KR20160122368A

KR20160122368A - Method and Apparatus for image information of car navigation to Improve the accuracy of the location using space information

Info

Publication number: KR20160122368A
Application number: KR1020150052121A
Authority: KR
Inventors: 백승렬; 김원한
Original assignee: 백승렬; 김원한
Priority date: 2015-04-14
Filing date: 2015-04-14
Publication date: 2016-10-24
Also published as: KR101700681B1

Abstract

The present invention relates to a method for providing image information for improving location accuracy of car navigation using space information, which matches images of traveling direction inputted by an image capturing means with information on road locations and space (national space information) stored in navigation and provides the current location of a car even in a region where GPS is poor or nearly unavailable, thereby enabling safe driving, and a providing apparatus thereof. The method comprises: a step (a) of using the image capturing means installed in a car and obtaining a marker image of a front of the car; a step (b) of calculating the distance and the size of pixels when the marker image is recognized; a step of (c) generating an image model of the marker and performing a rendering calculation; a step (d) of comparing the rendered image with an image stored in a memory, and selecting an object which is same as or similar to the object in the image; a step (e) of adjusting the size and the speed of frames of the selected object; a step (f) of mapping the object with map data and implementing augmented reality graphic; and a step (g) of displaying the same on a screen and sounding an alarm.

Description

TECHNICAL FIELD The present invention relates to a method and an apparatus for providing image information for improving the positional accuracy of vehicle navigation using spatial information,

The present invention relates to a method and a device for providing image information for improving the positional accuracy of vehicle navigation using spatial information, and more particularly, Information) so that the current position of the vehicle can be accurately provided even in areas where GPS reception is difficult or poor, thereby contributing to safe driving.

2. Description of the Related Art Generally, a navigation device is a kind of vehicle automatic navigation device designed to be used in an automobile. It mainly uses a GPS module (GPS receiver) to identify a current position of a vehicle, thereby guiding a route to a destination It is recognized as an essential device for vehicle operation by providing various additional functions and convenience such as signal violation control section, speed restriction section, information on surrounding gas stations, and real-time traffic situation guidance.

However, navigation (NAVI) uses GPS signals transmitted from GPS satellites, so that normal reception is not performed in places where the sky is blocked. For example, when an attempt is made to receive a signal from an indoor or underground parking lot or a forested place, the current position is not recognized, and the receiver should attempt to re-receive the signal by moving to a good outdoor location.

GPS signals transmitted from GPS satellites may not be received properly in areas where there are many indoor, overpass, underground roads, tunnels and high-rise buildings (apartment complexes, high-rise buildings) If you park for a long time in the invisible area (shaded area), the current position is calculated in the shaded area, and when you enter the good area, the GPS signal is received and the current position is recognized.

That is, in the case of a large indoor parking lot having a wide underground space or a different entrance door by the GPS signal, the NVAI stores the parking lot entrance where the GPS signal was last received, so that when the destination is set in the indoor parking lot having different entrance, It is inconvenient to receive the GPS reception after moving to the area where reception is good in a state where the indoor parking lot area of the building is out of a predetermined section by recognizing the last received entrance as the exit and it takes a certain time to recognize the location, The GPS reception rate in the vehicle may be low or impossible if the navigation system is equipped with equipment that interferes with GPS reception in the vehicle.

A black box device installed in a general vehicle records an event such as a vehicle impact that may occur during operation using a camera and a storage medium (memory card, etc.), thereby accurately reproducing the situation at the time of a vehicle accident. And to play a crucial role in the distinction or misjudgment of victims. In addition, the black box provides a function of recording images when the vehicle is parked or stopped as well as driving, so that it is becoming common that a black box is required to be installed in a commercial vehicle or a large-sized vehicle.

In the navigation device installed in the vehicle interior, only the data indicating the destination is available and only the standardized simulation is implemented. Therefore, when the driver neglects the front view, the navigation device leads to a large traffic accident. In case of the black box, There has been a disadvantage in that it is limited in use for recording a forward video or a surrounding video to reproduce a situation at the time of a vehicle accident or to reproduce an image at the time of main /

FIG. 1 shows a standardized traffic sign that can be seen in general, such as an emergency construction sign, a rocky sign, an ice road sign, an idle sign, a child protection sign, etc., This can lead to traffic accidents.

FIG. 2 illustrates an operation mode for neglecting the forward gaze. In the case of operating while thinking about a low concentration of driving, driving while talking and making a make-up with a cellular phone, In the case of driving while talking on a mobile phone, driving in drowsy driving, driving in deep conversation with a passenger, etc., neglecting attention and attention may lead to traffic accidents. In the case of a general driver, ) There is a correlation that can lead to traffic accidents depending on the driving experience, age, and the situation of the driver of the vehicle when judging the bus getting on and off, road construction, safety accident, and traffic situation.

In addition, if the road is frozen due to sudden climate change and there is a temporary road signboard due to an icing road sign or an urgent emergency situation as shown in Fig. 3, if the vehicle is not recognized by the neglect of forward observation, the vehicle slips in the freezing zone or an emergency occurs Roads leading to traffic accidents.

The route and the road information providing method of the existing navigation (NAVI) is realized by mounting the GPS receiver on the vehicle or by receiving the current location information on the navigation map. Currently, navigation is possible only by receiving GPS. Therefore, if the vehicle is in an area where reception of GPS signals is poor, GPS reception is not smooth and it is difficult to grasp the current position of the vehicle. Also, as shown in FIG. 4, it is difficult to express the present location of the vehicle on the road where the vehicle is traveling due to the GPS reception error even on an ordinary road installed next to the underpass or the overpass. Accordingly, there is a demand for a method that allows the user to easily recognize an actual road or a building corresponding to the route and road information. In the case of existing navigation, the current position of the vehicle on the adjacent straight road, There is a problem in implementation. This is due to limitations in the location accuracy of the navigation, and there are general technical limitations such as whether the vehicle is underground or underway.

Korean Patent Registration No. 10-1348778 (entitled "Black Box Control Apparatus and Method, and System Including Black Box Control Apparatus", Apr. 2014, Patent Publication) Korean Patent Laid-Open Publication No. 10-2009-0022038 (title of the invention: car navigation system equipped with image black box, patent document published on Mar. 04, 2009) Korean Patent Registration No. 10-0883889 (entitled " Vehicle Identification Apparatus and Method Using Outline Images of Vehicles, " 2009. 02. 17. Patent Disclosure)

The road management integration system not only prevents the damage and loss of drawings and correspondence by digitizing the road signpost that was created and stored by paper, but also supports data-based road policy decision-making promptly, It is aimed to provide information disclosure service of public road that satisfies people's right to know through integrated management of road related information, .

For this purpose, the facility information for road maintenance is integratedly managed and displayed on the basis of the electronic map service. In addition, real-time situation reporting of snow removal work to prevent degradation of road performance in the winter season, support for rapid snow removal, And the like. In addition, the road inconvenience reporting system that reports inconveniences of road use easily through a single smartphone app and processes it quickly is being operated, and public roads that manage road construction information are being opened to the public.

In the meantime, we are providing fast and accurate map service by linking the background map, satellite image map, and hybrid map service using the open API service of VWorld 2, which started service in 2013. Through the open API service of the main portal, And provides real-time CCTV service, construction information, and accident information through information link with the National Traffic Information Center.

It also manages and displays the status and performance information of road facilities on the basis of electronic map through automatic information linkage with road maintenance system such as road pavement, bridge, road slope, private use, road sign, traffic volume, Intuitive and comprehensive information inquiry is possible through theme map service such as street map installation location, general national road authorization section, private use, cover, bridge, road area, intellectual, road slope, The purpose of this study is to enable the navigation information to be updated by linking the navigation database with the road register database on the road management integration system and the space DB related to various road facilities.

In the present invention, information such as a room where reception of GPS signals is poor, a space of various location information facilities on various roads installed inside and outside, property data, and the like is constructed by DB (database) mounted on NAVI, and space information X, Y, and Z position values, and facility property values are constructed in the location reference assistant space DB and constructed as real-world coordinates, it is possible to compensate the distance error of the GPS signal receiving area, thereby improving the accuracy of the navigation position information value. , Underpasses, and location inside the building to help improve the accuracy and accuracy.

In general, the factors that degrade the accuracy of GPS location measurement can be roughly divided into three parts. First, the errors caused by structural factors include satellite time error, satellite position error, refraction of ionosphere and convective layer, noise, and multipath. Second, there is a geometrical error according to the arrangement of satellites , And third, Selective Availability (SA), which is the biggest source of error. All of these factors potentially combine to produce a very large error, called a User Equivalent Range Error (UERE), where each error varies greatly with time and location. Table 1 below shows GPS errors due to various factors.

GPS Error Factor error Satellite time error 0-1.5m Satellite position error 1- 5m Inflection error of ionosphere 0-30m Refraction error of the convection layer 0-30m Error due to receiver noise 0-10m Error due to multipath 0-1m Error due to Selective Availability (SA) 0-70m Horizontal error (when SA is working) 100m

Also, GPS signals reaching terrestrial GPS receivers are relatively weak, which can weaken sensitivity due to electromagnetic waves from other sources, making it very difficult or impossible to obtain and track GPS signals.

In urban areas where there are obstacles obstructing reception (high-rise buildings, trees, poles, rooms, etc.), it is somewhat difficult to obtain the position value of the receiver and the accuracy of the accuracy is low. It is difficult to obtain the current position value in the urban area and the indoor area as the implementation method of the position value).

Some countries allow the use of GPS repeaters to receive GPS signals indoors or in areas with weak signals, but the European Union and the United Kingdom, for example, are receiving signals from GPS satellites and GPS repeaters at the same time, GPS repeaters are prohibited.

Therefore, the NAVI device, which is linked with various location values and property information of the road information, such as road signs, road signs, signs, etc., which are already constructed, can be an alternative technique to solve the existing technical limit and position accuracy problems have.

Therefore, in the present invention, spatial information existing on the current user's peripheral location, such as a ground / underground facility (for example, a high-resolution camera device, (Long), Short (Near), or the like attached to the vehicle at the time of moving the vehicle, or recognizing the information (location information) using the space DB, the property DB, (Mobile phone, Google glass), black box, and navigation. In this case, it is impossible to receive the GPS information through the linkage of three mobile devices Space information that greatly enhances the positioning accuracy of the navigation by fully performing in the area And an object of the present invention is to provide an image information providing method and apparatus for improving the position accuracy of a used vehicle navigation.

Another object of the present invention is to provide an auxiliary device that allows a facility around a road to be identified according to the direction of a driver's eyes, such as a mobile device, a Google glass, and the like. The present invention provides a method and a device for providing image information for improving the positional accuracy of a vehicle navigation system interlocked with a spatial information DB mounted on a navigation system.

It is still another object of the present invention to provide a driving direction image captured by a video shooting means (such as a black box camera) on the basis of video information (road signs, area signs, emergency signs, etc.) (A road sign, a local signboard, an emergency sign, etc.) and / or spatial information (national spatial information), thereby providing the present position of the vehicle in augmented reality implementation mode to contribute to safe driving.

Still another object of the present invention is to provide a method and a device for providing image information for improving the positional accuracy of vehicle navigation using spatial information interlocked with the increasingly used google glass and HUD (head up display) function of a vehicle Device. &Lt; / RTI >

The present invention provides an image information providing method for improving the position accuracy of vehicle navigation using spatial information, which comprises extracting road facilities such as road signs and guide signs among the traveling direction images taken by the image photographing means with a marker, And outputs the current position of the vehicle to the navigation screen in an augmented reality manner by matching with the markers of the space information DB.

A method of providing image information for improving the positional accuracy of vehicle navigation using spatial information of the present invention includes: a. Acquiring a marker image on the front of the vehicle using the image capturing means; b. Calculating the distance and pixel size when the marker image is recognized, c. Generating an image model of the marker and performing a rendering operation; d. Comparing the rendered image with an image stored in the memory to select the same or similar object, e. Adjusting the frame size and frame rate of the selected object, f. Processing the augmented reality graphics by mapping the object to map data, g. And outputting the sound information and transmitting the sound information.

The marker recognizes the 8-bit (8-bit) binary image and the frame of the black marker, and then calculates the three-dimensional position and direction of the marker as a relative value with respect to the image photographing means. The tracked marker information searches virtual objects stored in the memory unit of the navigation unit (NAVI) to find the same or similar images, generates vehicle position information, and rasterizes the virtual objects to match the real world markers, .

An image information providing apparatus for improving the position accuracy of vehicle navigation using spatial information according to the present invention includes image shooting means for shooting an image in front of the vehicle, image inputting means for inputting images taken by the image shooting means, A GPS module connected to the input / output of the control module, and an image output unit connected to the input / output of the control module. A map DB and a spatial information DB connected to the input / output of the control module and providing 2D or 3D map image data using the map data, and an image processed by the image processing unit are mapped with the data of the map DB and the spatial information DB An image reproducing section for implementing the augmented reality graphics, a memory section connected to the input / output of the control module, A user input connected to the output, and an audio unit connected to the output of the control module and outputting a warning sound.

The image reproducing unit may include a coordinate system calculating unit for calculating coordinates based on the image photographed by the image photographing unit, a marker recognizing unit for recognizing a marker by reading and comparing the markers included in the input image and the database unit, And a rendering unit rendering the marker.

The augmenting reality unit includes a space generation unit for generating a current space of a roadway driver based on an input image, a plane determination unit for determining a 2D plane based on the road position information included in the image, A mapping unit for mapping the 2D plane to the virtual 3D space, and an augmented reality providing unit for providing an augmented reality by synthesizing information objects on the basis of the mapped 2D plane.

The image capturing means may be at least one of a video camera, a black box camera, a google glass, a smart phone, and a clock (smart gear).

In the present invention, the driving direction image inputted from the image photographing means is matched with the road position information and the space information (national space information) stored in the navigation, so that the present position of the vehicle is accurately provided even in areas where GPS reception is difficult or bad, And it contributes greatly to safe driving of the driver.

In addition, the present invention can be applied to various types of vehicles such as a kindergarten vehicle, a school bus, a socially disabled vehicle, a single passenger vehicle, By transmitting the standard AR marker to the driver, the driver of the vehicle can quickly respond to various traffic conditions ahead, thereby preventing the secondary damage of the traffic accident.

The present invention can be applied to a road navigation system in which a driving direction image captured by a black box camera is displayed on the basis of image information (road signs, area signs, emergency signs, etc.) of existing mounted navigation on the basis of road position information (road signs, And provides the driver with the position of the current vehicle in the augmented reality implementation manner, thereby contributing greatly to the safe driving.

The present invention collects information on a figure, a guide mark, a QR marker, and NFC chip (Tag) information and integrates it with the DATA value of the GPS reception position during vehicle movement, and realizes a precise position by partially interlocking with the national space information data When the GPS receiver is unable to receive GPS signals, it can search for and integrate objects and facilities (sign boards, traffic signs, etc.) in the ground and underground space.

The present invention can extract and display the present position value of the vehicle using the image collected through the image photographing means 2 when the vehicle is received in a building in which the GPS reception is impossible or bad, In addition, the position value can be stored in the memory unit and then used as a final position value or a start value at the time of navigation re-driving in the future, so that the accurate position of the vehicle can be grasped, and a rapid route guidance service according to the destination setting can be performed There is a functional effect to make.

The present invention can be applied to a case where the driver does not know the indoor space information value (attribute, position information value) of the building using google glass, smart phone, clock (smart gear) Acquiring, and transmitting the indoor space data to the vehicle navigation device unit, thereby making it possible to recognize and confirm the current position easily and accurately.

In the present invention, the high-resolution remote camera and the near-field camera are used in conjunction with the image capturing means 2 to guide the road information by continuous position detection, or to identify the guide sign with an infrared camera when driving at night, , Black box, and navigation, it is possible to exercise sufficient function in an area where GPS reception is impossible, thereby contributing to the accuracy of navigation position.

In the navigation device installed in the vehicle interior, only the data indicating the destination is used and only the standardized simulation is implemented. On the other hand, the present invention detects the standard markers attached to the vehicle It is possible to prevent the occurrence of a traffic accident because the driver is informed to the driver by monitoring the forward situation when the driver is caught in the sight of the driver.

Figure 1: An example traffic sign.
Fig. 2 is an example of the forward gaze shown in Fig.
3 is an example of emergency guidance such as freezing and temporary roads shown as an example.
Fig. 4 is a diagram illustrating difficulty in expressing the road in the vehicle traveling direction due to GPS reception error on a general road installed adjacent to an overpass;
Figure 5 is an illustration showing the difficulty in implementing the current position of the vehicle on a straight road neighboring the underground roadway.
6 is an overview of traffic situation recognition using spatial information in the present invention.
Fig. 7 is an example of displaying some roads on a space information database (DB) on the screen.
Fig. 8: Illustrative photographs of various traffic signs and signs having spatial information (coordinate information).
Fig. 9 is an overview of traffic situation recognition shown in an example of the present invention.
10 is a configuration diagram of the video information providing apparatus shown as one example of the present invention.
11 is a configuration diagram of a video reproducing section shown as an example of the present invention.
12 is an exemplary view illustrating a process of providing image information in the present invention;
13 is a configuration diagram of the augmented reality part shown in an example of the present invention.
FIG. 14 is a diagram illustrating an example of a black box, a mobile phone, and a Google glass, a touch screen, and a HUD, which are image output means, as image capturing means for confirming road facilities in the present invention.
15 is a process of processing additional information shown in another example of the present invention.
16 is a flowchart of a method of providing image information shown in an example of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the following description of the embodiments of the present invention, the same components as in the drawings are denoted by the same reference numerals as possible, and detailed descriptions of known configurations and functions are omitted so as not to obscure the gist of the present invention. May be different from what is actually implemented with the schematized drawings in order to easily describe the embodiments of the present invention.

FIG. 9 is a diagram showing an overview of traffic situation recognition, which is an example of the present invention. FIG. 9 is a schematic diagram of a traffic situation recognition system according to an embodiment of the present invention. The marker image of the extracted marker and the marker of the map DB 11 and the marker of the spatial information DB 14 are captured by the mobile camera 8 wirelessly communicated via the image capturing means 2 or the Bluetooth module 9, (Road sign, local signboard, emergency sign, etc.) (state recognition), thereby realizing the current position of the vehicle in an augmented reality manner and informing it of the sound, thereby contributing to safe driving.

As shown in the image information, an emergency situation occurs in front of the road, and a section where an emergency vehicle tripod is installed, a section where road emergency repair work is in progress, a reflection sheet to guide a road situation at night driving, A database is constructed as an image in the form of a marker (symbol marker) that can be easily compared and recognized, and the map DB (11) And the spatial information DB 14, respectively.

The spatial information DB 14 is a (national) spatial information DB constructed in the road management integration system, and includes spatial information such as various road facility spaces and attribute data. The spatial information DB 14 includes space information X, Y , Theme map service such as Z position value, facility property value, road pavement, automobile exclusive road, street table installation position, general national road authorization section, private use, road sign, bridge, road zone, intellectual, road slope It is possible to realize intuitive and comprehensive information inquiry through the integration of the space information (pre-built road register DB) and the navigation database, and it is possible to implement the latest information of navigation. Accordingly, GPS distance error is supplemented This improves the accuracy of the navigation position information value, and it is a great help to improve the accuracy of position values in urban areas, underpasses, buildings, and the like.

FIG. 7 is a photograph of various road signs and guide signs related to traffic. In the present invention, by applying coordinates of a road signboard and a signboard related to the traffic (coordinate road DB) and a navigation DB, It is possible to improve the accuracy by compensating for the distance error even in areas where reception is difficult or the reception of the GPS is weak.

In the above coordinates, the distance error can be compensated for by constructing the computerized DB of the spatial information X, Y, and Z position values of the signs, signs, and objects, the property values of the facility, and the real world coordinates. And the accuracy is greatly improved by supplementing the values of the downtown, underpasses, and interior locations of the building.

10 is a diagram showing the configuration of the video information providing apparatus 1 shown in the embodiment of the present invention. The video information providing apparatus 1 includes a video shooting means 2 such as a camera or a video camera installed in a vehicle and capturing an image of the front of the vehicle, (3) for inputting an image photographed by the photographing means (2), calculating coordinates of an input image, recognizing a marker (traffic situation sign etc.) and processing the image, A control module 5 for controlling navigation (NAVI), which includes an image reproducing unit 4 that implements the present vehicle position as an augmented reality by matching the vehicle information , A GPS module (6) connected to an automobile navigation system and connected to the input / output of the control module (5), a touch screen having a function of performing input / selection / HUD, etc. A Bluetooth module 10 connected to the input and output of the control module 5 and receiving images of the mobile (smartphone) camera 8 by wireless communication, and a Bluetooth module 10 connected to the input and output of the control module 5 A map DB 11 and a spatial information DB 12 for providing information so as to realize a 2D or 3D map DB image using map data and a map database 11 connected to the input and output of the control module 5, And a memory unit 10 connected to the input and output of the control module 5 and configured to perform a function of inputting / selecting / canceling and resetting data, such as power ON / OFF A user input unit 12 constituted by a keypad and an audio unit 13 connected to the output of the control module 5 and outputting a warning sound such as an alarm sound or a warning message.

In the present invention, the video output unit 7 may be a Google glass, a navigation (NAVI) touch screen, a HUD implemented in a hud display window, or a dedicated display device as shown in FIG.

In the present invention, the video image pickup means 2 connected to the video input unit 3 includes a camera and a video camera of a car black box installed or mounted on a vehicle, a mobile A camera 8 and the like.

In the present invention, the image capturing means 2 connected to the image input unit 3 may include a smart phone, a glasses, a watch, or the like, to which a smart device is attached and transmits and receives data in an environment of Bluetooth 4.0 or higher.

11 is a block diagram showing a configuration of a video reproducing unit 4 that implements an augmented reality graphic by mapping an input video with the data of the map DB 11 and the spatial information DB 14, A marker recognition unit 4b for recognizing the marker by reading and comparing the marker included in the input image and the marker of the database unit 4d, a coordinate system calculation unit 4a for calculating coordinates based on the captured image of the input image, And a rendering unit 4c rendering the recognized 2D marker on a map.

The rendering unit 4c may include an augmented reality unit for providing an augmented reality in a virtual 3D space by composing information objects on the image based on the mapped 2D plane.

The augmenting reality unit includes a space generation unit that generates a current space of a roadway driver based on an input image, a plane determination unit that determines a 2D plane based on road position information included in the image, And augmented reality providing unit for providing an augmented reality by compositing the information object with the image based on the mapped 2D plane.

FIG. 12 illustrates a process of providing image information according to an embodiment of the present invention. In FIG. 12, an image obtained using a video camera 2 or a mobile camera 8, such as a black box camera or a video camera, Segmentation of preprocessed images such as internal parameter loading and noise removal, extraction of contour lines, extraction of marker regions, detection and analysis of marker IDs, calculation of marker positions, graphic rendering, and real- (Real World), maps the image to the augmented reality, and outputs the image (screen) through the image output unit 7.

In the process of tracking the augmented reality, the distortion correction of the marker image captured by the image capturing means and the internal parameters are loaded, and then the image is segmented by applying the adaptive threshold shading algorithm. Extracting an image of a rectangular region from the extracted outlines, extracting a marker region by comparing the size of the defined marker with the size of a defined marker, and using the internal parameters of the image capturing means The marker is detected and judged (Perspective Transformation) by comparing with the characteristic of the marker defined by applying to the extracted marker region, and the ID of the marker is recognized by analyzing the image of the inner region among the detected markers (Check Pattern) When the recognition of the marker unique ID is successful (Pose Estimation), the position of the marker is calculated from the characteristic points of the marker, The location information is then possible to obtain a 3D display of the augmented reality (VR) if the graphics rendering in the form of a 4x4 matrix.

In the present invention, the principle of the marker implementation is that the image is recognized as a 8-bit binary image and a black marker (guide board) frame, and then the 3-dimensional position and direction of the marker are calculated as relative values The marker information is tracked, and the tracked marker information, e.g., a marker symbol, is searched for a virtual object stored in the memory unit 10 of the navigation system (NAVI) to find the same or similar image, When a virtual object is rendered so as to coincide with a real-world marker, a 2D or 3D augmented reality screen is output and implemented as a HUD on a touch screen of navigation (NAVI), a Google glass, or a windshield, And is selectively output.

That is, after the image is binarized, the corner of the quadrangle is recognized, and the posture and the position of the marker are determined. Then, the internal pattern is compared by the pamphlet matching, and an image (guide board) To the navigation (NAVI), and the screen is displayed in 2D and 3D.

FIG. 16 is a flowchart showing an image information providing method according to an embodiment of the present invention. In FIG. 16, a marker image in front of a vehicle is captured using a video camera 2 or a mobile camera 8 such as a camera or a video camera, (Step S2). When the marker is recognized (step S2), a distance and a pixel size are calculated (step S3), an image model is generated (step S4), a rendering operation is performed (step S5) And if there is no identical or similar object (step S6), the image model is regenerated (step S4), the rendering operation is performed (step S5), and the object is selected (step S6) If the selected object is present, the size of the object frame is appropriately adjusted in consideration of the size of the image output unit 7 (step S7), the frame rate of the object is appropriately adjusted (step S8) (Virtual reality graphics) by mapping the data to the data in the DB 11 and the spatial information DB 12 in step S9 and displays the augmented reality graphic on the screen in a predetermined area such as the touch screen HUD, Alarm) (step S10), the driver can recognize it as an image alarm and an alarm sound, and can promptly respond to the vehicle, thereby enabling safe driving and preventing a traffic accident.

FIG. 15 shows another example of the present invention in which the parking position can be easily confirmed by using the spatial information image as a process of processing the additional information shown in FIG.

For example, a smart device such as a google glass, a smart phone, or a clock (smart gear), which is a space around a parking place, for example, a driver carries a guide sign with coordinates, (Or a server of the location information system), and then requests the location information, the location information system stores location information corresponding to the coordinates sent by the smart device, for example, " Information (data) is transmitted to the smart device, so that the driver can confirm the parking position based on the transmitted information.

The present invention relates to a system and method for identifying a situation surrounding a road, such as a disaster, a disaster, a traffic accident, etc., by using a standard recognition marker according to a surrounding situation of a road by attaching a recognition marker to a kindergarten vehicle, a school bus, Vehicle drivers can quickly respond to traffic accidents by using standard AR markers for traffic situations such as school bus ride, road construction, and safety accidents.

The present invention collects information on a figure, a guide mark, a QR marker, and NFC chip (Tag) information and integrates it with the DATA value of the GPS reception position during vehicle movement, and realizes a precise position by partially interlocking with the national space information data When the GPS receiver is unable to receive GPS signals, it can search for and integrate objects and facilities (signboards, traffic signs, etc.) in the ground and underground space.

In the present invention, when a CAD file (CAD file) of a road ledger constructed as national spatial information is divided and constructed by one chain (chain) of 20 m, the position processor and the image processor of the vehicle navigation calculate numerical values 1chain ~ 2chain, and the location acquisition data can be obtained by collecting, processing, transmitting, or storing spatial information on one or two chains in a region where GPS reception is good.

In the present invention, the image gathering data collects, processes, transmits or stores the facility guide mark attached to the ground / underground space building in the area where the GPS reception is poor, thereby providing the accurate position and information even in a region where GPS reception is impossible or in a region where GPS reception is poor do.

The present invention can extract and display the current position value of the vehicle using the image collected through the image photographing means 2 when the vehicle is in bad reception or when the vehicle is received in a building in a region where the GPS reception is impossible or bad .

The position value may be stored in the memory unit 10 and then used as a final position value or a starting value in future navigation restart.

In the present invention, when the image capturing means 2 is not driven, the indoor space information value of the building using the smart device carried by the driver, such as google glass, smart phone, clock (smart gear) And transmits the indoor space data to the vehicle navigation to recognize the current location and display the screen.

In the present invention, the interworking method is implemented using a Bluetooth tooth 4.0 or higher method, or a wireless Internet, a general communication method, or the like.

In the present invention, the vehicle may be classified into an indoor location information value (national spatial information standard position data value or various indoor location information service information) transmitted from a portable device such as a google glass, a smart phone, The current position can be reset and re-adjusted to support the driver's smooth vehicle operation.

In the present invention, an AR (augmented reality) implementation method is preferable for image processing of objects, facilities guidance devices, and road signs, and information processing of QR and NFC tags in objects or facilities is implemented in navigation Can be implemented by transmitting the spatial information DATA to the GRS80 system (world geodetic coordinate system).

In the present invention, the image photographing means 2 guides the road information by continuous position detection by using a combination of a high-resolution long-range camera and a near-field camera, or identifies a guide sign by an infrared camera in the case of driving at night, , Black box, and navigation, it can function well in areas where GPS reception is not possible, which contributes to the positioning accuracy of the navigation.

As shown in FIG. 5, the existing navigation (NAVI) is a limit that can not be distinguished whether the vehicle is underground or underway due to the limit of the position accuracy of the navigation when the current position of the vehicle on the adjacent straight road is implemented In the present invention, the marker acquired and extracted from the image and the marker of the map DB 11 and the spatial information DB 14 (the road sign (Local awareness, emergency sign, etc.), realizing the current position of the vehicle as an augmented reality system, and notifying it of the sound as well as contributing to safe driving, recognizing various road signs and signs on the road, So that the exact position of the navigation is guided.

The present invention recognizes and guides various kinds of road guidance information in front of the vehicle acquired by the image on the basis of the image information DB (guide board image information) built in navigation (NAVI) on the standard road guide board and the local guide board on the road, And spatial information accuracy with respect to direction and the like are greatly improved.

The present invention relates to a standard road sign of an actual space photographed by a video photographing means and a danger information on various roads interlocked with a space information (various information signs and special events) DB of a navigation (NAVI) By displaying the information, the user's recognition rate of the place is greatly improved.

In the present invention, the image information of the actual space photographed by the image photographing means is combined with the GPS position of the vehicle navigation (NAVI) to display more accurate and quick vehicle route guidance information and information related to the nearby roads on a vehicle monitor, The recognition rate of the user is greatly improved.

According to the present invention, the mapping precision of the navigation (NAVI) is greatly improved by accurately mapping the 2D plane on the 3D space based on the image taken by the camera in the area around the underground roadway and the overpass.

In the present invention, the guide plate (marker) predetermined by applying the optical method among the various tracking methods is detected by the image photographing means, and is matched with the guide plate information existing on the corresponding guide board (marker) and the existing navigation (NAVI) DB. The spatial location information value of the navigation (NAVI) is firstly checked with the GPS reception data, and the road signs and local information boards existing within the vehicle NAVI, the GPS radius 10M (or a specific distance set by the user) Data is collected and secondary data matching is performed. Finally, by matching the information gathered by the image capturing means, various road information on the right side of the road in the vehicle traveling direction, the area guide, and the emergency guide display, the third information is displayed on the navigation screen And voice guidance to the vehicle speaker.

The present invention improves the accuracy of a vehicle NAVI existing on a location where GPS reception sensitivity is low and disturbed, such as an underground parking lot of a large building, a three-dimensional intersection, an overpass, an overpass road side road, and the accurate position information of the vehicle is provided to the driver.

While the invention has been shown and described with reference to certain preferred embodiments thereof, 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. This is possible. Therefore, the scope of the present invention should not be construed as being limited to the embodiments described, but should be determined by equivalents to the appended claims, as well as the appended claims.

(1) - image information providing device (2) - image taking means
(3) - Image input section (4) - Image representation section
(5) - control module (6) - GPS module
(7) - Image output section (8) - Mobile camera
(9) - Bluetooth module (10) - Memory part
(11) - map DB (12) - user input section
(13) - Audio part (14) - Spatial information
(4a) - Coordinate calculation unit (4b) - Marker recognition unit
(4c) -Renderer (4d) -Database

Claims

A vehicle navigation system using spatial information, a vehicle navigation system using spatial information, a vehicle navigation system using spatial information, a vehicle navigation system using spatial information, A method of providing image information for improving the positional accuracy of the image.

a. Acquiring a marker image in front of the vehicle using the image photographing means;
b. Calculating a distance and a pixel size when the marker image is recognized;
c. Generating an image model of the marker and performing a rendering operation;
d. Comparing the rendered image with an image stored in the memory to select an identical or similar object;
e. Adjusting a frame size and a frame rate of the selected object;
f. Processing an augmented reality graphic by mapping an object to map data;
g. Screen output and acoustic alarming step;
A method of providing image information for improving the positional accuracy of vehicle navigation using spatial information.

The method of claim 2,
The marker,
The marker information is tracked by a method of recognizing a 8-bit binary image and a frame of a black marker, and then calculating the three-dimensional position and direction of the marker as a relative value with respect to the image capturing means, The marker information searches the virtual objects stored in the memory unit of the navigation unit (NAVI), finds identical or similar images, generates vehicle location information, and then displays the virtual objects so that they match the real world markers A method of providing image information for improving the positional accuracy of vehicle navigation using spatial information.

A video photographing means (2) for photographing a video in front of the vehicle;
An image input unit 3 for inputting an image photographed by the image photographing means 2;
An image reproducing unit 4 and a navigation control module 5 for recognizing an input image, performing an image processing on the input image, and matching the input image with the road position information of the navigation to implement the vehicle position as an image;
A GPS module 3 connected to the input / output of the control module 5;
An image output section 7 connected to the input / output of the control module 5;
A map DB 11 and a spatial information DB 14 connected to the input / output of the control module 5 and providing 2D or 3D map image data using the map data;
An image reproducing unit 4 for mapping an image processed by the image processing unit 3 to data of the map DB 11 and the spatial information DB 14 to implement an augmented reality graphic;
A memory unit 10 connected to the input / output of the control module 5;
A user input part 12 connected to the input / output of the control module 5;
An audio unit 13 connected to the output of the control module 5 and outputting a warning sound;
The navigation apparatus comprising: a navigation unit that receives navigation information from the navigation device;

The method of claim 4,
The video reproducing section 4,
A coordinate system arithmetic section 4a for calculating coordinates based on the image photographed by the image photographing means;
A marker recognition unit 4b that reads and compares the marker included in the input image and the marker of the database unit 4d to recognize the marker;
A rendering unit 4c rendering the recognized 2D marker;
The navigation apparatus comprising: a navigation unit that receives navigation information from the navigation device;