KR102309476B1 - 3D road map providing system including automatic lane generation interface - Google Patents

Abstract

The present invention relates to a three-dimensional (3D) road map providing system including an automatic lane generating interface, which comprises: a data input module for receiving an actual image required for road map production and a plurality of pieces of map coordinate information stored for each actual image from a data server; an image optimization module for generating a 3D road image through the actual image, and storing the same in the data server; a point setting module for displaying a plurality of points at positions where lanes are to be formed with respect to the map coordinate information in a layout in which the 3D road image is simply processed; a lane generating module for generating the lanes in the layout by connecting the points on the basis of an automatic lane generating interface; and a 3D road map generating module for generating a 3D road map by overlapping the 3D road image on the layout with respect to the map coordinate information. Therefore, a 3D road map for autonomous vehicle simulation based on an actual image can be generated.

Description

3D road map providing system including automatic lane generation interface

It relates to a 3D road map providing system including an automatic lane creation interface, and in more detail, after generating a 3D road image based on the actual image and map coordinate information, and creating a lane connecting points to the 3D road image, To a 3D road map providing system capable of generating a 3D road map by overlapping a 3D road image.

A three-dimensional image is an image that is three-dimensionally expressed using spatial coordinates of three axes of height, width, and depth, then processed and output as a two-dimensional result, and is three-dimensionally expressed in various media such as animation and software. It can be applied, and in particular, it can also be applied to maps to provide a three-dimensional and realistic topography.

A road map can be generated through such a three-dimensional map, and a more realistic and precise road map can be provided based on the actual picture, and using this, a picture-based self-driving car simulation can be performed.

At this time, Korean Patent Publication No. 10-2015-0061445 (title of invention: 3D road map creation and lane recognition device) is registered as a prior art related to three-dimensional road map production.

The prior art includes a laser scanner that collects distance data and angle data, respectively; a data processing unit for generating two-dimensional information using the distance angle data and the distance data; a map forming unit for forming a three-dimensional map by combining the two-dimensional information with information such as the position and posture of the driving body; a lane feature point extraction unit for extracting feature points of road lanes from a three-dimensional map; and a curvature estimator for estimating a curved path through a coverture algorithm when a road lane is broken. A dimensional road map creation and lane recognition device including

Although the prior art can form a 3D map by acquiring 2D information, it takes a lot of time and effort in that it is necessary to acquire information by scanning the angle of each street with a laser in order to generate a 3D road map. The crowd may follow.

Therefore, in order to solve the above problem, a system capable of generating a 3D road image and lanes based on the actual image and map coordinate information and overlapping the 3D road image to create a realistic and precise 3D road map. The necessity is emerging.

The present invention has been devised to overcome the problems of the above technology. A three-dimensional road image is generated based on a live-action image and map coordinate information, a lane is created by connecting points to the three-dimensional road image, and then a three-dimensional road is created. It is to provide a system that can generate a 3D road map by overlapping images.

Another object of the present invention is to provide a system capable of generating a plurality of lines along a road continuation direction, determining noise points of the lines, and setting a line having a small number of noise points as a reference line.

Another object of the present invention is to remove a noise point included in each line included in the baseline group and connect the remaining points to generate a correction baseline to provide a system capable of setting a correction baseline with the smallest number of inflection points as a baseline. will be.

It is a further object of the present invention to provide a system capable of calculating a correction baseline index based on a distance measured from a reference point to an auxiliary point spaced apart at regular intervals and setting a reference line according to its height.

In order to achieve the above object, a 3D road map providing system including an automatic lane generation interface according to the present invention is a data input module that receives an actual image required for road map production and a plurality of map coordinate information stored for each actual image from a data server. ; an image optimization module for generating a three-dimensional road image from the actual image and storing it in the data server; a point setting module for displaying a plurality of points at positions where lanes are to be formed based on the map coordinate information in a layout in which the three-dimensional road image is abbreviated; a lane creation module for creating lanes in the layout by connecting the points based on an automatic lane creation interface; and a 3D road map generation module for generating a 3D road map by overlapping the 3D road image on the layout based on the map coordinate information.

In addition, the image optimization module generates a three-dimensional road image by calculating the detail level value of the intermediate image generated by analyzing the actual image, and then performing assignment processing and rendering of polygons included in the intermediate image to generate the data It is characterized in that it includes a function to store in the server.

In addition, the automatic lane generation interface includes a line generation module for generating a plurality of lines by connecting the points along the extension direction of the road, a reference point setting module for setting a specific point in the line as a reference point, and any The separation distance from the reference point of one line to the reference point of another adjacent line is compared with the separation distance measured at regular intervals along the extension direction of the line to determine a specific point as a noise point according to the magnitude of the separation distance a noise point determination module; a reference line group setting unit configured to determine the number of noise points included in the line and set at least two lines having a small number of noise points as a reference line group; It characterized in that it includes a reference line setting module having a reference line setting unit for setting a reference line, and a position alignment module for aligning the positions of other lines in accordance with the reference line.

According to the 3D road map providing system including the automatic lane generation interface according to the present invention,

1) Create a three-dimensional road image based on the actual image and map coordinate information, create a lane that connects points to the three-dimensional road image, and overlap the three-dimensional road image with this for real-world self-driving car simulation You can create 3D road maps,

2) It is possible to provide a system that can generate a plurality of lines along the road continuation direction, determine the noise points of the lines, and set a line with a small number of noise points as a reference line,

3) By removing the noise points included in each line included in the baseline group and connecting the remaining points to create a compensation baseline, the compensation baseline with the smallest number of inflection points can be set as the baseline,

4) The calibration baseline index can be calculated based on the distance measured from the reference point to the auxiliary point spaced apart at regular intervals, and the reference line can be set according to its height.

1 is a conceptual diagram showing a schematic configuration of a system of the present invention.
Figure 2 is a block diagram showing the overall configuration of the system of the present invention.
3 is a conceptual diagram illustrating an embodiment in which a plurality of points are set in a layout;
4 is a conceptual diagram illustrating an embodiment in which lanes are created in a layout;
5 is a conceptual diagram illustrating an embodiment of a 3D road map completed by overlapping a 3D road image on a layout.
6 is a conceptual diagram illustrating an embodiment of a reference point and a noise point of an automatic lane generating interface;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The accompanying drawings are not drawn to scale, and like reference numbers in each drawing refer to like elements.

1 is a conceptual diagram showing a schematic configuration of a system of the present invention.

1, the 3D road map providing system 1 including the automatic lane generation interface of the present invention generates a 3D road image based on the actual image and map coordinate information, and connects points to the 3D road image. After lanes are created, the 3D road image is overlapped to generate a 3D road map.

The system 1 of the present invention that performs these functions basically consists of a main server in which the system 1 is implemented and a data server that stores images for generating a 3D road map.

The main server of the present invention means hardware having a CPU and a storage means in a state of having a communication unit and a transmission means for communicating and transmitting information with a data server, and a series of A module and its specific function can be derived.

That is, the main server has a central processing unit (CPU) and a program that can be executed in the central processing unit based on a hardware having storage means such as memory and hard disk, that is, software is installed and this software can be executed. A series of specific configurations of the 'module', 'part', and 'interface' will be described later as structural units.

At this time, the main server is a RAM (Random Access Memory, not shown) and ROM (ROM: Read-Only Memory, not shown) that temporarily and / or permanently store the signal (or data) processed therein; It may include a processor.

In addition, the main server may be implemented in the form of a system on chip (SoC) including at least one of a graphic processing unit, a RAM, and a ROM.

The processor may include one or more cores (not shown) and a graphic processing unit (not shown) and/or a connection path (eg, a bus, etc.) for transmitting and receiving signals to and from other components.

The memory may store programs (one or more instructions) for executing and controlling a module or a unit to be described later. Programs stored in the memory may be divided into a plurality of modules according to functions.

The steps of a method or algorithm described in relation to an embodiment of the present invention may be implemented directly in hardware, as a software module executed by hardware, or by a combination thereof. A software module may contain random access memory (RAM), read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or It may reside in any type of computer-readable recording medium well known in the art to which the present invention pertains.

That is, the components of the present invention may be implemented as a program (or an application) to be executed in combination with a computer, which is hardware, and stored in a medium. The components of the present invention may be implemented as software programming or software components, and similarly, embodiments may include various algorithms implemented as data structures, processes, routines, or combinations of other programming constructs, including C, C++ , Java, assembler, etc. may be implemented in a programming or scripting language. Functional aspects may be implemented in an algorithm running on one or more processors.

The configuration of these 'modules' or 'parts' or 'interfaces' refers to a configuration of software or hardware such as FPGA or ASIC that is installed and stored in the storage means of the main server 10 and is executed via the CPU and memory. do. In this case, the configuration of 'module', 'unit', and 'interface' is not limited to hardware, and may be configured to be in an addressable storage medium or may be configured to reproduce one or more processors. As an example, 'module' or 'part' or 'interface' refers to components such as software components, object-oriented software components, class components and task components, and processes, functions, and properties. includes fields, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, data server, data structures, tables, arrays and variables.

The functions provided by these 'modules' or 'units' or 'interfaces' may be combined into a smaller number of components and 'units' or 'modules' or additional components and 'units' or 'modules'. can be further separated.

Hereinafter, detailed configurations and functions within such a macro configuration will be described.

2 is a block diagram showing the overall configuration of the system of the present invention, FIG. 3 is a concept illustrating an embodiment in which a plurality of points are set in a layout, and FIG. 4 is an embodiment in which lanes are created in the layout. It is a conceptual diagram, and FIG. 5 is a conceptual diagram illustrating an embodiment of a 3D road map completed by overlapping a 3D road image on a layout.

2, the system 1 of the present invention basically includes a data input module, an image optimization module, a point setting module, a lane generating module, and a 3D road map generating module.

The data input module ( 100 ) performs a function of receiving an actual image required for road map production and a plurality of map coordinate information stored for each actual image from the data server.

Here, the actual image refers to a real picture of a road for which a 3D road map is to be produced, and may be a plurality of pictures taken at various angles and distances with respect to the road. In this case, external environmental conditions such as the date and weather, climate, etc. taken for each live-action image may be different, and multiple live-action images of various conditions may help in the production of a clear and optimized 3D road map.

In addition, the map coordinate information may be information expressing the location, such as latitude, longitude, altitude, detailed address, etc. for the location on the actual image, and may additionally include information on the date and time the actual image was taken. have. Specifically, map coordinate information can be obtained as an accurate coordinate value through Lidar (a device used for analyzing and measuring concentrations of surrounding atmospheric substances, as well as distance to a target object, moving speed and direction, temperature, and the like).

The image optimization module 200 serves to generate a three-dimensional road image through the actual image and store it in the data server. For image optimization, it is impossible to identify an object by filtering the actual image and map coordinate information. Photorealistic images that are not needed for 3D road map creation can be filtered out.

At this time, it may include the process of analyzing the live-action image for the filtering process. The analysis process not only identifies the object included in the live-action image, but also separates and corrects the object and the background, the separated object and the background, and the A recombination process may be included. Alternatively, various filtering and analysis are possible in addition to this, and since most of the known techniques in image and image filtering can be applied, a more detailed description will be omitted.

Furthermore, the image optimization module 200 generates a three-dimensional road image by calculating the detail level value of the intermediate image generated by analyzing the live-action image, and then performing assignment processing and rendering of polygons included in the intermediate image. It may include the ability to save to a data server.

In this case, a polygon is a polygon of the smallest unit used to express a three-dimensional shape, that is, an object on a three-dimensional image. It expresses a curve by following a straight line, and is used to indicate the edge of an object. In addition, rendering refers to a process of creating a three-dimensional image by injecting realism into a two-dimensional image in consideration of external information such as light source, position, and color. As described above, a technique for producing a 3D image by performing polygon assignment processing and rendering according to the level value of the intermediate image is a well-known technique, and thus a more detailed description thereof will be omitted.

In this case, an intermediate image can be generated through the above-described analysis process, and the intermediate image filters significant pixels among each pixel included in the actual image, and performs primary capacity optimization and image quality optimization by adjusting resolution and the like. It can be created through the process of

That is, the image optimization module 200 calculates the detail level value of the intermediate image, allocates a polygon according to the calculated detail level value to make it three-dimensional, then allocates it on the map coordinates and renders it to create a three-dimensional road image can do. Also, in the present invention, the 3D road image is not limited to or limited to just one image, but may be a concept including a plurality of image frames like an image.

The point setting module 300 provides a function of displaying a plurality of points at positions where lanes are to be formed based on the map coordinate information in a layout in which the three-dimensional road image is abbreviated. In this case, the abbreviated processing may be the adjustment of the contrast and sharpness of the three-dimensional road image, and as can be seen from FIG. 3 , a plurality of points can be clearly and accurately expressed through the abbreviated processing.

Here, a plurality of points are formed at the positions of the lanes, and the points may be formed with a predetermined interval, or may be formed without a limitation on the interval as shown in FIG. 3 . In this case, the points are formed based on the map coordinate information, and the map coordinate information may include information on detailed lanes on the road.

The lane generation module 400 serves to connect the points based on the lane automatic creation interface 600 to create lanes on the 3D road map, and the self-line automatic generation interface 600 refers to automatically generating the points. It may be a kind of program that connects to , and since it is a known technology, a detailed description will be omitted.

At this time, in order to create a lane on the 3D road map, the points on the lane should be connected in the length extension direction of the lane as shown in FIG. it is preferable In addition, a plurality of lanes connecting the points may be formed according to the extension direction of the road.

The 3D road map generating module 500 performs a function of generating a 3D road map by overlapping the 3D road image on the layout based on the map coordinate information.

At this time, as shown in FIG. 5 , a background image included in the actual image may be combined with the 3D road map in which lanes are generated, and the background image may be a surrounding shopping mall, building, traffic light, etc., through which a 3D road similar to the actual image You can provide a map.

In addition, by overlapping the 3D road image in the layout, it is possible to reduce the error range between points and lanes and the actual road to generate a more realistic and precise optimized 3D road map. can proceed.

6 is a conceptual diagram illustrating an embodiment of a reference point and a noise point of an automatic lane generation interface.

In addition, the lane automatic generation interface 600 may include a line generation module 610 , a reference point setting module 620 , a noise point determination module 630 , a reference line setting module 640 , and a position alignment module 660 . have.

As described above, the automatic lane generating interface 600 may be a kind of program or server capable of automatically generating lanes by connecting points, and through this, a uniform lane may be generated.

The line generating module 610 provides a function of generating a plurality of lines by connecting the points along the extension direction of the road. In this case, the generated lines may be in the form of a straight line, or may be in the form of a curve including an inflection point in the middle of the line as shown in FIG. 6 .

The reference point setting module 620 performs a function of setting a specific point in the line as a reference point. In this case, the reference point may be set for each line, and one or a plurality of reference points may be set for each line. In this case, the reference point may be fixedly set on the line, but it goes without saying that another point on the line may be changed to the reference point according to circumstances.

For example, when points a, b, c, ..., etc. are included on line 1, the reference point is a, but another point may be changed to the reference point according to circumstances.

The noise point determination module 630 compares the separation distance from the reference point of one line to the reference point of another adjacent line with the separation distance measured at regular intervals along the extension direction of the line to determine the magnitude of the separation distance. Accordingly, it plays a role of determining a specific point as a noise point.

For example, as shown in FIG. 6 , a line 1 including the points “a, b, c”, a line 2 including the points “a, b, c”, and a line 3 including the points “a, b, c” are They may be arranged in order. In this case, the separation distance between line 1 and line 2 can be measured, and the separation distance between a and a, b and b, and c and c of line 1 can be measured, and each separation distance is 1.1m. At 1,7m and 1.0m, the separation distance between points b and b is wider than other separation distances, so b and b can be judged as noise points. In addition, when the separation distance between line 2 and line 3 is used, it is possible to determine the separation distance by comparing "a, b, c" and "a, b, c" and "a, b, c" as in the above example, and Even if it is narrow compared to the separation distance, it can be judged as a noise point.

The reference line setting module 640 includes a reference line group setting unit 641 configured to determine the number of noise points included in the line and set at least two lines having a small number of noise points as a reference line group; A reference line setting unit 642 for setting one line as a reference line may be provided. In this case, the small number of noise points means that the number of inflection points that become noise in the line is small, and thus it can be said that the line is the closest to a straight line.

For example, if line 1 to line 10 exist, line 3, line 6, and line 8 may have the fewest noise points as 2 noise points. can In this case, since line 6 is the closest to the road center position among the reference line groups, line 6 may be set as the reference line. Of course, this example is only one embodiment, and various embodiments may be applied according to circumstances.

The position alignment module 660 serves to align the positions of other lines in line with the reference line. In the above-described example, since line 6 is set as the reference line, positions of the remaining lines may be aligned with line 6 . In this case, the position alignment may mean that they are arranged parallel to the reference line or all arranged at the same distance based on the position of the reference line.

In addition, the reference line setting unit 642 may include a noise-based setting part 643 and a reference line correction part 644 .

The noise-based setting part 642 provides a function of setting a line having the smallest number of noise points among the lines included in the reference line group as a preliminary reference line.

For example, the baseline group may include line 3, line 6, and line 8, and may have 3, 2, and 2 noise points in that order. At this time, since the lines having the smallest number of noise points are line 6 and line 8, these two lines may be set as preliminary reference lines or one of the two lines may be set as preliminary reference lines.

In this case, when there are a plurality of lines having the smallest number of noise points, when one line is to be set as a preliminary reference line, the administrator of the system 1 may set it directly or automatically set it on the system 1 .

The reference line correction part 643 serves to connect the start point and the end point of the preliminary reference line in a straight line to set the final reference line.

That is, since the preliminary reference line has the smallest number of noise points among the plurality of lines, it may be determined that the preliminary reference line may serve as a reference between the lines. In this case, by connecting the start point and the end point of the preliminary reference line in a straight line, the noise point in the preliminary reference line is removed, so that it can be a more accurate reference between other lines.

As another embodiment, the reference line setting unit 642 may include a correction reference line generating part 645 , an inflection point identification part 646 , an inflection point-based setting part 647 , and a reference line correction part 648 .

The correction reference line generation part 645 removes noise points included in each line included in the reference line group and connects the remaining points to generate a correction reference line, and the inflection point identification part 646 serves to generate a correction reference line from the correction reference line. A point having a variable slope is set as an inflection point and a function of determining the number of inflection points is performed.

That is, the correction reference line may have a shape close to a straight line compared to the existing reference line by removing the noise point. In this case, since the slope of the calibration reference line changes as the noise points are removed, the number of inflection points can be said to be proportional to the number of the removed noise points.

The inflection point-based setting part 647 provides a function of setting a correction reference line having the smallest number of inflection points among the correction reference lines as a reference line. Here, a cleaner and clearer reference line can be set by setting the reference line with the fewest inflection points among the calibration reference lines from which the noise points are removed.

The reference line correction part 648 serves to connect the start point and the end point of the reference line in a straight line to set the reference line. In this case, the reference line still has an inflection point. By connecting the starting point and the ending point in a straight line, a line from which the noise point and the inflection point are completely removed can be set as the reference line.
As described so far, the 3D road map providing system including the automatic lane generation interface according to the present invention is expressed in the above description and drawings, but this is merely an example and the spirit of the present invention is not limited to the above description and drawings. , of course, various changes and modifications are possible without departing from the technical spirit of the present invention.

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1: System 100: Data input module
200: image optimization module 300: point setting module
400: lane generation module 500: 3D road map generation module
600: lane automatic generation interface 610: line generation module
620: reference point setting module 630: noise point determination module
640: baseline setting module 641: baseline group setting unit
642: reference line setting unit 643: noise-based setting part
644: reference line correction part 645: correction reference line generation part
646: inflection point identification part 647: inflection point based setting part
648: reference line correction part 660: position alignment module

Claims (8)

A system for providing a 3D road map including a lane automatic creation interface, comprising:
a data input module for receiving an actual image required for road map production and a plurality of map coordinate information stored for each actual image from a data server;
an image optimization module for generating a three-dimensional road image from the actual image and storing it in the data server;
a point setting module for displaying a plurality of points at positions where lanes are to be formed based on the map coordinate information in a layout obtained by abbreviated processing of the three-dimensional road image;
a lane creation module for creating lanes in the layout by connecting the points based on an automatic lane creation interface;
A 3D road map generating module for generating a 3D road map by overlapping the 3D road image on the layout based on the map coordinate information;
The lane automatic creation interface is
a line generating module for generating a plurality of lines by connecting the points along the extension direction of the road;
a reference point setting module for setting a specific point as a reference point in the line; and
The separation distance from the reference point of one line to the reference point of another adjacent line is compared with the separation distance measured at regular intervals along the extension direction of the line, and a specific point is determined as a noise point according to the magnitude of the separation distance a noise point determination module, and
a reference line group setting unit configured to determine the number of noise points included in the line and set at least two lines having a small number of noise points as a reference line group; and a reference line setting unit configured to set any one of the reference line groups as a reference line A baseline setting module having a unit, and
3D road map providing system, characterized in that it comprises a position alignment module for aligning the positions of other lines in accordance with the reference line. The method of claim 1,
The image optimization module,
Calculating the detail level value of the intermediate image generated by analyzing the actual image, and then performing assignment processing and rendering of polygons included in the intermediate image to generate a three-dimensional road image and store it in the data server Characterized in that, 3D road map providing system. The method of claim 1,
The reference line setting unit,
a noise-based setting part for setting a line having the smallest number of noise points among the lines included in the reference line group as a preliminary reference line;
3D road map providing system, characterized in that it includes a reference line correction part for connecting the start point and the end point of the preliminary reference line in a straight line to set the final reference line. The method of claim 1,
The reference line setting unit,
a correction reference line generation part that removes noise points included in each line included in the reference line group and connects the remaining points to generate a correction reference line;
an inflection point identification part for setting a point at which the slope of the correction reference line is varied as an inflection point and determining the number of the inflection points;
an inflection point-based setting part for setting a calibration reference line having the smallest number of inflection points among the calibration reference lines as a reference line;
3D road map providing system, characterized in that it comprises a reference line correction part for connecting the starting point and the ending point of the reference line in a straight line to set the reference line. delete delete delete delete

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