KR20170026854A - Apparatus and method for acquisition of connecting road information - Google Patents

Abstract

The present invention relates to an apparatus and a method for acquiring connection road information. The apparatus for acquiring connection road information comprises: an information collecting part for collecting point cloud information; and a control part which acquires the point cloud information from the information collecting part, extracts information about a point acquired from a left or right direction of a travel direction of the road in the acquired point cloud information, sets a virtual plane divided into unit areas on space, calculates the number of points included in each unit cell corresponding to each unit area, and produces connection road information based on the calculated number of points included in each unit cell.

Description

[0001] APPARATUS AND METHOD FOR ACQUISITION OF CONNECTING ROAD INFORMATION [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and method for acquiring a connection road information, and more particularly, to a connection road information acquisition apparatus and method for acquiring information about a connection road using a point cloud.

Recently, with the use of depth cameras or 3D scanners, interest in collection and processing techniques for 3D point cloud data is increasing. BACKGROUND ART In the field of computer graphics, POI (point of interest) detection algorithms in a 3D point cloud are mainly used for surface registration, object recognition, and the like.

Particularly, in the case of 3D data acquisition using LiDAR, high density point cloud can be acquired, and thus it is widely used for data construction of a geographic information system. Accordingly, a lot of research has been conducted on a method of analyzing point cloud information collected from a MMS (Mobile Mapping System) vehicle to make a database of information about roads,

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

Meanwhile, the background art of the present invention is disclosed in Korean Patent Publication No. 10-2015-0051854 (May 2015.05.13).

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

The apparatus for acquiring connection road information according to the present invention includes an information collecting unit for collecting point cloud information; And a point cloud information acquiring unit for acquiring point cloud information from the information collecting unit, extracting information on points obtained from the left or right direction of the road progress direction in the obtained point cloud information, Calculates the number of points included in each unit cell corresponding to each unit area, and calculates information on the connected road based on the number of points included in each of the calculated unit cells And a control unit for controlling the display unit.

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

In the present invention, the control unit sets a virtual plane having a direction perpendicular to the road surface and a traveling direction of the road when setting the virtual plane.

In the present invention, when calculating the information about the connection road, the control unit sets the representative value, which is set in advance according to the range to which the number of points corresponding to the unit area belongs, as the attribute information of the unit area, And the information about the connected road is calculated based on the distribution of the representative values set for the unit area.

In the present invention, the representative value set in advance according to the range is color information.

In the present invention, the controller calculates information on the position and shape of the connection road as information on the connection road when calculating information on the connection road.

In the present invention, the controller calculates the width of the connection road using information on the shape of the connection road.

A method for acquiring connection road information according to the present invention includes: acquiring point cloud information by a control unit; Extracting information on a point obtained from the left or right direction of a road progress direction in the obtained point cloud information; Setting a virtual plane in which the control unit is divided into unit areas on a space; Calculating a number of points included in each unit cell corresponding to each unit area; And calculating the information on the connection road based on the number of points included in each unit cell calculated by the controller.

In the step of setting the imaginary plane of the present invention, the control unit sets a virtual plane having a direction perpendicular to the traveling direction and the ground as the axis.

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

In the step of calculating information on the connection road according to the present invention, the controller calculates information on the position and shape of the connection road as information on the connection road.

The control unit calculates the width of the connection road from the information about the shape of the connection road in the step of calculating information on the connection road according to the present invention.

The apparatus and method for obtaining a connected road information according to the present invention can improve the speed and ease of data processing by converting the three-dimensional point cloud information into two-dimensional information and calculating information about the connected road.

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

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

FIG. 1 is a block diagram illustrating a configuration of a connection road information obtaining apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram of a connection road information obtaining apparatus according to an exemplary embodiment of the present invention. FIG. 3 is a diagram for explaining a process of setting a virtual plane in the apparatus for obtaining information on a connected road according to an embodiment of the present invention, FIG. 4 is a view for explaining a method for extracting information FIG. 5 is a view for explaining a process of setting a representative value in a connection road information obtaining apparatus according to an exemplary embodiment of the present invention. The connection road information acquiring apparatus according to the present embodiment will be described with reference to FIG.

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

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

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

That is, the information collecting unit (not shown) may include the laser scanner 110, the GPS device 120, and the INS device 130 to collect point data and calculate position information for each collected point, Point cloud information can be generated. An MMS (Mobile Mapping System) device or the like may be employed as the information collecting unit. In addition, the connection road information obtaining apparatus including the control unit 100 may be a part of the MMS apparatus. In addition, only the information collecting unit may be mounted on the MMS vehicle, and the controller 100 may collect the collected point cloud information And the information about the connected road is calculated.

The control unit 100 may extract information on points obtained from the left or right direction of the road progress direction in the acquired point cloud information. 2, the controller 100 can extract information on points collected in the left or right direction of the road progress direction using the angle information of the laser scanner 110 for each point . In other words, since the connection road to one road is connected to the outskirts of the road, the control unit 100 can extract only the information about the point of the region of interest, thereby improving the data processing speed and accuracy.

In addition, the controller 100 may set a virtual plane that is divided into unit areas on the space. 3, a virtual plane (i.e., a frame) can be set in space, and analysis of points associated with the frame can be performed to determine whether a connection road exists in the frame have.

At this time, the control unit 100 can set a virtual plane around the road traveling direction and the direction vertical to the ground. That is, a two-dimensional area is set in a direction parallel to the traveling direction of the road of the control unit 100, so that the ease of data processing and extraction can be improved.

The controller 100 can calculate the number of points included in each unit cell corresponding to each unit area of the virtual plane. That is, as can be seen from FIG. 4, the controller 100 may form three-dimensional unit cells each having a single unit area, and the unit cells correspond to the unit areas.

The controller 100 may calculate the number of points included in the unit cell, and may calculate information on the connected road based on the calculated number of points.

Specifically, the controller 100 may store preset representative values according to the range of the number of points, and may set the representative values as the attribute information of the unit area. For example, as shown in FIG. 4, the representative value may be color information and may be represented by a different representative according to the number of points (e.g., 0 to 5, 6 to 10, 11 to 20, etc.) Value (the smaller the point is, the closer to green, and the more points there are set to be closer to red). Therefore, the representative value can be regarded as a value indicating information on the point density of each unit cell.

That is, the control unit 100 may configure the corresponding unit area as a predetermined color according to the number of points (of the unit cell corresponding to the unit area) corresponding to the unit area. 4, the virtual plane can be divided into unit areas, and the controller 100 sets the unit areas as a color corresponding to the number of points corresponding to each unit area .

Then, the control unit 100 can calculate the information about the connection road based on the distribution (color distribution) of representative values set for each unit area of the virtual plane. That is, in the case of the connection road, a relatively small number of points are measured at the portion excluding the road surface. Therefore, if a point having a large number of points near the road surface but a small number of points at the top is extracted, Of the total.

Accordingly, the controller 100 can calculate the position and the width of the connection road, as shown in FIG. That is, since the accurate three-dimensional position of each point can be grasped according to the point cloud information, the control unit 100 can grasp the position of each unit area when setting the virtual plane and the unit area corresponding thereto, have. Accordingly, the control unit 100 can calculate the position of the connection road and the shape (e.g., width) of the connection road as information about the connection road by finding a point such as a shape in which the distribution of colors is represented by the connection road.

In this way, the control unit 100 can reduce the amount of data to be processed by converting the three-dimensional point cloud information into two-dimensional information divided into unit areas and calculating information about the connected roads.

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

As shown in FIG. 6, the control unit 100 first acquires point cloud information (S200). For example, the control unit 100 may obtain point cloud information from an MMS (Mobile Mapping System) apparatus.

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

After the step S220, the controller 100 sets a virtual plane divided into unit areas on the space (S220). At this time, the control unit 100 can set a virtual plane around the road traveling direction and the direction vertical to the ground. In other words, the control unit 100 sets the two-dimensional area and processes the data in the area. In this way, the three-dimensional point cloud information can be converted into two-dimensional data and processed. Can be improved.

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

After step S230, the controller 100 applies the hue corresponding to the number of points corresponding to each unit area calculated in step S230 to the corresponding area (S240). In other words, the controller 100 may store preset colors (the closer to the green the closer to the green is, and the closer to the red the closer to the red) according to the range of the number of points, . Here, the number of points corresponding to each unit area means the number of points included in each unit cell corresponding to each unit area.

Then, the control unit 100 calculates the position and shape information of the connection road based on the color distribution of the virtual plane (S250). In other words, in the case of the connection road, a relatively small number of points are measured in the portion excluding the road surface, so that the control unit 100 determines the point where the number of points is small near the road surface through the color distribution, The location of the connected road can be grasped. It is also possible to calculate the width through the number of unit areas included in the connected road.

As described above, the apparatus and method for obtaining the connected road information according to the embodiment of the present invention can improve the speed of data processing by converting the three-dimensional point cloud information into two-dimensional information and calculating information about the connected road, It is possible to easily construct a geographic information database.

While the present invention has been particularly shown and described with reference to exemplary 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. I will understand. Accordingly, the technical scope of the present invention should be defined by the following claims.

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

Claims (12)

An information collecting unit for collecting point cloud information; And
Extracting point cloud information from the information collecting unit, extracting information on points obtained from the left or right direction of the road progress direction in the obtained point cloud information, and extracting a virtual plane divided into unit areas on the space Calculates the number of points included in each unit cell corresponding to each unit area, and calculates information about the connected road based on the number of points included in each of the calculated unit cells And a control unit.
The method according to claim 1,
The information collecting unit,
A laser scanner for collecting point data;
A GPS device for acquiring satellite navigation information; And
And an INS device for acquiring inertial navigation information.
The method according to claim 1,
Wherein when the virtual plane is set, the control unit sets a virtual plane having a direction perpendicular to the road surface and a traveling direction of the road.
The method according to claim 1,
Wherein the control unit sets the representative value set in advance in accordance with the range to which the number of points corresponding to the unit area belongs when the information on the connected road is calculated as the attribute information of the unit area, Wherein the information about the connected road is calculated based on the distribution of representative values set for the connected road.
5. The method of claim 4,
And the representative value set in advance according to the range is color information.
The method according to claim 1,
Wherein the control unit calculates information on the position and shape of the connection road as information on the connection road when calculating information on the connection road.
The method according to claim 6,
Wherein the control unit calculates the width of the connection road using information on the shape of the connection road.
The control unit obtaining point cloud information;
Extracting information on a point obtained from the left or right direction of a road progress direction in the obtained point cloud information;
Setting a virtual plane in which the control unit is divided into unit areas on a space;
Calculating a number of points included in each unit cell corresponding to each unit area; And
And the control unit calculates information on a connection road based on the number of points included in each of the calculated unit cells.
9. The method of claim 8,
Wherein the control unit sets a virtual plane having an axis that is a direction perpendicular to the road traveling direction and the ground in the step of setting the virtual plane.
9. The method of claim 8,
Wherein the step of calculating information on the connected road comprises:
Setting the preset representative value as attribute information of the unit area according to a range to which the number of points corresponding to the unit area belongs; And
And the control unit calculating information on the connection road based on distribution of representative values set for each unit area of the virtual plane.
9. The method of claim 8,
Wherein the control unit calculates information on the position and shape of the connection road as information on the connection road in the step of calculating information on the connection road.
12. The method of claim 11,
Wherein the control unit calculates the width of the connection road using information on the shape of the connection road in the step of calculating information on the connection road.

Images