KR102678302B1 - Numerical map correction system that analyzes numerical map images and automatically corrects them based on numerical coordinates - Google Patents

Abstract

The present invention relates to a digital map correction system that analyzes a digital map image and automatically corrects it based on numerical coordinates. The digital map storage unit measures the first and second absolute coordinate values of a means of transportation moving along a designated path. Coordinate measurement unit; A plurality of cameras are arranged radially around the moving means to capture surrounding images, generate first and second captured images, and check first and second absolute coordinate values of the captured point through an absolute coordinate measurement unit; The laser pulse signal is irradiated in a radial direction to measure the aiming angle and distance value for the feature based on the measurement point, collecting the first and second vector distances, and the first and second absolute coordinates of the measurement point through the absolute coordinate measurement unit. Vector distance measurement unit to check the value; The 1st and 2nd absolute coordinate values, 1st and 2nd captured images, and 1st and 2nd vector distances collected while moving along the designated path are classified into data collected during the first movement and data collected during the second movement, and 1, 2 A data classification unit that records the camera's aiming angle in the captured images and stores them in the primary collection information storage unit and the secondary collection information storage unit, respectively; a mapping information collection unit mounted on a mobile means, 1, 2 The first and second captured images whose first and second absolute coordinate values are closest to each other are searched and matched in the first and second captured image storage parts of the car collection information storage unit, and the matched first images are searched and matched. A matching target search unit that searches and matches the 1st and 2nd vector distances in which the 1st and 2nd absolute coordinate values of the 1st and 2nd captured images are recorded, respectively, in the 1st and 2nd vector distance storage parts of the 1st and 2nd collection information storage units. ; The first position coordinate value of the feature identified by the first vector distance is compared with the second position coordinate value of the feature identified by the second vector distance matching the first vector distance, and the first position coordinate value and the second position coordinate are determined. A vector distance comparison unit that checks the rate of change between values; If the rate of change between the first position coordinate value and the second position coordinate value is less than the standard value, the corresponding first captured image is selected as the subject for blurring, and if the change rate exceeds the standard value, the corresponding first captured image and the second captured image are determined. an image selection unit that classifies the first captured image and the second captured image as objects of judgment and displays the first captured image and the second captured image as judgment targets on an input/output means to select the first captured image or the second captured image selected according to the operator's operation as a blurring target; an image matching unit equipped with an image blurring unit that processes blurring of a target image in a first captured image or a second captured image selected as a blurring target; In the road view function of the digital map, the previous version of the captured image linked to the road image is deleted and the blurred first and second captured images are automatically linked to the numerical coordinates of the road image according to the corresponding first and second absolute coordinate values. A road view setting unit that corrects; It includes a digital map editing unit equipped with a digital map editing unit that inserts and edits new terrain feature images into the digital map image along the road image of the designated route where the automatically corrected first and second shooting images are collected.

Description

Numerical map correction system that analyzes numerical map images and automatically corrects them based on numerical coordinates}

The present invention relates to a digital map correction system that analyzes digital map images and automatically corrects them based on numerical coordinates.

A well-known digital map is made by combining a road image (RO) and a feature image (BO), as shown in Figure 1 (image showing a general digital map), and the road image (RO) and feature image (BO) of the digital map are ) is linked to detailed information about the road in the road image (RO) and detailed information about the corresponding feature in the feature image (BO).

As map information has developed, recent digital maps have been developed into digital map images (M), which are a combination of road images (RO) and terrain features images (BO), as well as road images (M), which are created by shooting surrounding images of roads in the field and converting the captured images into road images (M). Includes a road view function that displays according to the location of the RO). Therefore, digital map workers can receive services such as the location of specific geographical features and route guidance through the digital map image (M), as well as Figure 2 (road view image of one point of the road image merged with the digital map image) ), the captured image (CP), which is a surrounding image of the road output from the road view function, was able to help workers visually recognize the actual scene and understand the digital map.

Meanwhile, since the downtown area is made up of numerous roads and features, the digital map of the city center consists of numerous road images (RO) and feature images (BO). However, since new construction and demolition of roads and features occur frequently in urban areas, editing of the road image (RO) and feature image (BO) that are included in the digital map image (M) also had to be done frequently. Moreover, in order to maintain the worker's trust in the road view, which is one of the functions of the digital map, it was necessary to quickly collect surrounding images of changing roads or terrain features on site and correct the corresponding captured image (CP) of the digital map. .

However, when the area where surrounding images must be collected to correct the digital map is a busy street with a lot of traffic, there was a problem with moving objects such as moving vehicles and pedestrians blocking the road or terrain features. In the end, the terrain feature image (BdI) comprised in the captured image (CP) was obscured by the moving object images (FI, FI'), making it impossible for workers to clearly determine the shape of the terrain feature image (BdI), which resulted in an attempt to increase the sense of presence. There was a problem with the road view function of the digital map fading.

In the end, by reducing the moving object images (FI, FI') that obscure the terrain image (BdI) in the captured image (CP) collected for correction of the digital map, the blurring range of the captured image (CP) was minimized and the digital map image ( There was an urgent need for a technology that could easily correct and update the digital map by automatically identifying the pop-up location of the captured image (CP) in M).

Prior Art Document 1. Patent Publication No. 10-2022-0104443 (published on July 26, 2022)

Accordingly, the present invention is intended to solve the above problems, by reducing the blurring range of the image subject to correction for updating the digital map and automatically identifying the numerical coordinates of the link point of the captured image in the digital map image, thereby creating an accurate digital map. The goal is to provide a digital map correction system that analyzes digital map images that can be easily corrected and updated and automatically corrects them based on numerical coordinates.

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

A road image storage unit that stores a layer-type road image merged into a digital map image as data by linking it to the corresponding numerical coordinate value; A feature image storage unit that stores a layer-type feature image merged into a digital map image as data by linking it to numerical coordinate values; A first captured image storage part that moves first along a designated path and stores the first captured image collected by video shooting at the shooting point, and in which the first absolute coordinate value of the shooting point is recorded and stored in the first captured image, 1 While the car is moving, the laser pulse signal is irradiated in a radial direction from the measurement point and the first vector distance collected by measuring the aiming angle and distance value for the feature is stored. The first absolute coordinate value of the measurement point is recorded in the first vector distance. A primary collection information storage unit consisting of a first vector distance storage part to be stored; It moves secondly along the same path as the primary movement path and stores the second captured image collected through video shooting at the shooting point. The second captured image is recorded and stored with the second absolute coordinate value of the shooting point. In the storage part, the second vector distance collected by measuring the aiming angle and distance value for the feature is stored by irradiating the laser pulse signal in a radial direction from the measurement point during the secondary movement, and the second vector distance includes the second absolute value of the measurement point. A secondary collection information storage unit consisting of a second vector distance storage part in which coordinate values are recorded and stored; A digital map storage unit equipped with an information data storage unit that stores detailed information including the names of each target road and feature,

An absolute coordinate measurement unit that measures first and second absolute coordinate values of a means of transportation moving along a designated path; A plurality of cameras are arranged radially around the moving means to capture surrounding images, generate first and second captured images, and check first and second absolute coordinate values of the captured point through an absolute coordinate measurement unit; The laser pulse signal is irradiated in a radial direction to measure the aiming angle and distance value for the feature based on the measurement point, collecting the first and second vector distances, and the first and second absolute coordinates of the measurement point through the absolute coordinate measurement unit. Vector distance measurement unit to check the value; The 1st and 2nd absolute coordinate values, 1st and 2nd captured images, and 1st and 2nd vector distances collected while moving along the designated path are classified into data collected during the first movement and data collected during the second movement, and A data classification unit that records the camera's aiming angle for the first and second captured images and stores them in the first collection information storage unit and the second collection information storage unit, respectively; a mapping information collection unit mounted on a mobile means,

In the first and second captured image storage parts of the first and second collected information storage units, the first captured image and the second captured image whose first and second absolute coordinate values are closest to each other are searched for and matched with each other. Matching that searches and matches the first and second vector distances in which the first and second absolute coordinate values of the matched first and second captured images are recorded in the first and second vector distance storage parts of the first and second collection information storage units, respectively. target search unit; The first position coordinate value of the feature identified by the first vector distance is compared with the second position coordinate value of the feature identified by the second vector distance matching the first vector distance, and the first position coordinate value and the second position coordinate are determined. A vector distance comparison unit that checks the rate of change between values; If the rate of change between the first position coordinate value and the second position coordinate value is less than the standard value, the corresponding first captured image is selected as the subject for blurring, and if the change rate exceeds the standard value, the corresponding first captured image and the second captured image are determined. an image selection unit that classifies the first captured image and the second captured image as objects of judgment and displays the first captured image and the second captured image as judgment targets on an input/output means to select the first captured image or the second captured image selected according to the operator's operation as a blurring target; An image matching unit equipped with, and

an image blurring unit that processes blurring of a target image in a first captured image or a second captured image selected as a blurring target; In the road view function of the digital map, the previous version of the captured image linked to the road image is deleted and the blurred first and second captured images are automatically linked to the numerical coordinates of the road image according to the corresponding first and second absolute coordinate values. A road view setting unit that corrects; A digital map correction unit equipped with a digital map editing unit that inserts and edits new terrain feature images into the digital map image along the road image of the designated route where the automatically corrected first and second shooting images are collected;

A digital map correction system that analyzes digital map images and automatically corrects them based on numerical coordinates.

The present invention described above performs correction and update work by selecting a captured image with a relatively small blurring range within the target captured image in order to update the configuration image for performing the road view function of the digital map, thereby performing the blurring operation of the moving object. It minimizes the correction work to make it easier, and the entire process for updating the road view image, starting with inputting the captured image and automatically entering the link point, is performed automatically, which has the effect of dramatically reducing the work burden.

Figure 1 is an image showing a general numerical map,
Figure 2 is a road view image of a point of a road image merged into a digital map image,
Figure 3 is a block diagram showing the configuration of the digital map correction system according to the present invention;
Figure 4 is a flow chart sequentially showing the correction process of a digital map based on the digital map correction system according to the present invention;
Figure 5 is a diagram schematically showing the plan view of an actual site where the mapping information collection unit of the digital map correction system according to the present invention moves along the circumference of the feature to collect information on the feature;
Figure 6 is a diagram schematically showing how the digital map correction system according to the present invention measures the absolute coordinate value of a feature by measuring the vector distance to the feature;
Figure 7 is a diagram schematically showing how the digital map correction system according to the present invention displays the first and second collected captured images in a pop-up window;
Figure 8 is a diagram schematically showing the firstly collected and secondly collected captured images posted in the pop-up window;
Figure 9 is a captured image blurred by the digital map correction system according to the present invention.

The terms used in the embodiments are general terms that are currently widely used as much as possible while considering the function in the present invention, but this may vary depending on the intention or precedent of a person working in the art, the emergence of new technology, etc. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the relevant invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than simply the name of the term.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein.

Hereinafter, the present invention will be described in detail based on the accompanying drawings.

Figure 3 is a block diagram showing the configuration of a digital map correction system according to the present invention.

Referring to Figures 1 to 3, the digital map correction system according to the present invention includes first and second captured images (CP), first and second vector distances, and first and second captured images (CP) collected during primary movement along the circumference of a feature. 2A digital map storage unit 10 that stores data such as absolute coordinate values, and 1st and 2nd captured images (CP), 1st and 2nd vector distances and 1st and 2nd images of specific geographical features to update the digital map. A mapping information collection unit 20 that collects absolute coordinate values on-site, and collects the first captured image, first vector distance, and first absolute coordinate value collected during the first circumferential movement based on the terrain feature during the second circumferential movement. An image matching unit 30 that compares and selects the second captured image, the second vector distance, and the second absolute coordinate value, and a digital map correction unit that corrects the digital map with the selected captured image for update and correction of the digital map. It consists of (40).

The digital map storage unit 10 may be a database server for storing and managing various classified data or a hard disk drive (HDD) included in a general terminal. The digital map storage unit 10 includes a road image storage unit 11, a feature image storage unit 12, a primary collection information storage unit 13, a secondary collection information storage unit 14, and an information data storage unit 15. ) is composed of. To explain each configuration in more detail, the road image storage unit 11 stores the road image (RO) in a layer format merged with the digital map image (M) as data by linking it to the corresponding numerical coordinate value. The feature image storage unit 12 stores the feature image (BO) in a layer format merged with the digital map image (M) as data in association with numerical coordinate values. The primary collection information storage unit 13 moves first along a designated path and stores the first captured image collected through video shooting at the shooting point, and the first absolute coordinate value of the shooting point is recorded in the first captured image. The first captured image storage part (not shown) is stored, and the first vector distance collected by measuring the aiming angle and distance value for the feature by irradiating the laser pulse signal in a radial direction from the measurement point during the first movement is stored. The first vector distance consists of a first vector distance storage part (not shown) in which the first absolute coordinate value of the measurement point is recorded and stored. The secondary collection information storage unit 14 moves secondly along the same path as the primary movement path and stores the second captured image collected through video shooting at the shooting point, and the second captured image contains the second absolute image of the shooting point. A second image storage part (not shown) where coordinate values are recorded and stored, and a second image collected by measuring the aiming angle and distance value for the feature by irradiating a laser pulse signal in a radial direction from the measurement point during the secondary movement. The vector distance is stored, and the second vector distance consists of a second vector distance storage part (not shown) in which the second absolute coordinate value of the measurement point is recorded and stored. The 1st and 2nd captured image storage parts and the 1st and 2nd vector distance storage parts manage a plurality of 1st and 2nd captured images in sets, in which the same 1st and 2nd absolute coordinate values are recorded, respectively, and the same 1st and 2nd absolute coordinate values are recorded. A plurality of first and second vector distances with recorded coordinate values are managed as sets. The information data storage unit 15 stores detailed information including the names of each target road and geographical feature.

The mapping information collection unit 20 is composed of an absolute coordinate measurement unit 21, a camera 22, a vector distance measurement unit 23, and a data classification unit 24, and is mounted on a moving means. To describe each configuration in more detail, the absolute coordinate measurement unit 21 measures the first and second absolute coordinate values of a means of transportation moving along a designated path. The absolute coordinate measurement unit 21 is a GPS measuring device. A plurality of cameras 22 are arranged radially around the moving means to capture surrounding images and generate first and second captured images (CP), and to capture first and second captured images (CP) at the photographed point through the absolute coordinate measurement unit 21. 2Check the absolute coordinate values. The vector distance measurement unit 23 radiates a laser pulse signal in a radial direction, measures the aiming angle and distance value for the feature based on the measurement point, collects the first and second vector distances, and the absolute coordinate measurement unit 21 Check the first and second absolute coordinate values of the measurement point. The vector distance measurement unit 23 may be an example of Lidar. The data classification unit 24 moves along a designated path and divides the collected first and second absolute coordinate values, first and second captured images (CP), and first and second vector distances into data collected during the first movement and second time. It is classified as collected data during movement, and the aiming angle of the camera 22 is recorded in the first and second captured images (CP) and stored in the first collection information storage unit 13 and the second collection information storage unit 14, respectively. Save.

The image matching unit 30 is composed of a matching object search unit 31, a vector distance comparison unit 32, and an image selection unit 33. To explain each configuration in more detail, the matching target search unit 31 retrieves the first absolute coordinate value and the first absolute coordinate value from the first and second captured image storage parts of the first and second collection information storage units 13 and 14, respectively. 2The first and second captured images whose absolute coordinate values are closest to each other are searched and matched, and the first and second absolute coordinate values of the matched first and second captured images (CP) are recorded. The vector distance is searched and matched from the first and second vector distance storage parts of the first and second collection information storage units (13, 14), respectively. The vector distance comparison unit 32 compares the first position coordinate value of the feature identified by the first vector distance with the second position coordinate value of the feature identified by the second vector distance matching the first vector distance, and compares the first position coordinate value of the feature identified by the first vector distance. Check the rate of change between the position coordinate value and the second position coordinate value. For reference, the objects matched based on the absolute coordinate value are the set of the first captured image in which the first absolute coordinate value is recorded and the set of the second captured image in which the second absolute coordinate value is recorded, and the first absolute coordinate value Since these three recorded first vector distances and the second absolute coordinate value are three recorded second vector distances, one first vector distance and one second vector distance are not compared one by one. The image selection unit 33 selects the corresponding first captured image as a blurring target if the rate of change between the first position coordinate value and the second position coordinate value is less than the standard value, and if the rate of change exceeds the standard value, the corresponding first captured image is selected. The first and second captured images are classified as judgment targets, and the first and second captured images, which are judgment targets, are displayed on the input/output means (not shown) to select the first or second captured image according to the operator's operation. Execute to select blurring target.

The digital map correction unit 40 is composed of an image blurring unit 41, a road view setting unit, and a digital map editing unit. To describe each configuration in more detail, the image blurring unit 41 processes blurring of the target image in the first captured image or the second captured image selected as the blurring target. The road view setting unit 42 deletes the previous version of the captured image linked to the road image in the road view function of the digital map and replaces the blurred first and second captured images (CP) with the corresponding first and second absolute coordinate values. Accordingly, it is automatically corrected by linking to the numerical coordinates of the road image. The digital map editing unit 43 inserts a new terrain feature image (BO) into the digital map image (M) along the road image (RO) of the designated route where the automatically corrected first and second captured images (CP) are collected. Edit. Through the correction of the road view setting unit 42 and the editing of the digital map editing unit 43, the digital map image M is automatically corrected to the latest version, thereby increasing the reliability of the digital map.

To explain the digital map correction system described above, the operation process of the digital map correction system will be explained with reference to the drawings.

Figure 4 is a flow chart sequentially showing the correction process of a digital map based on the digital map correction system according to the present invention, and Figure 5 is a flow chart showing the mapping information collection unit of the digital map correction system according to the present invention to collect information on geographic features. It is a drawing schematically showing the plan view of the actual site moving along the perimeter, and Figure 6 schematically shows the digital map correction system according to the present invention measuring the absolute coordinate value of the feature by measuring the vector distance to the feature. , and FIG. 7 is a diagram schematically showing how the digital map correction system according to the present invention displays the first and second collected captured images in a pop-up window, and FIG. 8 is the pop-up window. It is a diagram schematically showing the first and second collected images posted on , and Figure 9 is a captured image blurred by the digital map correction system according to the present invention.

Referring to Figures 1 to 9, the digital map correction system according to the present invention operates according to the following process.

S10; Steps to collect information about the road view image to be corrected

As shown in FIG. 6, the mapping information collection unit 20 mounted on a means of transportation (CA) such as a general vehicle or a worker moving on foot moves along a designated path and collects surrounding images and terrain features (Bd) to perform the road view function. ) moves along a designated route at least twice, and the absolute coordinate measurement unit 21 measures the GPS absolute coordinate value where the means of transportation (CA) is currently located. However, as the means of transportation (CA) moves in the first and second moves along a designated route, the actual movement point may change somewhat depending on the road environment, and due to measurement errors in the absolute coordinate measurement unit 21, the measured point during the first and second moves is There may be differences in the absolute coordinate values. Therefore, the camera 22 of the mapping information collection unit 20 checks the first and second absolute coordinate values of the shooting point at the time of shooting the image.

A plurality of cameras 22 are arranged in a radial direction around the moving means (CA), capture surrounding images as shown in FIG. 5, and generate first and second captured images (CP). The camera 22 may perform a photographing operation at regular time intervals starting from the first photographing point, or may perform a photographing operation when the moving means (CA) enters within a designated coordinate range. The data classification unit 24 checks the aiming angle during the shooting operation of the camera 22 and records it in the first and second captured images (CP).

In this embodiment, the camera 22 can collect a feature image (BdI) by photographing a feature (Bd) around the road (R) according to the above-described shooting method, and draw a feature image (BO). The number of cameras 22 of the mapping information collection unit 20 is configured to capture images surrounding the means of transportation (CA) in a panoramic form, and in this embodiment, there are 8 cameras. For reference, the camera 22 of the present invention outputs digital images and may be a CCD (charge-coupled device) camera. As described above, the first and second captured images (CP) generated by the camera 22 include the movement order of the designated path (first movement is 1st movement, second movement is 2nd order), absolute coordinates of the shooting point, and Information on the shooting direction (aiming angle) is input and stored in the first and second captured image storage parts of the first and second collection information storage units 13 and 14 of the mapping information collection unit 10, respectively.

The vector distance measurement unit 23 continuously irradiates a laser pulse signal several times in the radial direction simultaneously with the movement of the means of transportation (CA) along the road (R) to determine the vector for the feature (Bd) as shown in FIGS. 5 and 6. Measure the distance. The vector distance measurement unit 23 may be a general Lidar (Light Detection And Ranging). As described above, since the vector distance measurement of the vector distance measurement unit 23 is continuous, the vector distance used to determine the change area below is the vector distance measured at the time of the shooting operation of the camera 22. The point where the vector distance measurement unit 23 measures the first and second vector distances (hereinafter referred to as 'measurement point') is recorded as the first and second absolute coordinate values of the measurement point like the first and second captured images. It is stored in the first and second vector distance storage parts of the car collection information storage units 13 and 14, respectively.

The data classification unit 24 moves along a designated path and collects the first and second absolute coordinate values, the first and second captured images (CP), and the first and second vector distances during the first movement and the second movement. It is classified as data collected at the time, and the aiming angle of the camera 22 at the time of shooting is recorded in the first and second captured images (CP) and stored in the first collected information storage unit 13 and the second collected information storage unit 14. Save each. To explain this in more detail, as described above, the mapping information collection unit 20 moves twice along a designated path while mounted on the means of transportation (CA) and collects the first and second absolute coordinate values for each time. Measure and collect data such as the first and second captured images (CP) and the first and second vector distances. Therefore, in order to classify the numerous collected data, the first and second captured images (CP) are classified into '1st movement' and '2nd movement', which are the movement order, and the first and second images, which are data collected during the first or second movement, are classified into '1st movement' and '2nd movement'. The 1st and 2nd captured images (CP) and the 1st and 2nd vector distances are classified based on the 1st and 2nd absolute coordinate values of the means of transportation (CA) at the time of collection. Furthermore, in the case of the first and second captured images (CP), the aiming angle of the camera 22 is input, so the first and second captured images (CP) collected from the first and second absolute coordinate values that are closest to each other and the first, The two-vector distance can be retrieved from the first and second collection information storage units 13 and 14, respectively.

S20; Matching target data search step

The matching target search unit 31 matches the target in the first captured image (CP1) and first vector distance collected during the first movement, and the second captured image (CP2) and second vector distance collected during the second movement. Search for captured images and vector distances. For the above search, the matching object search unit 31 checks the first and second absolute coordinate values recorded in the first and second captured images (CP) and the first and second vector distances, respectively, and finds the closest absolute coordinate values (M1 to The first and second captured images (CP) with M7) and the first and second vector distances are classified and designated as matching targets. The first and second captured images (CP) and the first and second vector distances confirmed as matching targets are searched from the first and second collection information storage units 13 and 14, respectively.

S30; Position coordinate value calculation step

As shown in FIG. 6, the vector distance comparison unit 32 calculates first position coordinate values (X) located at the first vector distance based on the first absolute coordinate value of the measurement point, and based on the second absolute coordinate value. Second position coordinate values (Y) located at the second vector distance are calculated. As an example, in the present invention, the vector distance is a combination of the aiming angle, which is the irradiation angle of the laser pulse signal, and the distance value measured through the signal reflected from the feature and returning when the laser pulse signal is irradiated at the aiming angle. It is a measurement value. Therefore, by using vector distance, the absolute coordinate value of the position where the laser pulse signal is irradiated is used as the starting point, the position of the distance value in the direction of the aiming angle is confirmed as the end point, and the position coordinate value, which is the coordinate value of the end point, can be calculated. .

Ultimately, when a plurality of first and second vector distances are measured with a plurality of laser pulse signals emitted from the measurement points of the first and second absolute coordinate values by the vector distance measurement unit 23, the vector distance comparison unit 32 The first and second position coordinate values (X, Y) of the feature can be calculated using a plurality of first and second vector distances.

The technology for calculating the target's position coordinates based on the absolute coordinates of the measurement point using vector distances is already a known technology, so the first and second vector distances are used to calculate the first and second position coordinates of the feature ( Descriptions of the specific formulas and processes for calculating (X, Y) are omitted.

S40; Steps to check the rate of change of position coordinate values

The vector distance comparison unit 32 provides first position coordinate values (X) of the feature identified using the first absolute coordinate value as the measurement point, and the second position of the feature identified using the second absolute coordinate value as the measurement point. Compare the coordinate values (Y) to check the rate of change of the position coordinate value.

As a result of confirmation, first position coordinate values (X) with the first absolute coordinate value as the measurement point, and second position coordinate values (Y) with the second absolute coordinate value matched with the first absolute coordinate value as the measurement point ) is the same or similar without change (if the rate of change is low), it means that the geographical features of the surrounding area during the first movement of the means of transportation (CA) and the geographical features of the surrounding area during the second movement are constant without change. In other words, this means that there are many fixed objects such as buildings and road structures in the section. However, if there is a large change between the first and second position coordinate values ( It can be assumed that there are many moving objects passing through one of them.

S50; Blurring target selection stage

The image selection unit 33 selects the corresponding first captured image (CP1) as a subject for blurring (BR) if the rate of change between the first position coordinate value and the second position coordinate value is less than the standard value, and if the rate of change exceeds the standard value The corresponding first captured image (CP1) and second captured image (CP2) are classified as judgment targets, and the first captured image (CP1) and second captured image (CP2), which are judgment targets, are connected to input/output means (not shown). It displays and selects the first captured image (CP1) or the second captured image (CP2) selected according to the operator's operation as a blurring (BR) target.

In this embodiment, the image selection unit 33 converts the first and second captured images (CP1, CP2), which are matched to each other in the first and second absolute coordinate values, into an independent layer (CPL) format, as shown in (a) of FIG. 7. It is displayed on the input/output means, and the first captured image (CP1) and the second captured image (CP2), which are judgment targets, are displayed on the layers (CPL1, CPL2) so that the operator can visually check them. Here, in the layer without a separate indication, the rate of change of the first and second position coordinate values (X, Y) is below the standard value, so the first captured image (CP1) is confirmed as the subject of blurring (BR). On the other hand, the marked layers (CPL1, CPL2) are captured images that require operator confirmation because the rate of change of the first and second position coordinate values (X, Y) exceeds the standard value.

When the operator clicks and selects the displayed layers (CPL1, CPL2), the corresponding first and second captured images (CP1, CP2) are enlarged and displayed in a pop-up window (PU), as shown in (b) of FIG. 7 and FIG. 8. When one of these captured images is selected, the image selection unit 33 selects the selected captured image as a subject for blurring (BR) according to the operator's operation.

S60; blurring stage

The image blurring unit 41 performs blurring (BR) on the target image in the first captured image (CP1) or the second captured image (CP2) selected as a blurring (BR) target according to an input signal input through operator manipulation. ) Process. Since image editing technologies such as image blurring (BR) are already well-known technologies, detailed descriptions thereof will be omitted.

S70; Road view setting steps

The road view setting unit 42 deletes the previous version of the captured image linked to the road image (RO) in the road view function of the digital map and replaces the blurred first and second captured images (CP) with the corresponding first and second captured images. Automatic correction is made by linking to the numerical coordinates of the road image (RO) according to the absolute coordinate values.

Previous versions of captured images saved for the road view function also have the absolute coordinate values of the corresponding positions registered, so updating the captured image data can be processed without difficulty.

S80; Digital map image editing steps

The digital map editing unit 43 inserts a new terrain feature image (BO) into the digital map image (M) along the road image (RO) of the designated route where the automatically corrected first and second captured images (CP) are collected. Edit. Since the recently collected and updated 1st and 2nd shooting images are for terrain feature images (BO) that have changes from the previous version's digital map image (M), the newly drawn terrain feature image (BO) is used in the updated 1st shooting images. Link to the image (CP1) or the second captured image (CP2) and correct it to the digital map image (M).

Although the detailed description of the present invention described above has been described with reference to preferred embodiments of the present invention, those skilled in the art or those skilled in the art will understand the spirit of the present invention as described in the patent claims to be described later. It will be understood that the present invention can be modified and changed in various ways without departing from the technical scope.

Bd; Feature BdI; Feature image BO; Landscape image
BR; blurring CA; Transportation CP; Shooting image
FI, FI'; Moving object image M; Digital map images T1, T2; moving body

Claims (1)

A road image storage unit that stores a layer-type road image merged into a digital map image as data by linking it to the corresponding numerical coordinate value; A feature image storage unit that stores a layer-type feature image merged into a digital map image as data by linking it to numerical coordinate values; It moves first along a designated path and stores the first captured image collected by video shooting at the shooting point. The first captured image records and stores the first absolute coordinate value of the shooting point and the camera's aiming angle. In the storage part, the first vector distance collected by measuring the aiming angle and distance value for the feature is stored by irradiating the laser pulse signal in a radial direction from the measurement point during the first movement, and the first vector distance includes the first absolute distance of the measurement point. A primary collection information storage unit consisting of a first vector distance storage part in which coordinate values are recorded and stored; It moves secondly along the same path as the first movement path and stores the second captured image collected by video shooting at the shooting point. The second absolute coordinate value of the shooting point and the camera's aiming angle are recorded and stored in the second captured image. It stores the second captured image storage part and the second vector distance collected by measuring the aiming angle and distance value for the feature by irradiating the laser pulse signal in a radial direction from the measurement point during the secondary movement, and measuring the second vector distance. A secondary collection information storage unit consisting of a second vector distance storage part in which the second absolute coordinate value of the point is recorded and stored; A digital map storage unit equipped with an information data storage unit that stores detailed information including the names of each target road and feature,
An absolute coordinate measurement unit that measures first and second absolute coordinate values of a means of transportation moving along a designated path; A plurality of cameras are arranged radially around the moving means to capture surrounding images, generate first and second captured images, and confirm first and second absolute coordinate values of the captured point through an absolute coordinate measurement unit; By irradiating the laser pulse signal in the radial direction, the aiming angle and distance value for the feature are measured based on the measurement point, the first and second vector distances are collected, and the first and second absolute coordinates of the measurement point are obtained through an absolute coordinate measurement unit. Vector distance measurement unit to check the value; The 1st and 2nd absolute coordinate values, 1st and 2nd captured images, and 1st and 2nd vector distances collected while moving along the designated path are classified into data collected during the first movement and data collected during the second movement, and A data classification unit that records the camera's aiming angle for the first and second captured images and stores them in the first collection information storage unit and the second collection information storage unit, respectively; a mapping information collection unit mounted on a mobile means,
In the first and second captured image storage parts of the first and second collected information storage units, the first captured image and the second captured image whose first and second absolute coordinate values are closest to each other are searched for and matched with each other. Search for the first and second absolute coordinate values of the matched first and second captured images and the first and second vector distances where the aiming angles are recorded, respectively, from the first and second vector distance storage parts of the first and second collection information storage units. matching matching target search unit; The first position coordinate value of the feature identified by the first vector distance is compared with the second position coordinate value of the feature identified by the second vector distance matching the first vector distance, and the first position coordinate value and the second position coordinate are determined. Vector distance comparison unit that checks the rate of change between values; If the rate of change between the first position coordinate value and the second position coordinate value is less than the standard value, the corresponding first captured image is selected as the subject for blurring, and if the change rate exceeds the standard value, the corresponding first captured image and the second captured image are determined. an image selection unit that classifies the first captured image and the second captured image as objects of judgment and displays them on the input/output means to select the first captured image or the second captured image selected according to the operator's operation as a blurring target; An image matching unit equipped with, and
an image blurring unit that processes blurring of a target image in a first captured image or a second captured image selected as a blurring target through data processing of the image selection unit; In the road view function of the digital map, the previous version of the captured image linked to the road image is deleted and the blurred first or second captured image is converted into a road image according to the corresponding first or second absolute coordinate values. A road view setting unit that automatically corrects by linking to the numerical coordinates of; a digital map editing unit that inserts and edits a new terrain feature image into a digital map image along a road image of a designated route where the automatically corrected first or second captured image is collected; a digital map correction unit equipped with a digital map editing unit;
A digital map correction system that analyzes digital map images and automatically corrects them based on numerical coordinates.