KR102204044B1 - Image checking assembly used by overlap for each orthophoto - Google Patents

Abstract

The present invention relates to an orthogonal error checking device through an orthoimage overlapping method for each coordinate which minimizes an error and comprises a topographic map DB, an image DB, a cadastral map DB, a ground object information DB, an orthoimage processing module, a correction target detection module, an image analysis module, an object image extraction module, and an editing module.

Description

Orthogonal error checking device through the method of overlapping orthogonal images by coordinates {IMAGE CHECKING ASSEMBLY USED BY OVERLAP FOR EACH ORTHOPHOTO}

The present invention relates to an orthogonal error checking apparatus through an orthogonal image superimposition method for each coordinate to produce a precise vertical orthogonal image image by correcting and superimposing a tilt distortion of a photographed image due to a terrain inclination and minimizing the error.

An image, which is a reference image for drawing for the production of an image map or digital map, is collected through aerial photography. The collected images are classified based on the reference point, overlapped, and edited to produce an orthogonal image. In the orthoimage image, orthogonal distortion, blind spots (a2, a2'; see Fig. 1) and shadow zones (hereinafter'blind spots') are generated by the topographic structure and ground objects such as buildings or various vegetation, and the same ground object Even if it is, the range of the blind spots (a2, a2') and the form of distortion of the image of the ground object may vary depending on the slope of the ground, the normal distortion rate, and the shooting angle.

However, the distortion of the ground object image due to the blind spots (a2, a2') and inclination makes it impossible to accurately grasp the shape of a specific area and ground object image visually or visually in the orthogonal image, so the blind spots (a2, a2') The orthogonal image with) could not be used as it is for video map or digital map production. In the end, a field survey for blind spots (a2, a2') is conducted separately to determine the location coordinates of the blind spots (a2, a2') and the shape and occupied range of the ground objects, etc., and used for video or digital map production. I did.

However, this production method was both costly and work-intensive, and because a number of blind spots (a2, a2') had to be inspected on-site, the burden was not small in terms of time.

In the end, there is an urgent need for a technology that can more quickly identify, restore and correct blind spots (a2, a2').

Prior Art Document 1. Patent Registration No. 10-1938402 (announced on January 15, 2019)

Accordingly, the present invention is to solve the above problem, and orthogonal error through a coordinate-specific orthoimage superposition method that corrects and overlaps the tilt distortion of the photographed image due to the terrain inclination to produce a precise vertical orthogonal image and minimizes the error. It is a task to solve the provision of a confirmation device.

In order to achieve the above object, the present invention,

A topographic map DB for storing topographic map information in which an elevation value for each GPS coordinate value is set; An image DB for storing orthogonal image images synthesized and edited according to GPS coordinates; A cadastral map DB that stores cadastral map information in which parcels are classified according to GPS coordinates; A ground object information DB for storing specification data including an external shape value and a height value of the ground object and a GPS coordinate value of the ground object; By checking the GPS coordinate value of the ground object image configured in the orthogonal image, searching for the altitude value of the ground object in the topographic map DB, checking the elevation difference from the reference altitude elevation value, and checking the specification data of the ground object in the ground object information DB. Search to check the three-dimensional shape of the ground object, and use the photographing coordinate value of the photographing point for the corresponding ground object as a starting point, and determine the visible plane shape deformation of each of the three-dimensional shape located at the elevation value and the three-dimensional shape located at the reference elevation value. An orthogonal image processing module to check; A correction target detection module for designating a correction target range of the orthogonal image in proportion to the photographing altitude of the orthogonal image retrieved from the image DB; In the orthogonal image, the RGB values of pixels within the range to be corrected are checked, the RGB values of the pixels of the chromaticity belonging to the designated representative chromaticity group are unified with the corresponding representative chromaticity, and the position values of the pixels unified with the representative chromaticity are checked. The cluster shape of pixels having the same RGB value is formalized through deep learning, the standardized cluster shape is set as an independent shape image, and a collection of three or more shape images in contact with each other is designated as an object image. An image analysis module for designating a shape image having the largest area among the shape images as a flat shape, and designating other shape images as a side shape; Among the side shapes of the object image, if a side outline that is not in contact with the planar shape is located at a reference ratio or more in the range to be corrected, and the width of one side shape relative to the total width of the flat shape and one side shape is within the reference value, the object image is An object image extraction module designated as a correction target; Creates a first edited image whose plane shape is aligned with the side outline and the side shape is deleted, and retrieves the specification data of the ground object corresponding to the GPS coordinate value of the object image from the ground object information DB and photographs the ground object Check the distance value between points, the shooting altitude, the height of the ground object, the shooting coordinate value of the shooting point, and the GPS coordinate value of the ground object, and the distance value, the shooting altitude and height value, the GPS coordinate value of the shooting point and the GPS coordinate of the ground object In proportion to the value, the first edited image is expanded at the ratio of the vector amount to generate a second edited image, the second edited image is expanded at the ratio of the vector amount according to the deformation rate to generate a third edited image, and the orthogonal image The cadastral map information corresponding to the correction target range of is searched in the cadastral map DB, the cadastral map image is overlapped with the correction target range, the orthogonal image image is deleted for each lot according to the lot boundary of the cadastral map image, and the third edited image is deleted in the corresponding deletion area. An editing module for generating an edited orthogonal image by combining the image;

It is a device for checking orthogonal errors through an orthoimage overlapping method for each coordinate including a.

The present invention has the effect of correcting and overlapping the tilt distortion of the photographed image due to the terrain inclination to produce a precise vertical type orthogonal image and minimizing errors.

1 is a diagram schematically showing a state in which an orthogonal error checking apparatus according to the present invention collects a photographed image for generating an orthogonal image,
2 is a diagram schematically showing a state in which the orthogonal error checking apparatus according to the present invention adjusts the position of a ground object image for orthogonal image processing,
3 is a diagram schematically showing a state in which the orthogonal error checking apparatus according to the present invention transforms an image of a ground object,
4 is a block diagram showing an embodiment of a module configured in the orthogonal error checking apparatus according to the present invention,
5 is a flowchart sequentially showing the operation process of the orthogonal error checking apparatus according to the present invention,
6 is a diagram showing a standard for detecting whether an object image is to be corrected by an orthogonal error checking apparatus according to the present invention;
7 is a diagram showing an cadastral view of an orthogonal image image area searched by an orthogonal error checking apparatus according to the present invention,
8 is a diagram schematically illustrating a case where an cadastral map is synthesized with an orthogonal image before editing,
9 is an image showing a state in which the orthogonal error checking apparatus according to the present invention deletes the parcel where the object image to be corrected is located from the orthogonal image,
10 and 11 are diagrams schematically showing a change in the planar shape of the object image for each photographing angle,
12 is a diagram schematically showing a state in which the orthogonal error checking apparatus according to the present invention corrects a planar shape according to a specified ratio,
13 is a diagram schematically showing a state in which the apparatus for confirming an orthogonal error according to the present invention synthesizes a planar shape of an object image for each cadastral area,
14 is an image showing FIG. 13 as an orthogonal image.

The features and effects of the present invention described above will become apparent through the following detailed description in connection with the accompanying drawings, whereby those of ordinary skill in the technical field to which the present invention pertains can easily implement the technical idea of the present invention. There will be. Since the present invention can apply various changes and have various forms, specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific disclosed form, and it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a view schematically showing a state in which an orthogonal error checking apparatus according to the present invention collects a photographed image for generating an orthogonal image, and FIG. 2 is a view showing the orthogonal error checking apparatus according to the present invention on the ground for orthogonal image processing. It is a diagram schematically showing a state of adjusting the position of a water image, FIG. 3 is a diagram schematically showing a state in which the orthogonal error checking apparatus according to the present invention transforms the ground water image, and FIG. 4 is It is a block diagram showing an embodiment of a module configured in the orthogonal error checking device.

1 to 4, the orthogonal error checking apparatus of the present invention includes: a topographic map DB 20 for storing topographic map information in which an elevation value for each GPS coordinate value is set; An image DB 11 for storing an orthogonal image (M1; see FIG. 7) synthesized and edited according to GPS coordinates; A cadastral map DB 12 for storing cadastral map information on which parcels (Z1, Z2; see Fig. 7) are divided and displayed according to GPS coordinates; A ground object information DB (13) for storing specification data including the external numerical values and height values of the ground objects B1 to B3 and GPS coordinate values of the ground objects B1 to B3; By checking the GPS coordinate value of the ground object image configured in the orthogonal image (M1), searching the elevation value of the corresponding ground object (B1 to B3) in the terrain map DB 20, and calculating the elevation difference (t1) from the reference elevation value. Check, and search the specification data of the ground objects (B1 to B3) in the ground object information DB (13) to check the three-dimensional shape (SH1, SH2) of the ground objects (B1 to B3), and the corresponding ground object (B1 To B3), the three-dimensional shape SH1 located at the elevation value and the three-dimensional shape SH2 located at the elevation reference value as the viewpoint of the photographing coordinate value S1, S3 ) Orthogonal image processing module 19 to check the strain rate; A correction target detection module 14 that designates a range to be corrected in proportion to the photographing altitude of the orthogonal image M1 retrieved from the image DB 11, in the orthogonal image M1; In the orthogonal image (M1), the RGB values of pixels within the range to be corrected are checked, and the RGB values of the pixels of the chromaticity belonging to the designated representative chromaticity group are unified with the corresponding representative chromaticity, and the position values of the pixels unified with the representative chromaticity are determined. After checking, the cluster shape of pixels having the same RGB value is formalized through deep learning, the standardized cluster shape is set as an independent shape image, and a collection of three or more shape images in contact with each other is an object image (BM, BM') The shape image with the largest area among the shape images of the object image (BM, BM') is designated as the flat shape (P1, P1'), and the other shape images are the side shapes (P2, P2', P3, P3). An image analysis module 15 designated as'); Of the side shapes (P2, P2', P3, P3') of the object image (BM, BM'), the side outlines (UL1, UL2; see Fig. 6) that are not in contact with the planar shapes (P1, P1') are the target range An object image extraction module 16 for designating a corresponding object image (BM, BM') as a correction target if it is positioned at or above the reference ratio; Create a first edited image in which the plane shape (P1, P1') is aligned with the side outline (UL1, UL2) and the side shape (P2, P2', P3, P3') is deleted, and the object image (BM, BM) is deleted. ') of the ground object (B1 to B3) corresponding to the GPS coordinate value of the ground object (B1 to B3) by searching the ground object information DB (13), the distance value between the ground object (B1 to B3) and the shooting point and the height value of the ground object ( BH), and in proportion to the distance value and the height value BH, a second edited image MM' is generated in which the first edited image MM is expanded at a ratio of the vector amount, and the second edited image ( MM') generates a third edited image that is expanded at the ratio of the vector amount according to the deformation rate, and searches for cadastral map information corresponding to the correction target range of the orthogonal image M1 in the cadastral map DB 12, and the cadastral map image M2; 7) is overlapped with the area to be corrected, and the orthogonal image M1 is image deleted for each lot (Z1, Z2) according to the parcel boundary (BL; see FIG. 7) of the cadastral map image M2. And an editing module 17 for synthesizing the edited image to the corresponding deletion area.

To describe the components of the orthogonal error checking apparatus according to the present invention in more detail, the terrain map DB 20 stores topographic map information in which an elevation value is set for each GPS coordinate value. Therefore, when the topographic map information is loaded, the curved shape of the ground can be expressed for each GPS coordinate. In addition, if you input an arbitrary GPS coordinate value, the altitude value of the corresponding point is searched.

The image DB 11 stores a normal orthogonal image M1 forming the background of the image map. The orthogonal image M1 is a composite and edited image of a plurality of photographed images collected by aerial photographing by an aircraft D such as a drone according to the GPS coordinates according to a known image editing process. Since the orthogonal image (MI) generation technology based on the photographed image is a known technology, a detailed description thereof will be omitted here.

The cadastral map DB 12 stores cadastral map information in which parcels (Z1, Z2; see Fig. 7) are separated and displayed according to the GPS coordinates. Since the cadastral map information includes the GPS coordinate value and the cadastral map image (M2), the parcels (Z1, Z2) of the corresponding section can be searched using the GPS coordinate value and displayed through the monitor.

The ground object information DB 13 stores specification data including the external numerical values and height values of the ground objects B1 to B3 and the GPS coordinate values of the ground objects B1 to B3. Since the ground object image posted in the orthogonal image (M1) is ground objects (B1 to B3) such as buildings and structures that exist on the ground, the GPS coordinate value, which is the actual position value, and the height, floor number, width, name, etc. The specification data of In addition, the specification data includes an external dimension value and a height value of the ground objects B1 to B3. Therefore, the GPS coordinate value and specification data are linked for each corresponding ground object image posted on the orthogonal image M1, and the GPS coordinate value and specification data are stored in the ground object information DB 13. The external shape value is data on the length and location of each section for expressing the external image of the ground objects B1 to B3 in 3D. Since the external numerical value is configured to correspond to the design value of the ground objects B1 to B3, the orthogonal image processing module 19 uses the external numerical value to determine the outer point based on the GPS coordinate values of the ground objects B1 to B3. You can extract the GPS coordinate value of.

The orthogonal image processing module 19 searches for an elevation value of the ground object image configured in the orthogonal image M1 in the terrain map DB 20 and checks the elevation difference t1 from the specified elevation reference value. For example, if the reference value for elevation is '0' and the elevation value of the ground object B3 is'-20', as shown in Figure 1(a), the difference in elevation (t1) of the corresponding ground object B3 ) Is'-20'. Through this method, the difference in elevation of the ground object B1 is identified as't2', and the difference in elevation of the ground object B2 is identified as '0'.

When the altitude difference t2 is confirmed through the above-described process, the orthogonal image processing module 19 retrieves the specification data of the corresponding ground objects B1 to B3 from the ground object information DB 13 to determine the ground objects B1 to B3. Check the three-dimensional shape (SH1, SH2) of. As described above, since the specification data includes the height value and the external numerical value of the corresponding ground objects B1 to B3, the orthogonal image processing module 19 utilizes the height value and the external numerical value to The three-dimensional shape (SH1, SH2) of B3) can be calculated and imaged.

The three-dimensional shape (SH1, SH2) imaged based on the height values and the external values of the ground objects (B1 to B3) is formed by calculating the vertex coordinate values (Q11 to Q14, Q21 to Q24). The shapes SH1 and SH2 include planar shapes PO and PO'.

Subsequently, as shown in FIG. 2, the orthogonal image processing module 19 has a planar shape (PO) of a three-dimensional shape (SH1) located at an elevation value, and a planar shape (PO) of a three-dimensional shape (SH2) located at an elevation reference value. ') For each, check the visible planar shape (S1, S3) with the photographing coordinate value DP of the photographing point for the corresponding ground object B3 as a viewpoint. The visible planar shape (S1, S3) is a planar shape (PO, PO') at a right angle of the line of sight (W1, W2) connecting the boundary of the plane shape (PO, PO') and the side shape (Q13, Q23) with the shooting point. ') is the range to be correct.

As described above, if the visible width and length of the planar shape PO of the three-dimensional shape SH1 is'S1' from the elevation value at which the ground object B3 is originally located, the elevation value of the ground object B3 The visible width and length of the planar shape PO' of the three-dimensional shape SH2 checked according to the reference value is changed to'S3'. Therefore, the orthogonal image processing module 19 calculates the height difference (t1) of the ground objects (B1 to B3), the specification data, and the photographing coordinate value, and the deformation rate of the plane shape by the elevation difference (t1), that is, from'S1' to'S3'. Check the degree of deformation of.

This embodiment exemplifies the case of a ground object image that is inclined only in one side direction as shown in FIG. 3, but the strain can also be calculated in the case of a ground object image that is inclined in the direction of two adjacent sides. In this case, the strain rate It is calculated as this vector quantity.

The correction target detection module 14 designates a correction target range of the orthogonal image ML in proportion to the photographing altitude of the orthogonal image M1 retrieved from the image DB 11. As shown in FIG. 1, the camera is limited in the shooting range according to the angle of view, and the shooting range is limited according to the altitude of the shooting aircraft D. In other words, the larger the angle of view or the higher the photographing altitude, the greater the photographing range. However, since the deformation and distortion of the image increases toward the edge of the shooting range, the effective range of the orthogonal image M1 is limited to the center, and among the ground object images located at the center, the ground object image that can be corrected is extremely limited. Accordingly, the correction target detection module 14 sets the correction target range according to a specified ratio according to the photographing altitude of the photographed image, which is the basis for generating the orthogonal image M1. When the range to be corrected is set, the target to be processed in the subsequent process is limited to the range to be corrected, and the target to be processed is limited to an image of a ground object located within the range to be corrected.

The image analysis module 15 checks the RGB values of pixels within the range to be corrected in the orthogonal image M1 and unifies the RGB values of pixels of the chromaticity belonging to the designated representative chromaticity group with a corresponding representative chromaticity. By checking the position values of the unified pixels by using deep learning, the cluster shape of pixels having the same RGB value is formalized through deep learning, the standardized cluster shape is set as an independent shape image, and a collection of three or more shape images in contact with each other is formed. It is designated as an object image (BM, BM'; see Fig. 6), and the shape image with the largest area among the shape images of the object image (BM, BM') is designated as a flat shape (P1, P1'; see Fig. 6). , Other shape images are designated as side shapes (P2, P2', P3, P3'). The image analysis module 15 analyzes the pixels located in the range to be corrected according to the position and RGB value, and an object image (P1, P1') and side shape (P2, P2', P3, P3') BM, BM') are classified and confirmed. A detailed description of this will be described in detail by describing the pro chart.

The object image extraction module 16 includes side outline lines (UL1, UL2) that are not in contact with the planar shapes (P1, P1') of the side shapes (P2, P2', P3, P3') of the object images (BM, BM'). 6) is positioned above the reference ratio in the range to be corrected, the object image (BM, BM') is designated as the target to be corrected. The entire object images BM and BM' may be located in the range of the target to be corrected detected by the target detection module 14, but only a part of the image may be located. Accordingly, the object image extraction module 16 reads whether or not to be corrected based on the position degree of the side outline lines UL1 and UL2 with respect to the range to be corrected. A detailed description of this will be described in detail by describing the pro chart.

The editing module 17 generates a first edited image in which planar shapes (P1, P1') are aligned with side outline lines (UL1, UL2) and side shapes (P2, P2', P3, P3') are deleted, and , The distance between the ground object (B1 to B3) and the shooting point by searching the ground object information DB 13 for the specification data of the ground object (B1 to B3) corresponding to the GPS coordinate value of the object image (BM, BM') Check the value and the height value (BH) of the ground object, and generate a second edited image (MM') in which the first edited image (MM) is expanded by the ratio of the vector amount in proportion to the distance value and the height value (BH), , A third edited image is created by expanding the second edited image (MM') at the ratio of the vector amount according to the deformation rate, and the cadastral map information corresponding to the correction target range of the orthogonal image M1 is retrieved from the cadastral map DB (12). Thus, the cadastral map image (M2; see Fig. 7) is overlapped with the area to be corrected, and the orthogonal image M1 is imaged for each lot (Z1, Z2) in line with the lot boundary line BL (see Fig. 7) of the cadastral map image M2. It is deleted and the second edited image (MM') is combined in the corresponding deletion area. The editing module 17 is a technology that enables editing of an orthogonal image by removing the blind spot (a2) created by the shooting angle from the ground object image without additional work such as collecting field information and re-taking information. To this end, the editing module 17 deletes the surrounding image of the ground object image, that is, the parked vehicle image, the tree image, the bench image, the park image, etc. from the orthogonal image M1, and edits the obliquely photographed ground object image. . A detailed description of this will be described in detail by describing the pro chart.

5 is a flowchart showing the operation process of the orthogonal error checking apparatus according to the present invention in sequence, and FIG. 6 is a view showing the criteria for detecting whether the orthogonal error checking apparatus according to the present invention is the object image to be corrected. 7 is a view showing the state of the cadastral map of the orthogonal image area searched by the orthogonal error checking apparatus according to the present invention, and FIG. 8 is a diagram schematically illustrating a case where the cadastral map is synthesized with the orthogonal image image before editing, and FIG. 9 is an image showing a state in which the orthogonal error checking apparatus according to the present invention deletes the parcel where the object image to be corrected is located from the orthogonal image, and FIGS. 10 and 11 schematically illustrate the change in the planar shape of the object image for each shooting angle. 12 is a diagram schematically showing a state in which the orthogonal error checking device according to the present invention corrects the planar shape according to a specified ratio, and FIG. 13 is a view showing the orthogonal error checking device according to the present invention for each pointed area. It is a diagram schematically showing a state in which the planar shape of an object image is synthesized, and FIG. 14 is an image showing FIG. 13 as an orthogonal image.

1 to 14, the orthogonal error checking apparatus of the present invention generates an image map image M4 by operating in the following process.

S10; Steps to specify the range to be corrected

When the operator searches for the orthogonal image M1 in the image DB 11, the correction target detection module 14 checks the photographing altitude of the photographed image constituting the orthogonal image M1, and is designated in proportion to the photographing altitude. The range to be corrected is specified in the orthogonal image M1 according to the ratio.

The range to be corrected is a circular section centered on the point where the aircraft D is located at the time of photographing the photographed image forming the corresponding orthogonal image M1.

Consequently, the higher the altitude of the aircraft D, the wider the range to be corrected. However, since the effective shooting image for the production of the orthogonal image (M1) is limited to the captured image collected while the aircraft (D) is located at a limited altitude, the detection module 14 to be corrected is designated by the orthogonal image (M1). There is no significant difference in the range to be corrected for each orthogonal image M1.

S11; Stages of orthogonal image analysis

The image analysis module 15 analyzes the position value and RGB value of the pixels on the ground object image posted within the range of the object to be corrected detected by the detection module 14 to be corrected to form a planar shape (P1, P1') ;See Fig. 6) and side shapes (P2, P2', P3, P3') are extracted.

The photographed image collected by the digital camera in the aircraft D is corrected and edited into the orthogonal image M1, and then output to the monitor through the pixel set with the RGB value. Accordingly, the image analysis module 15 checks the position value and corresponding RGB value for each pixel for outputting the orthogonal image M1 to the monitor. Ground objects are painted with a unique color on their surface, so they have a different chromaticity than other adjacent ground objects. However, even if the surface is painted in the same color, the image of the ground object may show a difference in chromaticity due to the surface curvature of the ground object and the difference in contrast by location. That is, even with the same surface of the same ground object image, there may be a slight difference in the RGB value set for the corresponding pixel.

Accordingly, the image analysis module 15 unifies the RGB values of pixels set as chromaticities belonging to the designated representative chromaticity group with the corresponding representative chromaticity. For example, if red, pale red, and bright red form a group in an arbitrary representative chromaticity group, and the representative chromaticity is red, if the RGB value set in a random pixel is confirmed as bright red, the set RGB value of the pixel is determined. The RGB value is changed to red, which is the representative chromaticity of the corresponding chromaticity.

When the RGB values are unified by the representative chromaticity as described above, the image analysis module 15 checks the position values of the pixels and formalizes the cluster form of pixels having the same RGB value through deep learning. However, even if a subject has been stereotyped in a specific shape, the boundary line may become unclear or distorted in the image of the ground object collected by photographing. In other words, even if the subject is a square, the sides that form the boundary of the subject may form a curved shape rather than a straight line. Therefore, even if the ground object image is a somewhat curved square, the image analysis module 15 generates an independent shape image by forming the ground object image into a square shape through deep learning technology.

Subsequently, the image analysis module 15 analyzes the orthogonal image M1, extracts an aggregate of three or more shape images (P1, P2, P3) in contact with each other among the standardized shape images, and converts the aggregate into an object image (BM). , BM'). As can be seen from the orthogonal image M1, the structure is photographed slightly inclined during aerial photographing, so the plane and at least four or more sides are collected in a contact form. Therefore, an aggregate of three or more shape images (P1, P2, P3) in contact with each other is regarded as a ground object image and is designated as an object image (BM, BM').

S12; Step of extracting object image to be corrected

The image analysis module 15 designates the shape image with the largest area from three or more shape images (P1, P2, P3) designated as object images (BM, BM') as flat shapes (P1, P1'), and The shape image is designated as the side shape (P2, P2', P3, P3').

Subsequently, the object image extraction module 16, compared to the total width of the planar shape (P1, P1') and one side shape (P2, P2', P3, P3'), one side shape (P2, P2', P3, P3). The width of') is within the standard value, and the side outlines (UL1, UL2) that are not in contact with the planar shapes (P1, P1') of the side shapes (P2, P2', P3, P3') of the object image (BM, BM') ) Is above the reference ratio in the range to be corrected, the object image (BM, BM') is designated as the target to be corrected.

In more detail, when the ground object image is collected in an excessively inclined state, the overall width d1, P1' and one side shape P2, P2', P3, P3' Compared to d1'), the widths d2, d2' of one side shape (P2, P2', P3, P3') increase. In other words, it is unreasonable as a correction target because the target ground object is photographed too sideways during the shooting process. Therefore, object images (BM, BM') collected in this way are excluded from correction. For reference, in the drawing (a) of FIG. 6, since the width d2 of one side shape P2 is more than the reference value compared to the total width d1 of the plan shape P1 and one side shape P2, the object image extraction module (16) is excluded from correction.

In addition, of the side shapes (P2, P2', P3, P3') of the object image (BM, BM'), the side outline lines (UL1, UL2) that are not in contact with the planar shapes (P1, P1') are Is the point where it is actually located. As a result, even if the planar shapes P1 and P1' are outside the range to be corrected, the side outline lines UL1 and UL2 must be located within the range to be corrected. Therefore, if the lateral outline (UL1, UL2) is located within the range to be corrected above the reference ratio, that is, more than 90%, the ground object of the object image (BM, BM') is considered to be located within the range to be corrected and designated as the target for correction. do. Since the reference ratio is changed as necessary, it is not limited to the illustrated 90%.

S121; Steps to check altitude values by location

The orthogonal image processing module 19 searches for an elevation value of the ground object image configured in the orthogonal image M1 in the terrain map DB 20 and checks the elevation difference t1 from the specified elevation reference value. As described above, since the ground objects B1 to B3 have GPS coordinate values that are actually located, the topographic map DB 20 is searched using the GPS coordinate values, and the corresponding ground objects B1 to B3 are located. Check the altitude value.

When checking the altitude value of the ground objects B1 to B3, the altitude difference t1 of the above ground objects B1 to B3 is checked by comparing the altitude value with the reference altitude above sea level. The reference value for altitude above sea level can be adjusted as needed.

S122; Steps to check the orthogonal image strain

When the altitude difference t2 is confirmed, the orthogonal image processing module 19 searches for the data of the corresponding ground objects B1 to B3 in the ground object information DB 13 to determine the three-dimensional shape SH1 of the ground objects B1 to B3. , SH2). As described above, since the specification data includes the height value and the external numerical value of the corresponding ground objects B1 to B3, the orthogonal image processing module 19 utilizes the height value and the external numerical value to The three-dimensional shape (SH1, SH2) of B3) can be calculated and imaged.

The three-dimensional shape (SH1, SH2) imaged based on the height values and the external values of the ground objects (B1 to B3) is formed by calculating the vertex coordinate values (Q11 to Q14, Q21 to Q24). The shapes SH1 and SH2 include planar shapes PO and PO'.

Subsequently, as shown in FIG. 2, the orthogonal image processing module 19 has a planar shape (PO) of a three-dimensional shape (SH1) located at an elevation value, and a planar shape (PO) of a three-dimensional shape (SH2) located at an elevation reference value. ') For each, check the visible planar shape (S1, S3) with the photographing coordinate value DP of the photographing point for the corresponding ground object B3 as a viewpoint. The visible planar shape (S1, S3) is a planar shape (PO, PO') at a right angle of the line of sight (W1, W2) connecting the boundary of the plane shape (PO, PO') and the side shape (Q13, Q23) with the shooting point. ') is the range to be correct.

As described above, if the visible width and length of the planar shape PO of the three-dimensional shape SH1 is'S1' from the elevation value at which the ground object B3 is originally located, the elevation value of the ground object B3 The visible width and length of the planar shape PO' of the three-dimensional shape SH2 checked according to the reference value is changed to'S3'. Therefore, the orthogonal image processing module 19 calculates the height difference (t1) of the ground objects (B1 to B3), the specification data, and the photographing coordinate value, and the deformation rate of the plane shape by the elevation difference (t1), that is, from'S1' to'S3'. Check the degree of deformation of.

This embodiment exemplifies the case of a ground object image that is inclined only in one side direction as shown in FIG. 3, but the strain can also be calculated in the case of a ground object image that is inclined in the direction of two adjacent sides. In this case, the strain rate It is calculated as this vector quantity.

S13; Cadastral Map Search Step

The editing module 17 checks the GPS coordinates of the range to be corrected, searches for corresponding cadastral map information from the cadastral map DB 12, and extracts a cadastral map image M2 from the cadastral map information.

S14; Editing step of deleting orthogonal image by intellectual section

The editing module 17 overlaps the previously extracted cadastral map image (M2) with the area to be corrected, and deletes the section of the orthogonal image (M1) for each parcel (Z1, Z2) in line with the parcel boundary (BL) of the cadastral map image (M2). do. That is, the editing module 17 overlaps the boundary line BL of the cadastral map image M2 on the orthogonal image M1 as shown in FIG. 7(b) to create a composite image M12 as shown in FIG. By deleting the section of the parcels Z1 and Z2, the edited orthogonal image M3 as shown in FIG. 9 is generated.

S15; Plane shape correction step

The editing module 17 moves the flat shape (P1, P1') from the object image (BM, BM') to fit the side outline (UL1, UL2), and the side shape (P2, P2', P3, P3') The first edited image (MM) is created by deleting.

However, even if the planar shapes P1 and P1' constituting the first edited image MM are the same ground object, the shooting distances L1, L2, h1, h2, the shooting angle, and the distance value 37, 37', 38, 38') and photographing altitudes h1, h2, etc., the photographing areas 31 to 36 of the corresponding object images BM3 to BM8 vary.

Therefore, the editing module 17 takes the first edited image (MM) from the shooting distance (L1, L2), the shooting altitude (h1, h2), the shooting angle, and the distance (37, 37', 38, 38') to the aircraft (D). Regardless of variable factors such as ), etc., it is corrected as if the aircraft D accurately photographed the plane in the vertical direction from the ground object. To this end, the editing module 17 checks the GPS coordinate value of the object image (BM, BM'), searches for the specification data of the corresponding ground object (B1 to B3) in the ground object information DB 13, and By checking the distance values (37, 37', 38, 38') between the water (B1 to B3) and the photographing point and the height value (BH) of the ground object, the amount of change in the photographing area (31 to 36) is confirmed. That is, as shown in FIG. 10, the plane D is taken as a standard view of the object image BM4 collected by photographing the ground object at the corresponding shooting altitude h1 and the shooting distance of'L1'. ), and the shooting area (31, 33 to 36) changed by the shooting angle and shooting distance (L2), the height of the corresponding ground object identified in the specification data, and the distance values between shooting points (37, 37', 38, 38'), etc. ) To the size of the reference area 32.

After all, the editing module 17 is proportional to the distance value (37, 37', 38, 38'), height value (BH), shooting altitude (h1, h2), shooting coordinate value of the shooting point and GPS coordinate value of the ground object. As a result, the first edited image MM is expanded at the ratio of the vector amount as shown in Fig. 12(c) to generate the second edited image MM'. For reference, the distance values 37, 37', 38, 38' are the difference between the GPS coordinate values of the aircraft D and the GPS coordinate values of the corresponding ground objects B1 to B3.

Subsequently, the editing module 17 generates a third edited image by expanding the second edited image MM' at a ratio of the vector amount according to the strain generated by the orthogonal image processing module 19. The third edited image prevents an error occurring due to a difference in shape of an image of a ground object according to altitude in a process of processing an orthogonal image.

S16; Planar shape synthesis step

13 and 14, the editing module 17 synthesizes the second edited images MM1 and MM2 corresponding to the deletion areas of the parcels Z1 and Z2 composed of the edited orthogonal image M3, M4). Since the edited orthogonal image M3 is composed of a GPS coordinate system (not shown), the second edited images MM1 and MM2 to which the corresponding coordinate values of the ground object are linked are in the edited orthogonal image M3 according to the coordinate values. Is synthesized.

In the image map image M4 shown in FIG. 14, only the section Z21 in which the second edited images MM1 and MM2 are combined in the parcel Z2 is deleted, and the other section retains the existing image.

S17; Secondary image enhancement step

Since the editing module 17 deletes the orthogonal image in units of parcels Z1 and Z2, an unfilled empty space remains as shown in FIG. 13 even when the second edited image MM' is combined in the deletion area. Therefore, the auxiliary image reinforcement module 18 is selected from a tree image (not shown), a road image (not shown), and an entrance image (not shown) in the empty space of the deleted area excluding the second edited image (MM'). By combining one or more, the image map image (M4) is beautifully reinforced.

In the end, the image map image M4 can be used to form a realistic image without the crude appearance seen due to the deletion of images in the parcels (Z1, Z2).

In the detailed description of the present invention described above, it has been described with reference to preferred embodiments of the present invention, but those skilled in the art or those of ordinary skill in the relevant technical field, the spirit of the present invention described in the claims to be described later. And it will be understood that various modifications and changes can be made to the present invention within a range not departing from the technical field.

a2; Blind spots B1 to B5; Ground water BL; boundary
BM, BM', BM1 to BM8; Object image D; aircraft
d1, d2; Width M1; Orthogonal image M12; Composite image
M2; Cadastral map image M3; Edited orthoimage image M4; Video map image
MM; The first edited image MM'; Second edited images P1, P1'; Plane shape
P2, P2', P3, P3'; Side name shape UL1, UL2; Side outline

Claims (1)

A topographic map DB for storing topographic map information in which an elevation value for each GPS coordinate value is set; An image DB for storing orthogonal image images synthesized and edited according to GPS coordinates; A cadastral map DB that stores cadastral map information in which parcels are classified according to GPS coordinates; A ground object information DB for storing specification data including an external shape value and a height value of the ground object and a GPS coordinate value of the ground object; By checking the GPS coordinate value of the ground object image configured in the orthogonal image, searching for the altitude value of the ground object in the topographic map DB, checking the elevation difference from the reference altitude elevation value, and checking the specification data of the ground object in the ground object information DB. Search to check the three-dimensional shape of the ground object, and use the photographing coordinate value of the photographing point for the corresponding ground object as a starting point, and determine the visible plane shape deformation of each of the three-dimensional shape located at the elevation value and the three-dimensional shape located at the reference elevation value. An orthogonal image processing module to check; A correction target detection module for designating a correction target range of the orthogonal image in proportion to the photographing altitude of the orthogonal image retrieved from the image DB; In the orthogonal image, the RGB values of pixels within the range to be corrected are checked, the RGB values of the pixels of the chromaticity belonging to the designated representative chromaticity group are unified with the corresponding representative chromaticity, and the position values of the pixels unified with the representative chromaticity are checked. The cluster shape of pixels having the same RGB value is formalized through deep learning, the standardized cluster shape is set as an independent shape image, and a collection of three or more shape images in contact with each other is designated as an object image. An image analysis module for designating a shape image having the largest area among the shape images as a flat shape, and designating other shape images as a side shape; Among the side shapes of the object image, if a side outline that is not in contact with the planar shape is located at a reference ratio or more in the range to be corrected, and the width of one side shape relative to the total width of the flat shape and one side shape is within the reference value, the object image is An object image extraction module designated as a correction target; Creates a first edited image whose plane shape is aligned with the side outline and the side shape is deleted, and retrieves the specification data of the ground object corresponding to the GPS coordinate value of the object image from the ground object information DB and photographs the ground object Check the distance value between points, the shooting altitude, the height of the ground object, the shooting coordinate value of the shooting point, and the GPS coordinate value of the ground object, and the distance value, the shooting altitude and height value, the GPS coordinate value of the shooting point and the GPS coordinate of the ground object In proportion to the value, the first edited image is expanded at the ratio of the vector amount to generate a second edited image, the second edited image is expanded at the ratio of the vector amount according to the deformation rate to generate a third edited image, and the orthogonal image The cadastral map information corresponding to the correction target range of is searched in the cadastral map DB, the cadastral map image is overlapped with the correction target range, the orthogonal image image is deleted for each lot according to the lot boundary of the cadastral map image, and the third edited image is deleted in the corresponding deletion area. An editing module for generating an edited orthogonal image by combining the image;
Orthogonal error checking device through an orthoimage superimposition method for each coordinate, comprising a.

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