an exemplary view illustrating a screen displaying a roadside number to which a property is assigned on a 3D navigation map in FIG. 3. FIG.
5 is a flowchart illustrating a vegetation section extraction method for three-dimensional navigation according to an embodiment of the present invention.

Hereinafter, an embodiment of an apparatus and a method for extracting vegetation sections for 3D navigation according to the present invention will be described with reference to the accompanying drawings.

In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described below are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, the definitions of these terms should be made based on the contents throughout the specification.

1 is an exemplary view showing a schematic configuration of a vegetation section extraction apparatus for three-dimensional navigation according to an embodiment of the present invention.

As shown in FIG. 1, the vegetation section extraction apparatus for three-dimensional navigation according to the present embodiment includes a data collector 110, a data preprocessor 120, a header information analyzer 130, and a header information filter unit. 140, a class provider 150, a planar and linear matcher 160, and a linear interpolation and attribute provider 170.

The data collection unit 110 includes a means for receiving GPS / INS (Global Positioning System / Inertial Navigation System) data (hereinafter referred to as GPS / INS means) and a means for receiving laser scan data (hereinafter referred to as laser means). do.

The vegetation section extraction apparatus for three-dimensional navigation according to the present embodiment processes the GPS / INS data and the laser scan data to finally obtain point data (for example, points or coordinates at which an object is displayed on a map). The vegetation section extracting apparatus for 3D navigation according to the present embodiment is mounted on a vehicle for mapping to automatically extract vegetation sections while driving on a road.

For reference, the GPS and the INS is a means used for acquiring positions, respectively. First, the INS is the position, speed, and attitude of the vehicle using the acceleration and the angular velocity of the vehicle measured by the gyro and the accelerometer, which are inertial sensors, without external help. Calculate information about However, INS calculates the attitude and velocity by integrating the acceleration and gyro input values, which has the disadvantage of accumulating errors over time. On the other hand, GPS is a means for calculating the absolute position on the earth by using a satellite, unlike the INS has a advantage that the navigation error of the short time is large, but the error does not accumulate over time. Therefore, the GPS / INS means is a device that combines only the advantages of INS and GPS.

In addition, a means for receiving laser scan data (laser means) is a laser radar means, which is a shortened word for light detection and ranging (lidar), which emits a laser beam having a property close to radio waves in the air, and reflects it. Or it can be said to be a radar that measures the distance to the object or the atmospheric phenomenon using a scatterer.

In this embodiment, a bundle of light is scanned on a target object for which data is to be acquired using the characteristics of the laser means, and a three-dimensional point cloud (that is, laser return information) is reflected using the reflected laser data (ie, laser return information). Create a Cloud). At this time, the number of reflected laser data (ie, radar return information) varies according to the characteristics of the object (eg, low vegetation, high vegetation (width), building, etc.), and the roadside distribution area is extracted using the characteristics of the object. do.

The return information of the laser data is classified into four types of information of the object according to the order and the reflection intensity of the returned laser and recorded in the header.

For example, road surfaces (or ground surfaces) and buildings that have a hard and uniform shape according to the characteristics of the object have a single return information. In the case of vegetation, a plurality of pieces of return information (such as size, shape, and height) are used. Example: 1st, 2nd, 3rd, 4th, etc.). This is because the size, shape, and height of the object reflected within the area of the laser beam after the bundle of light (ie, the laser beam) are scanned vary (see FIG. 2).

For reference, FIG. 2 is an exemplary view for explaining a method of extracting point data using return information of laser data according to the present embodiment.

Referring to FIG. 2, a vehicle equipped with the laser means (for example, a laser scanner) emits a laser beam around while driving on a road, and returns information of the emitted laser beam through the data preprocessor 120. Collect and analyze to determine the characteristics of the object (eg ground surface, low vegetation, high vegetation, building, etc.). In facilities such as buildings, for example, laser beams are not scattered and single return information is extracted. However, in vegetation (vegetation) such as roadside trees, laser beams are scattered by leaves and the like, and multi-return information (eg 1st, 2nd, 3rd, 4th, etc.) is extracted. In the case of the roadside tree grown to a height higher than or equal to a predetermined standard among the vegetation (vegetation), since single return information is extracted from the stem part, the multi-return information may be determined as a roadside tree in combination with the extracted leaf part.

The data preprocessor 120 preprocesses data (eg, GPS / INS data and laser scan data) collected through the data collector 110 to generate three-dimensional spatial coordinates of point data.

The data (ie, raw data) collected through the data collection unit 110 may be largely classified into a ground surface, a roadside tree (vegetation), a building, etc. according to the reflection intensity and the reflection order of a point through the data preprocessor 120. Can be.

For example, through the data preprocessing, unnecessary points, ground surface points, roadside trees (vegetation) and building points (eg, low vegetation such as grass or scrub, high vegetation such as roadside trees) in the raw data (data collected through the data collection unit), Points (such as buildings) can be extracted.

The header information analyzer 130 analyzes header information of point data generated in the 3D spatial coordinate form.

For example, the header information includes at least one of coordinates, precision, and characteristics (eg, ground surface, low vegetation, high vegetation (street), building, etc.) of the point data.

The header information filter 140 filters the analyzed header information to extract a vegetation region.

For example, the header information filter unit 140 extracts the region (ie, the vegetation region) by filtering the point data having a high vegetation (width) characteristic using the analyzed header information. For example, it is possible to extract whether the point data belongs to a tree-lined dense region or a vegetation region distributed continuously at a predetermined interval (in a line).

The class assigning unit 150 grants a class (ie, information representing a set of common sets or classes) for each point data of each region in order to express regions extracted through the header information filter unit 140. do.

The planar and linear matching unit 160 generates planar and linear data corresponding to the size, shape, and area of the roadside tree (or roadside dense area) (ie, high vegetation) by using the class information assigned to each point data. To match the road boundary.

Next, the planar and linear matching unit 160 generates planar and linear data corresponding to the size, shape, and area of the roadside tree (or roadside dense area) using the point data, and then linear interpolation. And linear interpolation of the roadside tree (or roadside dense area) by using the road information (eg, road boundary line and buffer line) which is already known by the attribute providing unit 170.

The linear interpolation and attribute providing unit 170 performs linear interpolation based on a road boundary line with respect to a plane and a linear line generated in correspondence with the roadside number (or roadside density area). In addition, by applying a buffer line (that is, a border line that is set so that vegetation areas invade the road area), the roadside tree does not invade the roadway area, and the attributes (e.g., Shape, pattern, color, etc. of the branches and leaves of the tree) (see FIGS. 3 and 4).

For reference, FIG. 3 is an exemplary diagram for describing a method of performing linear interpolation along a road boundary line after extracting a vegetation region according to the present embodiment. FIG. 4 is a three-dimensional view of a tree with an attribute in FIG. 3. This is an example of the screen displayed on the navigation map.

As described above, the present embodiment automatically classifies a vegetation distribution region using header information of extracted point data (for example, a point or coordinate at which an object is displayed on a map), and performs classification on the classified vegetation distribution region. After extracting linear and planar shapes, attributes are automatically assigned and displayed to reduce manpower and time input.

5 is a flowchart illustrating a vegetation section extraction method for 3D navigation according to an embodiment of the present invention.

Referring to FIG. 5, the data preprocessor 120 extracts 3D point data by preprocessing data (eg, GPS / INS data and laser scan data) collected through the data collector 110 (S101).

The data preprocessor 120 may classify each point data into an earth surface, a roadside tree, a building, and the like based on the laser reflection information of the point data in which the multi return occurs.

The data preprocessor 120 records the classification information in header information of each point data.

For example, the data preprocessor 120 may store unnecessary points, surface points, roadside trees (vegetation), and building points (eg, low vegetation, such as grass or scrub, high roadside trees) in data collected through the data collection unit 110. Points of vegetation, buildings (buildings, etc.) are extracted and the classification information is recorded in header information of each point data.

The header information analysis unit 130 analyzes the header information of each point data (S102), and the header information filter unit 140 filters the analyzed header information to extract the vegetation region (S103).

Next, in order to express the filtered vegetation region on the 3D navigation screen, the class assigning unit 150 assigns a class (ie, information representing a set of common sets or classes) for each point data (S104). .

The planar and linear matching unit 160 generates planar and linear data corresponding to the size, shape, and area of the roadside tree (or roadside dense area) (that is, vegetation) by using the class information assigned to each point data. Match the road boundary line (S105).

After generating the planar and linear data corresponding to the size, shape and area of the roadside tree (or roadside dense area) (ie, vegetation) using the point data as described above, the linear interpolation and attribute provider 170 already knows. Linear interpolation of the roadside tree (or roadside dense area) using road information (eg, road boundary line, buffer line), and the attributes (for vegetation) Example: to give information (such as shape, pattern, color, etc.) for the branches and leaves of the tree (S107).

As described above, attributes are assigned to the roadside trees (or roadside dense areas), so that the actual roadside trees (or roadside dense areas) (that is, vegetation) are displayed on the screen of the 3D navigation map. .

As described above, the present embodiment can automatically reduce the manpower and time input to display the actual roadside tree on the three-dimensional navigation screen by automatically extracting the linear and facet shape for the vegetation section.

The present invention has been described above with reference to the embodiments shown in the drawings, but this is merely exemplary, and various modifications and equivalent other embodiments are possible from those skilled in the art. I will understand the point. Therefore, the technical protection scope of the present invention will be defined by the claims below.

110: data collection unit
120: data preprocessing unit
130: header information analysis unit
140: header information filter unit
150: class grant unit
160: face and linear matching
170: linear interpolation and attribute assigning unit

Claims (8)

A data collection unit collecting data for extracting vegetation sections;
A data preprocessor configured to preprocess the collected data to generate three-dimensional point data;
A header information analyzer for analyzing header information of the 3D point data;
A header information filter unit filtering the header information to extract a vegetation region;
A class granting unit for assigning a class to each point data of the corresponding vegetation region in order to express the extracted vegetation region;
A planar and linear matching unit configured to generate planar and linear data corresponding to at least one of the size, shape, and area of the roadside tree or the vegetation area by using the class information assigned to each point data and match the road boundary line; And
And a linear interpolation and attribute assigning unit for performing linear interpolation on the roadside tree or vegetation region using information related to a road that is already known, and assigning the attributes to the vegetation section.
The method of claim 1, wherein the data collection unit,
Means for receiving Global Positioning System / Inertial Navigation System (GPS / INS) data; And
Means for receiving laser scan data; vegetation section extraction apparatus for three-dimensional navigation comprising a.
The data preprocessing unit of claim 1,
Characterizing the point data collected through the data collection unit by using the return information of the laser data is classified into at least one of the ground surface, grass, trees, trees, buildings, and recorded in the header data of the point data Vegetation section extraction device for dimensional navigation.
The method of claim 1, wherein the header information of the point data is
Vegetation section extraction apparatus for three-dimensional navigation, characterized in that it comprises at least one or more of the coordinates, precision, and characteristics of the point data.
The method of claim 1,
The information related to the road includes a buffer line set so that the road boundary line and the vegetation area invade the road area and are not displayed.
The vegetation section extraction apparatus for three-dimensional navigation, characterized in that the attributes of the tree or vegetation region comprises at least one of the shape, pattern, and color information of the branches and leaves of the tree.
Extracting three-dimensional point data by preprocessing the data collected by the data collector;
A header information analyzing unit analyzing header information of each point data, and a header information filter filtering the analyzed header information to extract a vegetation region;
Assigning a class to each point data by a class assigning unit to display the filtered vegetation region on a 3D navigation screen;
Using the class information assigned to each point data, the planar and linear matching unit generating planar and linear data corresponding to at least one of the size, shape and area of the roadside or vegetation area and matching the road boundary line; And
A method of extracting vegetation sections for three-dimensional navigation, comprising: performing linear interpolation on the roadside tree or vegetation region and assigning properties using information related to a road that a linear interpolation and attribute providing unit already know. .
The method of claim 6, wherein in the data preprocessing unit, preprocessing is performed.
The data preprocessing unit classifies the characteristics of the point data collected through the data collection unit into at least one of a ground surface, a pool, a tree, a tree, and a building, and records them in header information of each point data. Vegetation section extraction method for the.
The method of claim 6,
The header information of the point data includes at least one or more of coordinates, precision, and characteristics of the point data.
The information related to the road includes a buffer line set so that the road boundary line and the vegetation area invade the road area and are not displayed.
The vegetation section extraction method of the vegetation region for the three-dimensional navigation, characterized in that at least one of the shape, pattern, and color information for the branches and leaves of the tree.

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