JP2012177808A - Map data generation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily arrange a three-dimensional model in a three-dimensional map.
On a computer screen, a captured image view V1 photographed locally, a 2D view V2 depicting a map in two dimensions, and a 3D view V3, V4 depicting in three dimensions are displayed. When the operator designates a point in the 3D view V3 with a mouse or the like, the coordinate value of the designated point is converted into three-dimensional coordinates by using a constraint condition such as the point being the ground surface. By arranging a three-dimensional model prepared in advance based on the three-dimensional coordinates, it is possible to provide an editor that allows an operator to freely arrange a three-dimensional model while viewing a captured image in a three-dimensional map display. It is possible to efficiently generate 3D map data.
[Selection] Figure 1

Description

  The present invention relates to a technique for generating 3D map data for drawing a 3D map, and more particularly to an editor technique for easily arranging a 3D model on a screen.

In the field of an electronic map that displays a map on a screen of a computer or the like using map data, the use of a three-dimensional map in which features such as buildings are three-dimensionally displayed is widespread. A three-dimensional map is drawn using three-dimensional map data representing a three-dimensional shape of each building or the like. In order to utilize a 3D map, it is an issue to prepare the 3D map data with a light load.
Patent Document 1 discloses a technique for generating three-dimensional map data. In this technique, 3D map data is generated for each building using image data obtained by photographing the building and 2D map data in which a building frame is drawn.
Patent Document 2 discloses a three-dimensional map by a method of raising a house frame of two-dimensional map data in a columnar shape in a vertical direction and a method of arranging an existing three-dimensional model representing a typical building shape on a building frame of a map. A technique for generating data is disclosed.

JP 2003-6680 A JP 2008-83728 A

However, in any of the conventional techniques, it is necessary to accurately specify the coordinate value for arranging the three-dimensional map data, and the generation load of the three-dimensional map data cannot be said to be sufficiently light.
In a 3D map, in order to realize a realistic 3D display, features such as roadside trees, traffic lights, and various signs that are not necessarily clearly represented on the 2D map can be prepared as 3D map data. desired. Even in such a case, since the plane coordinate values such as latitude and longitude are given to each three-dimensional model in such a case, the coordinate values are input, the three-dimensional map is displayed, the position is confirmed, and the coordinates are It was necessary to repeat the work of correcting the value.
The present invention has been made in view of such a problem, and an object of the present invention is to provide a technique for making it possible to easily and easily arrange an existing three-dimensional model in a three-dimensional space and to reduce the load of generating three-dimensional map data. .

The present invention
It can be configured as a map data generation system that generates 3D map data for drawing 3D maps,
A 3D map database for storing the 3D map data;
A 3D model database that stores data of a 3D model representing features to be placed in the 3D map data;
A three-dimensional display unit for displaying the three-dimensional map using the three-dimensional map database;
A coordinate input unit for inputting two-dimensional coordinates on the display of a point designated by an operator in the three-dimensional map;
A coordinate conversion unit that converts the two-dimensional coordinates into the three-dimensional coordinate values based on a constraint condition set in advance to constrain at least one of the three-dimensional coordinate values defining the three-dimensional map data; ,
A three-dimensional map data generation unit that adds the three-dimensional model to the three-dimensional map data so as to be arranged at the converted three-dimensional coordinate values.

  According to the present invention, when an operator designates any point on the displayed three-dimensional map, the two-dimensional coordinate on the display screen of the point can be converted into a three-dimensional coordinate value. Therefore, the operator can easily designate the arrangement of the three-dimensional model on the screen. Normally, it is not possible to specify a three-dimensional coordinate value by only two-dimensional information specified on the display screen. However, in the present invention, a constraint condition for constraining at least one of the three-dimensional coordinate values is set in advance. Therefore, the coordinate conversion described above can be performed. By doing so, it is possible to arrange the three-dimensional map intuitively while viewing the three-dimensional map without inputting the plane coordinate value of the existing three-dimensional model, and to reduce the generation load of the three-dimensional map data. Can do.

As the above-described constraint condition, for example, a condition that the designated point is the ground surface may be used.
The ground surface may be treated as a coordinate value of height (Z coordinate) of three-dimensional coordinates as 0, or three-dimensional map data of the ground surface is prepared and a point on the ground surface is prepared. May be treated as if specified. Since the three-dimensional model to be arranged is often a feature installed on the ground surface, appropriate coordinate transformation can be realized by setting such constraint conditions.
The constraint condition is not necessarily limited to the ground surface. For example, a wall or the like of a building for which 3D map data has already been generated may be specified, and a constraint condition that the specified point is the surface of the wall or the like may be set. By doing so, for example, it is possible to easily arrange signs and the like installed on the wall surface.
Further, the constraint condition may be a condition that a specified point is on a specific straight line or curve, such as along a road. By doing so, it becomes possible to easily arrange a three-dimensional model such as a median strip or guardrail provided along the road.

In the map data generation system of the present invention,
Furthermore, a photographic image database that stores photographic image data obtained by photographing with a camera, and photographing conditions including the position, direction, and angle of view of the camera at the time of photographing,
A captured image display unit that displays a captured image using the captured image data;
The three-dimensional display unit may display the three-dimensional map based on photographing conditions corresponding to the photographed image.
By doing so, the captured image and the 3D map can be displayed in correspondence with each other, and the 3D model can be arranged while viewing the captured image.

If the 3D model contains road marking data for drawing road markings on the road,
The constraint condition may be a condition for restricting the placement of the road marking on the road surface with respect to the road marking data.
The road marking indicates a road white line, a pedestrian crossing, a stop line, an arrow indicating a traveling direction, a speed limit sign, and the like drawn on the road. These road markings usually have a limited arrangement on the road surface, for example, a pedestrian crossing is drawn in the vicinity of the intersection and not in the intersection. According to the above-described aspect, since the condition for restricting the arrangement in the road surface is set as the constraint condition, the road marking can be arranged easily and appropriately.

For road marking data,
Further, a point or region to be a reference when generating a three-dimensional model to be automatically generated is specified according to the converted coordinate value, and the three-dimensional model is based on the point or region according to a preset rule. It is good also as a thing provided with the automatic generation part which automatically produces | generates and adds to map database.
Some road markings, such as road white lines and stop lines, can be automatically generated according to the rules to some extent when a road is designated. According to the above-described aspect, it is possible to generate these indications only by designating a reference point or region, so that the load of generating three-dimensional map data can be further reduced.

In the map data generation system of the present invention,
A two-dimensional database for storing polygon data for displaying a two-dimensional image;
A two-dimensional display unit that draws a two-dimensional image on the three-dimensional map using the two-dimensional database;
A two-dimensional image data generation unit that generates the polygon data according to the coordinates input by the coordinate input unit may be provided.
When using a three-dimensional map, a display that does not fit in the arrangement in the three dimensions, such as an arrow for route guidance or a symbol for guidance, may be required. According to the above-described aspect, a normal two-dimensional image can be drawn on the three-dimensional map, so that a two-dimensional image such as a guide arrow or symbol can be easily displayed.

The present invention does not have to include all the features described above, and can be configured by appropriately combining or omitting a part thereof.
In addition to the configuration as a map data generation system, the present invention may be configured as a map data generation method for generating map data by a computer, or as a computer program for causing a computer to generate map data. May be. Moreover, you may comprise as a computer-readable recording medium which recorded such a computer program. The recording medium may be a medium separate from the computer such as a CD-ROM or a server, or may be an internal storage device such as a RAM, ROM, or hard disk built in the computer.

It is explanatory drawing which shows the example of a display of a map data generation system. It is explanatory drawing which shows the example of arrangement | positioning of a three-dimensional model. It is explanatory drawing which shows the automatic generation example of a road marking. It is explanatory drawing which shows the example of arrangement | positioning of a road marking. It is explanatory drawing which shows the example of a drawing of a two-dimensional image. It is explanatory drawing which shows a guideline display example (1). It is explanatory drawing which shows a guideline display example (2). It is explanatory drawing which shows a guideline display example (3). It is explanatory drawing which shows the structure of the map data generation system in an Example. It is explanatory drawing which shows the constraint conditions of coordinate transformation. It is a flowchart of a three-dimensional model arrangement process. It is a flowchart of a roadside model generation process. It is a flowchart of a road marking automatic generation process. It is explanatory drawing which shows the example of arrangement | positioning processing of a road marking. It is a flowchart of a road marking arrangement | positioning process. It is a flowchart of a guideline data generation process.

  The map data generation system according to the embodiment is a system that generates three-dimensional map data by arranging an existing three-dimensional model and the like by an operator pointing with a pointer such as a mouse while viewing a screen on a computer. The map data generation system in the embodiment corresponds to an editor for generating three-dimensional map data. In the following description, first, various display examples in the embodiment will be described, and then the configuration of the map data generation system as an embodiment and the contents of software processing will be described.

A Display screen configuration:
FIG. 1 is an explanatory diagram showing a display example of the map data generation system. The state displayed on the computer display is shown.
As shown, the screen of the map data generation system is composed of four views V1 to V4. The view V1 displays a photographed image obtained by photographing the site. The view V2 (hereinafter also referred to as “2D view”) displays a two-dimensional map. View V3 displays a three-dimensional map. In this three-dimensional map, the line-of-sight vector direction and angle of view of perspective projection are combined with the camera direction and angle of view of the captured image. The view V4 displays a three-dimensional map with a line-of-sight vector and an angle of view different from the captured image. Hereinafter, the views V3 and V4 may be referred to as a 3D view.
In this embodiment, since the four views V1 to V4 are displayed in separate windows, the arrangement and display / non-display switching can be freely performed.
The views V2 to V4 are perspective projections using any common 3D map data and changing the line-of-sight vector and the angle of view. The view V2 that displays a two-dimensional map only displays a perspective projection from vertically above. In this way, various displays can be realized with a common software configuration. In FIG. 1, three views V <b> 2 to V <b> 4 are illustrated as a map display, but some of these may be omitted, or more views with different line-of-sight vectors and angles of view may be prepared.

B Arrangement example of various models:
FIG. 2 is an explanatory view showing an arrangement example of a three-dimensional model. FIG. 2A shows a view (corresponding to the view V1 in FIG. 1) for displaying a captured image. An example will be described in which three-dimensional map data representing a model of the fire hydrant OBJa in the captured image is generated.
FIG. 2B is a view (corresponding to the view V3 in FIG. 1) that displays a three-dimensional map. When the operator selects “fire hydrant” from among the three-dimensional models prepared in advance, the fire hydrant model OBJb is displayed at the default position. On this screen, drag the fire hydrant model OBJb with the mouse, or click on the point where it should be placed, and specify the placement location. As shown in the fire hydrant model OBJc in FIG. The model is moved and arranged according to the instructions.
Normally, in the three-dimensional map display as shown in FIGS. 2B and 2C, the coordinates of the three-dimensional space cannot be specified when one point on the screen is designated. As will be described later, by providing a constraint condition for the designation of coordinates, one point in the three-dimensional space is determined according to the point designated on the screen. Although details of the processing will be described later, the processing load due to the arrangement of the three-dimensional model can be reduced by allowing the three-dimensional model to be freely arranged using the mouse in the screen.

FIG. 3 is an explanatory diagram showing an example of automatic generation of road markings. A view for displaying a three-dimensional map (corresponding to the view V3 in FIG. 1) is illustrated.
Various road markings such as a road white line are drawn on the road surface, and some of them can be automatically generated according to the road shape according to preset rules. In the illustrated example, when the operator specifies the road polygon POL, the center line L4 of the road is automatically generated, and the white road lines L1 to L3 are generated according to the number of lanes. Further, a stop line L5 is generated at a predetermined position on the basis of the boundary between the road polygon and the intersection. In addition, a pedestrian crossing or the like may be automatically generated.
FIG. 3 shows an example in which the road polygon POL is designated in the screen corresponding to the view V3 in FIG. 1, but the road polygon is designated in the view displaying the two-dimensional map (view V2 in FIG. 1). Also good.

FIG. 4 is an explanatory diagram showing an example of the arrangement of road markings. The example which arrange | positions the road marking of the arrow M in the view (equivalent to the view V3 of FIG. 1) which displays a three-dimensional map was shown.
Since the arrow M is on the road, the operator can specify the position of the arrow M by dragging the arrow M with the mouse or clicking a specific point on the screen. However, the arrow M is not placed anywhere on the road, but is placed in the center of the lane. Moreover, it arrange | positions before a stop line and is not arrange | positioned in an intersection. In the present embodiment, in consideration of the fact that places where road markings should be placed are restricted in this way, the placement of road markings is regulated according to a predetermined rule. In the example of the figure, the arrow M can be arranged only on the near side of the stop line L5 along the center line CL of the road white lines L2 and L3. Even when the operator designates a position deviated from the center line CL with the mouse, the arrow M indicates A in the figure in order to consider not only the constraint condition on the road surface but also the constraint condition on the center line CL. Move only in the direction. A method for associating the position of the mouse with the position of the center line CL will be described later.
In this way, by providing restrictions on the location where the road marking M is arranged, the road marking M can be easily positioned on the center line CL, and the load on the placement can be reduced.

C Guideline drawing example:
2 to 4 show an example in which a three-dimensional model and a road marking are automatically generated and arranged in a three-dimensional map display. When utilizing a three-dimensional map, it is preferable to display not only a three-dimensional model but also a guidance arrow (hereinafter referred to as “guideline”) used for route guidance, a guidance symbol, and the like. Since these guidelines and symbols are two-dimensional figures, they are not compatible with a three-dimensional model. In this embodiment, as described below, a guideline or the like can be easily displayed by providing a layer for displaying these two-dimensional images separately from the three-dimensional display.

FIG. 5 is an explanatory diagram showing a drawing example of a two-dimensional image. A two-dimensional layer LA2 is prepared on the three-dimensional map display layer LA1 (corresponding to the view V3 in FIG. 1). On the two-dimensional layer LA2, as shown in the drawing, the guideline is drawn as a normal two-dimensional polygon. By displaying these layers LA1 and LA2 in an overlapping manner, it is possible to generate an image IMG indicating guidelines on a three-dimensional map.
By doing so, it becomes possible to display a two-dimensional image such as a guideline easily and in a good-looking manner.

FIG. 6 is an explanatory diagram showing a guideline display example (1). FIG. 6A is a diagram in which polygon data corresponding to the guideline GLa1 is set in a three-dimensional space and displayed three-dimensionally. It can be seen that the shape is distorted at the portion where the guideline GLa1 is bent and at the tip of the arrow (A1 region in the figure).
FIG. 6B shows an example in which the polygon of the guideline GLb1 is generated on the display layer of the two-dimensional image. Since it is sufficient to prepare the polygon of the guideline as a two-dimensional image, a smooth curve can be easily drawn in this way, and the arrow portion at the tip can also have a shape that does not feel strange.
FIG. 7 is an explanatory diagram showing a guideline display example (2). FIG. 7A shows a guideline GLa2 set in a three-dimensional space. It can be seen that the shape is distorted in the area A2. On the other hand, if a display layer of a two-dimensional image is used, a smooth shape can be realized as in the guideline GLb2 in FIG.
FIG. 8 is an explanatory diagram showing a guideline display example (3). FIG. 8A shows a guideline GLa3 set in a three-dimensional space. It can be seen that the shape is distorted in the area A3. On the other hand, if the display layer of a two-dimensional image is used, a smooth shape like the guideline GLb3 in FIG. 8B can be realized.

D Configuration of map data system:
The system configuration and the like for realizing various displays and automatic generation and arrangement of the three-dimensional model shown in FIGS. 2 to 8 will be described below.
FIG. 9 is an explanatory diagram showing the configuration of the map data generation system in the embodiment. The map data generation system 100 as an embodiment can be realized by installing a computer program for realizing the various functions shown in the computer.

The map data generation system 100 includes four types of databases.
The captured image database 110 is a database that stores image data (hereinafter referred to as “captured image data”) of a still image (hereinafter referred to as “captured image”) captured by a digital camera or the like. Each scene may be cut out from the moving image and configured as a database that can be displayed as a still image. The photographed images are stored in association with the photographing conditions of the camera, that is, the photographing direction (azimuth and elevation angle) and the angle of view.
The guideline database 112 is a database for storing the guideline data shown in FIGS. As described above, since the guideline is a two-dimensional image drawn on a three-dimensional map, the guideline data is stored as two-dimensional polygon data (hereinafter also referred to as “guideline data”). ing.
The 3D map database 114 stores 3D map data for realizing 3D map display. Along with 3D map data representing the ground surface, 3D map data representing roads, buildings, road markings and other features is stored. The three-dimensional map data of the feature can be stored, for example, in the form of polygon data each defining the shape three-dimensionally and the coordinate value representing the position of the feature, and the attribute data of the feature is associated with each other. You may remember. The three-dimensional map database 114 includes data generated by arranging an existing three-dimensional model such as signs, traffic lights, and ordinary buildings, and feature-specific polygon data. For data generated using the three-dimensional model, a method of storing a link to the three-dimensional model may be used instead of the polygon data storage format for each feature.
The three-dimensional model database 116 stores a three-dimensional model representing the three-dimensional shape of the general-purpose feature described above. In the present embodiment, as described with reference to FIG. 3, since some road markings can be automatically generated, the three-dimensional model database 116 automatically generates road markings to be automatically generated. It also stores rules for
These databases may be stored in the computer itself or supplied from an external storage medium or server.

Hereinafter, each functional block realized by the computer program will be described.
The captured image display unit 102 displays a captured image view (view V1 in FIG. 1) using the captured image data stored in the captured image database 110.
The three-dimensional display unit 104 displays three-dimensional and two-dimensional maps (views V2 to V4 in FIG. 1) using the three-dimensional map data stored in the three-dimensional map database 114. The 2D view V2 can be drawn by perspective projection using the three-dimensional map data with the line-of-sight vector set vertically downward. The three-dimensional display unit 104 displays the view V3 with a line-of-sight vector and an angle of view that match the shooting conditions stored in association with the shot image data. By doing so, a three-dimensional map corresponding to the captured image view V1 can be displayed in the view V3.
The two-dimensional display unit 106 displays the guideline data stored in the guideline database 112 as a two-dimensional image. The layer on which the two-dimensional image is drawn is displayed so as to be superimposed on the 3D view V3, thereby generating the guideline images shown in FIGS.

In the map data generation system 100, the operator performs operations such as dragging and clicking with a pointer such as a mouse on the views V3, V2, and the like to arrange a three-dimensional model and generate road markings. The coordinate input unit 140 inputs the coordinates of a point designated by the operator with a pointer such as a mouse in the above-described process. This coordinate value becomes “two-dimensional coordinates on display” defined in the screen.
Since the guideline is simply a two-dimensional polygon, in the process of generating the guideline, the two-dimensional coordinates on the display designated by the operator can be used as data input for defining the polygon shape as it is. The guideline data generation unit 120 has a function of generating a guideline polygon using the coordinate values input by the coordinate input unit 140 in this way.
On the other hand, when the placement of the 3D model is instructed, the 3D coordinates for placing the 3D model cannot be defined only by the 2D coordinates on the display input by the coordinate input unit 140. Therefore, the coordinate conversion unit 142 converts the two-dimensional coordinates on the display into three-dimensional coordinate values by applying predetermined constraint conditions prepared in advance.
The 3D map data generation unit 130 generates 3D map data by the following functional blocks based on the converted 3D coordinates.
The 3D model placement unit 132 places the 3D model stored in the 3D model database 116 in the 3D space based on the converted 3D coordinates.
The roadside model generation unit 134 identifies the road designated by the operator based on the converted three-dimensional coordinates, and generates data of features such as a median strip and guardrail installed along the road.
The road marking generation unit 136 automatically generates a road marking for the road designated by the operator (see FIG. 3).
The road marking arrangement unit 138 arranges road markings that are not automatically generated in response to instructions from the operator (see FIG. 4).
The above process data generated by the three-dimensional map data generation unit 130 is reflected in the three-dimensional map database 114 and is reflected in the 3D views V3 and V4 and the 2D view V2. Therefore, the operator can generate 3D map data while viewing these views 2 to 4 in contrast with the captured image view V1.

E 3D model placement process:
Next, processing contents for realizing each function of the map data generation device 100 will be described. First, after showing the concept of coordinate transformation in the embodiment, each processing content will be described.
FIG. 10 is an explanatory diagram showing constraint conditions for coordinate transformation. The three-dimensional image is drawn in a state of being seen through from the viewpoint EP to the two-dimensional plane view VW. Since all points on the straight line LA connecting the viewpoint EP and the point Pa are seen through the point Pa in the view VW, even if the point Pa is designated in the view VW, the point 3 is immediately determined based on this point. A point in the dimensional space cannot be specified.
On the other hand, for example, consider a case where a constraint condition is given that a designated point is a point on the ground surface. Here, it is assumed that the ground surface is a plane α having a three-dimensional coordinate height (Z coordinate value) of 0. Considering such constraint conditions, the point Pa is a point on the straight line LA and on the plane α. Therefore, the point Pa can be identified as a point PA in the three-dimensional space, and the coordinate values thereof are (XA, YA, 0). ).
Similarly, not only the ground surface α but also a constraint condition that the point is on a specific plane β in the three-dimensional space can be used. In this case, when the point Pb is designated in the view VW, it can be specified as an intersection PB between the straight line LB connecting the viewpoint EP and the point Pb and the plane β, and the coordinate values (XB, YB, ZB) are determined. Can be identified.
The constraint condition may be given not only by a plane as described above but also by a straight line. For example, consider a case where a constraint condition is given that the point is on a straight line L within the ground surface α. In such a case, it is possible to obtain a point PB corresponding to the point Pb designated in the plane β, considering the plane β that includes the straight line L corresponding to the constraint condition and is perpendicular to the ground surface α. The designated point can be specified as a point PB1 (XB, YB, 0) obtained by dropping a perpendicular line from the point PB to the straight line L. Since the point PB1 is not a point on the straight line LB, a deviation occurs between the point specified in the view VW and the point specified in the three-dimensional space. This is because the above-described constraint condition is that the specified position has only one-dimensional degree of freedom, and is substantially constraining two-dimensional coordinate values in three dimensions. However, with this handling, even when a point deviated from the straight line L on the view VW is designated, the point is converted to a point on the straight line L, so that the burden on the operator when indicating the point can be reduced. it can.
In addition to using the straight line L as a constraint condition, a constraint condition in which a height is designated for the point PC on the plane α can also be used. In this case, a plane β perpendicular to the plane α is assumed through the point PC, and a point PB on the plane β corresponding to the designated point Pb is specified. Then, it is possible to specify that the point PC1 (XC, YC, ZB) immediately above the point PC is designated using the height value ZB of the point PB.
In the following description, coordinate conversion means any one of these conversion methods.

FIG. 11 is a flowchart of the three-dimensional model arrangement process. The processing shown in FIG. 2 executed by the CPU of the computer corresponds to the processing content of the three-dimensional model placement unit 132 shown in FIG.
When the process is started, the CPU, in accordance with an instruction from the operator, includes a three-dimensional model to be placed (hereinafter, including the possibility of deformation from a three-dimensional model stored in the three-dimensional model database 116). Object (sometimes referred to as “object”) (step S10), and the two-dimensional coordinates (x, y) on the display designated by the operator with a mouse or the like are input (step S11). The method of arranging the three-dimensional model according to the two-dimensional coordinate value differs depending on the input mode.
In the case of the position designation input mode (step S12), coordinate conversion is performed according to the constraint condition that height = 0 (step S13). This corresponds to the coordinate conversion under the constraint that the point is on the plane α shown in FIG. By this coordinate conversion, the two-dimensional coordinates (x, y) are converted into three-dimensional coordinates (X, Y, 0). Here, the constraint condition of height = 0 is illustrated in the sense of the constraint condition of the ground surface. However, when polygon data of the ground surface is prepared, the polygon of the ground surface is used instead of the plane α in FIG. By using data, it can be set as a constraint condition of an intersection with the ground surface.
Based on the obtained three-dimensional coordinates (X, Y, 0), the CPU arranges objects (step S14) and updates the three-dimensional map database (step S17). This update also changes the 3D view screen.

On the other hand, in the case of the fixed position input mode (step S12), coordinate conversion is performed using the position (X, Y) of the object (step S15). This corresponds to the coordinate conversion for obtaining the point PC1 under the constraint that the height is given to the point PC on the plane α shown in FIG. By this coordinate conversion, the two-dimensional coordinates (x, y) are converted into three-dimensional coordinates (X, Y, Z).
The CPU corrects the height of the object based on the obtained three-dimensional coordinates (X, Y, Z) (step S16) and updates the three-dimensional map database (step S17). Depending on the designated point, the object may be enlarged or reduced only in the height direction, or the object may be similarly changed. This update also changes the 3D view screen.

  When it is necessary to correct the position or height of the object (step S18), if the operator designates a new point, the position or height of the object can be freely set in the three-dimensional space by each processing after step S11. Can be changed.

FIG. 12 is a flowchart of the roadside model generation process. This process is executed by the CPU of the computer and corresponds to the processing content of the three-dimensional model arrangement unit 132 in FIG.
When the process is started, the CPU selects an object to be generated in accordance with an instruction from the operator (step S30). On the right side of the figure, an example of an object to be generated by this processing is illustrated. Objects arranged along the road RD such as the guardrail G and the median strip C are targeted. Each may be selectable from a plurality of types.
The CPU inputs the two-dimensional coordinates (x, y) on the display designated by the operator with the mouse or the like, and selects the road polygon on which the object is to be placed based on this (Step S31). The road polygon including the designated point may be specified by converting into the three-dimensional coordinate based on the constraint condition that the two-dimensional coordinate (x, y) is the ground surface.
Next, the CPU sets an object generation line based on the road polygon and the object (step S32). The setting method is illustrated in the figure. Consider the case where a road polygon RDP is designated. First, since the object is generated along the road, the point sequences P1-P2 and P3-P4 along the traveling direction of the road among the points P1 to P4 constituting the road polygon RDP are specified. When the center separation band C is selected, the line CL located at the center of this point sequence is set as a generation line. When the guardrail G is selected, a line GL obtained by moving the point sequence by a predetermined distance is set as a generation line.
Next, the CPU inputs display two-dimensional coordinates (x, y) designated by the operator (step S33), and performs coordinate conversion using the object generation line (step S34). This is a designation for giving a height to a point on the object generation line, and coordinates for obtaining the point PC1 under the constraint that the height is given to the point PC on the plane α shown in FIG. Corresponds to conversion. By this coordinate conversion, the two-dimensional coordinates (x, y) are converted into three-dimensional coordinates (X, Y, Z).
The CPU sets the height of the object based on the obtained three-dimensional coordinates (X, Y, Z) (step S35), and updates the three-dimensional map database (step S36). This update also changes the 3D view screen.
When it is necessary to correct the height of the object (step S37), if the operator designates a new point, the height of the object can be freely changed in the three-dimensional space by each processing after step S33. it can.

F Automatic road marking generation process:
FIG. 13 is a flowchart of the road marking automatic generation process. The process shown in FIG. 3 executed by the CPU of the computer corresponds to the processing contents of the road marking generation unit 136 shown in FIG.
When the process is started, the CPU selects an object to be generated in accordance with an instruction from the operator (step S50). In the present embodiment, a road white line (a center line and a lane line dividing line), a stop line, and the like are generated.
Next, the CPU selects a road polygon on which the object is to be placed based on the two-dimensional coordinates on the display designated by the operator with the mouse or the like (step S51). The road polygon including the designated point may be specified by converting into the three-dimensional coordinate based on the constraint condition that the two-dimensional coordinate is the ground surface.
The CPU automatically generates an object for the designated road polygon in accordance with a preset rule (step S52). An example of generating a road white line is shown in the figure. First, the center line LL1 can be generated at a position having a width W / 2 that is half the width W of the designated road. Further, from the center line LL1, the division lines LL2 and LL3 are drawn for each lane width WL specified in advance according to the number of lanes. A stop line or the like can also be automatically generated according to a predetermined rule.

In the present embodiment, the automatically generated object can be corrected in accordance with an instruction from the operator.
When correcting the object (step S53), the CPU inputs the two-dimensional coordinates (x, y) on the display designated by the operator with the mouse or the like (step S54), and the constraint condition that height = 0 is satisfied. Coordinate conversion is performed (step S55). Note that the operator may instruct correction in the 2D view. In this case as well, in principle, coordinate transformation is performed in the same way as when specified in the 3D view, but on the algorithm, the two-dimensional coordinates (x, y) obtained in the 2D view are used as the origin. It is possible to convert it to three-dimensional coordinates simply by moving it.
The CPU specifies the object closest to the obtained three-dimensional coordinate (X, Y, 0), and corrects the end point of the object according to the coordinate (step S56). A modified example is shown in the figure. If a point (X, Y, 0) is specified for the road white line LL that was originally drawn up to the end point E1, the length of the object is corrected from this point to the foot E2 of the vertical line drawn down to the road white line LL. Is done. This state is reflected in the 3D map data and can be confirmed on a screen such as a 3D view or a 2D view.

G Road marking arrangement processing:
FIG. 14 is an explanatory diagram showing an example of a road marking arrangement process.
FIG. 14A shows an example in which arrows are arranged on the road surface. First, the operator designates a road polygon SPLa that is a placement target of the road marking. It is assumed that road white lines RL1 and RL2 are drawn on the road polygon SPLa. Consider a case where the operator designates a point PP1 in the road white lines RL1 and RL2. It is considered that the operator intends to arrange the arrow M1 in the area ARL surrounded by the road white lines RL1 and RL2 in the road polygon SPLa, and that the arrow is arranged in the center of the lane. In particular, it is considered that there is an instruction to arrange on the straight line CRL corresponding to the center of the road white lines RL1 and RL2. Therefore, the map data generation system specifies a point PC1 obtained by vertically projecting the designated point PP1 on the straight line CRL, and arranges an arrow M1 based on the point PC1. When the road SPLa is specified and the operator specifies outside the area ARL, the arrow M2 is arranged assuming that the intersection PC2 between the straight line CRL and the road polygon SPLa is specified.

The road marking arrangement processing may be arranged on the center line or lane marking of the road. This process can be used when an appropriate road white line is not generated by the road marking automatic generation process described with reference to FIG.
FIG. 14B shows an example of processing for arranging a road white line when the road polygon SPLb is designated. In this example, it is necessary to specify which road white line the point designated by the operator corresponds to. Therefore, the road polygon SPLb is divided into several areas, and each area is associated with a road white line. For example, the center line RL3 is drawn almost at the center of the road. Therefore, the area ARL3 of the lane width WL is set around the position of the half W / 2 of the road width W. When the point PP3 in the area ARL3 is designated, the processing is performed assuming that the operator has instructed correction of the center line RL3 and the like. In the case of the division line RL4, the area ARL4 of the lane width WL adjacent to the area ARL3 of the center line RL3 is set, and when the point PP4 is designated, the correction of the division line RL4 is instructed. Process as if it were.
Depending on the specified road polygon, the type of object, and the specified point, processing is performed with a constraint condition, which causes problems such as protruding from the road polygon or being placed at a position deviated from the center. The road marking can be arranged avoiding the above.

FIG. 15 is a flowchart of road marking arrangement processing. The process shown in FIG. 4 executed by the CPU of the computer corresponds to the processing contents of the road marking arrangement unit 138 shown in FIG.
When the process is started, the CPU selects an object to be generated in accordance with an instruction from the operator (step S70). In the present embodiment, an arrow marked on the road surface, a speed regulation number, and the like are set as arrangement targets.
The CPU selects a road polygon on which the object is to be placed based on the two-dimensional coordinates on the display designated by the operator with the mouse or the like (step S71). The road polygon including the designated point may be specified by converting into the three-dimensional coordinate based on the constraint condition that the two-dimensional coordinate is the ground surface.

Next, the CPU inputs the two-dimensional coordinates (x, y) on the display designated by the operator with a mouse or the like (step S72), and performs coordinate conversion according to the constraint condition that height = 0 (step S73). Note that the operator may specify the coordinates in the 2D view.
The CPU sets a constraint condition based on the road polygon designated by the operator, the designated coordinate value, and the type of object (step S74), and corrects the coordinate based on the constraint condition (step S75). For example, in the example of FIG. 14A, the designated point is corrected to a point projected on the straight line CRL. In the example of FIG. 14B, the designated point is corrected to a point on the road white line RL3 or RL4 according to the position.
The CPU arranges objects based on the corrected coordinates (step S76) and updates the three-dimensional map database (step S77). This update also changes the 3D view screen. When correction is necessary (step S78), if the operator designates a new point, the arrangement and shape of the object can be corrected by each processing after step S72.

H Guideline data generation processing:
FIG. 16 is a flowchart of the guideline data generation process. The processing shown in FIGS. 5 to 8 executed by the CPU of the computer corresponds to the processing content of the guideline data generation unit 120 in FIG.
When the process is started, the operator selects a route for which a guideline is to be generated (step S90). When a route is obtained by executing a route search or the like, the route search result may be used. Otherwise, a method of sequentially designating a link to be a route may be taken.
The CPU generates a curve that smoothly connects the links corresponding to the route designated in the three-dimensional space (step S91). An example of processing is shown in the figure. In the road composed of the links L1 to L4 and the nodes N1 and N2, when a route passing through the links L1, L3, and L4 is designated, a curve CGL that smoothly connects these is generated. Such a curve can be, for example, a spline.
The CPU displays a 3D view using the curve thus generated (step S92). As a result, the images in the states shown in FIGS. 6A, 7A, and 8A can be displayed.

The operator can generate a guideline using the curve shown in this image as a sketch. The CPU inputs the two-dimensional coordinates of the point designated on the screen by the operator (step S93), and generates polygon data for determining the shape of the guideline in accordance with this (step S94). In this process, since the guideline is formed as a two-dimensional polygon, it is not necessary to perform coordinate conversion on the two-dimensional coordinates designated on the screen.
When generation of the polygon data for the guideline is completed (step S95), the CPU updates the guideline database by storing the polygon (step S96). The curve data used as the sketch may be deleted together with this processing. By these updates, images corresponding to FIGS. 6B, 7B, and 8B are displayed on the 3D view screen.
In the processing example of FIG. 16, an example in which a curve set in a three-dimensional space is used as a sketch is shown, but steps S90 to S92 may be omitted and a guideline may be generated without a sketch. In addition to the generation of the guideline, data representing a mark indicating a toll road or speed regulation may be generated.

According to the map data generation system of the embodiment described above, a 3D model is arranged and corrected by performing an operation such as dragging or clicking with a mouse or the like in a 3D view or 2D view (see FIG. 1). In addition, it is possible to provide an editor that easily and intuitively automatically generates and arranges road markings. Therefore, the generation load of 3D map data can be reduced.
In addition, a guideline can be displayed on the three-dimensional map display, and the data for the guideline can be generated as a two-dimensional image. Therefore, there is an advantage that a smooth and easy-to-see guideline can be easily created as compared with the case of generating in a three-dimensional space.

  Although the embodiments of the present invention have been described above, the various processes described in the above-described embodiments are not necessarily all provided, and some of them may be omitted or replaced with other processes. I do not care. In the above-described example, the process executed in software may be executed in hardware and vice versa.

  The present invention can be used to generate 3D map data.

DESCRIPTION OF SYMBOLS 100 ... Map data generation system 102 ... Shooting image display part 104 ... Three-dimensional display part 106 ... Two-dimensional display part 110 ... Shooting image database 112 ... Guideline database 114 ... Three-dimensional map database 116 ... Three-dimensional model database 120 ... Guideline data generation Unit 130 ... 3D map data generation unit 132 ... 3D model arrangement unit 134 ... Roadside model generation unit 136 ... Road marking generation unit 138 ... Road surface marking arrangement unit 140 ... Coordinate input unit 142 ... Coordinate conversion unit

Claims (8)

A map data generation system for generating 3D map data for rendering a 3D map,
A 3D map database for storing the 3D map data;
A 3D model database that stores data of a 3D model representing features to be placed in the 3D map data;
A three-dimensional display unit for displaying the three-dimensional map using the three-dimensional map database;
A coordinate input unit for inputting two-dimensional coordinates on the display of a point designated by an operator in the three-dimensional map;
A coordinate conversion unit that converts the two-dimensional coordinates into the three-dimensional coordinate values based on a constraint condition set in advance to constrain at least one of the three-dimensional coordinate values defining the three-dimensional map data; ,
A map data generation system comprising: a three-dimensional map data generation unit that adds the three-dimensional model to the three-dimensional map data so as to be arranged at the converted three-dimensional coordinate values. The map data generation system according to claim 1,
The map data generation system, wherein the constraint condition is a condition that a designated point is a ground surface. The map data generation system according to claim 1 or 2,
Furthermore, a photographic image database that stores photographic image data obtained by photographing with a camera, and photographing conditions including the position, direction, and angle of view of the camera at the time of photographing,
A captured image display unit that displays a captured image using the captured image data;
The three-dimensional display unit is a map data generation system that displays the three-dimensional map based on photographing conditions corresponding to the photographed image. The map data generation system according to any one of claims 1 to 3,
The three-dimensional model includes road marking data for drawing a road marking on a road,
The map data generation system, wherein the constraint condition is a condition for restricting the placement of the road marking on the road surface with respect to the road marking data. The map data generation system according to claim 1,
In accordance with the converted coordinate value, a point or region to be used as a reference when generating a three-dimensional model to be automatically generated is specified, and the three-dimensional is based on the point or region according to a preset rule. A map data generation system including an automatic generation unit that automatically generates a model and adds the model to the map database. A map data generation system according to any one of claims 1 to 5,
A two-dimensional database for storing polygon data for displaying a two-dimensional image;
A two-dimensional display unit that draws a two-dimensional image on the three-dimensional map using the two-dimensional database;
A map data generation system comprising: a two-dimensional image data generation unit that generates the polygon data according to coordinates input by the coordinate input unit. By a computer comprising a 3D map database for storing 3D map data for rendering a 3D map and a 3D model database for storing 3D model data representing features to be placed in the 3D map data A map data generation method for generating the three-dimensional map data,
As the steps performed by the computer,
A three-dimensional display step of displaying the three-dimensional map using the three-dimensional map database;
A coordinate input step of inputting two-dimensional coordinates on the display of a point designated by an operator in the three-dimensional map;
A coordinate conversion step for converting the two-dimensional coordinates into the three-dimensional coordinate values based on a constraint condition set in advance to constrain at least one of the three-dimensional coordinate values defining the three-dimensional map data; ,
A map data generation method comprising: a three-dimensional map data generation step of adding the three-dimensional model to the three-dimensional map data so as to be arranged at the converted three-dimensional coordinate values. By a computer comprising a 3D map database for storing 3D map data for rendering a 3D map and a 3D model database for storing 3D model data representing features to be placed in the 3D map data A computer program for generating the three-dimensional map data,
A three-dimensional display function for displaying the three-dimensional map using the three-dimensional map database;
A coordinate input function for inputting two-dimensional coordinates on the display of a point designated by an operator in the three-dimensional map;
A coordinate conversion function for converting the two-dimensional coordinates into the three-dimensional coordinate values based on a constraint condition set in advance to constrain at least one of the three-dimensional coordinate values defining the three-dimensional map data; ,
A computer program for realizing, by the computer, a three-dimensional map data generation function for adding the three-dimensional model to the three-dimensional map data so as to be arranged at the converted three-dimensional coordinate values.