公开(公告)号：US20110164037A1

公开(公告)日：2011-07-07

申请号：US13060444

申请日：2009-08-24

Applicant: Mitsunobu Yoshida ,  Masakazu Miya ,  Yshihiro Shima ,  Junichi Takiguchi ,  Ryujiro Kurosaki

Inventor： Mitsunobu Yoshida ,  Masakazu Miya ,  Yshihiro Shima ,  Junichi Takiguchi ,  Ryujiro Kurosaki

IPC: G06T15/00

CPC classification number: G06T15/08 ,  G06T15/30 ,  G06T17/05 ,  G09B29/12

Abstract: An apparatus and method generating a road image including no features such as trees and tunnels hiding or covering a road surface. A mobile measuring apparatus installed in a vehicle may acquire a distance and orientation point cloud, a camera image, GPS observation information, a gyro measurement value, and an odometer measurement value, while moving in a target area. The position and attitude localizing apparatus may localize the position and attitude of the vehicle based on the GPS observation information, the gyro measurement value and the odometer measurement value. The point cloud generating apparatus may generate a point cloud based on the camera image, the distance and orientation point cloud, and a position and attitude localized value. The point cloud orthoimage generating apparatus may extract points close to a road surface exclusively from the point cloud by removing points higher than the road surface, orthographically project each extracted point onto a horizontal plane, and generate a point cloud orthoimage. The point cloud orthoimage may show the road surface including no features covering or hiding the road surface.

Abstract translation: 一种产生道路图像的装置和方法，其不包括隐藏或覆盖路面的树木和隧道等特征。 安装在车辆中的移动测量装置可以在目标区域中移动时获取距离和方位点云，摄像机图像，GPS观测信息，陀螺仪测量值和里程表测量值。 位置和姿态定位装置可以基于GPS观测信息，陀螺仪测量值和里程表测量值来定位车辆的位置和姿态。 点云生成装置可以基于相机图像，距离和方位点云以及位置和姿态本地化的值来生成点云。 点云正射图像生成装置可以通过去除高于路面的点从点云中提取靠近路面的点，将每个提取的点正交投影到水平面上，并生成点云正射影像。 点云正视图可以显示路面，不包括覆盖或隐藏路面的特征。