KR102154950B1 - Method and apparatus for matching image captured by unmanned air vehicle with map, cadaster, or satellite image - Google Patents

Abstract

Provided is a method for matching an image of a target area photographed by an unmanned aerial vehicle to a map, a drawing, or a satellite image performed by a mobile terminal. The method obtains an image photographed by an unmanned aerial vehicle, calculates coordinates corresponding to boundary points of the image based on pixel information and the center coordinates of the image, and matches the calculated coordinates to the coordinates of the map, drawing, or satellite image to generate a layer corresponding to the matched image.

Description

A method and apparatus for matching an image captured by an unmanned aerial vehicle to a map, drawing, or satellite photo {METHOD AND APPARATUS FOR MATCHING IMAGE CAPTURED BY UNMANNED AIR VEHICLE WITH MAP, CADASTER, OR SATELLITE IMAGE}

The embodiments relate to a method of matching the image(s) of a target area photographed by an unmanned aerial vehicle to a map, a drawing or a satellite photograph, and in particular, without performing a complicated process of matching the photographed image(s), an image It relates to a method of matching an image to a map, drawing or satellite image through geoprocessing.

Surveying is an indispensable task in constructing buildings or facilities. In surveying a target site (eg, a commercial site), there are cases in which a person may not be able to directly measure at least a part of the survey target site due to environmental or geographic factors of the survey target site. In this case, a survey may be made on the survey target using an unmanned aerial vehicle such as a drone. By utilizing an image (photo) of a survey target taken using an unmanned aerial vehicle for surveying, surveying may be possible even in an area that cannot be directly surveyed by a person on the survey target.

In the case of performing surveying using an unmanned aerial vehicle, the images captured by the unmanned aerial vehicle are matched between each of the images, for example, as a single image (matched image) through a complex matching process, such as pixel matching. The matched image is matched and used for maps, drawings or satellite photos.

This matching process of matching the captured images generally requires a lot of operations, and this operation increases significantly as the number of captured images increases or the resolution of the image increases. The matching process for the captured images cannot be performed in real time or through a mobile terminal on the captured images, and may be performed only through a high-performance PC or other computing device, taking a long time.

Therefore, without using a high-performance PC, geo-processing images captured in a short time by using a mobile terminal to obtain accurate location information from the images, layering the geo-processed images to map, drawings, or satellite photos A method of matching against is required. In addition, there is a need for a method of matching a layered image to a public map or an external map (commercial map) to easily obtain survey data on a target site.

Korean Patent Registration No. 10-1532582 (registration date June 24, 2015) relates to a method of processing cadastral survey data, and each parcel is for the purpose of registering land for land study or restoring the boundary registered for cadastral study on the surface. Disclosed is a method for processing cadastral survey data that enables efficient and systematic maintenance and management of cadastral survey data obtained when setting a reference point for surveying the boundary or area of a site.

The information described above is for illustrative purposes only, may include content that does not form part of the prior art, and may not include what the prior art may present to a person skilled in the art.

In one embodiment, as a method performed by a mobile terminal, an image photographed by an unmanned aerial vehicle is obtained, based on pixel information and center coordinates of the image, coordinates corresponding to boundary points of the image are calculated, and the calculation By creating a layer corresponding to the matched image by matching the coordinates with the coordinates of the map, drawing, or satellite photo, we will provide a method of matching the image of the target area captured by the unmanned aerial vehicle with a map, drawing, or satellite photo. I can.

In one aspect, in a method for matching an image of a target site captured by an unmanned aerial vehicle, performed by a mobile terminal, with a map, a drawing, or a satellite photograph, the method comprising: acquiring an image captured by the unmanned aerial vehicle, the image Acquiring a central point coordinate corresponding to the central point of the image, calculating coordinates corresponding to boundary points including vertices of the image, based on the pixel information of the image and the central point coordinate, the calculated coordinates and the map , By matching coordinates of a drawing or a satellite picture, matching the image with the map, drawing or satellite picture, and generating a layer corresponding to the matched image, the image as a map, drawing or satellite picture A method of matching against is provided.

The pixel information includes information on an area of one pixel of the image indicated in the coordinate system of the map, drawing, or satellite photo, and calculating coordinates corresponding to the boundary points may include the Computing a pixel distance from a pixel of the image to a pixel corresponding to each boundary point of the boundary points, and calculating the coordinates of each boundary point based on the midpoint coordinate, the area information, and the calculated pixel distance. Can include.

The method of matching the image with a map, a drawing, or a satellite photo further includes calculating coordinates corresponding to each point of points for dividing from the midpoint of the image to the boundary points by a preset number, wherein each The calculating of the coordinates corresponding to the point includes: calculating a pixel distance from the pixel of the image corresponding to the central point to the pixel of the image corresponding to the point, and information on the central point coordinate and the area And calculating coordinates of each point based on a pixel distance to a pixel of the image corresponding to each point, wherein the step of matching the image with the map, drawing, or satellite image comprises: the each point By matching the coordinates of the map, the map, or the satellite picture, the image may be matched with the map, drawing, or satellite picture.

The obtaining of the image includes obtaining a plurality of images photographed by the unmanned aerial vehicle flying a path including a plurality of waypoints on the target site, obtaining the central coordinates, corresponding to the boundary points Calculating the coordinates, and matching the image with the map, drawing, or satellite image may be performed for each of the plurality of images.

The plurality of images are taken of the target site so as to have a predetermined photo redundancy rate, and each of the plurality of images is taken of a part of the target site, and according to the control of the mobile terminal, the plurality of images are sent to the server. Transmitted and matched, and the matching is to generate one image by pixel matching the plurality of images, and the pixel matching for a first image and a second image adjacent to the first image among the plurality of images is , The pixels of the first image and the remaining portions of the overlapping portions of the first image and the second image except for a portion of the performance of the mobile terminal or a ratio preset by the server or the user of the mobile terminal. This can be done by comparing the pixels of the second image.

The method of matching the image to a map, a drawing, or a satellite photograph may further include displaying a layer generated corresponding to the image by overlapping it on the map, drawing, or satellite photograph.

The method of matching the image to a map, a drawing, or a satellite photograph includes receiving a selection from a user of the mobile terminal for at least two points of the displayed layer, and of the figure on the layer generated by the selection. It may further include calculating at least one of the length and the width.

In another aspect, in an apparatus for matching an image of a target site captured by an unmanned aerial vehicle implemented by a mobile terminal with a map, drawing, or satellite photograph, at least one processor implemented to execute a computer-readable command Including, wherein the at least one processor, acquires an image photographed by the unmanned aerial vehicle, acquires a central point coordinates corresponding to the central point of the image, and based on the pixel information and the central point coordinates of the image, the image By calculating coordinates corresponding to boundary points including the vertices of the map, and matching the calculated coordinates with the coordinates of a map, a drawing or a satellite photograph, the image is matched with the map, drawing, or satellite image. , A device for matching against a drawing or a satellite image is provided.

In another aspect, a plurality of images photographed by the unmanned aerial vehicle flying on a path including a plurality of waypoints on the target site are acquired, and the plurality of images have a predetermined photo redundancy rate. It is photographed, and each of the plurality of images is a photograph of a part of the target area, further comprising a server for matching the plurality of images according to the control of the mobile terminal, the server through the matching An image is generated by pixel matching images of, and the server performs the pixel matching of the first image among the plurality of images and a second image adjacent to the first image, the first image and the The pixels of the first image and the pixels of the second image are selected only for the remaining portions of the overlapping portion of the second image, excluding the performance of the mobile terminal or a portion of the ratio preset by the server or the user of the mobile terminal. A system is provided for matching images to maps, drawings or satellite photographs, performing by comparing.

For the images of the target area captured by the unmanned aerial vehicle, without performing complex calculations/pixel matching that requires a lot of time required, each image is geo-processed to obtain location information, and the geo-processed image is mapped to a drawing. Alternatively, a layer matching a map, a map, or a satellite image may be generated by matching the satellite image.

Therefore, it is possible to create a layer matching the map, drawing, or satellite photo directly from the mobile terminal that acquired the images without working on an external high-performance PC for the images captured by the unmanned aerial vehicle, and the user can create It is possible to easily compare images taken from unmanned aerial vehicles with maps, drawings or satellite photos through the created layers.

1 illustrates a method of processing target image images captured by an unmanned aerial vehicle, according to an exemplary embodiment.
FIG. 2 is a block diagram illustrating a mobile terminal processing target image images captured by an unmanned aerial vehicle, a server communicating with the mobile terminal, and an unmanned aerial vehicle according to an exemplary embodiment.
3 is a flowchart illustrating a method of matching an image of a target area captured by an unmanned aerial vehicle, performed by a mobile terminal, with a map, a drawing, or a satellite photograph according to an exemplary embodiment.
4 is a flowchart illustrating a method of calculating coordinates of internal points/boundary points of an image, according to an exemplary embodiment.
FIG. 5A illustrates a method of pixel matching images according to an example, and FIG. 5B illustrates a method of simply matching images according to an example.
5C illustrates a method of matching an image to a map, a drawing or a satellite photograph without a matching process for the image, according to an example.
6 is a flowchart illustrating a method of acquiring survey data from a layer based on an image of a target area captured by an unmanned aerial vehicle, performed by a mobile terminal, according to an exemplary embodiment.
7 is a flowchart illustrating a method of obtaining survey data according to a selection from a user, according to an example.
8 illustrates a method of obtaining survey data by marking and displaying a boundary line over time, according to an example.
9 illustrates a method of superimposing and displaying a layer of an image of an object photographed by an unmanned aerial vehicle on a public map, according to an example.
10 illustrates a method of acquiring survey data for an infringing place in a state in which a layer of an image of a target site captured by an unmanned aerial vehicle and a public map are overlapped, according to an example.
11A and 11B illustrate a method of obtaining survey data for an infringement area and a boundary line, according to an example.
12 illustrates a method of obtaining survey data for a forest fire area by marking and displaying a boundary line over time, according to an example.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings. The same reference numerals in each drawing indicate the same members.

1 illustrates a method of processing target image images captured by an unmanned aerial vehicle, according to an exemplary embodiment.

Referring to FIG. 1, in the case of photographing the target site 150 to perform a survey using the unmanned aerial vehicle 110, the target site 150 photographed by the unmanned aerial vehicle 110 (eg, a survey target site) A method of processing the images 115 of will be described.

The images 115 from the unmanned aerial vehicle 110 are converted as a matching image by a predetermined matching process (also matched against a map, drawing, or satellite image after conversion), or geo-processed for each image 115 It can be matched against maps, drawings or satellite photos.

The target site 150 may represent an area (area of land) that is a target for surveying (or an object of photographing of the unmanned aerial vehicle 110) including a commercial site, a planned construction site, and the like.

The illustrated unmanned aerial vehicle 110 may be, for example, a drone. The unmanned aerial vehicle 110 may photograph the target site 150 while flying a predetermined path on the target site 150. The plurality of images 115 of the captured target site 150 may be transmitted to the mobile terminal 100 and/or the server 120, and the mobile terminal 100 and/or the server 120 Images 115 can be processed.

The server 120 may directly obtain the images 115 from the unmanned aerial vehicle 110 or may obtain the images 115 via the mobile terminal 100.

In an embodiment, the mobile terminal 100 may acquire images 115 from the unmanned aerial vehicle 110 and may perform geo-processing on each of the acquired images 115. “Geo-processing” may be a process of analyzing each image 115 and obtaining location information (coordinates) from the image 115. The mobile terminal 100 may obtain location information for each of the images 115 through geo-processing, and may match the geo-processed images 115 with a map, a drawing, or a satellite photo.

“Map” may include external maps and/or public maps. The external map may be a map provided from an external application such as a map service providing application (eg, a DAUM map, a Google map, or a NAVER map). Public maps Public maps may include at least one of a cadastral map, a use cadastral map, a use zone map, a housing site development district map, an administrative district map, a water resource management map, a national traffic information map, and a development permission map.

"Drawing" may be a design drawing for design and construction of a building or facility. For example, the drawing may be a drawing in dxf format, or a drawing in another format.

The "satellite photograph" may be an image taken by a satellite. The satellite picture may be provided through a map service providing application.

Such, the above-described map, drawing, or satellite picture may include coordinates (coordinate information).

The mobile terminal 100 may match the coordinates of the geo-processed images 115 with the coordinates of a map, a drawing, or a satellite photograph to match the images 115 with a map, a drawing, or a satellite photograph.

Accordingly, in an embodiment, the images 115 may be matched against a map, drawing, or satellite image without performing a matching process on the images 115 in the server 120 or other high-performance PC. As a result, the user of the mobile terminal 100 can intuitively compare the images 115 of the current target site 150 captured by the unmanned aerial vehicle 110 with a map, a drawing, or a satellite photo.

Meanwhile, the server 120 may process the images 115 by acquiring the images 115 through the mobile terminal 100 or directly from the unmanned aerial vehicle 110. The server 120 may generate a matched image by matching (eg, pixel matching) the acquired images 115.

The processing of the images 115 by the server 120 may be performed by control or request by the mobile terminal 100.

A detailed method of matching the images 115 with a map, a drawing, or a satellite photograph, and details of the matching process by the server 120 will be described in more detail with reference to FIGS. 2 to 5C to be described later.

FIG. 2 is a block diagram illustrating a mobile terminal processing target image images captured by an unmanned aerial vehicle, a server communicating with the mobile terminal, and an unmanned aerial vehicle according to an exemplary embodiment.

With reference to FIG. 2, specific configurations of the unmanned aerial vehicle 110, the server 120, and the mobile terminal 100 are described.

As described above with reference to FIG. 1, the unmanned aerial vehicle 110 is a device for photographing the target location 150 by flying the target location 150, and may be, for example, a drone, an unmanned aerial vehicle, or other automatic or radio-controlled vehicle. . For example, the unmanned aerial vehicle 110 may be a plug-in DGPS drone or a plug-in RTK drone.

The unmanned aerial vehicle 110 may fly a predetermined path including a plurality of waypoints on the target site 150. The predetermined path may be set by the user of the unmanned aerial vehicle 110. For example, the user of the unmanned aerial vehicle 110 may be a user terminal associated with the unmanned aerial vehicle 110 (for example, a smart phone or a controller or a mobile terminal 100 as a terminal in which an application related to the control of the unmanned aerial vehicle 110 is installed. ) To set a predetermined route. The user of the unmanned aerial vehicle 110 can designate a plurality of way points on the map representing the target site 150 through the user terminal associated with the unmanned aerial vehicle 110, and the path through which the unmanned aerial vehicle will fly through the specified way points Can be set as

The unmanned aerial vehicle 110 may photograph the target site 150 at each waypoint on the route. At this time, the center of the captured image 115 may be a waypoint. Alternatively, a location at which the unmanned aerial vehicle 110 photographs the target site 150 may be a location separate from the waypoint.

The waypoint is a location designated on the map, and its location information (eg, coordinates) may be a known value. The position at which the unmanned aerial vehicle 110 photographs the target site 150 may be the center of the photographed image 115. The midpoint of the captured image 115 may exist on a path through which the unmanned aerial vehicle 110 flies, and the location information (eg, coordinate value) may be a known value.

The unmanned aerial vehicle 110 may include a communication unit, a camera, a processor, and a storage unit.

The communication unit may be a configuration for the unmanned aerial vehicle 110 to communicate with other devices such as the mobile terminal 100 and the server 120. That is to say, the communication unit is a configuration for the unmanned aerial vehicle 110 to transmit/receive data and/or information wirelessly or wired to other devices such as the mobile terminal 100 and the server 120, and the unmanned aerial vehicle 110 It may be a hardware module such as a network interface card, a network interface chip, and a networking interface port, or a software module such as a network device driver or a networking program.

The unmanned aerial vehicle 110 may communicate with the mobile terminal 100 or the server 120 through a communication unit, or may transmit captured images 115 to them.

The processor may manage the components of the unmanned aerial vehicle 110 and may be a configuration for controlling the flight of the unmanned aerial vehicle 110 in a predetermined path. For example, the processor may perform processing and calculation of data necessary to control the flight of the unmanned aerial vehicle 110. The processor may be at least one processor of the unmanned aerial vehicle 110 or at least one core within the processor.

The camera may be a device for photographing the target site 150 during flight. The camera may generate an image 115 (image file) by photographing the target site 150. The camera may include a CCD, and the resolution of the image 115 may be determined by the pixel size (pixel size) of the CCD.

The storage unit may include storage for storing the image 115 generated by photographing by the camera. The storage unit may be any internal memory of the unmanned aerial vehicle 110 or an external memory device such as a flash memory or an SD card mounted on the unmanned aerial vehicle 110. In addition, the storage unit may store information related to a predetermined route for flight of the unmanned aerial vehicle 110 (eg, information on a map and a way point).

The mobile terminal 100 acquires images 115 photographing the target site 150 from the unmanned aerial vehicle 110, and geo-processes the acquired images 115 to transfer the geo-processed images 115 to the target site ( 150) may be a device for matching a map, a drawing, or a satellite photo.

In addition, the mobile terminal 100 loads a layer based on the image 115 of the target site 150 photographed by the unmanned aerial vehicle 110 matching a public map or an external map, and loads the layer on a public map or an external map. It may be a device for overlapping display and acquiring survey data based on a user's selection for the displayed layer.

The mobile terminal 100 may be a computing device for analyzing and processing the images 115 acquired from the unmanned aerial vehicle 110. The mobile terminal 100 may be, for example, a terminal used by a user such as a smart phone, a tablet, an Internet of Things device, or a wearable computer. The mobile terminal 100 may be a terminal that communicates with the unmanned aerial vehicle 110 and controls the unmanned aerial vehicle 110.

The mobile terminal 100 may include a communication unit 210, a processor 220, and a display unit 230.

The communication unit 210 may be a configuration that communicates with the unmanned aerial vehicle 110 to obtain images 115 photographed by the unmanned aerial vehicle 110 or a configuration that connects with the storage of the unmanned aerial vehicle 110. For example, the communication unit 210 may obtain the images 115 from the unmanned aerial vehicle 110 through wire or wirelessly, or acquire the images 115 through an external memory device of the unmanned aerial vehicle 110.

In addition, the communication unit 210 may be a configuration for the mobile terminal 100 to communicate with other devices such as the unmanned aerial vehicle 110 and the server 120. That is to say, the communication unit 210 is a configuration for the mobile terminal 100 to transmit/receive data and/or information wirelessly or wiredly to other devices such as the unmanned aerial vehicle 110 and the server 120, and It may be a hardware module such as a network interface card of 100, a network interface chip, and a networking interface port, or a software module such as a network device driver or a networking program.

The processor 220 may manage components of the mobile terminal 100 and may be a component for executing a program or application used by the mobile terminal 100. For example, the processor 220 geo-processes the images 115 captured by the unmanned aerial vehicle 110, and applies the geo-processed images 115 to a map, drawing, or satellite photograph corresponding to the target site 150. You can perform the necessary operations for matching. In addition, the processor 220 loads a layer based on the image 115 of the target site 150 photographed by the unmanned aerial vehicle 110, and displays the layer by overlapping it on a public map or an external map matching the layer. , It is possible to perform a necessary operation to obtain the survey data based on the user's selection for the displayed layer.

The processor 220 may be at least one processor of the mobile terminal 100 or at least one core within the processor. By the operation of the processor 220, a method of matching an image 115, which will be described later with reference to FIGS. 3 to 12, with a map, a drawing, or a satellite photograph, and a method of obtaining survey data, may be performed. The processor 200 may be implemented to execute instructions readable in a computer, and the above methods may be performed through execution of such instructions.

The display unit 230 outputs data input by the user of the mobile terminal 100 or images 115 captured by the unmanned aerial vehicle 110 and images 115 matched by geoprocessing (ie, a map, A layer matching a drawing or a satellite picture), a map overlapping with the layer, and a display device for outputting a drawing or a satellite picture. The display unit 230 may include a touch screen.

The server 120 may process the images 115 by acquiring the images 115 through the mobile terminal 100 or directly from the unmanned aerial vehicle 110. The server 120 may generate a matched image by matching (eg, pixel matching) the acquired images 115.

The server 120 may be a server or other computing device that exists remotely from the unmanned aerial vehicle 110. The server 120 may include a high-performance PC or computing device for performing a matching process on the images 115.

The server 120 may include a communication unit and a processor. For the communication unit and the processor of the server 120, since technical descriptions of the communication unit and the processor of the mobile terminal 100 and the unmanned aerial vehicle 110 may be similarly applied, a redundant description will be omitted.

In the above, since the technical features described above with reference to FIG. 1 can be applied to FIG. 2 as they are, a duplicate description will be omitted.

In the detailed description to be described later, the operation performed by the components of the mobile terminal 100 or the processor 220 or the operation performed by the application/program executed by the mobile terminal 100 or the processor 220 is for convenience of description. It may be described as an operation performed by the mobile terminal 100. The same applies to the server 120 and the unmanned aerial vehicle 110.

3 is a flowchart illustrating a method of matching an image of a target area captured by an unmanned aerial vehicle, performed by a mobile terminal, with a map, a drawing, or a satellite photograph according to an exemplary embodiment.

Referring to FIG. 3, an image 115 photographed by the unmanned aerial vehicle 110 is acquired, and coordinates corresponding to boundary points of the image 115 are determined based on pixel information and center coordinates of the image 115. The image 110 of the target site 150 photographed by the unmanned aerial vehicle 110 by generating a layer corresponding to the matched image 115 by matching the calculated coordinates with the coordinates of the map, drawing, or satellite image ) To maps, drawings, or satellite images.

In step 310, the mobile terminal 100 may acquire the image(s) 115 photographed by the unmanned aerial vehicle 110. The mobile terminal 100 can acquire the image 115 through wired/wireless communication with the unmanned aerial vehicle 110, or obtain the image 115 by connecting the storage unit of the unmanned aerial vehicle 110 to the mobile terminal 100. have.

In step 320, the mobile terminal 100 may acquire the focal point coordinates corresponding to the focal point of the acquired image 115. For example, the position of the unmanned aerial vehicle 110 at the point in time when the unmanned aerial vehicle 110 flies over the target area 150 and the image 115 is captured may be the focus of the acquired image 115. The coordinates (center coordinates) corresponding to the midpoint of the image 115 may be known values. In other words, the image 115 acquired by the mobile terminal 100 includes information on the focal coordinates corresponding to the focal point, and the mobile terminal 100 can obtain such focal coordinates from the acquired image 115. .

In step 330, the mobile terminal 100 may calculate coordinates of internal points/boundaries of the image 115 based on the pixel information of the acquired image 115 and the acquired central coordinates. Boundary points may include vertices of image 115. For example, the mobile terminal 100 may calculate coordinates of boundary points including vertices of the image 115 based on the acquired pixel information of the image 115 and the acquired central coordinates.

Here, the pixel information may include information indicating an area in an actual coordinate system represented by one pixel of the image 115.

In step 340, the mobile terminal 100 may match the coordinates calculated through step 330 with the coordinates of a map, a drawing, or a satellite photo, thereby matching the image 115 with a map, drawing, or satellite image. have. In step 340, the mobile terminal 100 may match the coordinates of the central point of the image 115 with the coordinates of a map, a drawing, or a satellite image.

In step 350, the mobile terminal 100 may generate a layer corresponding to the matched image 115 by coordinate matching in step 340. In other words, the mobile terminal 100 may layer the matched image 115 by coordinate matching in step 340.

The generated layer is a layered image 115 captured by the unmanned aerial vehicle 110, and may be displayed by overlapping with coordinates of a map, drawing, or satellite photo.

In step 360, the mobile terminal 100 may display a layer generated in response to the image 115 by overlapping it on a map, drawing, or satellite image. The user of the mobile terminal 100 captures a map, a drawing, or a satellite picture and the current image 115 of the target site 150 through the layer of the image 115 displayed by overlapping with such a map, drawing, or satellite picture. Can be compared intuitively. Alternatively, the user of the mobile terminal 100 manipulates the mobile terminal 100 to create a layer corresponding to the image 115 and at least two layers of a map(s), a drawing(s), and a satellite photo(s). You can also display them overlaid.

Each of the images 115 is taken of a part of the target site 150, and there may be a plurality of images obtained from the unmanned aerial vehicle 110. The above-described steps 310 to 360 may be performed for each of the plurality of images 115.

For example, in obtaining the image 115 in step 310, the mobile terminal 100 is a plurality of images captured by the unmanned aerial vehicle 110 flying a path including a plurality of waypoints on the target site 150 S 115 can be obtained, the step 320 of obtaining the above-described focal point coordinates, the step 330 of calculating the coordinates corresponding to the boundary points (and/or internal points), and the image 115 The step 340 of matching with a map, a drawing, or a satellite photo may be performed for each of the plurality of images 115.

Through the above-described embodiment, images 115 and maps, drawings, or satellite photos can be matched without a matching process for images 115 through the server 120 or other remote high-performance PC. Since the work outside the target site 150 and the matching process that takes a relatively long time are not performed, the user can quickly and efficiently capture the images of the target site 150 in real time through their mobile terminal 100 You can compare 115 and maps, drawings or satellite images. Accordingly, the user can intuitively check the changed part (eg, new building/reforestation/deforestation/construction progress) in maps, drawings, or satellite photos.

As described above, the technical features described above with reference to FIGS. 1 and 2 may be applied to FIG. 3 as they are, so a redundant description is omitted.

4 is a flowchart illustrating a method of calculating coordinates of internal points/boundary points of an image, according to an exemplary embodiment.

A method of calculating coordinates of internal points/boundary points of the image 115 of the above-described step 330 will be described in more detail with reference to FIG. 3.

The mobile terminal 100 may calculate coordinates of internal points/boundary points of the image 115 based on the acquired pixel information of the image 115 and the acquired central coordinates.

The pixel information may include information on an area of one pixel of the image 115 in a coordinate system of a map, a drawing, or a satellite photo.

In step 410, in calculating the coordinates corresponding to the boundary points of the image 115, the mobile terminal 100 from a pixel of the image 115 corresponding to the central coordinate of the image 115 to each boundary point of the boundary points. The pixel distance to the corresponding pixel can be calculated. For example, the mobile terminal 100 may calculate a number of pixels from a pixel of the image 115 corresponding to the central coordinate of the image 115 to a boundary point corresponding to each vertex of the image 115.

In step 420, the mobile terminal 100 relates to the central coordinate of the image 115 and the area included in the pixel information of the image 115 (the area that one pixel represents in the coordinate system of a map, drawing, or satellite photo). The coordinates of each boundary point may be calculated based on the information and the calculated pixel distance. For example, in the mobile terminal 100, when one pixel represents an area of 10cm*10cm, and the pixel distance from the center coordinate to the coordinate of the boundary point is 100 (that is, a distance of 100 pixels), information on the area The coordinates of the boundary point can be calculated using the and pixel distances and the (base) midpoint coordinates.

The mobile terminal 100 matches the coordinates of the calculated boundary points (e.g., corresponding to the vertices of the image 115) with the coordinates of a map, a drawing, or a satellite photo, thereby matching the image with the map, drawing, or satellite image. I can make it.

Similarly, the mobile terminal 100 may also calculate coordinates of boundary points corresponding to points on the corners (edges) of the image 115, and match these calculated coordinates with coordinates of a map, drawing, or satellite image. have.

On the other hand, as a method to further increase the accuracy of matching, the mobile terminal 100 also determines not only boundary points (such as vertices (or points on corners)) of the image 115, but also coordinates corresponding to internal points. Can be calculated.

For example, in the above-described step 330, the mobile terminal 100 divides from the midpoint of the image 115 to the boundary points (vertexes (or points on the corners)) of the image 115 by a preset number. It is possible to calculate coordinates corresponding to each of the points (ie, internal points). The preset number or the ratio (%) of dividing from the midpoint to the boundary point may be determined according to the user's setting for the mobile terminal 100.

In calculating the coordinates corresponding to each point (ie, each internal point), the mobile terminal 100 calculates an image corresponding to each point from a pixel of the image 115 corresponding to the central coordinate of the image 115 ( 115), the pixel distance to the pixel may be calculated (step 410). The mobile terminal 100 may calculate the coordinates of each point based on the center coordinate of the image 115, information on the area included in the pixel information, and the pixel distance to the pixel of the image 115 corresponding to each point. Yes (step 420). Instead of the midpoint coordinates, the calculated coordinates of the boundary point or the coordinates of other pre-calculated internal points may be used.

In matching the image 115 with a map, a drawing, or a satellite photo, the mobile terminal 100 matches the coordinates of the respective points with the coordinates of the map, drawing, or satellite photo, thereby matching the image 115 to a map, drawing, or It can be matched with satellite photos.

In this way, the accuracy of matching may be improved by further matching coordinates of internal points of the image 115 in addition to the boundary points of the image 115 with coordinates of a map, a drawing, or a satellite image.

A more specific method of calculating coordinates for the boundary point and the inner point will be described in more detail with reference to FIG. 5C.

5C illustrates a method of matching an image to a map, a drawing or a satellite photograph without a matching process for the image, according to an example.

In the illustrated image 115, illustrated points 560 to 580 may represent points on the image 115 to be subjected to coordinate calculation. Points 560 may represent boundary points 560 of image 115. Points 565 to 580 may represent internal points 565 to 580 of image 115.

The mobile terminal 100 is based on the coordinates of the midpoint of the midpoint 550 of the image 115, information on the area included in the pixel information, and the calculated pixel distance to each of the boundary points 560. You can calculate the coordinates.

In addition, the mobile terminal 100 divides each point of the internal points 565 to 580 into a preset number from the midpoint 550 of the image 115 to the boundary points 560 of the image 115 in a similar manner. Coordinates corresponding to (565 to 580) can be calculated.

In the illustrated example, a preset number or ratio (%) of dividing from the midpoint 550 of the image 115 to the boundary points 560 of the image 115 is set to 4 or 25%. The larger the preset number (or the smaller the ratio), the higher the accuracy of matching.

The mobile terminal 100 can generate a virtual figure(s) centered on the midpoint 550 of the image 115 based on a preset number or ratio, and the vertices of the virtual figure(s) Points on the corners may be determined as internal points of the image 115 to be subjected to coordinate calculation. The imaginary figure may be square or rectangular as shown. Alternatively, the virtual figure may be other polygons or circles. That is to say, the mobile terminal 100 may generate a concentric polygon (or concentric circle)(s) centered on the midpoint 550 of the image 115 to determine internal points to be subjected to coordinate calculation.

In the embodiment, the accuracy of matching is improved by calculating the coordinates of the boundary points 560 and the inner points 565 to 580 and matching the coordinates of the map, drawing, or satellite image 590 representing the target site 150. I can.

In FIG. 5C, both the boundary points and the inner points are vertices, but each of the boundary points and the inner points is a point on the edge of the image 115 and a point on the virtual inner figure of the image 115 (for example, a virtual It may be a point on the corner of the polygon). Redundant descriptions in this regard will be omitted.

In addition, in order to increase the accuracy of matching, the distortion factor of the image 115 may be corrected. The correction of the distortion factor may be performed after the image 115 is acquired and before the step 320 is performed. The distortion of the image 115 indicated by the distortion factor may be caused by distortion of the camera lens of the unmanned aerial vehicle 110.

In the above, since the technical features described above with reference to FIGS. 1 to 3 may be applied to FIGS. 4 and 5C as they are, duplicate descriptions are omitted.

FIG. 5A illustrates a method of pixel matching images according to an example, and FIG. 5B illustrates a method of simply matching images according to an example.

In FIG. 5A, a method of generating a registration image 510 by performing a registration process on images 115 captured by the unmanned aerial vehicle 110 is illustrated.

In FIG. 5B, a method of generating a matching image 510 by performing a simple matching process on images 115 captured by the unmanned aerial vehicle 110 is illustrated. The simple matching process described with reference to FIG. 5B may be a matching process that requires fewer operations and takes less time than the matching process described with reference to FIG. 5A.

The illustrated plurality of images 115 may be taken of the target site 150 so as to have a predetermined photo redundancy rate, and each of the plurality of images 150 may be taken of a part of the target site 150 have.

The matching process described with reference to FIG. 5A may be performed in the server 120 or a remote high-performance PC.

The pixel matching may be an operation of comparing each of the pixels of each of the plurality of images 115 and generating a plurality of images 115 as a matched image 510 that is a matched image. In such pixel matching, a comparison must be made for each and every pixel of a plurality of images, so a very large number of calculations are required, and it may take a lot of time to generate the matched image 510.

In contrast, the simple matching process described with reference to FIG. 5B may be a matching process that requires fewer operations and takes less time to generate the matching image 540 than the matching process described with reference to FIG. 5A. have.

The simple matching process described with reference to FIG. 5B may be performed in the server 120.

In the following, a method of performing the simple matching process will be described in more detail.

Under the control of the mobile terminal 100, a plurality of images 115 captured by the unmanned aerial vehicle 110 may be transmitted to the server 120 and matched. In this case, the images 115 may be directly transmitted from the unmanned aerial vehicle 110 or may be uploaded from the mobile terminal 100 to the server 120.

By matching in the server 120, the plurality of images 115 may be pixel-matched to be generated as a single matched image 540.

In performing the simple matching process, the pixel matching of the first image 115-1 of the plurality of images 115 and the second image 115-2 adjacent to the first image 115-1 is performed. , Among the overlapping portions of the first image 115-1 and the second image 115-2, the performance of the mobile terminal 100 or the ratio set by the user of the server 120 or the mobile terminal 100 It may be performed by comparing the pixels of the first image 115-1 and the pixels of the second image 115-2 for only the remaining parts 530 except for the part 520. This simple decision process may be performed by the server 120.

That is, in performing pixel determination on the first image 115-1 and the second image 115-2 adjacent to the first image 115-1, the pixel matching excluder ( Pixel matching may not be performed on the portion corresponding to 520, and pixel matching may be performed only on the portion corresponding to the pixel matching unit 530.

Through this, the amount of computation performed for pixel matching between the images 115 can be significantly reduced.

While maintaining the accuracy of the registration of the images 115 through the simple registration process, it is possible to save resources and time required for the registration process.

The generated matched images 510 and 590 may be matched against a map, drawing, or satellite image 590.

The ratio of the pixel matching excluder 520 among the overlapping portions of the images 115 may be automatically determined by the performance of the mobile terminal 100 and the communication state between the mobile terminal 100 and the server 120. Alternatively, this ratio may be set by the user of the mobile terminal 100.

In the embodiment, whether the user of the mobile terminal 100 performs a general registration process (first registration process) on a plurality of images 115 captured by the unmanned aerial vehicle 110 (eg, FIG. 5A Of the matching process), whether to perform the simple matching process (the second matching process) (for example, the simple matching process of FIG. 5B), or geometries each of the images 115 without performing registration of the images 115. It is possible to select whether to process (eg, the geo-processing process of FIG. 5C).

The first matching process or the second matching process is performed in the server 120 for the images 115 through the control of the mobile terminal 100 according to the user's selection, or the geo-processing in the mobile terminal 100 The process can be carried out.

On the other hand, when the execution of the simple matching process is selected by the user of the mobile terminal 100 before the photographing of the target site 150 by the unmanned aerial vehicle 110 is performed (ie, before the flight of the unmanned aerial vehicle 110) , The unmanned aerial vehicle 110 may take a smaller number of images than that required by the first matching process, or, the unmanned aerial vehicle 110 is an image having a lower redundancy rate than that required by the first matching process. They may be photographed, or the unmanned aerial vehicle 110 may photograph images at a higher altitude than required by the first registration process.

That is, when the simple matching process is performed, the number of images photographed by the unmanned aerial vehicle 110 may be smaller than when the general matching process is performed.

In the embodiment, a system may be implemented that includes the mobile terminal 100 and the server 120 performing a simple matching process to match the image 115 to a map, a drawing, or a satellite image.

As described above, the technical features described above with reference to FIGS. 1 to 4 and 5C may be applied to FIGS. 5A and 5B as they are, so a redundant description will be omitted.

6 is a flowchart illustrating a method of acquiring survey data from a layer based on an image of a target area captured by an unmanned aerial vehicle, performed by a mobile terminal, according to an exemplary embodiment.

Referring to FIG. 6, a method of superimposing and displaying a layer based on the image 115 of the target site 150 photographed by an unmanned aerial vehicle and a public map or an external map, and obtaining survey data according to a user's selection Explain.

In step 610, the mobile terminal 100 may load a public map or an external map provided from an external application. For example, the mobile terminal 100 may load a public map or an external map through a dedicated application for superimposing and displaying a layer based on the image 115 of the target site 150 and a public map or an external map.

In step 620, the mobile terminal 100 may load a layer matching a public map or an external map, generated based on the image of the target site 150 photographed by the unmanned aerial vehicle 110. For example, the mobile terminal 100 may load the layer through the dedicated application.

"Layer matching a public map or an external map" is a layer corresponding to the image matched with the map, drawing, or satellite image described above with reference to FIGS. 1 to 5C (ie, a layer created by step 350). I can. For example, a layer matching a public map or an external map is performed by the mobile terminal 100, the step 310 of acquiring the image 115 captured by the unmanned aerial vehicle 110, the focus of the image 115 Acquiring (320) the center coordinates corresponding to the, based on the pixel information and the center coordinates of the image 115, calculating coordinates corresponding to the boundary points including the vertices of the image 115 (330), By matching the calculated coordinates with the coordinates of the public map or the public map, the step of matching the image 115 to the public map or the public map 340 and the step of creating a layer corresponding to the matched image 115 (350) Can be created by

Alternatively, the layer matching the public map or the external map is photographed by the unmanned aerial vehicle 110 flying a path including a plurality of waypoints on the target site 150 and includes the target site 150 to have a predetermined photo overlap rate. As a plurality of captured images 115, each of which is a part of the target site, a plurality of images 115, the server 120 or an external device of the mobile terminal 100 (for example, a high-performance PC) may be generated by pixel matching. For example, a layer matching the public map or the external map may be generated based on the matching image generated by the above-described first matching process or the second matching process.

In step 630, the mobile terminal 100 may display a public map or a layer matching the external map by overlapping it on the public map or the external map. The overlapping display of the layer and the public map or the external map may be performed on the dedicated application.

A layer matching a public map or an external map may be displayed with a predetermined transparency. Accordingly, a public map or an external map displayed by overlapping with the layer may be visually recognized through the layer.

In step 640, the mobile terminal 100 may receive a selection from the user of the mobile terminal 100 (eg, for at least two points of the layer) for the indicated layer. The user's selection may be a user's interaction with the display unit 230 (touch screen) of the mobile terminal 100. The selection from the user may be an independent touch (or selection) for two points on the displayed layer, or may be a continuous touch (eg, drag) from one point to another.

In step 640, the mobile terminal 100 may obtain the survey data from the figure on the layer created by the user's selection. The generated figure may be a figure composed of at least one of a point, a line, and a plane.

For example, the mobile terminal 100 may acquire survey data for coordinates of a point on a layer selected by the user. Alternatively, when the figure is a straight line (or line segment or curve), the mobile terminal 100 may calculate the length of the figure and obtain the calculated length as measurement data. Alternatively, when the figure is a polygon (polygon or circle, etc.) that is a figure composed of a closed curve, the mobile terminal 100 may calculate the area of the figure and obtain the calculated area as survey data.

In other words, the mobile terminal 100 may calculate at least one of the length and width of the figure on the layer generated by the user's selection, and obtain at least one of the calculated length and the width of the figure as survey data.

When the generated figure is a polygon, the mobile terminal 100 may obtain the area of the polygon as survey data, and when the generated figure is not a polygon, the mobile terminal 100 may obtain the length between points selected by the user as survey data. I can. Even when obtaining the area of the polygon as survey data, the mobile terminal 100 may also obtain the length of each line (eg, each corner) constituting the polygon as survey data.

The mobile terminal 100 may output the obtained survey data through the display unit 230. For example, the mobile terminal 100 may display the acquired survey data next to a figure created in a displayed layer so that the user can visually recognize it. Alternatively, the mobile terminal 100 may display survey data acquired through a separate window.

Meanwhile, the figure on the layer generated by the user's selection may be displayed to be visually distinguished from the layer and a public map or an external map overlapping the layer.

In the above, since the technical features described above with reference to FIGS. 1 to 5C can be applied to FIG. 6 as they are, a duplicate description will be omitted.

7 is a flowchart illustrating a method of obtaining survey data according to a selection from a user, according to an example.

With reference to FIG. 7, a more specific method of acquiring survey data for a figure on a layer created by a user's selection will be described.

In step 710, when the generated figure is a polygon, the mobile terminal 100 may calculate the area of the polygon. The mobile terminal 100 may obtain a point selected by a user and a coordinate corresponding to the polygon, and may calculate the area of a polygon based on the obtained coordinate.

In other words, the survey data obtained according to the user's selection for the layer may include coordinates for each of the points selected by the user, and in this case, the coordinates may be coordinate values of a coordinate system used by a public map or an external map. . The area of the polygon may be calculated based on the coordinates for each of the selected points.

In step 715, the mobile terminal 100 may mark and display the polygon as an intrusion area. The mobile terminal 100 may obtain the calculated area of the polygon as survey data that is the area of the intrusion area.

In step 720, the mobile terminal 100 may calculate the length between the points selected by the user for the layer, and may display the calculated length. The length between the selected points may be calculated based on the coordinates of each of the selected points.

In step 730, the mobile terminal 100 may determine a predetermined boundary line based on points selected by the user for the layer. The boundary line is recognized by comparing a layer created based on the image 115 of the target site 150 photographed by the unmanned aerial vehicle 110 with a public map or an external map superimposed on the layer, and then It may be a line indicating an arbitrary boundary marked on.

In step 740, the mobile terminal 100 may mark and display the determined boundary line.

In the above detailed description, "marking" a figure (polygon, boundary line, etc.) generated based on points selected by a user may mean that the mobile terminal 100 determines the figure as a separate object. have. For example, the mobile terminal 100 may manage the figure as a separate object or store it (at least temporarily). Accordingly, the mobile terminal 100 may delete/modify/change the figure separately from the layer of the image 115 according to the manipulation of the mobile terminal 100 by the user. In addition, such a marked figure may be visually separated from a layer of the image 115, a public map, or an external map and displayed.

In the above, since the technical features described above with reference to FIGS. 1 to 6 may be applied to FIG. 7 as they are, a duplicate description will be omitted.

8 illustrates a method of obtaining survey data by marking and displaying a boundary line over time, according to an example.

Referring to FIG. 8, when the environment of the target site 150 changes over time, a method for allowing the mobile terminal 100 to display the change on the layer of the image 115 through a boundary line is described. Explain.

In step 650 or 735 described above, the mobile terminal 100 may mark and display points selected by the user for the layer of the image 115 as a first boundary line.

In step 810, the mobile terminal 100 is generated based on the subsequent image of the target site 150 photographed by the unmanned aerial vehicle 110 after the image 115 is photographed, matching with a public map or an external map It is possible to load a subsequent layer to be used. The subsequent image may be an image of the same target area 150 by the unmanned aerial vehicle 110 after the point in time when the image 115 is captured. Since the subsequent layer may be generated by the same method as the layer of the previously generated image 115, redundant descriptions are omitted.

In step 820, the mobile terminal 100 may display a subsequent layer by overlapping it on a public map or an external map. For example, while maintaining the display of the first boundary line, the mobile terminal 100 may display a subsequent layer superimposed on a public map or an external map instead of a layer of the previously displayed image 115.

The user of the mobile terminal 100 may visually recognize a change in the environment of the target site 150 by checking the display content of the display unit 230 in which a subsequent layer and a public map or an external map are overlapped and the display of the first boundary line.

Meanwhile, as a subsequent layer is loaded and displayed, the mobile terminal 100 may prevent the layer of the previously displayed image 115 from being displayed any more. By controlling the mobile terminal 100, the user can selectively display or hide the previously displayed image 115. Alternatively, the mobile terminal 100 may maintain the display of the layer of the previously displayed image 115 and display the subsequent layer by further overlapping.

In step 830, the mobile terminal 100 may receive a selection from the user of the mobile terminal 100 (eg, for at least two points of the subsequent layer) for the indicated subsequent layer.

In step 840, the mobile terminal 100 may mark a new boundary line based on a selection by the user, and display the new boundary line together with the previous boundary line (first boundary line). For example, the mobile terminal 100 may mark points selected by the user as the second boundary lines and display them together with the first boundary lines. The second boundary line may be a boundary line indicating a change in the environment of the target site 150 identified in a subsequent image of the target site 150.

The mobile terminal 100 may further repeat the steps 810 to 840 described above to mark and display a third boundary line indicating a change in the environment of the target site 150 after the second boundary line is displayed for an additional subsequent layer. .

By performing the above-described steps 810 to 840, in the embodiment, it is possible to easily identify changes in the environment of the target site 150 over time, and it is possible to easily obtain survey data related to such changes in the environment. have.

In the embodiment, it is possible to match the image photographed by the unmanned aerial vehicle 110 in the mobile terminal 100 to a public map or an external map, and the user without unnecessary operations (eg, image matching process) in the server It is possible to quickly recognize changes in the environment of the target site 150.

In relation to this, FIG. 12 illustrates a method of obtaining survey data for a forest fire area by marking and displaying a boundary line over time, according to an example.

Referring to FIG. 12, in a situation in which a forest fire occurs in the target site 150, a method of displaying a situation in which the forest fire is spreading is described by the boundary lines 1210 to 1230.

First, the mobile terminal 100 may generate a first layer matching a public map or an external map based on the first image of the target site 150 photographed by the unmanned aerial vehicle 110, and the first layer It can be displayed overlaid with public or external maps. The user can check the boundary where the forest fire is spreading at the first time when the first image is captured through the first layer, and mark the boundary as the first boundary line 1210 by manipulating the mobile terminal 100. have. The mobile terminal 100 may display the marked first boundary line 1210.

Next, the mobile terminal 100 is based on the second image of the target site 150 photographed by the unmanned aerial vehicle 110 at a second time after the first time, a second matched with a public map or an external map. A layer can be created, and the second layer can be displayed by overlapping with a public map or an external map. Through the second layer, the user can check the boundary where the forest fire is spreading at the second time when the second image is captured, and manipulate the mobile terminal 100 to mark the boundary as the second boundary line 1220. have. The mobile terminal 100 may display the marked second boundary line 1220. In this case, the mobile terminal 100 may display the first boundary line 1210 and the second boundary line 1220 together.

Next, the mobile terminal 100 is based on the third image of the target site 150 photographed by the unmanned aerial vehicle 110 at a third time after the second time, a third matched with a public map or an external map. A layer can be created, and a third layer can be displayed by overlapping with a public map or an external map. Through the third layer, the user can check the boundary where the forest fire is spreading at the third time when the third image is captured, and manipulate the mobile terminal 100 to mark the boundary as the third boundary line 1230. have. The mobile terminal 100 may display the marked third boundary line 1230. In this case, the mobile terminal 100 may display the first boundary line 1210, the second boundary line 1220, and the third boundary line 1230 together.

In this way, the user can check how much (and in what direction) the forest fire is spreading through the boundary lines 1210 to 1230 according to the passage of time from the first time to the third time.

In addition, the mobile terminal 100 is based on the coordinates indicated by the first boundary line 1210, the second boundary line 1220, and the third boundary line 1230, the first boundary line 1210, the second boundary line 1220, and the 3 The area of each of the forest fire areas determined by the boundary line 1230 may be calculated.

For example, the mobile terminal 100 may calculate at least one of the forest fire area 1, the forest fire area 2, and the forest fire area 3. Accordingly, the user can check the extent to which the forest fire area is widened over time. In addition, the mobile terminal 100 may also calculate exact location coordinates related to the forest fire area (eg, coordinates of the first boundary line 1210, the second boundary line 1220, and the third boundary line 1230).

The described embodiment may enable this when it is necessary to check changes in the environment of the target site 150 in real time/according to the passage of time, such as when a forest fire occurs.

In the above, since the technical features described above with reference to FIGS. 1 to 7 may be applied to FIGS. 8 and 12 as they are, a duplicate description will be omitted.

9 illustrates a method of superimposing and displaying a layer of an image of an object photographed by an unmanned aerial vehicle on a public map, according to an example.

The layer 910 may correspond to the above-described layer generated based on the image 115 photographed by the unmanned aerial vehicle 110.

The map 900 may be an cadastral map corresponding to a public map. The cadastral map 900 may also be layered and displayed on the mobile terminal 100.

As shown, the layer 910 may be superimposed and displayed on the cadastral map 900, and may be displayed with a predetermined transparency.

In the above, since the technical features described above with reference to FIGS. 1 to 8 and 12 may be applied to FIG. 9 as they are, a duplicate description will be omitted.

10 illustrates a method of acquiring survey data for an infringing place in a state in which a layer of an image of a target site captured by an unmanned aerial vehicle and a public map are overlapped, according to an example.

In FIG. 10, a method of obtaining survey data on the infringement location by determining the infringement location in the case where the above-described layer 910 and the cadastral map 900 are overlapped and displayed.

In the illustrated example, in the case of performing construction/reforestation/cutting in the area corresponding to 1-1 of the cadastral map, a method of determining the infringement site is shown. By checking the display contents in which the above-described layer and the cadastral map are overlapped, the user can check an area outside the area corresponding to 1-1 of the cadastral map among the areas in which construction/reforestation/ felling has been performed.

The mobile terminal 100 may mark an area outside the area corresponding to 1-1 of the cadastral map among the areas where the construction/reforestation/harvesting has been performed as the infringement site, based on the selection of the illustrated layer by the user. have.

The mobile terminal 100 may acquire (or calculate) coordinates for an area corresponding to the infringement site, and may calculate the area of the area corresponding to the infringement site.

The coordinates and the area of the area corresponding to the intrusion area may be provided to the user of the mobile terminal 100 as survey data.

11A and 11B illustrate a method of obtaining survey data for an infringement area and a boundary line, according to an example.

In FIGS. 11A and 11B, it is assumed that the above-described layers and cadastral maps are overlapped and displayed.

In FIG. 11A, the area 1110 may represent an area where construction/reforestation/removing has been performed. The boundary line 1100 may indicate a boundary of a specific intellectual property.

As shown, the user may select five points from the layer, the mobile terminal 100 may obtain coordinates for the selected points, and calculate the area of a figure generated by the selected points. The mobile terminal 100 may mark the figure as an intrusion point, and determine the area of the figure as the intrusion area.

In FIG. 11B, an area 1140 (a circle shape including a dotted line) may represent an area where construction/reforestation/harvesting has been performed. The boundary line 1130 may indicate a boundary of a specific point.

As shown, the user may select a specific region 1150 from the layer through a drag input, and the mobile terminal 100 may obtain coordinates for the selected region 1150. In addition, the mobile terminal 100 may calculate the area of the figure indicated by the selected area 1150. The mobile terminal 100 may mark the figure as an intrusion point, and determine the area of the figure as the intrusion area.

In FIGS. 11A and 11B, the mobile terminal can calculate the length of the figure (that is, the length of each line segment/curve constituting the figure) of the areas 1120 and 1150 corresponding to the infringement site, or obtain coordinates on the marine figure. Of course you can.

As described above, the technical features described above with reference to FIGS. 1 to 9 and 12 may be applied to FIGS. 10, 11A, and 11B as they are, so a duplicate description will be omitted.

The apparatus described above may be implemented as a hardware component, a software component, and/or a combination of a hardware component and a software component. For example, the devices and components described in the embodiments include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA), It may be implemented using one or more general purpose computers or special purpose computers, such as a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on the operating system. In addition, the processing device may access, store, manipulate, process, and generate data in response to the execution of software. For the convenience of understanding, although it is sometimes described that one processing device is used, one of ordinary skill in the art, the processing device is a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it may include. For example, the processing device may include a plurality of processors or one processor and one controller. In addition, other processing configurations are possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of these, configuring the processing unit to behave as desired or processed independently or collectively. You can command the device. Software and/or data may be interpreted by a processing device or to provide instructions or data to a processing device, of any type of machine, component, physical device, virtual equipment, computer storage medium or device. , Or may be permanently or temporarily embodyed in a transmitted signal wave. The software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

Although the embodiments have been described by the limited embodiments and drawings as described above, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in an order different from the described method, and/or components such as a system, structure, device, circuit, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Claims (10)

In a method for matching an image of a target site taken by an unmanned aerial vehicle, performed by a mobile terminal, with a map, a drawing or a satellite photo,
Obtaining an image photographed by the unmanned aerial vehicle;
Acquiring a center point coordinate corresponding to the center point of the image;
Calculating coordinates corresponding to boundary points including vertices of the image based on the pixel information of the image and the midpoint coordinates;
Matching the image with the map, drawing, or satellite image by matching the calculated coordinates with the coordinates of a map, a drawing or a satellite photo; And
Generating a layer corresponding to the matched image
Including,
The pixel information includes information on an area indicated by a pixel of the image in a coordinate system of the map, drawing, or satellite photo,
Computing the coordinates corresponding to the boundary points,
Calculating a pixel distance from a pixel of the image corresponding to the central coordinate to a pixel corresponding to each boundary point of the boundary points; And
Calculating coordinates of the boundary points based on the central coordinates, information on the area, and the calculated pixel distance
Including,
Calculating coordinates corresponding to each point of points for dividing from the midpoint of the image to the boundary points by a preset number or ratio
Including more,
The preset number or ratio is preset by the user of the mobile terminal as information indicating the accuracy of matching,
Computing the coordinates corresponding to each point,
Generating a plurality of virtual figures having the center point concentric based on the preset number or ratio;
Determining each of the vertices of the virtual figures as the respective points to which the coordinates are to be calculated-Each of the vertices of the virtual figures is a line connecting the midpoint of the image and the vertices of the image at equal intervals. Corresponding to each of the points divided by the preset number or ratio -;
Calculating a pixel distance from a pixel of the image corresponding to the central coordinate to a pixel of the image corresponding to each point; And
Calculating the coordinates of each point based on the center point coordinates, information on the area, and a pixel distance to a pixel of the image corresponding to each point
Including,
The step of matching the image with the map, drawing, or satellite photograph includes matching the coordinates of each point with the coordinates of the map, drawing, or satellite photograph, thereby matching the image with the map, drawing, or satellite photograph. To match maps, drawings or satellite images. delete delete The method of claim 1,
The step of obtaining the image,
Acquiring a plurality of images photographed by the unmanned aerial vehicle flying a path including a plurality of waypoints on the target site,
The step of obtaining the focus coordinates, calculating the coordinates corresponding to the boundary points, and matching the image with the map, drawing or satellite image are performed for each of the plurality of images. , How to match against drawings or satellite photos. The method of claim 4,
The plurality of images are taken of the target site so as to have a predetermined photo redundancy rate, each of the plurality of images is taken of a part of the target site,
According to the control of the mobile terminal, in order to generate a pixel-matched image for the plurality of images, the plurality of images are transmitted to and matched to a server,
The matching is to generate one pixel matching image by pixel matching the plurality of images,
The pixel matching of the first image among the plurality of images and the second image adjacent to the first image is performed by the performance of the mobile terminal or the server or the overlapping portion of the first image and the second image. Matching an image to a map, a drawing, or a satellite photograph, performed by comparing the pixels of the first image and the pixels of the second image only for the remaining portions except for a portion of the predetermined ratio by the user of the mobile terminal Way. The method of claim 1,
Superimposing and displaying a layer generated corresponding to the image on the map, drawing, or satellite image
A method for matching the image to a map, a map, or a satellite image further comprising a. The method of claim 6,
Receiving a selection from a user of the mobile terminal for at least two points of the displayed layer; And
Calculating at least one of a length and a width of a figure on the layer generated by the selection
A method for matching the image to a map, a map, or a satellite image further comprising a. A program recorded on a computer-readable recording medium that performs the method of any one of claims 1 and 4 to 7. In the apparatus for matching an image of a target site captured by an unmanned aerial vehicle implemented by a mobile terminal with a map, drawing, or satellite photo,
At least one processor implemented to execute computer-readable instructions
Including,
The at least one processor,
Coordinates corresponding to boundary points including vertices of the image based on pixel information and the central coordinates of acquiring an image photographed by an unmanned aerial vehicle, acquiring a central coordinate corresponding to the central point of the image, and Calculation, and matching the calculated coordinates with the coordinates of a map, a drawing or a satellite picture, thereby matching the image with the map, a drawing or a satellite picture,
The pixel information includes information on an area indicated by a pixel of the image in a coordinate system of the map, drawing, or satellite photo,
The at least one processor,
In calculating coordinates corresponding to the boundary points, a pixel distance from a pixel of the image corresponding to the center point to a pixel corresponding to each boundary point of the boundary points is calculated, and the center point coordinate, information on the area, and Compute the coordinates of each boundary point based on the calculated pixel distance,
The at least one processor further calculates coordinates corresponding to each point of points for dividing from the midpoint of the image to the boundary points by a preset number or ratio,
The preset number or ratio is preset by the user of the mobile terminal as information indicating the accuracy of matching,
In calculating the coordinates corresponding to each point, based on the preset number or ratio, a plurality of virtual figures having the center point concentric are generated, and the coordinates are calculated for each of the vertices of the virtual figures Each point of the virtual figure is determined as the target point, and each of the vertices of the virtual figures corresponds to a line connecting the midpoint of the image and the vertices of the image at equal intervals and divided by the preset number or ratio. And calculating a pixel distance from a pixel of the image corresponding to the center point coordinate to a pixel of the image corresponding to each point, and the center point coordinate, information about the area, and the image corresponding to each point. Compute the coordinates of each point based on the pixel distance to the pixel,
In matching the image with the map, drawing, or satellite photo, the image is matched with the map, drawing or satellite photo by matching the coordinates of each point with the coordinates of the map, drawing or satellite photo. Devices that match against maps, drawings or satellite images. The method of claim 9,
A plurality of images photographed by the unmanned aerial vehicle flying on a path including a plurality of waypoints on the target site are acquired,
The plurality of images are taken of the target site so as to have a predetermined photo redundancy rate, each of the plurality of images is taken of a part of the target site,
A server that receives and matches the plurality of images to generate a pixel matched image for the plurality of images under control of the mobile terminal
Including more,
The server generates one pixel matching image by pixel matching the plurality of images through the matching,
The server performs the pixel matching of the first image among the plurality of images and the second image adjacent to the first image, and the performance of the mobile terminal among the overlapping portions of the first image and the second image. Alternatively, the image is performed by comparing the pixels of the first image and the pixels of the second image only for the remaining portions except for a portion of the predetermined ratio by the server or the user of the mobile terminal, and the image is converted to a map, drawing or satellite image Device to match against.

Images