KR102360464B1 - Apparatus and method for acquisition of connecting road information - Google Patents

Abstract

The present invention relates to an apparatus and method for obtaining connected road information, wherein an information collection unit for collecting point cloud information and point cloud information from the information collection unit are obtained, and from the obtained point cloud information, the left side of the road or Extracts information about points obtained from the right direction, sets a virtual plane divided into unit areas in space, and calculates the number of points included in each unit cell corresponding to each unit area. , characterized in that it comprises a control unit for calculating information on the connection road based on the calculated number of points included in each unit cell.

Description

Apparatus and method for acquiring connected road information

The present invention relates to an apparatus and method for acquiring connected road information, and more particularly, to an apparatus and method for acquiring connected road information by using a point cloud to acquire information on a connected road.

Recently, with the use of a depth camera or a 3D (dimensional) scanner, interest in collection and processing techniques for 3D point cloud data is increasing. In the field of computer graphics, techniques such as surface registration and object recognition are mainly used as a POI (point of interest) detection algorithm in a 3D point cloud.

In particular, in the case of 3D data acquisition using LiDAR, a high-density point cloud can be acquired, so it is widely used in data construction of geographic information systems. Accordingly, many studies have been conducted on a method of databaseizing information on road features by analyzing point cloud information collected from a Mobile Mapping System (MMS) vehicle.

However, such point information is not only irregularly distributed in a three-dimensional space, but also has a problem that it is difficult to analyze by applying the existing processing method because the amount of the data is very large.

Meanwhile, the background technology of the present invention is disclosed in Korean Patent Laid-Open No. 10-2015-0051854 (2015.05.13).

It is an object of the present invention to provide an apparatus and method for obtaining connected road information that enables information on a connected road to be obtained from point cloud information of the road.

A connected road information acquisition device according to the present invention includes: an information collection unit for collecting point cloud information; and obtaining point cloud information from the information collection unit, extracting information about points obtained from the left or right direction of the road travel direction from the obtained point cloud information, and a virtual plane divided into unit areas in space , calculates the number of points included in each unit cell corresponding to each unit area, and calculates information on the connection road based on the calculated number of points included in each unit cell It is characterized in that it comprises a control unit.

In the present invention, the information collecting unit includes: a laser scanner for collecting point data; GPS device for acquiring satellite navigation information; and an INS device for acquiring inertial navigation information.

In the present invention, when the virtual plane is set, the controller sets a virtual plane having the road traveling direction and a direction perpendicular to the ground as an axis.

In the present invention, when calculating the information on the connection road, the control unit sets a preset representative value according to a range to which the number of points corresponding to the unit area belongs as attribute information of the unit area, and sets each of the virtual planes. It is characterized in that the information on the connection road is calculated based on the distribution of representative values set for the unit area.

In the present invention, the representative value preset according to the range is color information.

In the present invention, when the information on the connecting road is calculated, the controller calculates the information on the location and shape of the connecting road as information on the connecting road.

In the present invention, the controller calculates the width of the connecting road with information on the shape of the connecting road.

A method for acquiring connected road information according to the present invention includes: acquiring, by a control unit, point cloud information; extracting, by the control unit, information on points obtained from the left or right direction of the road travel direction from the obtained point cloud information; setting, by the control unit, a virtual plane divided into unit regions in space; calculating, by the control unit, the number of points included in each unit cell corresponding to each unit area; and calculating, by the controller, information on the connection road based on the calculated number of points included in each unit cell.

In the step of setting the virtual plane of the present invention, the control unit is characterized in that it sets the virtual plane with the axis of the road traveling direction and a direction perpendicular to the ground.

In the present invention, the calculating of the information on the connection road may include: setting, by the controller, a preset representative value as attribute information of the unit area according to a range to which the number of points corresponding to the unit area belongs; and calculating, by the controller, information on the connection road based on a distribution of representative values set for each unit area of the virtual plane.

In the step of calculating the information on the connecting road of the present invention, the control unit is characterized in that the information on the location and shape of the connecting road is calculated as the information on the connecting road.

In the step of calculating the information on the connecting road of the present invention, the controller calculates the width of the connecting road with information on the shape of the connecting road.

Connected road information obtaining apparatus and method according to the present invention has the effect of improving the speed and ease of data processing by converting 3D point cloud information into 2D information and calculating information on the connecting road.

1 is a block diagram showing the configuration of an apparatus for obtaining connected road information according to an embodiment of the present invention.
2 is an exemplary diagram for explaining a method of extracting information on a point obtained from a specific direction in the apparatus for obtaining connected road information according to an embodiment of the present invention.
3 is an exemplary diagram for explaining a process of setting a virtual plane in the connected road information obtaining apparatus according to an embodiment of the present invention.
4 is an exemplary diagram for explaining a process of setting a representative value in an apparatus for obtaining connected road information according to an embodiment of the present invention.
5 is an exemplary diagram for explaining a method of calculating information on a connected road in the connected road information obtaining apparatus according to an embodiment of the present invention.
6 is a flowchart illustrating a method for obtaining connection road information according to an embodiment of the present invention.

Hereinafter, an embodiment of an apparatus and method for obtaining connected road information according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram showing the configuration of an apparatus for obtaining connected road information according to an embodiment of the present invention, and FIG. 2 is a diagram showing points obtained from a specific direction in the apparatus for obtaining connected road information according to an embodiment of the present invention. It is an exemplary view for explaining a method of extracting information, and FIG. 3 is an exemplary view for explaining a process of setting a virtual plane in the connected road information obtaining apparatus according to an embodiment of the present invention, and FIG. 4 is the present invention is an exemplary view for explaining a process of setting a representative value in the connected road information obtaining apparatus according to an embodiment of the present invention As an exemplary diagram for explaining how to do this, the connected road information obtaining apparatus according to the present embodiment will be described with reference to this.

As shown in FIG. 1 , the apparatus for obtaining connected road information according to an embodiment of the present invention includes a controller 100 , a laser scanner 110 , a GPS device 120 , and an INS device 130 .

The laser scanner 110 may collect pointer data. That is, the laser scanner 110 may acquire LiDAR information and generate point cloud information through this.

The GPS device 120 may acquire satellite navigation information, and the INS device 130 may acquire inertial navigation information.

That is, the information collection unit (not shown) includes the laser scanner 110 , the GPS device 120 , and the INS device 130 , and may collect point data and calculate location information for each collected point, through which You can create point cloud information. As such an information collection unit, an MMS (Mobile Mapping System) device or the like may be employed. In addition, the connected road information acquisition device including the control unit 100 may be configured as a part of the MMS device. In addition, only the information collection unit is mounted on the MMS vehicle, and the control unit 100 stores the collected point cloud information later. It may be configured in the form of calculating information on the connecting road by acquiring it.

The control unit 100 may extract information on points obtained from the left or right direction of the road traveling direction from the obtained point cloud information. That is, as can be seen in FIG. 2 , the control unit 100 may extract information about the points collected in the left or right direction of the road traveling direction by using the angle information of the laser scanner 110 for each point. . In other words, since the connecting road for one road is connected to the outskirts of the road, the control unit 100 can extract only information about a point in an area of interest to improve the data processing speed and accuracy.

In addition, the controller 100 may set a virtual plane divided into unit regions in space. That is, as shown in FIG. 3 , a virtual plane (ie, frame) can be set in space, and it is possible to determine whether or not a connection road exists in the frame by performing analysis of points related to the frame. have.

In this case, the control unit 100 may set a virtual plane having a road traveling direction and a direction perpendicular to the ground as an axis. That is, by setting the two-dimensional area in the direction parallel to the direction of travel of the road by the controller 100, the easiness of data processing and extraction can be improved.

The controller 100 may calculate the number of points included in each unit cell corresponding to each unit region of the virtual plane set in this way. That is, as shown in FIG. 4 , the controller 100 may form three-dimensional unit cells having each unit area as one surface, and these unit cells correspond to each unit area.

The controller 100 may calculate the number of points included in such a unit cell, and may calculate information on the connection road based on this.

Specifically, the controller 100 may store preset representative values according to the range of the number of points, and set these representative values as attribute information of the unit area. For example, as shown in FIG. 4 , the representative value may be color information, and each representative value is different according to the range of the number of points (eg, 0-5, 6-10, 11-20, etc.) A value (the smaller the number of points, the closer to green, the more points, the closer to red) may be set. Therefore, the representative value can be viewed as a value indicating information about the point density of each unit cell.

That is, the controller 100 may configure the unit area with a preset color according to the number of points corresponding to the unit area (of the unit cell corresponding to the unit area). In other words, as shown in the right figure of FIG. 4 , the virtual plane can be divided into unit regions, and the controller 100 sets these unit regions to a color according to the number of points corresponding to each unit region. can

Thereafter, the controller 100 may calculate the information on the connection road based on the distribution (distribution of color) of representative values set for each unit area of the virtual plane. That is, in the case of a connecting road, a relatively small number of points are measured on the part other than the road surface, so if a point with a large number of points near the road surface but a small number of points is extracted above it, the corresponding point is a connection road. can be considered as applicable to

Accordingly, the control unit 100 may calculate the location and width of the connecting road as shown in FIG. 5 . That is, since the precise three-dimensional position of each point can be determined according to the point cloud information, the control unit 100 can grasp the position of each unit area when setting the virtual plane and the corresponding unit area, and also grasp the size have. Accordingly, the controller 100 may calculate the location and shape (eg, width) of the connecting road as information about the connecting road by finding a point where the distribution of colors is the same as the shape indicated by the connecting road.

In this way, the control unit 100 may reduce the amount of processed data by converting the 3D point cloud information into 2D information divided into unit regions and calculating information on the connection road.

6 is a flowchart for explaining a method for obtaining connected road information according to an embodiment of the present invention. Referring to this, the method for obtaining connected road information according to the present embodiment will be described as follows.

As shown in FIG. 6 , the controller 100 first acquires point cloud information ( S200 ). For example, the controller 100 may acquire point cloud information from a mobile mapping system (MMS) device.

Then, the control unit 100 extracts the point information collected from the left or right direction of the road travel direction from the point cloud information obtained in the step (S200) (S210). That is, since the connecting road for one road is connected to the outskirts of the road, the control unit 100 can extract only information on the point of the region of interest to improve the data processing speed and accuracy.

After the step (S220), the control unit 100 sets a virtual plane divided into unit regions in space (S220). In this case, the control unit 100 may set a virtual plane having a road traveling direction and a direction perpendicular to the ground as an axis. That is, in a way that the control unit 100 sets a two-dimensional area and processes data within this area, the three-dimensional point cloud information can be converted and processed into two-dimensional data, and through this, the ease of processing and extraction of data can be improved. can be improved

Next, the control unit 100 calculates the number of points included in each unit cell corresponding to each unit area (S230). That is, the controller 100 may calculate the number of points included in each unit cell in order to obtain information on the point density of each unit cell.

After the step (S230), the controller 100 applies a color according to the number of points corresponding to each unit area calculated in the step (S230) to the corresponding area (S240). That is, the controller 100 may store preset colors (the smaller the number of points, the closer to green, the more points, the closer to red) according to the range of the number of points, and use these colors as attribute information of the unit area. can be set to Here, the number of points corresponding to each unit area means the number of points included in each unit cell corresponding to each unit area.

Then, the control unit 100 calculates the location and shape information of the connecting road based on the color distribution of the virtual plane (S250). That is, in the case of a connecting road, since a relatively small number of points are measured on the part except for the road surface, the control unit 100 selects a point with a large number of points near the road surface, but a small number of points above it through the color distribution. By extracting it, the location of the connecting road can be grasped. Also, the width may be calculated from the number of unit areas included in the connecting road.

As described above, the apparatus and method for obtaining connected road information according to an embodiment of the present invention can convert 3D point cloud information into 2D information to calculate information on a connected road, thereby improving the speed of data processing, and through this It can make it easy to build a geographic information database.

Although the present invention has been described with reference to the embodiment shown in the drawings, this is merely exemplary, and it is understood that various modifications and equivalent other embodiments are possible by those of ordinary skill in the art. will understand Therefore, the technical protection scope of the present invention should be defined by the following claims.

100: control unit
110: laser scanner
120: GPS device
130: INS device

Claims (12)

an information collection unit for collecting point cloud information; and
Obtaining point cloud information from the information collecting unit, extracting information on points obtained from the left or right direction of the road travel direction from the obtained point cloud information, and generating a virtual plane divided into unit areas in space setting, calculating the number of points included in each unit cell corresponding to each unit area, and calculating information on the connection road based on the calculated number of points included in each unit cell comprising a control unit;
When calculating the information on the connection road, the control unit sets a preset representative value according to a range to which the number of points corresponding to the unit area belongs as attribute information of the unit area, and sets each unit area of the virtual plane Connected road information obtaining apparatus, characterized in that for calculating the information on the connecting road based on the distribution of set representative values for the connected road.
The method of claim 1,
The information collection unit,
laser scanner for collecting point data;
GPS device for acquiring satellite navigation information; and
A connected road information acquisition device comprising an INS device for acquiring inertial navigation information.
The method of claim 1,
The control unit, when setting the virtual plane, connected road information obtaining apparatus, characterized in that for setting the virtual plane with the axis of the road traveling direction and a direction perpendicular to the ground.
The method of claim 1,
When calculating the information on the connection road, the controller is configured to calculate the connection road information based on a difference between the number of points in the unit area corresponding to the road surface and the number of points included in the unit area above the unit area corresponding to the road surface. Connected road information acquisition device, characterized in that it is determined whether the connection road of the unit area corresponding to the road surface is applicable.
5. The method of claim 4,
The connected road information obtaining apparatus, characterized in that the representative value preset according to the range is color information.
The method of claim 1,
The control unit, when calculating the information on the connecting road, connecting road information obtaining apparatus, characterized in that for calculating the information on the location and shape of the connecting road as information on the connecting road.
7. The method of claim 6,
The connecting road information obtaining apparatus, characterized in that the control unit calculates the width of the connecting road with information on the shape of the connecting road.
obtaining, by the control unit, point cloud information;
extracting, by the control unit, information on a point obtained from the left or right direction of the road traveling direction from the obtained point cloud information;
setting, by the control unit, a virtual plane divided into unit regions in space;
calculating, by the controller, the number of points included in each unit cell corresponding to each unit area; and
Comprising the step of calculating, by the control unit, information on the connection road based on the calculated number of points included in each unit cell,
Calculating the information on the connection road comprises:
setting, by the controller, a preset representative value as attribute information of the unit area according to a range to which the number of points corresponding to the unit area belongs; and
and calculating, by the controller, information on the connection road based on a distribution of representative values set for each unit area of the virtual plane.
9. The method of claim 8,
In the step of setting the virtual plane, the control unit sets a virtual plane with an axis of the road traveling direction and a direction perpendicular to the ground as an axis.
9. The method of claim 8,
In the step of calculating the information on the connection road, the control unit is based on a difference between the number of points in the unit area corresponding to the road surface and the number of points included in the unit area existing above the unit area corresponding to the road surface. to determine whether it is a connection road of a unit area corresponding to the road surface.
9. The method of claim 8,
In the step of calculating the information on the connecting road, the control unit calculates the information on the location and shape of the connecting road as information on the connecting road.
12. The method of claim 11,
In the step of calculating the information on the connecting road, the control unit calculates the width of the connecting road with information on the shape of the connecting road.

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