KR102319289B1 - Image processing system securing captured image of natural ground features - Google Patents

Abstract

The present invention provides an image processing system comprising: a mobile mapping device including a captured image acquisition module for acquiring image information from a plurality of cameras, a GPS receiving module for receiving GPS information from an artificial satellite and acquiring the current location information of the cameras, an inertia measurement module for acquiring the horizontal information of the cameras using a plurality of sensors, an image processing module for correcting the image information based on the image information, the current location information and the horizontal information, a control module for controlling the image information, the current location information and the horizontal information to be transmitted to the image processing module, and a buffer for storing the image information; an aerial photography database for receiving the image information from the mobile mapping device and storing the same or receiving aerial photography data from an external database and storing the same; and a data processing module including an object extraction module for extracting a target object from a corrected image acquired from the image processing module, an object location determining module for acquiring the coordinate information of the target object based on the central point of the extracted target object, an aerial photograph extraction module for extracting the coordinate information of an aerial photograph corresponding to the image information from the aerial photography database, a coordinate comparison module for comparing the coordinate information of the target object with the coordinate information of the aerial photograph to check whether objects match each other, and a spatial information generating module for acquiring spatial information using the coordinate information of the target object acquired from the checking result of matching. Therefore, provided is an image processing system capable of easily securing a captured image of natural ground features.

Description

Image processing system securing captured image of natural ground features

The present invention relates to an image processing system capable of precisely correcting image distortion, correcting a captured image using an image distortion parameter, and minimizing the effect of vibration transmitted to a camera even while the vehicle is moving to produce a precise captured image. It relates to an image processing system configured to enable acquisition and distortion correction.

The existing 3D spatial modeling method using aerial surveying can only use the acquired part of the building, so it was inevitable to include the work process of forcibly extending the image to the end of the building and completing it.

However, this method of forcibly expanding the image has a difficulty in providing more realistic image data to the user even after the modeling work is completed because visibility is significantly lowered and accurate coordinate information about the object is difficult to obtain.

In addition, the conventional spatial modeling method requires excessive manpower and cost by utilizing data constructed manually through field surveys, and in addition, errors in geographic information due to manual work occur frequently and it is difficult to correct and update the data. In order to overcome this problem, geographic information data for buildings and road facilities is being constructed using a mobile mapping system or the like.

However, the method using the latest surveying equipment is also expensive due to correction point measurement, and it is difficult to obtain accurate coordinate information due to distortion of the measured image. There are still many problems in building a geographic information database because the accuracy is inevitably low.

In addition, in constructing geographic information data on buildings and road facilities using the mobile mapping system, in the future, terminals using the mobile mapping system and geographic information will transmit and receive a vast amount of data using a communication system. Accordingly, in order to more efficiently transmit/receive such a vast amount of image data, there is a need to efficiently manage the data transmission amount.

In addition, in order to measure a feature over a wide area, it is necessary to measure and measure the feature while moving a camera mounted on a vehicle. A general image processing camera is installed in a vehicle and in the process of driving along the road, the driver directly photographed the on-site topographical features such as terrain, roads, and buildings to obtain image images. However, it is a high-quality, relatively expensive equipment, and due to its elaborate configuration, management and handling had to be operated very carefully.

However, various obstacles such as protruding obstacles or uneven road conditions exist in obtaining on-site image images of landmarks using a vehicle. In the process of securing the image image of a geographical feature, there was a problem in that an error occurred in the captured image itself from vibration or shock applied from the site or the vehicle itself, and technology to solve this problem was required. have.

The present invention has been devised to solve the problems of the prior art described above, and more accurate three-dimensional spatial coordinate information by correcting the distortion of the image through a filtering process after acquiring an image acquired through a mobile surveying equipment (MMS) An object of the present invention is to provide an image processing system capable of performing more detailed image correction by performing filtering using a weighted threshold value when extracting parameters for image correction.

In addition, the present invention secures a precise photographed image by preventing or minimizing the slight shaking of the camera even when the camera is photographed while the vehicle is in motion, even in impacts such as vibrations from the vehicle and the outside, and freely moves the left and right movement and height of the camera installed in the vehicle. It is another object of the present invention to provide an image processing system that can easily and secure captured images of various topographical features by allowing them to be adjusted.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art from the description of the present invention. .

The present invention has been devised to solve the problems of the prior art, and includes: a captured image acquisition module for acquiring image information from two cameras; a GPS receiving module for receiving GPS information from an artificial satellite to obtain current location information of the camera; an inertial measurement module for acquiring horizontal information of the camera using a plurality of sensors; an image processing module for correcting the image information based on the image information, current location information, and horizontal information; a control module for controlling to transmit the image information, current location information, and horizontal information to the image processing module; and a mobile mapping device including a buffer for storing image information; an aerial photograph database for receiving and storing the image information from the mobile mapping device or for receiving and storing aerial photograph data from an external database; and an object extraction module for extracting a target object from the corrected image obtained by the image processing module; an object positioning module for obtaining coordinate information of the target object based on the extracted center point of the target object; an aerial photograph extraction module for extracting coordinate information of an aerial photograph corresponding to the image information from the aerial photograph database; a coordinate comparison module that compares the coordinate information of the target object with the coordinate information of the aerial photograph to confirm whether objects are matched; and a spatial information generating module for acquiring spatial information by using the coordinate information of the target object obtained from the matching result checking result; a data processing module including; The two cameras 700 are mounted on the upper part of the vehicle, and two are mounted parallel to the buffer support 600, which are respectively mounted on the upper left end and the upper right end of the vehicle, respectively, in line with the upper left end and right end of the vehicle, 2 The left and right moving part 400 coupled horizontally on the four buffer supports, each coupled to the upper end of the two left and right moving parts, further comprising a height adjusting part 500 having a camera 700 on the upper part, the buffer support ( 600) is coupled to the lower end of the left and right moving part 400 and a buffer rod consisting of a buffer fastening part 611 having a disk shape and a buffering cylindrical part 612 of a cylindrical shape extending to the center of the lower part of the buffer fastening part 611 (610); The buffer case 620 is formed in an empty cylindrical interior and the lower end of the buffer rod 610 is accommodated; a buffer stopper 630 coupled to the lower outer surface of the buffer cylinder 612 of the buffer rod 610; It is coupled to the lower portion of the buffer rod 610 and connects between the buffer rod 610 and the inner surface of the buffer case 620, but a buffer connection part 640 having a cross-section in the shape of a ten (十); A buffer bent portion 650 coupled between the outer surface of the buffer stopper 630 and the inner surface of the buffer case 620 is provided, and the left and right moving part 400 is coupled to the upper portion of the buffer support and has a length on the upper surface. Left and right cases 410 in which moving holes are formed along the direction; a pair of sliding parts 420 coupled to both inner sides of the left and right cases and having sliding holes formed along the longitudinal direction; A pair of left and right rod parts 430 inserted so that one end is slidable in each of the pair of sliding parts; a central metal part 440 of a metal material coupled to the center of a pair of left and right rod parts; an upper and lower rod portion 450 extending to the upper portion of the central metal portion and exposed to the outside through a moving hole; a central magnet 460 coupled to the center of the inner lower end of the left and right cases; A pair of left and right magnets 461 spaced apart from each other on the basis of the central magnet and exhibiting magnetism; A pair of moving rails 470 coupled to the upper surface of the left and right cases and coupled to both sides in the front and rear directions based on the moving holes along the longitudinal direction; and a rail moving unit 480 coupled to the side of the upper and lower rods and accommodated in a pair of moving rails to be slidably movable along the longitudinal direction, wherein the height adjusting unit 500 has an empty cylindrical height. case 510; a height rod 520 which is accommodated in the height case 510 so as to be slidable up and down and has a plurality of fixing grooves 521 formed on the side thereof; and a fixing rod 532 coupled to the upper end of the height case 510 and capable of entering a plurality of fixing grooves 521; the camera 700 is coupled to the upper portion of the height adjustment unit 500, It is characterized in that it is possible to adjust the shooting angle through the rotation motor inside.

According to the image processing system capable of precisely correcting image distortion of the present invention, more accurate three-dimensional spatial coordinates are obtained by correcting the image warpage through a filtering process after acquiring an image obtained through a mobile surveying equipment (MMS). There is an effect that more detailed image correction can be performed by obtaining information and performing filtering using a weighted threshold value when extracting parameters for image correction.

In addition, according to the present invention, it is possible to freely and freely adjust the left and right movement and height of the camera installed in the vehicle, so that it is possible to easily and secure the photographed images of various features, and when the camera is photographed while the vehicle is moving, the vehicle and external vibration, etc. It has the effect of minimizing or preventing micro-shake of the camera even in the event of an impact to secure a precise captured image, thereby minimizing errors in the captured image.

Effects of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a block diagram of an image processing system according to the present invention;
2 is a block diagram of a captured image acquisition module according to the present invention;
3A is a block diagram of an image processing module according to the present invention;
3b is a block diagram of a post-processing unit according to the present invention;
4A is an exemplary view of a coordinate system for explaining a method of performing image correction by defining a first correction group and a second correction group according to the present invention;
4B is an exemplary view of a coordinate system for explaining a weighted threshold value calculation process for image correction according to the present invention.
5 is a block diagram of a data processing module according to the present invention;
6 is an exemplary diagram for explaining a method of modeling three-dimensional coordinate information using coordinate information of a target object according to the present invention.
7A and 7B are exemplary views showing a state in which two cameras for supplying image information to the captured image acquisition module according to the present invention are mounted on the top of the vehicle;
Figure 8 is a cross-sectional view of the buffer support according to the present invention.
9A and 9B are a perspective view and a cross-sectional view of a left and right moving part according to the present invention.
10 is a cross-sectional view of a height adjustment unit according to the present invention.
11 is a flowchart of a method of performing 3D spatial modeling by correcting image distortion according to the present invention.
12 is a flowchart for explaining a method of correcting an image obtained from a camera according to the present invention.
13 is a flowchart for explaining a method for obtaining coordinate information of a target object from a corrected image according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, the terms or words used in the present specification and claims should not be construed as being limited to conventional or dictionary meanings, and the inventor should properly understand the concept of the term in order to best describe his invention. Based on the principle that it can be defined, it should be interpreted as meaning and concept consistent with the technical idea of the present invention. Therefore, the configuration shown in the embodiments and drawings described in the present specification is only the most preferred embodiment of the present invention and does not represent all the technical spirit of the present invention, so at the time of the present application, various It should be understood that there may be equivalents and variations.

First, the present invention uses as it is, prior Patent No. 1879859, which will be described later. Therefore, all of the device configuration features described below are those described in Korean Patent Registration No. 1879859. However, in the present invention, among the configurations disclosed in Patent Registration No. 1879859, the most essential configuration feature is the improvement of the vehicle mounting state of a plurality of cameras linked to the captured image acquisition module and the camera shake prevention structure. Accordingly, the module configuration, features, and operation relationship used for image processing described below will be cited as it is in Patent Registration No. 1879859, and the configuration related to the main features of the present invention in the parts related to FIGS. 7A to 10 . It will be described in detail.

On the other hand, the space modeling system applied to the image processing system of the present invention is an information system that integrates and processes geographic data occupying a spatial location and related attribute data, and efficiently collects various types of geographic information. It can be defined as the total organization of hardware, software, geographic data, and human resources used to store, update, process, analyze, and output data. Recently, various uses of spatial information have become easier according to the use of geographic information systems. Therefore, it is necessary to efficiently use mobile survey data to provide clearer and more realistic geographic information within a rapidly changing city center. Hereinafter, examples of generating clearer spatial modeling information by efficiently using movement survey data will be described.

1 is a block diagram of an image processing system according to the present invention.

Referring to FIG. 1 , the image processing system of the present invention is largely composed of a mobile mapping device 100 , a communication module 200 , an update module 210 , an aerial photograph database 310 , and a data processing module 300 , and , the mobile mapping device 100 is composed of a captured image acquisition module 110 , an image processing module 120 , an inertial measurement module 130 , a GPS reception module 140 , a control module 150 , and a buffer 160 . can be

The image processing system of the present invention may be an image processing system that generates spatial information, where the spatial model is an object occupying space in a three-dimensional image, for example, road facilities, buildings, road occupancy facilities, and auxiliary facilities. can mean In addition, the spatial model information may refer to location, distance, area, attribute information, etc. of the object, that is, a road facility, a building, a road occupancy facility, and ancillary facilities.

The mobile mapping device 100 may measure road facilities, buildings, road occupancy facilities, and auxiliary facilities in the target area while moving a path within the target area. Here, the mobile mapping device 100 means a device that can be surveyed while moving, and examples thereof include a car or an airplane equipped with a surveyable camera.

The photographed image acquisition module 110 may include at least two or more cameras such as a left eye image camera and a right eye image camera, and use the left eye image camera and the right eye image camera to obtain road facilities, buildings, road occupancy facilities, and auxiliary facilities. A stereo image can be obtained by photographing .

2 is a block diagram of a captured image acquisition module according to the present invention.

The captured image acquisition module 110 may include an image sensing unit 111 , a video coding unit 112 , a buffer 113 , and a data output unit 114 .

The image sensing unit 111 may acquire a stereo image by photographing road facilities, buildings, road occupancy facilities, and auxiliary facilities using a left-eye image camera and a right-eye image camera. The image signal output from the image sensing unit 111 may be an analog electrical signal including RGB wavelength information. However, for convenience of description, the image sensing unit 111 may output RGB RAW image data by including an analog-to-digital converter. The RGB raw image data output from the image sensing unit 111 may be stored in the buffer 113 and may be input to the video coding unit 112 .

The video coding unit 112 may perform efficient signal processing by compressing and transmitting the received image information. As an embodiment to which the present invention is applied, the video coding unit 112 may include an adaptive filtering unit (not shown), and the adaptive filtering unit performs adaptive filtering on each frame to efficiently process a signal. It may be possible. The adaptive filtering unit may generate known filter coefficients.

By applying the filter coefficients to the current frame, the accuracy of the current frame can be improved. In this case, the video coding unit 112 applies the generated filter coefficients to the image processing module 120 through the data output unit 114 . ) or to the data processing module. However, when the application of the filter coefficients does not significantly improve the efficiency of signal processing, the filter coefficients may not be applied to the current frame by using a flag indicating whether the filter coefficients are applied without transmitting the filter coefficients. In this case, the video coding unit 112 may transmit the flag information to the image processing module 120 or the data processing module through the data output unit 114 .

In addition, the captured image acquisition module 110 needs to correct the acquired image due to camera shake at the time of shooting due to the shaking of the mobile mapping device 100 or a warpage problem of the camera lens itself.

Therefore, in the embodiment to which the present invention is applied, in order to fundamentally prevent the shaking of the mobile mapping device 100 and the camera 700, the buffer support 600 is installed two each on the upper left end of the vehicle and the upper right end of the vehicle; Two are mounted parallel to the upper left and right ends of the vehicle, the left and right moving parts 400 that are horizontally coupled on the two buffer supports, the two left and right moving parts are respectively coupled to the upper part and a height adjustment unit that combines the camera on the upper part (500) is provided. In addition, a method of estimating a correction parameter and a new method of calculating a threshold value to which a weight is applied may be applied to correct the above image, which will be described later.

The captured image acquisition module 110 acquires the left eye image and the right eye image acquired from the camera 700 mounted in the mobile mapping device 100 , and the mobile mapping device 100 acquired from the GPS reception module 140 . Current location information of the left-eye image and the right-eye image may be acquired using the location information of . In addition, a movement path of the mobile mapping apparatus 100 may be generated from the current location information of the left-eye image and the right-eye image. That is, it is possible to determine a movement path from the location information of the mobile mapping apparatus 100 and match the left eye image and the right eye image obtained from the camera 700 for each movement path.

The inertial measurement module 130 may obtain horizontal information of the mobile mapping apparatus 100 by receiving sensing information using multiple sensors, and may perform more detailed image correction by using the horizontal information. In an embodiment to which the present invention is applied, the inertial measurement module 130 may log data at an interval of 200 Hz.

The GPS receiving module 140 may receive GPS information from an artificial satellite to obtain current location information of the mobile mapping device 100 . The mobile mapping device 100 obtains the location information of the vehicle in the city center through the GPS receiving module 140, and horizontally through an Inertial Measurement Unit (IMU), a data synchronization device, etc. for time synchronization of multi-sensor information. By acquiring information, more accurate 3D spatial modeling can be performed. In an embodiment to which the present invention is applied, the GPS receiving module 140 may log data at an interval of 2 Hz.

The image processing module 120 calculates parameters by using the horizontal information obtained from the inertial measurement module 130 and the position information obtained from the GPS receiving module 140 to correct the obtained image. The parameter calculation method to which the present invention is applied uses the point that a straight line in a 3D image becomes a straight line even if it is converted into a 2D image. That is, clearer 3D spatial modeling may be possible by detecting non-straight lines of a 3D image, excluding them, and then performing image correction. In addition, faster 3D spatial modeling may be possible by excluding lines that exceed the threshold in the process of calculating the parameter.

The control module 150 image-processes the left-eye image and the right-eye image obtained from the captured image obtaining module 110 , the horizontal information obtained from the inertial measurement module 130 , and the location information obtained from the GPS receiving module 140 , respectively. It can be controlled to transmit to the module 120 , and the image processing module 120 can be controlled to calculate parameters using the image information, horizontal information, position information, and the like. The control module 150 controls synchronization between the captured image acquisition module 110 , the inertial measurement module 130 , and the GPS reception module 140 , and in one embodiment, the GPS time acquired from the GPS reception module 140 . Based on , the voltage signal provided from the trigger may be synchronized by transmitting the captured image acquisition module 110 , the inertial measurement module 130 , and the GPS reception module 140 , respectively.

The buffer 160 stores image information on the left-eye image and the right-eye image obtained from the captured image acquisition module 110 in a buffer, and provides the requested image information when the image information is requested from the outside. The buffer 160 may be composed of a memory and a memory control module, and may provide a faster spatial data service by rearranging the memory through log analysis or the like. For example, whether the received requested information is frequently requested image information may be determined through log analysis, and the image information may be processed in a different manner accordingly. When the received request information is frequently requested image information, the image information may be cached in a memory layer by layer and automatically updated. On the other hand, if the image information is not frequently requested, the corresponding image information can be deleted from the memory, or if the image information has never been requested before, the image information is updated in the table information and a corresponding code is generated and stored. have.

When the communication module 200 receives the request information for the spatial modeling service from the user, it transmits it to the mobile mapping device 100 , the update module 210 , the aerial photograph database 310 , and the data processing module 300 . And, when the received request information requires image information of the mobile mapping device 100 , the request information is transmitted to the mobile mapping device 100 , and the request information corresponding to the request information is transmitted from the mobile mapping device 100 . It can receive spatial data. The communication module 200 manages communication between a user terminal (not shown) and an external terminal (not shown) and between the mobile mapping device 100 and the data processing module 300, and the communication module 100 is a LAN (local area network), WLAN (wireless LAN), Wibro (wireless broadband), Wi-Fi, Bluetooth or other various communication standards may be supported.

The update module 210 may update the data stored in the buffer 160 in the mobile mapping device 100 to data corrected through the image processing module 120 or the data processing module 300 . Also, the data stored in the aerial photograph database 310 may be updated with corrected data through the image processing module 120 or the data processing module 300 .

On the other hand, the aerial photograph database 310 includes information on the area, length, and location of road facilities, buildings, road occupancy facilities and auxiliary facilities, etc., and receives data from the mobile mapping device 100 or from an external database. It is possible to receive aerial photo data.

The aerial photograph database 310 may be composed of a memory and a memory control module, and may provide a faster spatial data service by rearranging the memory through log analysis or the like. For example, it is determined through log analysis whether the received request information is frequently requested aerial photograph data, and accordingly, the aerial photograph data can be processed in a different way. When the received request information is frequently requested aerial photograph data, the aerial photograph data may be cached in a memory layer by layer and automatically updated. On the other hand, if the aerial photograph data is not frequently requested, the aerial photograph data is deleted from the memory, or in the case of aerial photograph data that has not been requested before, the aerial photograph data is updated in the table information and the corresponding code is added. can be created and saved.

The data processing module 300 generates 3D spatial modeling information by using data obtained from the mobile mapping device 100 and the aerial photograph database 310 . The data processing module 300 includes an object extraction module 301, an aerial photograph extraction module 302, an object positioning module 303, a coordinate comparison module 304 and a three-dimensional modeling module 305 to be formed. can

3A is a block diagram of the image processing module 120 according to the present invention.

As shown in FIG. 3A , the image processing module 120 may include a parameter extraction module 121 , a filtering module 123 , an image correction module 125 , and a post-processing unit 127 .

In general, most cameras using lenses have a problem in that straight lines are bent into curves, and a phenomenon in which an image is radially expanded or reduced from a bent center occurs. If correction for this warpage is not properly performed, serious problems may occur when viewing 3D images or analyzing digital images.

In order to solve this problem, correction can be performed by mathematically modeling the curvature phenomenon, estimating a parameter determining the degree of curvature, and inversely transforming it. Then, a curve in the image is detected, and non-linear lines are defined as a first correction group among them, and then corrected. Furthermore, in an embodiment of the present invention, even though they are not curves on 3D coordinates, lines that interfere with parameter estimation can be defined and removed as a second correction group.

4A and 4B are exemplary embodiments to which the present invention is applied, and FIG. 4A shows a coordinate system for explaining a method of performing image correction by defining the first correction group and the second correction group. A coordinate system for explaining a process of calculating a weighted threshold value for image correction is shown.

Referring to FIG. 4a, when the basic image is R, the convex warp image is V, and the concave warp image is C, the coordinates of the point that are not curved with respect to the central point A are O = (X, Y), If the coordinates of the curved point are Oc = (Xc, Yc), the relationship between the two coordinates can be expressed as in Equations 1 and 2 below. Gi represents a parameter reflecting the degree of curvature of the image, Gi>0 represents convex curvature, and Gi<0 represents concave curvature.

Here, a represents the distance from the center point A of the image to the coordinates Oc of the convex curved image, and a is the same as in Equation 3 below.

Next, a method for calculating the parameter according to the present invention will be described. The parameter extraction module 121 first searches a segment existing in an image, and calculates a change rate and an angle of each pixel in the segment. In addition, a segment can be detected by grouping pixels forming the same straight line into one group. Using a pixel having a change rate higher than a given threshold as a starting point, pixels having the largest change rate within a window of a preset size are set as a group, and the next pixel is searched again through the window using the pixel as a starting point. In this case, a 3x3, 4x4, or 5x5 window may be used as the window of the preset size.

A curve may be formed by connecting segments from a group consisting of pixels detected through the above process. At this time, the distance between the end points of the two segments, the angle between the two segments, and the vertical distance of the two segments are calculated. have.

Among the lines connected to the segments, a line regarded as a curve on 3D coordinates may be set as a first correction group, and the first correction group may be removed from the image. For example, among the F curves, Assuming that one target line is Lm (m=1~M) and Nm pixels constituting Lm are Pn = (Xn, Yn) (n=1~Nm), when Nm pixels are as straight as possible We can find the parameter Gi of By applying Gi calculated in this way to other curves, Pn can be obtained. For Pn, a difference from a straight line is defined as the error En of each pixel, and when pixels whose absolute value of En exceeds a predetermined threshold value δm exceed a predetermined percentage in one curve, they are set as a first correction group, and the The first correction group may be removed from the image. Through this process, it is possible to calculate a parameter Gi that makes the first correction group as straight as possible among the removed lines.

The filtering module 123 may filter by defining as a second correction group lines that act as an error factor when calculating parameters even though they are not curves on 3D coordinates. For lines located near the center point, the range to which the parameter is applied can be narrowed by setting the threshold more precisely. For example, referring to FIG. 4B , when determining whether the error of each pixel exceeds a preset threshold, a weight is applied to the threshold according to the distance from the center of the image to the curve Lm to determine whether the pixel corresponds to the second correction group. can determine whether

The distance from the image center point A to the curve Lm can be defined as the length am of the perpendicular drawn on the straight line F, and the weight can be normalized to a range between 0 and 1. In this case, am can be defined as in Equation 4 below.

When the weight for normalization is 0, am is 0 when the line passes through the center of the image, and when the weight is 1, am is the distance from the center of the image to the diagonal vertex. A new threshold value δm_new to which a weight is applied is expressed as Equation 5 below.

Here, R represents the length of an image diagonal, m = 1 to M , M represents the number of lines, and ψ represents a user parameter.

As described above, a new threshold value δm_new can be calculated by weighting the threshold value according to the distance of the line from the center of the image, and through this, more accurate image correction is possible by obtaining a more accurate parameter Gi.

The image correction module 125 may correct the image warpage by using the parameters obtained through the above process. The image corrected through the image correction module 125 is transmitted to the post-processing unit 127, and the post-processing unit 127 may perform image enhancement by obtaining an image processing function based on a high-frequency component of the target image. .

3B is a block diagram of a post-processing unit according to the present invention.

The post-processing unit 127 may include a domain transform unit 127-1, a high-frequency filtering unit 127-2, an inverse domain transform unit 127-3, and an inverse filtering unit 127-4.

As an embodiment, the post-processing unit 127 may perform image enhancement by acquiring an image processing function based on a high-frequency component of the target image. In order to obtain the image processing function, various embodiments may be applied. For example, the high frequency filtering unit 127 - 2 may acquire a high frequency component of an image to be improved. In addition, the image processing function may be obtained based on the high frequency component. As a specific example, an image processing function may be obtained by considering inverse filtering in the YUV domain. In this case, domain conversion may be required, which may be performed by the domain conversion unit 127 - 1 . In addition, inverse transform is required again to output it, which may be performed by the domain inverse transform unit 127 - 3 .

As another embodiment to which the present invention is applied, an image processing function may be obtained by inverse filtering in the RGB domain through the inverse filtering unit 127 - 4 . For example, assuming a process in which an image input through the captured image acquisition module is output through the mobile mapping device 100, each image is represented by a one-dimensional matrix and a system using the lens of the captured image acquisition module Assuming that a function expressed in the form of a cyclic Toplitz matrix is x, y, D, it can be expressed as in Equation 6 below.

In this case, the acquired image becomes y, the target image for improvement becomes x, and the system function by the point spread function estimated using the optical transfer function becomes D. Accordingly, when the transfer function of the lens is accurately known, the original input image can be obtained as shown in Equation 7 below by using the inverse matrix of the system function.

Here, H is the same as the inverse matrix of D, and is the matrix expression of the inverse point spread function estimated by the inverse Fourier transform of the inverse optical transfer function. A target image to be post-processed for image improvement can be divided into a high-frequency component and a low-frequency component of the image as shown in Equation 8 below.

In addition, since the image obtained through the mobile mapping apparatus 100 can be said to be an image in which only the low-frequency component is left by the lens, the low-frequency component can be considered as in Equation 9 below.

And, the high-frequency component can be obtained from the obtained image through high-frequency filtering. For example, a high-frequency component may be obtained for an arbitrary channel of the input image. In this case, an arbitrary high-frequency filter may be used, and the arbitrary high-frequency filter may be expressed as in Equation 10 below.

Therefore, it can be expressed as in Equation 11 below by using an image obtained from the image to be estimated and an arbitrary high-frequency filter.

In this case, considering the inverse filtering relationship between x and y, Equation 11 above can be expressed as Equation 12 below.

Therefore, the high-frequency filter can be obtained from the estimated inverse filter as in Equation 13 below.

An image processing function for the arbitrary channel may be obtained based on the high frequency component obtained using the above equations. The obtained image processing function is expressed by the following Equation (14).

Here, x'(i,j) represents an image in which the high frequency at the pixel position (i,j) is reconstructed, and HF(i,j) represents the high frequency component of the image obtained based on the high frequency filter obtained above. Also, E{y(i,j)} may mean an average of the acquired image y. In Equation 14, different methods may be applied to an edge, a pattern, and a flat region.

For example, in the case of the edge region, since it is a region with many high-frequency components, it is possible to add a lost high-frequency component while maintaining an acquired image. In the case of a flat region, a high-frequency component may be added to the average of the acquired image to prevent the effect of noise, which is a side effect of image improvement, from increasing. Since the pattern region includes a flat region and an edge region, a high-frequency component must be adjusted. If a high frequency component is added excessively, it plays a role of increasing noise in the flat region, and if a small high frequency component is added, edge improvement may not be performed well in the edge region. Accordingly, the pattern region may add a high-frequency component to an intermediate level between the edge and the flat region. A more natural image can be restored by adjusting each high-frequency component using parameters α, β, and γ and applying it differently depending on the region. As such, it is possible to reconstruct an improved image using the image processing function.

The mobile mapping apparatus 100 corrects and improves the image through the above process, and the corrected and improved image is transmitted to the data processing module 300 .

5 is a block diagram of a data processing module according to the present invention.

The data processing module 300 is to be configured to include an object extraction module 301, an aerial photograph extraction module 302, an object positioning module 303, a coordinate comparison module 304 and a three-dimensional modeling module 305 can

The object extraction module 301 may extract a target object desired by the user from the corrected image obtained from the mobile mapping device 100 and obtain coordinate information of the target object. A search area may be set to extract the target object, and the target object may be extracted from the corrected image according to the search area. In this case, the target object may use the RGB values of each pixel of the corrected image, for example, by checking integer values of 8 pixels adjacent to the target pixel, pixels having the same characteristics may be detected. When there are a plurality of target objects extracted through the above process, the object closest to the previous position of the target object may be selected, and if no target object is extracted, the object may be selected by a user input. .

The object positioning module 303 may obtain coordinate information of the target object by determining the center point of the target object extracted from the object extraction module 301 . The central point may be determined by Equation 15 below.

Here, x and y represent the coordinates of the center point, n represents the number of pixels in the x-axis direction, and N represents the number of pixels in the y-axis direction.

The aerial photograph extraction module 302 may extract aerial photograph coordinate information corresponding to the image from the aerial photograph database 310 . In this case, the aerial photograph extraction module 302 may extract a corresponding image corresponding to the location information from the aerial photograph database 310 according to the location information obtained from the GPS receiving module 140 .

The coordinate comparison module 304 compares the coordinate information of the target object obtained from the object positioning module 303 with the aerial photograph coordinate information obtained from the aerial photograph extraction module 302 to check whether objects are matched. can For example, matching may be checked by extracting common points that are invariant in size and rotation from images having different directions and sizes. An error image may be generated by passing an aerial photographic image extracted from the aerial photographic database 310 through a Gaussian filter having various variance values, and sequentially subtracting the passed images according to a scale. This can be performed by Equation 16 below.

Here, L(x,y,σ) represents the function value of the image that has passed through the Gaussian filter, G(x,y,σ) represents the Gaussian filter, and D(x,y,σ) represents the scaled image and represents the difference between Positions of pixels corresponding to extreme values (maximum and minimum) may be extracted from the generated error image. Here, the position of the pixel corresponding to the extreme value (maximum and minimum) is a case where the selected pixel value is greater than or less than a total of 26 pixel values, each of which is 8 pixels adjacent thereto and 9 pixels of the scaled upper and lower images. it is decided That is, pixels corresponding to the extreme values (maximum and minimum values) may be extracted as a common point. From among the extracted common points, noise is removed and a strong edge component is removed, and direction information and magnitude are set for the remaining common points. The direction information and the size are determined by Equations 17 and 18 below, respectively.

A 16x16 block is set based on the common point, and the direction of change is measured for each pixel in the block. The change direction is set to be proportional to the change gradient, and the greater the change gradient, the greater the probability distribution in the change direction. The probability distribution for the change direction is divided into 8 directions and stored, which is expressed in the form of a 128-dimensional vector for a 16x16 block. By comparing the common vector information of the obtained aerial photographic image with the common point vector information of the corrected image, it is possible to check whether objects are matched. And, based on the matching check result, coordinate information of the target object may be extracted.

As another embodiment to which the present invention is applied, filtering may be used to identify the target object. First, a boundary region of an object in an image may be checked, and a target object may be identified using geometric characteristics of the boundary region. For example, since buildings, signboards, and street trees have their respective geometric characteristics, the target object can be identified by extracting and comparing only the points of the corners where each line segment meets the line segments constituting the building, signboard, street tree, etc. .

The 3D modeling module 305 may model 3D coordinate information using the coordinate information of the target object.

6 is a diagram for explaining a method of modeling 3D coordinate information using coordinate information of a target object according to the present invention.

Referring to FIG. 6 , assuming that two left and right cameras 700 photograph an object in order to model three-dimensional coordinate information, the interior angle of the triangle and the distance from the left and right cameras to the object are calculated by Equations 19 to 26 below. can be obtained using

The three-dimensional coordinates (X_o, Y_o, Z_o) of the target object O may be obtained by Equations 24 to 26 below, among which the Z_o coordinate is the Y_l coordinate of the image obtained from the left camera and the image Y_r obtained from the right camera. It can be obtained using the average value of the coordinates, focal length information, and the distance on the Y-axis to the object.

It is possible to perform 3D spatial modeling using the 3D coordinates (X_o, Y_o, Z_o) of the target object O obtained by Equations 24 to 26 above.

7A and 7B are exemplary views showing a state in which two cameras for supplying image information to the captured image acquisition module according to the present invention are mounted on the top of the vehicle.

As described above, in the present invention, the two cameras included in the mobile mapping device 100, that is, the left eye and the right eye camera 700, are disposed in the upper front of the vehicle to cover a wide range of angles, and to capture and acquire images of various features. This is possible.

However, since the general wide-angle camera arrangement module is attached to one area of the vehicle V and moves with the vehicle, there is a constant risk of the camera shaking due to the influence of the external air flow depending on the vehicle speed in the case of non-low-speed driving. In many cases, there is a limit to the fine left-right movement and height movement of the camera.

Accordingly, in the present invention, the two cameras 700 for supplying image information to the captured image acquisition module 110 are mounted on the top of the vehicle, and are mounted on the upper left end of the vehicle and the upper right end of the vehicle, respectively, two buffer supports. (600), two mounted parallel to the upper left and right ends of the vehicle, the left and right moving parts 400 that are horizontally coupled on the two buffer supports, respectively coupled to the upper parts of the two left and right moving parts, the camera 700 at the top ) is further provided with a height adjustment unit 500 to support the.

That is, as can be seen in FIG. 7B , camera arrangement modules are installed at the upper left and right upper ends of the vehicle V, respectively, so that the left eye camera and the right eye camera are coupled and operated on such a camera arrangement module.

In this way, in installing the left and right eye cameras, if a pair of buffer supports 600 are provided, vibration and shock transmitted from the vehicle body or the outside are attenuated to prevent or minimize the shaking of the camera 700, so that more precise shooting It is possible to acquire images.

In addition, by providing the left and right moving unit 400 on the pair of buffer supports 600 , the camera located on the upper side of the left and right moving unit 400 enables fine movement in the longitudinal direction of the vehicle, and the height adjustment unit By providing 500 , it is possible to finely adjust the height of the camera 700 . In addition, by providing a rotating motor (not shown) inside the camera 700 close to the connection portion between the camera 700 and the height adjustment unit 500 , it is possible to adjust the shooting angle of the camera.

With respect to the camera 700 of the present invention, 10 to 18 parts by weight of perfluoromethyl vinyl ether, 6 to 12 parts by weight of perfluorophosphate salt, It may include a coating layer containing 8 to 14 parts by weight of tetrafluoroethylene and 5 to 13 parts by weight of fluoroacrylamide, having a surface tension of 28 dyne/cm or less and a kinetic friction coefficient of 0.1 or less.

The coating layer of the lens of the camera 700 is preferably applied to a thickness of 20 to 40 nm, which is difficult to protect the lens itself when the coating layer is applied to a thickness of less than 20 nm, and the coating layer is applied to a thickness of more than 40 nm This is because the light transmittance deteriorates.

In addition, the coating layer is formed of a material having a surface tension of 28 dyne / cm or less and a dynamic friction coefficient of 0.1 or less. It is possible to prevent contamination as well as improve the problem of low light transmittance.

As described above, in the present invention, as the lens of the camera 700 is provided with a coating layer made of a material having low surface tension and high slip, foreign substances are not easily attached to the lens while protecting the lens from the external environment, and the light transmittance is also increased. , it has the advantage of being able to acquire more precise image data.

The detailed configuration of the buffer support 600 , the left and right movement unit 400 , and the height adjustment unit 500 will be described later in detail.

8 is a cross-sectional view of the buffer support according to the present invention.

The present invention is to arrange two buffer supports at the upper left end of the vehicle to support the left eye camera, and to arrange two buffer supports at the right upper end of the vehicle to support the right eye camera. The buffer support of such a couple supports the left and right moving part 400 on the left eye camera side and the left and right moving part 400 on the right eye camera side, respectively.

Referring to FIG. 10 , the buffer support 600 is made to include a buffer rod 610 , a buffer case 620 , a buffer stopper 630 , a buffer connection part 640 and a buffer bending part 650 , and the vehicle ( V) is placed on top.

The buffer rod 610 is coupled to the lower end of the left and right moving part 400, and the buffer fastening part 611 in the form of a disk and the buffering cylindrical part 612 in the form of a cylinder extending in the lower center of the buffer fastening part 611. is done

The buffer case 620 is formed in a cylindrical shape with an empty interior, and the lower end of the buffer rod 610 is accommodated.

The buffer stopper 630 is coupled to the lower outer surface of the buffer cylinder portion 612 of the buffer rod (610). The buffer stopper 630 is formed in a ring shape and is disposed inside the buffer case 620 . When a large vibration or shock is applied from the ground and the buffer rod 610 is greatly shaken, the buffer stopper 630 is in contact with the inner surface of the buffer case 620 to perform large displacement control. A predetermined gap (G) is formed between the outer surface of the buffer stopper 630 and the inner surface of the buffer case 620 .

The buffer connection part 640 is coupled to the lower portion of the buffer rod 610 and connects between the buffer rod 610 and the inner surface of the buffer case 620 . The buffer stopper 630 and the buffer connection part 640 may be made of a rubber elastomer composition.

The rubber elastomer composition forming the buffer stopper 630 and the buffer connection part 640 is, based on 100 parts by weight of the raw rubber, 60 to 80 parts by weight of carbon black, and a curing agent 2 to 4.5 containing dicumyl peroxide (dicumyl peroxide) 1 part by weight, 1.5 to 2.5 parts by weight of an accelerator containing sulfuramide and 3-bisbenzene, and 0.4 to 4.7 parts by weight of an antioxidant containing trimethyl quinoline and phenyldiamine, wherein the carbon black has an average particle diameter of 60 nm to 70 nm 50 to 70% by weight of the first carbon black; and 30 to 50 wt % of the second carbon black having an average particle diameter of 15 nm to 35 nm.

When the buffer stopper 630 and the buffer connection part 640 are formed with such an elastic rubber composition, carbon black having a relatively large particle size is used to improve durability and abrasion resistance as well as heat resistance. .

The buffer connection portion 640 extends to the side of the buffer upper and lower portion 641 and the buffer upper and lower portion 641 connecting the lower end of the buffer rod 610 and the inner lower surface of the buffer case 620 in the up and down direction, the buffer case 620 ) includes a buffer left and right portion 642 that connects left and right between the inner side surfaces. The buffer connection part 640 has a 'ten (十)'-shaped cross-section as a whole.

Between the outer surface of the buffer stopper 630 and the inner surface of the buffer case 620, that is, the buffer bending part 650 is coupled to the gap (G) to connect the buffer stopper 630 and the buffer case 620 with each other. .

Specifically, the buffer bending portion 650 is made including a first curved portion 651, a second curved portion 652, a third curved portion 653, a fourth curved portion 654 and a fifth curved portion 655, and as a whole It has a 'zigzag' cross section.

The first curved part 651 is coupled to the outer surface of the buffer stopper 630 and is formed in a single shape. The second curved portion 652 extends obliquely upward from the lower end of the first curved portion 651 . The third curved portion 653 extends downward from the upper end of the second curved portion 652 and is formed in a single shape. The fourth curved portion 654 extends obliquely upward from the lower end of the third curved portion 653 . The fifth curved part 655 extends downward from the upper end of the fourth curved part 654 , is formed in a single shape, and is coupled to the inner surface of the buffer case 620 .

At this time, the vertical height of the first curved part 651 is formed to be relatively higher than the vertical height of the third curved part 653 , and the vertical height of the third curved part 653 is relatively higher than the vertical height of the fifth curved part 655 . is formed That is, the overall height of the buffer curved portion 650 gradually decreases from the first curved portion 651 toward the fifth curved portion 655 in the direction.

In addition, the thickness of the first bent portion 651 to the fifth bent portion 655 is preferably formed to be the same overall. An angle between the first curved part 651 and the second curved part 652 , an angle between the second curved part 652 and the third curved part 653 , and an angle between the third curved part 653 and the fourth curved part 654 . and the angle between the fourth curved portion 654 and the fifth curved portion 655 is preferably set to be substantially the same overall.

In this way, the buffer support 600 of the present invention, while maintaining the physical gap (G) between the buffer stopper 630 and the buffer case 620 as it is, using the buffer bending portion 650 to substantially reduce the gap Since the effect can be obtained, there is an advantageous characteristic for controlling large displacement vibration while reducing noise caused by frequent contact of the buffer stopper 630, and by attenuating vibration or external shock caused by the operation of the vehicle, precise image shooting of the camera 700 and image data acquisition.

9A and 9B are a perspective view and a cross-sectional view of a left and right moving part according to the present invention.

In the present invention, the left and right movement unit 400 functions to enable the camera 700 to move finely in the longitudinal direction of the vehicle.

The left and right moving part 400 includes a left and right case 410 , a pair of sliding parts 420 , a pair of left and right rod parts 430 , a central metal part 440 , an upper and lower rod part 450 , and a central magnet 460 . ), left and right magnets 461 , a pair of moving rails 470 and a rail moving unit 480 may be included.

The left and right cases 410 are coupled to the upper portion of the buffer support 600 , and a space is formed inside the left and right cases 410 to accommodate various parts, and the upper surface of the left and right cases 410 along the longitudinal direction. A moving hole 411 is formed.

The pair of sliding parts 420 are coupled to both sides of the inside of the left and right case 410 , and a sliding hole 421 is formed through the sliding hole 421 in the longitudinal direction in the inside of the sliding part 420 , A plurality of recognition holes 422 are formed on the lower surface, and the plurality of recognition holes 422 are spaced apart from each other at equal intervals. A recognition sensing unit 423 is mounted at an inner lower end of the sliding unit 420 . The recognition sensing unit 423 is spaced a predetermined distance downward from the plurality of recognition holes 422 , and is disposed parallel to the sliding hole 421 .

The pair of left and right rod parts 430 are respectively inserted into the pair of sliding parts 420 so that one end is slidable, and the center of the pair of left and right rod parts 430 has a metal central metal part 440 . is combined

A recognition unit 431 is coupled to an end of the left and right rods 430 , and the movement distance of the recognition unit 431 can be checked by the recognition detection unit 423 . In other words, as the left and right rod part 430 slides on the sliding part 420, the recognition part 431 also moves left and right inside the sliding hole 421. At this time, the recognition holes 422 arranged at equal intervals are The recognition unit 431 passes, and it is recognized by the recognition detection unit 423 to measure the moving distance of the left and right rods 430 .

The upper and lower rod parts 450 extend to the upper part of the central metal part 440 and are exposed to the outside through the moving hole 411 . A rail moving part 480 is coupled to the side of the upper and lower rod part 450 . The rail moving part 480 is formed in a disk shape and is accommodated in a pair of moving rails 470 to be slidable along the longitudinal direction.

The pair of moving rails 470 is coupled to the upper surface of the left and right case 410 and coupled to both sides in the front and rear direction based on the moving hole 411 along the longitudinal direction. The moving rail 470 has a 'L'-shaped cross section, the upper end is in contact with the upper and lower rods 450 , and the lower end is in contact with the rail moving unit 480 .

The central magnet 460 is coupled to the center of the inner lower end of the left and right case 410 , and a pair of left and right magnets 461 are spaced apart from each other on both sides with respect to the central magnet 460 . Since the central magnet 460 and the pair of left and right magnets 461 are magnetic, the central metal part 440 may be stopped by applying a magnetic force to the central metal part 440 made of a metal material.

The central magnet 460 has a relatively larger size than the pair of left and right magnets 461 and has a relatively large magnetism. Normally, the central metal part 440 is located in the center of the left and right cases 410 by the magnetic force applied by the central magnet 460, and as the left and right cases 410 are inclined to one side, the central metal part 440 is The central metal part 440 also moves to one side of the left and right cases by its own weight and the magnetic force of the left and right magnets 461, and when the left and right cases 410 return to the horizontal again, the central magnet 460 exhibiting relatively large magnetism. ), the central metal part 440 returns to the center of the left and right cases 410 by the magnetic force.

As the central metal part 440 moves to the left or right in the left and right case 410, the upper and lower rod parts 450 and the camera 700 coupled thereto can also move left or right, that is, in the longitudinal direction of the vehicle. Accordingly, a wider range is photographed by the camera 700, so that the degree of overlap of the images is higher, and the accuracy is improved.

On the other hand, in the present invention, the central magnet 460 and the upper and lower magnet 461 are at least one selected from rare earth elements including neodymium and boron, respectively, and 13.4 atomic% or more and 19.7 atomic% or less, boron (B) 4.3 atomic% At least one selected from the group consisting of V, Nb, Mo, Ga, In, W, Hf, Bi, Ti, and Ta as an additive element and at least 7.4 atomic % or less, manganese (Mn) 0.07 atomic % or more and 0.36 atomic % or less It is possible to apply a sintered magnet formed of more than 0.1 and 4.6 atomic% or less, the balance containing iron (Fe) and cobalt (Co) as transition metals.

When such a sintered magnet is applied, the coercive force near room temperature can be improved, and a higher coercive force can be obtained even in a high temperature region of 60° C. or higher than that of a conventional magnet. In addition, since the sintering reaction is promoted in the sintered magnet manufacturing process by the addition of a predetermined amount of Mn, sintering at a low temperature or for a short time is possible and the sintered structure is homogenized.

10 is a cross-sectional view of a height adjustment unit according to the present invention.

In the present invention, the height adjustment unit 500 performs a function of adjusting the fine height of the camera 700 . Referring to FIG. 10 , the height adjustment unit 500 is accommodated in an empty cylindrical height case 510 and the height case 510 to be slidable up and down, and has a plurality of fixing grooves 521 on the side surface. It is coupled to the upper end of the formed height rod 520 and the height case 510 and may be formed to include a height fixing part 530 having a fixing rod 532 that can enter into a plurality of fixing grooves 521 .

The height case 510 is coupled to the upper portion of the upper and lower rod portion 450 of the left and right moving part 400, and the height spring 511 is accommodated therein. The height spring 511 connects between the lower end of the height rod 520 and the inner lower end of the height case 510, and provides an elastic force so that the height rod 520 can move upward.

The height rod 520 is coupled to the height case 510 so as to be movable up and down, and the height of the camera 700 coupled thereto may be varied according to the vertical movement of the height rod 520 .

The height fixing part 530 is accommodated in a fixed case 531 coupled to the upper end of the height case 510 so as to be slidable left and right in the fixed case 531, and the ends enter a plurality of fixing grooves 521. A fixed rod 532 that is capable of being accommodated inside the fixed case 531 and connected between the right end of the fixed rod 532 and the inner right end of the fixed case 531 and a fixed spring 533 and fixed case 531 of It is mounted on the upper portion and may be formed to include a fixing limiting portion 534 that can limit the movement of the fixing rod (532).

The fixing case 531 has an empty interior and can accommodate the fixing rod 532 . A limiting hole 531a is formed in the upper surface of the fixing case 531 so that the limiting rod 538 of the fixing limiting part 534, which will be described later, enters.

The fixing rod 532 is coupled to the fixing case 531 so as to be movable from side to side, and an end of the fixing rod 532 is formed in a wedge shape. Since the end of the fixing rod 532 is formed in a wedge shape, the fixing rod 532 can ride over the plurality of fixing grooves 521 formed in the height rod 520 . That is, when the height rod 520 moves up and down, the fixed rod 532 moves to the left in the portion where the fixing groove 521 is located, and in the portion where the fixing groove 521 is not located, the height of the rod 520 . It comes into contact with the outer surface and moves to the right.

In addition, the fixing rod 532 can be moved to the left and right by the fixing spring 533 and return to its original position. A rod groove 532a is formed on the upper surface of the fixing rod 532 at a position corresponding to the limiting hole 531a of the fixing case 531 . This rod groove 532a can also enter the limiting rod 538 of the fixing limiting part 534 to be described later.

The fixing limiting part 534 includes a limiting plate 535 coupled to the upper surface of the fixing case 531, a pair of limiting springs 536 coupled to the upper end of the limiting plate 535, and a limiting spring 536. It is made to include a limiting rod 538 coupled to the lower end of the ring-shaped limiting moving part 537 and the limiting moving part 537 connected to the lower end of the.

The pair of limiting springs 536 apply an elastic force so that the limiting moving part 537 and the limiting rod 538 can be moved downward. The limiting rod 538 may enter the limiting hole 531a of the fixing case 531 and the rod groove 532a of the fixing rod 532 .

In summary, looking at the height adjustment process of the height adjustment unit 500, first, the limiting movement unit 537 overcomes the elastic force of the pair of limiting springs 536 and moves upward. According to the movement of the limiting moving part 537, the limiting rod 538 is also separated from the limiting hole 531a and the rod groove 532a, and the fixed rod 532 can freely move left and right.

Next, by sliding the height rod 520 up and down to determine the degree to which the height rod 520 is inserted into the height case (510). At this time, the height spring 511 provides an elastic force so that the height rod 520 can move upward.

When the height rod 520 is moved up and down, the fixing rod 532 can ride over the plurality of fixing grooves 521 and move to the left in the portion where the fixing groove 521 is located, and the fixing groove 521 . In a portion not located in this position, it comes into contact with the outer surface of the height rod 520 and moves to the right.

When the height of the lifting rod 520 is determined, the limiting moving part 537 is placed so that the limiting rod 538 is moved downward by the elastic force of the limiting spring 536, and the lower end of the limiting rod 538 is limited It is inserted into the hole 531a and the rod groove 532a to prevent the fixing rod 532 from moving any more. Accordingly, the height adjustment unit 500 does not move up and down anymore and is fixed in height, and the camera 700 coupled to the upper portion of the height adjustment unit 500 may also be fixed in height.

On the other hand, the height case 510 is a weight percentage based on the total alloy weight, Ni of 18.0 to 30.0, Cr of 16.0 to 22.0, Mo of 2.0 to 6.0, Cu of 1.0 to 2.4, W of 0.4 to 2.7, 2.0 to Mn from 6.0, Al from 2.0 to 4.0, C from 0.01 to 0.03, Ru from 0.1 to 0.5, Zr from 0.4 to 0.6, Ti from 0.2 to 0.4, V from 0.1 to 0.2, P from 0.01 to 0.04, P from 0.01 to 0.04 It may be formed of an alloy including S, and Fe of 8.0 to 12.0.

When the height case 510 is formed with the alloy as above, after strain hardening of the alloy, the alloy has a maximum tensile strength in the range of 123 ksi to 228 ksi, and yield strength in the range of 136 ksi to 208 ksi, so that rigidity in the vertical direction is obtained. In the end, it helps to prevent vibration of the camera 700 .

11 is a flowchart of a method of performing 3D spatial modeling by correcting image distortion according to the present invention.

First, the captured image acquisition module 110 in the mobile mapping device 100 includes a left-eye image camera and a right-eye image camera, and may acquire a left-eye image and a right-eye image from these cameras, respectively (S710). And, obtain the current position information of the camera in the mobile mapping device 100, that is, the acquired left-eye image and the right-eye image from the GPS receiving module 140, and obtain horizontal information of the camera from the inertial measurement module 130. It can be (S720).

The parameter extraction module 121 in the image processing module 120 may extract a parameter for image correction by using the horizontal information of the camera and the current position information (S730). In this case, the filtering module 123 may perform filtering using a threshold value to which a weight is applied when extracting the parameter ( S740 ). The image correction module 125 may perform image correction using parameters performed up to filtering (S750).

The object extraction module 301 in the data processing module 300 may receive the corrected image from the mobile mapping device 100 and extract the target object (S760). Then, the object location determination module 303 may obtain coordinate information of the target object by determining the center point of the extracted target object (S770).

The coordinate comparison module 304 may check whether the obtained coordinate information is matched by comparing the obtained coordinate information of the target object with the coordinate information of the aerial photograph corresponding thereto (S780).

The 3D modeling module 305 may perform 3D spatial modeling using the coordinate information of the target object (S790).

12 is a flowchart illustrating a method of correcting an image obtained from a camera according to the present invention.

First, a curve may be detected from image information obtained from the captured image obtaining module 110 ( S810 ). A first correction group may be set for lines that are not straight lines on the three-dimensional coordinates among the detected curves (S820). Lines corresponding to the set first correction group may be removed from the image information (S830).

Then, from the image from which the first correction group is removed, lines exceeding a preset threshold value may be detected from the center point on the three-dimensional coordinates and set as the second correction group (S840). In this case, in order to reset a more precise threshold, a new threshold may be reset by applying a weight according to the distance from the image center point to the curve. The second correction group may be set based on the reset threshold value. Lines corresponding to the set second correction group may be removed from the image information (S850).

A parameter may be extracted from the image from which the second correction group has been removed (S860). Image correction may be performed by performing inverse transformation using the extracted parameters (S870).

13 is a flowchart illustrating a method for obtaining coordinate information of a target object from a corrected image according to the present invention.

It is possible to extract the image information of the target object obtained from the object positioning module 303 (S910). Then, coordinate information of the aerial photograph corresponding to the corrected image may be obtained from the aerial photograph database 310 (S920).

By comparing the image information of the target object and the aerial photograph coordinate information, it is possible to check whether the objects match. For example, matching may be checked by extracting common points that are invariant in size and rotation from images having different directions and sizes. The aerial photographic image may be passed through a Gaussian filter, and the passed images may be sequentially subtracted according to a scale to generate an error image (S930).

Positions of pixels corresponding to extreme values (maximum and minimum) may be extracted from the generated error image and set as a common point (S940). Common vector information may be generated by removing noise and a strong edge component from among the extracted common points, and setting direction information and magnitudes for the remaining common points (S950).

By comparing the common vector information of the obtained aerial photographic image with the common point vector information of the corrected image, it is possible to check whether the objects match. Then, coordinate information of the target object may be acquired based on the matching check result (S960).

The present invention has been described above in relation to specific embodiments of the present invention, but this is merely an example and the present invention is not limited thereto. Those of ordinary skill in the art to which the present invention pertains can change or modify the described embodiments without departing from the scope of the present invention, within the technical spirit of the present invention and equivalent scope of the claims to be described below. Various modifications and variations are possible.

V: Vehicle 100: Mobile mapping device
110: captured image acquisition module 120: image processing module
130: inertial measurement module 140: GPS receiving module
150: control module 160: buffer
200: communication module 210: update module
300: data processing module 310: aerial photograph database
400: left and right moving part 410: left and right case
411: moving hole 420: sliding part
421: sliding hole 422: recognition hole
423: recognition sensing unit 430: left and right rod unit
431: recognition unit 440: central metal unit
450: upper and lower rods 460: center magnet
461: left and right magnets 470: moving rail
480: rail moving part 500: height adjustment part
510: high and low case 511: high and low soup
520: height rod 521: fixed groove
530: high and low part 531: fixed case
531a: limiting hole 532: fixed rod
532a: rod groove 533: fixed spring
534: fixed limiting part 535: limiting plate
536: limit spring 537: limit moving part
538: limit load 700: camera

Claims (1)

a photographed image acquisition module for acquiring image information from two cameras; a GPS receiving module for receiving GPS information from an artificial satellite to obtain current location information of the camera; an inertial measurement module for acquiring horizontal information of the camera using a plurality of sensors; an image processing module for correcting the image information based on the image information, current location information, and horizontal information; a control module for controlling to transmit the image information, current location information, and horizontal information to the image processing module; and a mobile mapping device including a buffer for storing image information;
an aerial photograph database for receiving and storing the image information from the mobile mapping device or for receiving and storing aerial photograph data from an external database; and
an object extraction module for extracting a target object from the corrected image obtained by the image processing module; an object positioning module for obtaining coordinate information of the target object based on the extracted center point of the target object; an aerial photograph extraction module for extracting coordinate information of an aerial photograph corresponding to the image information from the aerial photograph database; a coordinate comparison module that compares the coordinate information of the target object with the coordinate information of the aerial photograph to confirm whether objects are matched; and a data processing module comprising a; and a spatial information generating module for acquiring spatial information by using the coordinate information of the target object obtained from the matching result.
The two cameras 700 for supplying image information to the captured image acquisition module are mounted on the upper part of the vehicle, and the buffer support 600 is mounted on the upper left end of the vehicle and the upper right end of the vehicle, respectively, two at the upper left end of the vehicle. And two are mounted parallel to the right end, the left and right moving part 400 coupled horizontally on the two buffer supports, respectively coupled to the upper end of the two left and right moving parts, a height adjustment unit having a camera 700 on the upper part (500) further comprising,
The buffer support 600 is,
A buffer rod 610 coupled to the lower end of the left and right moving part 400 and comprising a buffer fastening part 611 having a disk shape and a buffering cylindrical part 612 of a cylindrical shape extending in the lower center of the buffer fastening part 611; The buffer case 620 is formed in an empty cylindrical interior and the lower end of the buffer rod 610 is accommodated; a buffer stopper 630 coupled to the lower outer surface of the buffer cylinder 612 of the buffer rod 610; It is coupled to the lower portion of the buffer rod 610 and connects between the buffer rod 610 and the inner surface of the buffer case 620, but a buffer connection portion 640 having a cross-section in the form of a ten (十); A buffer bent portion 650 coupled between the outer surface of the buffer stopper 630 and the inner surface of the buffer case 620;
The left and right moving part 400,
Left and right cases 410 coupled to the upper portion of the buffer support and having movable holes formed on the upper surface in the longitudinal direction; a pair of sliding parts 420 coupled to both inner sides of the left and right cases and having sliding holes formed along the longitudinal direction; A pair of left and right rod parts 430 inserted so that one end is slidable in each of the pair of sliding parts; a central metal part 440 of a metal material coupled to the center of a pair of left and right rod parts; an upper and lower rod portion 450 extending to the upper portion of the central metal portion and exposed to the outside through a moving hole; a central magnet 460 coupled to the center of the inner lower end of the left and right cases; A pair of left and right magnets 461 spaced apart from each other on the basis of the central magnet and exhibiting magnetism; a pair of moving rails 470 coupled to the upper surfaces of the left and right cases and coupled to both sides in the front and rear directions based on the moving holes along the longitudinal direction; and a rail moving unit 480 coupled to the side of the upper and lower rods and accommodated in a pair of moving rails and capable of sliding along the longitudinal direction;
The height adjustment unit 500,
Cylindrical height case 510 with an empty interior; a height rod 520 which is accommodated in the height case 510 so as to be slidable up and down and has a plurality of fixing grooves 521 formed on the side thereof; and a fixing rod 532 coupled to the upper end of the height case 510 and capable of entering into a plurality of fixing grooves 521;
The camera 700 is
Doedoe coupled to the upper part of the height adjustment unit 500, an image processing system capable of easily securing a photographed image of a feature, characterized in that the photographing angle can be adjusted through a rotation motor therein.

Images