KR20140062647A - Method and apparatus for producing space map of indoor - Google Patents

Abstract

A producing method of an indoor space map of the present invention comprises: a process of collecting a space environment information measured via a space environment sensor to produce an indoor space map; a process of producing a nod information package by supplying IDs to the collected space environment information; a process of producing an indoor map by marking the position of each nod on the map based on the produced nod information package; a process of dividing the produced indoor map into multiple sections; a process of setting important points on a plurality of specific points on the indoor map divided into a plurality of sections respectively; and a process of modifying the indoor map to a desired form by warping based on the map information and the section information by moving and rotating selected important points among the set of the plurality of important points.

Description

[0001] METHOD AND APPARATUS FOR PRODUCING SPACE MAP OF INDOOR [0002]

The present invention relates to a technique for creating an indoor map, and more particularly, to a method of creating an indoor map suitable for realizing an indoor map and an easy editing application through standardization of spatial environment information collected using a spatial environment measurement sensor And a method for producing the same.

In general, the task of accurately building map information used by humans to recognize space has evolved along with the history of mankind. This is due to the development of satellite navigation and metrology technology in modern times, I have the accuracy to be able to.

Based on this, the map information service provided to the user is one of the important income sources of the portal company. This is because the development of the outdoor location measurement technology such as GPS has been possible.

On the other hand, unlike the developed outdoor map technology, the indoor map technology does not exceed the accuracy of the CAD drawings. This may be due to various reasons. However, the indoor map due to the absence of the system This can be seen as a result of the inefficiency of writing.

In fact, most people think that there should be a CAD drawing in order to create an indoor map, but there is a lot of indoor space in which there is no CAD drawing. Even if there is a CAD drawing, It is very difficult to extract information.

Therefore, although there are a lot of researches on how to create an indoor map that is more accurate than the CAD level and an efficient low-cost indoor map, a new technique that can present a breakthrough alternative has not been developed yet.

Korea Patent Publication No. 2012-0087268 (Publication date: 2012. 08. 07.)

The present invention is a method for effectively creating an indoor map that exceeds the accuracy of a CAD drawing at a low cost and provides a technique for standardizing indoor spatial information and an editing technique for creating an indoor map accurately, This paper proposes a method of producing indoor map that can realize the realization of indoor map.

According to an aspect of the present invention, there is provided a method of generating a node information package, the method comprising the steps of: collecting spatial environment information for creating an indoor map measured through a spatial environment sensor; generating a node information package by assigning a unique ID to the collected spatial environment information; Generating an indoor map by displaying the position of each node on a map based on the generated node information package; dividing the created indoor map into a plurality of sections; A step of setting important points at a plurality of specific points of the indoor map, a step of moving and rotating selected important points among a plurality of important points set, and warping based on the map information and the partition information, The method comprising the steps of:

The process of creating the indoor map of the present invention may include generating interworking information including a location of node information and a relationship between the indoor map and a node, And a relative distance and direction value from one ID.

The modification of the indoor map of the present invention can be performed by increasing or decreasing the number of pixels in the relevant section according to the connection relationship of the division by movement and rotation of the selected critical point.

The modification process of the present invention may include a step of generating interworking information including a position of the node information according to the modification of the indoor map and a relationship between the indoor map and the node.

The spatial environment sensor of the present invention may be at least one of an encoder, an odometer, a laser scanner, a light radar, a radar, a Wi-Fi access point, a camera, and an ultrasonic sensor.

The indoor map of the present invention may be a map created based on a raster format, and the indoor map may be stored as PNG, JPEG, BMP, or the like.

The indoor map of the present invention may be a map based on a vector format, and the indoor map may be a set of points (x, y, z) of a point with respect to a location of a DXP, an SVG file, A configuration file or the like.

The indoor map of the present invention may be a map based on the topology format, and the indoor map may be a text file.

According to another aspect of the present invention, there is provided an information processing apparatus including a space environment sensor for measuring a space environment for creating an indoor map, a space environment information collection block for collecting space environment information measured through the space environment sensor, A map creating block for creating an indoor map by displaying the position of each node on a map based on the generated node information package; A map partitioning block for dividing a map into a plurality of blocks and setting important points respectively at a plurality of specific points of the indoor map divided into a plurality of blocks; And maps the indoor map to a desired shape by warping based on the information and the segment information Provides the right indoor map comprises a map editing block.

The map building block of the present invention may generate interworking information including the location of the node information and the relationship between the indoor map and the node and store the generated interworking information in the information DB.

The map editing block of the present invention can modify the indoor map by increasing or decreasing the number of pixels in the segment according to the connection relation of the segment due to the movement and rotation of the selected critical point.

The map editing block of the present invention may generate interworking information including the location of the node information according to the modification of the indoor map and the relationship between the indoor map and the changed location node and store the generated interworking information in the information DB.

In the present invention, an indoor map is created by using a node information package created by giving a unique ID to spatial environment information collected through a spatial environment measurement sensor, the created indoor map is divided into a plurality of sections, And the indoor map can be modified to a desired shape through movement and rotation of the selected important points. Thus, it is possible to realize indoor map production that can be implemented at a low cost while having an accuracy exceeding the CAD level.

1 is a block diagram of an indoor space map generating apparatus according to an embodiment of the present invention;
FIG. 2 is a flowchart showing a main process of creating an indoor map through standardization of spatial environment information according to an embodiment of the present invention; FIG.
3A to 3D are diagrams for explaining a process of creating and modifying an indoor map according to the present invention.

First, the advantages and features of the present invention, and how to accomplish them, will be clarified with reference to the embodiments to be described in detail with reference to the accompanying drawings. While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. It is to be understood that the following terms are defined in consideration of the functions of the present invention, and may be changed according to intentions or customs of a user, an operator, and the like. Therefore, the definition should be based on the technical idea described throughout this specification.

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

FIG. 1 is a block diagram of an indoor space map generation apparatus according to an embodiment of the present invention. The spatial environment sensor 102, the spatial environment information collection block 104, the node packaging block 106, the map creation block 108, A map partitioning block 110, a map editing block 112, an information DB 114, and the like.

1, the spatial environment sensor 102 can provide a function of measuring a spatial environment of a space in which an indoor map is to be created. As the spatial environment sensor 102, for example, an encoder, (Odometer), a laser scanner, a lidar, a radar, a Wi-Fi access point, a camera (ToF camera, a panorama camera, a depth camera), an ultrasonic sensor sonar sensor may be applied.

The spatial environment information collection block 104 may collect spatial environment information measured through the spatial environment sensor 102, provide a unique ID, and store the spatial environment information in the information DB 114. That is, the space environment information collected through the spatial information gathering block 104 and stored in the information DB 114 is given a unique ID.

Next, the node packaging block 106 fetches the spatial environment information collected through the spatial environment information collection block 104 and stored in the information DB 114, and packages it in units of nodes, that is, It is possible to provide functions such as generating a node information package in a manner of giving a unique ID to each node and storing it in the information DB 114. [

Here, the node information package stored in the information DB 114 may include node information given with a unique ID and represented by a position value (x, y, z) and a direction value (angle). In other words, the node information packages assigned different unique IDs are stored in the information DB 114, and the same unique IDs are assigned to the nodes corresponding to the spatial environment information. So that the indoor map and the spatial environment information can be linked with each other.

The map creating block 108 may provide functions such as creating an indoor map using a packaged node information package by assigning a unique ID to each node through the node packaging block 106, It can be based on raster format, or it can be based on vector format, topology format. Here, the indoor map created based on the raster format can be stored as PNG, JPEG, BMP files, and the indoor map created based on the vector format can be stored in the DXF, the SVG file, , y, z) sets (Point Cloud), and the indoor map created based on the topology format can store node connection information in a text file. FIG. 3A shows an example of an indoor map created using the furnace information package. Here, the node connection information may be stored or not stored in the indoor map file based on the vector format, if necessary.

In addition, the map building block 108 may include interworking information including the position of the node information and the relationship between the indoor map and the nodes, e.g., the IDs of the respective nodes interlocked with each other and the distance and direction values (? X, DELTA Z, and DELTAangle), and stores the generated interworking information in the information DB 114, for example.

On the other hand, the map partitioning block 110 divides a raster format-based or vector format-based or topology format-based indoor map created through the map creation block 108 into a plurality of sections (for example, triangular sections) And to set important points at a plurality of specific points of the divided indoor map, respectively.

Here, the partitioning of the partition means that the map area is evenly divided into physical values. For example, the compartments may be divided into physical values of 20 cm 2, and such compartments may be configured in a triangular shape, for example, as shown in FIG. 3B.

In addition, when there is an error in the map or the structure of the room is changed and the map is required to be corrected, the user can set an important point by using a mouse or the like to take a point (point) have. In other words, the map partitioning block 110 sets a point taken by the user using a mouse or the like as an important point 302, for example, as shown in FIG. 3C.

Next, the map editing block 112 moves and rotates an important point selected by the user among a plurality of important points set when there is an error in the indoor map, or when the indoor space needs to be modified, for example, By warping based on the information, it is possible to provide functions such as correcting the indoor map to a desired shape as shown in FIG. 3D, for example.

Here, an important point is to allow the user to select only a point selected by the user among a plurality of important points set for viewing the indoor map and selecting a position and an angle for the movement of the map, Critical points that are not selected remain fixed.

For example, when a mouse is placed on an important point for a predetermined period of time, a rotation mark is generated, and important points are rotated according to the rotation of the rotation mark. The number of pixels in the segment is increased or decreased according to the connection relationship of the segments, Lt; / RTI > In addition, indoor maps can be modified by moving important points through a mouse drag, or moving important points using a directional key of a keyboard or the like.

That is, when a mouse operation or a keyboard operation for map correction is generated by the user, the map editing block 112 modifies the indoor map through rotation or movement of important points corresponding to the mouse or keyboard operation. The modified indoor map is stored in the information DB 114. At this time, the position of the node information is changed. In the case of the raster format of the indoor map, the node information that is changed later is used to insert the unique ID of the node into each pixel information. In addition, the map editing block 112 stores interlocking information including the position of the node information according to the modification of the indoor map and the relationship between the indoor map and the changed node, for example, the IDs of the respective nodes interlocked with each other, And the direction values (? X,? Y,? Z,??), And stores the generated interworking information in the information DB (114).

Next, a series of processes for creating and modifying the indoor map using the indoor space map generating apparatus of the present invention having the above-described configuration will be described in detail.

FIG. 2 is a flowchart illustrating a main process of creating an indoor map through standardization of spatial environment information according to an embodiment of the present invention.

Referring to FIG. 2, the spatial environment sensor 102 measures a spatial environment of a space in which an indoor map is to be created, and transmits the spatial environment information to the spatial environment information collection block 104. In the spatial environment information collection block 104, The unique ID is assigned to the space environment information stored in the information DB 114 at this time.

Here, the spatial environment sensor 102 may be, for example, an encoder, an odometer, a laser scanner, a light radar, a radar, a Wi-Fi access point , A camera (ToF camera, a panorama camera, a depth camera), and an ultrasonic sensor.

Next, the node packaging block 106 extracts the spatial environment information stored in the information DB 114, and generates a node information package in a manner of giving a unique ID to each node of the spatial environment information data (step 204). The node information package generated here is stored in the information DB 114. At this time, the node information to which the unique ID is assigned can be represented by the position value (x, y, z) and the direction value (angle).

Then, in the map creation block 108, a unique ID is assigned to each node, and an indoor map is created using the packaged node information package (step 206). Such indoor map creation is performed based on, for example, Vector format, and topology format. At this time, the indoor map created based on the raster format can be stored as PNG, JPEG, BMP files, etc. In the indoor map created based on the vector format, the position of the point with respect to the position of the DXP, SVG file, x, y, z), and the node connection information is stored in a text file in the indoor map created based on the topology format. Here, the node connection information may be stored or not stored in the indoor map file based on the vector format, if necessary.

In the mapping block 108, interworking information including the position of the node information and the relationship between the indoor map and the nodes (i.e., the IDs of the nodes interlinked with each other and the relative distance and direction values? X,? Y , [Delta] Z, [Delta] angle), and stores the generated information in the information DB 114. [

In the map partitioning block 110, an indoor map created on the basis of a raster format or vector format or a topology format is divided into a plurality of sections (for example, a triangular section) based on a user operation using a mouse or the like, A critical point is set for each of a plurality of specific points of the indoor map divided into a plurality of sections (step 208). For example, when the user performs an operation of taking a point (point) requiring movement and rotation in a place divided into a triangular area by using a mouse or the like, the map partitioning block 110 sets a point taken by the mouse as an important point.

Then, in the map editing block 112, based on user operations using, for example, a mouse, a keyboard, etc., some important points among a plurality of important points set are selected and moved by the user, By warping based on the segment information, the indoor map is corrected to a desired shape (step 210). Only the points selected by the user among the plurality of important points set at this time can be moved, and the non-selected important points remain fixed.

That is, in the map editing block 112, when the user operates the direction key of the mouse or the keyboard for map correction, the indoor map is corrected by rotating or moving the important point corresponding to the mouse or keyboard operation.

In addition, in the map editing block 112, the link information including the position of the node information according to the modification of the indoor map and the relationship between the indoor map and the changed node (i.e., the IDs of the nodes interlinked with each other, Distance information expressed by distance and direction values (? X,? Y,? Z,? Angle)) and stores the generated information in the information DB 114. At this time, the position of the node information is changed. In the case of the raster format of the indoor map, the node information that is changed later is used to insert the unique ID of the node into each pixel information.

That is, according to the present invention, users can use various environmental information at an arbitrary position in cooperation with an indoor map by utilizing the information of the nodes included on the created or modified indoor map.

In the meantime, each block of the accompanying block diagrams and combinations of steps of the flowchart may be performed by computer program instructions. These computer program instructions may be loaded into a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus so that the instructions, which may be executed by a processor of a computer or other programmable data processing apparatus, And means for performing the functions described in each step are created. These computer program instructions may also be stored in a computer usable or computer readable memory capable of directing a computer or other programmable data processing apparatus to implement the functionality in a particular manner, It is also possible for the instructions stored in the block diagram to produce a manufacturing item containing instruction means for performing the functions described in each block or flowchart of the block diagram. Computer program instructions may also be stored on a computer or other programmable data processing equipment so that a series of operating steps may be performed on a computer or other programmable data processing equipment to create a computer- It is also possible that the instructions that perform the processing equipment provide the steps for executing the functions described in each block of the block diagram and at each step of the flowchart.

Also, each block or each step may represent a module, segment, or portion of code that includes at least one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative embodiments, the functions mentioned in the blocks or steps may occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially concurrently, or the blocks or steps may sometimes be performed in reverse order according to the corresponding function.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims. It is easy to see that this is possible. That is, the embodiments disclosed in the present invention are not intended to limit the scope of the present invention but to limit the scope of the present invention. Therefore, the scope of protection of the present invention should be construed in accordance with the following claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

102: Space environment sensor 104: Space environment information collection block
106: Node packaging block 108: Mapping block
110: map partitioning block 112: map editing block
114: Information DB

Claims (20)

Collecting spatial environment information for indoor map measurement measured through a spatial environment sensor,
Generating a node information package by assigning a unique ID to the collected spatial environment information;
Generating an indoor map by displaying the position of each node on a map based on the generated node information package;
Dividing the created indoor map into a plurality of sections;
Setting an important point at a plurality of specific points of the indoor map divided into the plurality of sections;
A step of correcting the indoor map to a desired shape by moving and rotating a selected important point among a plurality of important points set and warping based on the map information and the partition information
The method comprising the steps of:
The method according to claim 1,
The process of creating the indoor map includes:
A step of generating interworking information including a position of the node information and a relationship between the indoor map and the node
The method comprising the steps of:
3. The method of claim 2,
The interworking information includes:
The ID of each node to be interlocked and the relative distance and direction value from one ID.
How to create an indoor space map.

The method according to claim 1,
The amendment of the indoor map may include:
Is performed by increasing or decreasing the number of pixels in the segment according to the connection relationship of the segment by movement and rotation of the selected critical point
How to create an indoor space map.
The method according to claim 1,
The modifying process may include:
A step of generating interworking information including the position of the node information according to the modification of the indoor map and the relationship between the indoor map and the node
The method comprising the steps of:
The method according to claim 1,
The space environment sensor includes:
An encoder, an odometer, a laser scanner, a radar, a radar, a Wi-Fi access point, a camera, and an ultrasonic sensor
How to create an indoor space map.
The method according to claim 1,
The indoor map includes:
A map based on raster format.
How to create an indoor space map.
8. The method of claim 7,
The indoor map includes:
Saved as PNG, JPEG, or BMP files
How to create an indoor space map.
The method according to claim 1,
The indoor map includes:
Map based on vector format
How to create an indoor space map.
10. The method of claim 9,
The indoor map includes:
DXP, an SVG file, or a file composed of a set of points (Point Cloud) of positions of obstacles
How to create an indoor space map.
The method according to claim 1,
The indoor map includes:
Map created based on topology format
How to create an indoor space map.
12. The method of claim 11,
The indoor map includes:
Text file
How to create an indoor space map. A spatial environment sensor for measuring a spatial environment for indoor map generation,
A space environment information collection block for collecting space environment information measured through the space environment sensor;
A node packaging block for generating a node information package by assigning a unique ID to the collected spatial environment information;
A map creating block for creating an indoor map by displaying the position of each node on the map based on the generated node information package;
A map partitioning block dividing the created indoor map into a plurality of sections and setting important points at a plurality of specific points of the indoor map divided into a plurality of sections;
A map editing block for modifying the indoor map into a desired shape by moving and rotating a selected important point among a plurality of important points set and warping based on the map information and the partition information,
And an indoor space map generating unit.
14. The method of claim 13,
The map creating block includes:
Link information including the position of the node information and the relationship between the indoor map and the node is generated and stored in the information DB
Indoor space mapping device.
15. The method of claim 14,
The interworking information includes:
The ID of each node to be interlocked and the relative distance and direction value from one ID.
Indoor space mapping device.
14. The method of claim 13,
The map editing block includes:
The indoor map is modified by increasing or decreasing the number of pixels in the corresponding partition according to the connection relationship of the partition due to movement and rotation of the selected critical point
Indoor space mapping device.
14. The method of claim 13,
The map editing block includes:
Generates interworking information including the position of the node information according to the modification of the indoor map and the relationship between the indoor map and the changed position node, and stores the generated interworking information in the information DB
And an indoor space map generating unit.
14. The method of claim 13,
The map creating block includes:
An indoor space map creating device for creating the indoor map based on a raster format.
14. The method of claim 13,
The map creating block includes:
Creating the indoor map based on the vector format
Indoor space mapping device.
14. The method of claim 13,
The map creating block includes:
The indoor map is created based on the topology format
Indoor space mapping device.

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