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WO2016035992A1 - Dispositif pour l'établissement de carte d'intérieur - Google Patents

Dispositif pour l'établissement de carte d'intérieur Download PDF

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Publication number
WO2016035992A1
WO2016035992A1 PCT/KR2015/007037 KR2015007037W WO2016035992A1 WO 2016035992 A1 WO2016035992 A1 WO 2016035992A1 KR 2015007037 W KR2015007037 W KR 2015007037W WO 2016035992 A1 WO2016035992 A1 WO 2016035992A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
target facility
indoor map
unit
mobile computing
Prior art date
Application number
PCT/KR2015/007037
Other languages
English (en)
Korean (ko)
Inventor
박원기
이호진
유재욱
김병조
심병렬
정은용
Original Assignee
네이버비즈니스플랫폼 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 네이버비즈니스플랫폼 주식회사 filed Critical 네이버비즈니스플랫폼 주식회사
Priority to JP2017600076U priority Critical patent/JP3211823U/ja
Publication of WO2016035992A1 publication Critical patent/WO2016035992A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the following embodiments are related to an apparatus for building an indoor map by collecting necessary information to provide an indoor location based service.
  • a bus terminal, a complex shopping center, and a department store are connected to each other.
  • indoor maps of the facilities are being constructed by using a surveying method so that users can visit a desired destination.
  • An indoor map building apparatus can collect information for building an indoor map while moving inside a target facility so that a consistent indoor map can be constructed.
  • An indoor map building device that can draw and calibrate information while moving inside the target facility to reduce the drawing errors in indoor mapping and to build a faster and more accurate indoor map.
  • a scan information collection unit for scanning the inside of the target facility to build the indoor map to collect scan information for each point inside the target facility, for each of the points
  • An acceleration information collecting unit collecting direction information and acceleration information
  • an image information collecting unit collecting image information of each point, and the target facility based on the scan information, direction information, acceleration information, and image information.
  • It may include a mobile computing unit for building an indoor map.
  • the scan information collecting unit, the acceleration information collecting unit, the image information collecting unit, and a mobile computing unit, and a power supply unit further comprises a moving means for moving inside the target facility for building the indoor map. can do.
  • the mobile computing unit may perform a drawing operation that outlines connected points and fixed objects fixed in the target facility while moving inside the target facility.
  • the mobile computing unit may generate spatial information about the inside of the target facility based on the scan information, the direction information, and the acceleration information as the robot operating system (ROS) is driven. Can be.
  • ROI robot operating system
  • the mobile computing unit may correct an error generated when the spatial information is generated using the direction information and the acceleration information transmitted in real time from the acceleration information collecting unit.
  • the acceleration information collection unit may collect the direction information and acceleration information by using an IMU sensor while moving inside the target facility.
  • the scan information collector, the acceleration information collector, the image information collector may further include a power supply for supplying power to the mobile computing unit.
  • FIG. 1 is an exemplary view showing an indoor map building apparatus according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing an indoor map building apparatus according to an embodiment of the present invention.
  • FIG 3 is an exemplary view showing the outline of the inside of the target facility for building an indoor map in an embodiment of the present invention.
  • FIG. 4 is a flowchart illustrating an example of a method of constructing an indoor map according to an embodiment of the present invention.
  • FIG. 5 is a block diagram illustrating an internal configuration of an indoor map building device according to one embodiment of the present invention.
  • FIG. 1 is an exemplary view showing an indoor map building apparatus according to an embodiment of the present invention.
  • an indoor map building apparatus is for building an indoor map inside a building more quickly and accurately with less manpower.
  • the indoor map building apparatus 100 includes a moving means 101 and scan information collection.
  • the unit 102, the acceleration information collecting unit 103, the image information collecting unit 104, and the mobile computing unit 105 and the power supply unit 106 may be included.
  • the moving means 101 may move inside the target facility for collecting information while passing through respective devices necessary for constructing an indoor map inside the target facility.
  • the stroller, shopping cart, hand cart, etc. may be used as the moving means 101 so as to easily move inside the target facility even though devices such as sensors are mounted.
  • the scan information collecting unit 102 and the acceleration information collecting unit 103 are mounted on the stroller safety bar
  • the power supply unit 106 is mounted on the stroller chair
  • the mobile computing unit 105 is mounted on the stroller handle.
  • the image information collecting unit 104 may be mounted. In this case, the image information collecting unit 104 may be mounted on the mobile computing unit 105.
  • various devices for constructing an indoor map mounted on the stroller may collect information while moving together and construct an indoor map of the target facility using the collected information.
  • the scan information collecting unit 102, the acceleration information collecting unit 103, and the image information collecting unit 104 may be used to collect information for building an indoor map.
  • the mobile computing unit 105 may build an indoor map of the target facility by using the information collected by the scan information collecting unit 102, the acceleration information collecting unit 103, and the image information collecting unit 104. have.
  • the power supply unit 106 may supply power to the devices mounted on the moving means 101.
  • the power supply unit 106 may supply power to the scan information collecting unit 102, the acceleration information collecting unit 103, and the image information collecting unit 104 so as to stably collect information for building an indoor map.
  • the power supply 106 may be implemented as a battery.
  • the power supply unit 106 may supply additional power to the mobile computing unit 105.
  • mobile computing unit 105 may include its own power supply.
  • the power supply unit 106 may additionally supply power to the mobile computing unit 105. Accordingly, even when the mobile computing unit 105 consumes its own battery, the mobile computing unit 105 may continuously receive power from the power supply unit 106, thereby stably constructing an indoor map.
  • FIG. 2 is a block diagram showing an indoor map building apparatus according to an embodiment of the present invention.
  • the indoor map building device 200 includes a scan information collecting unit 201, an acceleration information collecting unit 202, an image information collecting unit 203, a mobile computing unit 204, and a power supply unit 205. It may include. In addition, although not shown in FIG. 2, the indoor map building apparatus 200 may further include moving means for mounting the devices necessary for building the indoor map and moving inside the target facility.
  • the power supply unit 205 may supply power to the scan information collecting unit 201, the acceleration information collecting unit 202, and the image information collecting unit 203 so as to stably collect information for building an indoor map. In addition, the power supply unit 205 may supply additional power to the mobile computing unit 204.
  • the scan information collection unit 201 may collect scan information for each point in the target facility as the inside of the target facility is scanned by using a laser scanner.
  • the moving means may scan while moving inside the target facility using a 3D (Dimension) laser scanner, a laser sensor, or the like mounted on the moving means.
  • the scan information collecting unit 201 may collect the scan information by scanning a space of 270 degrees in front and 30m while moving inside the target facility. As such, the scan information collection unit 201 may collect scan information of the entire target facility as the space is scanned at a predetermined distance.
  • the scan information collection unit 201 may transmit the collected scan information to the mobile computing unit 204 by wire or wirelessly to generate spatial information about a target facility.
  • the acceleration information collection unit 202 may collect direction information and acceleration information for each point in the target facility by using an inertial measurement unit (IMU) sensor used for inertia measurement.
  • IMU inertial measurement unit
  • the acceleration information collecting unit 202 may be mounted on the moving unit together with the scan information collecting unit 201 to move inside the target facility for building an indoor map. Then, the acceleration information collecting unit 202 may simultaneously collect direction information and acceleration information when the scan information collecting unit 201 scans the inside of the target facility.
  • the acceleration information may include the speed at which the means of movement move inside the target facility.
  • the direction information may include a rotation angle to detect the direction change.
  • the collected acceleration information may be used to correct an error, such as a small shake due to movement when scanning the inside of the target facility.
  • an error such as a small shake due to movement when scanning the inside of the target facility.
  • the mobile computing unit 204 may correct the current position of the baby carriage, which is a means for moving inside the target facility, based on the acceleration information collected by the acceleration information collecting unit 202.
  • the mobile computing unit 204 may correct the drawing error in the target facility due to the movement by reflecting the moving distance corresponding to the error information indicating the minute shaking degree in the drawing work.
  • the image information collecting unit 203 may collect image information of each point in the target facility by photographing the inside of the target facility using a camera.
  • a panorama camera may be mounted to the vehicle or mobile computing unit 204.
  • the image information collecting unit 203 may collect the image information at the point where the scan information is collected while moving inside the target facility through the moving means.
  • the image information may include a moving picture, a picture, and the like photographing the inside of the target facility.
  • the image information collection unit 203 may transmit the collected image information to the mobile computing unit 204 to construct an indoor map.
  • the mobile computing unit 204 automatically generates spatial information inside a target facility through the sensors, and uses a camera. By doing so, information about a point of interest (POI) that is difficult to detect may be obtained.
  • the mobile computing unit 204 may acquire POI values that are difficult to identify in a 2D map through image information, such as signage information, phone numbers, addresses, door designs, etc. of each branch located within the target facility. .
  • the mobile computing unit 204 may drive an indoor mapping program to build an indoor map using information collected from the sensors.
  • the mobile computing unit 204 may be implemented as a tablet PC, a notebook, or the like capable of driving an indoor mapping program and performing calculations for indoor mapping.
  • the mobile computing unit 204 may be mounted to a means of movement to move an interior of the target facility with the means of movement, while constructing an indoor map of the interior of the target facility.
  • the mobile computing unit 204 may include a spatial information generator 206 and an indoor map builder 207.
  • the spatial information generator 206 may drive a robot operating system (ROS) to prepare for indoor mapping.
  • the robot operating system is an open source meta operating system for robots, and may be used for indoor mapping.
  • the spatial information generator 206 scans the scan information, the acceleration information, the direction information, and the image information from the scan information collector 201, the acceleration information collector 202, and the image information collector 203. Can be received.
  • the spatial information generator 206 may generate spatial information for each point in the target facility by using the scan information, the acceleration information, and the direction information.
  • the spatial information generator 206 may generate spatial information by performing a drawing operation for building an indoor map using scan information, acceleration information, and direction information.
  • the spatial information may be generated in the form of an image representing the outline.
  • the spatial information generator 206 may determine whether an object corresponding to the current point in the target facility is a fixed object by combining scan information, direction information, and acceleration information. In other words, the spatial information generator 206 may determine whether or not the point at which the scan information is collected is fixed based on the direction information and the acceleration information collected at the point at which the scan information is collected.
  • the spatial information generating unit 206 may continuously connect with the point where the drawing operation was performed immediately before and perform the drawing operation. For example, when the drawing of the corridor wall inside the target facility is performed, the spatial information generator 206 may continuously draw the corridor wall.
  • the spatial information generating unit 206 may perform a drawing operation using an autocad or the like, and the drawing operation may have a contour in which points and fixed objects fixedly positioned inside the target facility are connected.
  • the spatial information generator 206 may cut, synthesize, or filter the target facility sections at a plurality of predetermined reference heights.
  • the reference height may be determined by various heights such as 30 cm, 50 cm, 1 m, and the like. Then, the spatial information generating unit 206 may check that the protrusion at the waist height, the protrusion at the ankle height, the flower bed at the ankle height, and the like through filtering.
  • the spatial information generator 206 may perform drawing operations such as displaying or omitting the verification result in the passage.
  • the spatial information generator 206 may receive the direction information and the acceleration information collected by the acceleration information generator 202 in real time as the moving means moves. Accordingly, the spatial information generator 206 may correct an error generated when the spatial information is generated based on the direction information and the acceleration information received in real time. In other words, as described above, when the 3D laser scanner is mounted on a baby carriage or the like to move and scan the inside of the target facility, the spatial information generator 206 may correct an error occurring during the drawing operation due to the slight shaking caused by the movement. Can be.
  • the 3D laser scanner may scan the inside of the target facility while moving in a slight swing from side to side without moving in a straight line during movement. Then, the conductive wall surface can be expressed bent or curved.
  • the spatial information generator 206 may determine whether the current position of the spatial information generator 206 has moved slightly left and right based on the direction information included in the acceleration information.
  • the spatial information generator 206 may reflect the determined movement distance during the drawing operation, thereby correcting the drawing error due to the slight shaking or movement.
  • the spatial information generator 206 may correct the error based on the acceleration information and the direction information by using the ROS driven to construct the indoor map.
  • the indoor map building unit 207 may construct an indoor map for each point in the target facility by mapping spatial information and image information.
  • the indoor map building unit 207 displays the surrounding image corresponding to each point inside the selected target facility by using the location-image mapping plug-in, and the attribute information of each point based on the image information of each point displayed. Can be obtained automatically.
  • the indoor map building unit 207 uses the location-image mapping plug-in to identify the two-dimensional map such as sign information, phone number, address, door design, etc. of each point located inside the target facility from the image information. Difficult POI values can be obtained as attribute information of each point.
  • the indoor map building unit 207 maps the attribute information to the spatial information
  • the indoor map building unit 207 may construct an indoor map in which the attribute of each point is given to the outline of each point in the target facility.
  • the indoor map building unit 207 may check whether the drawing operation on the inside of the target facility is error using a predefined SQL function. At this time, the indoor map building unit 207 may check whether the drawing operation is an error for each floor of the target facility, or may check the error of the drawing operation at once for all the floors of the target facility.
  • the indoor map construction unit 207 may inspect the next floor by inspecting the next floor when the drawing work for one floor is completed. For example, the indoor map building unit 207 may receive an ID of a target building to be inspected and an ID of a floor to be inspected by executing a query statement previously stored in a database. Then, the indoor map building unit 207 may check whether the drawing operation on the floor of the building is error.
  • the indoor map building unit 207 may automatically correct the error of the drawing operation based on the attribute information and the image information of each point in the target facility.
  • the indoor map building unit 207 may build an indoor map including absolute coordinates through georeferencing.
  • the indoor map building unit 207 may construct an indoor map including absolute coordinates by mapping latitude and longitude of each point within the target facility to an indoor map to which the attribute of each point is given. .
  • An indoor map including these absolute coordinates may have the same coordinate system as the latitude / longitude based coordinate system of the map used in real life. Then, the indoor map building unit 207 may link the indoor map and the outdoor map including absolute coordinates.
  • the indoor map building apparatus 200 collects information in real time while moving inside the target facility, thereby reducing information collection time for building indoor maps.
  • the indoor map building apparatus 200 may build a faster and more accurate indoor map by performing the drawing operation and error correction for building the indoor map in real time using the collected information.
  • FIG 3 is an exemplary view showing the outline of the inside of the target facility for building an indoor map in an embodiment of the present invention.
  • the indoor map building apparatus 100 may collect information for building an indoor map in real time while moving inside the target facility.
  • the indoor map building apparatus 100 may perform a drawing operation that shows the outline of the inside of the target facility by combining the direction information, the acceleration information, and the scan information collected in real time.
  • the indoor map building device 100 may generate spatial information in an image form through the drawing operation and store the spatial information in a database (not shown).
  • FIGS. 4 is a flowchart illustrating an example of a method of constructing an indoor map according to an embodiment of the present invention.
  • the indoor map building method according to the present embodiment may be performed by the indoor map building apparatus described with reference to FIGS. 1 and 2.
  • the power supply unit 106 may supply power to each device mounted in the moving means 101 to construct an indoor map of the inside of the target facility.
  • the power supply unit 106 supplies power to the scan information collecting unit 102, the acceleration information collecting unit 103, and the image information collecting unit 104 so as to stably collect information for building an indoor map.
  • the power supply unit 106 may supply additional power to the mobile computing unit 105 to stably build an indoor map using information collected in real time.
  • each device mounted on the moving means may collect information for building an indoor map while moving inside the target facility together with the moving means.
  • the scan information collecting unit 102 may collect scan information as the inside of the target facility is scanned while moving inside the target facility. For example, as the scan information collecting unit 102 scans the inside of the target facility using the 3D laser scanner, the scan information collecting unit 102 may collect scan information about each point inside the target facility located within a 270 degree front 30m space.
  • the acceleration information collecting unit 103 may collect direction information and acceleration information while moving inside the target facility.
  • the acceleration information collecting unit 103 may collect direction information and acceleration information for each point at the time when the scan information collecting unit 102 scans the inside of the target facility by using the IMU sensor.
  • the image information collecting unit 104 may collect image information about each spot photographed while moving inside the target facility.
  • the image information collecting unit 104 may collect image information as the scan information collecting unit 102 photographs a scan point of the inside of the target facility by using the panoramic camera.
  • the image information may be used to obtain POI values for each point in the target facility, which is difficult to detect only by spatial information.
  • the image information may be used to obtain a telephone number, a branch, a business name, an address, and the like of each branch.
  • the obtained POI values may be used for a POI search service based on an indoor map.
  • the mobile computing unit 105 may build an indoor map by receiving information collected by the devices mounted on the vehicle by driving the indoor mapping program.
  • the mobile computing unit 105 may be mounted on the moving means and receive information for building an indoor map in real time while moving together as the moving means moves inside the target facility.
  • the mobile computing unit 105 may receive scan information, direction information, acceleration information, and image information in real time as the robot operating system is driven.
  • the mobile computing unit 105 may generate spatial information for each point in the target facility by combining scan information, direction information, and acceleration information.
  • the mobile computing unit 105 may perform a drawing operation that outlines the interior of the target facility by using an autocad that uses scan information, direction information, and acceleration information as input parameters. Subsequently, the mobile computing unit 105 may generate spatial information in the form of an image through a drawing operation. In addition, the mobile computing unit 105 may construct an indoor map in which attributes of each point are given to outlines inside the target facility by mapping image information to spatial information.
  • the mobile computing unit 105 uses a location-image mapping plug-in to display the surrounding image corresponding to each point inside the selected target facility, and the attribute information for each point based on the image information of each point displayed. Can be obtained automatically.
  • the mobile computing unit 105 uses a location-image mapping plug-in to identify POI values that are difficult to identify in two-dimensional maps such as sign information, phone numbers, addresses, door designs, etc. of each point located inside the target facility from the image information. These can be obtained as attribute information of each point.
  • the mobile computing unit 105 may check whether the drawing operation on the inside of the target facility is error by using a predefined SQL function. For example, the mobile computing unit 105 may check whether the drawing operation is error for each floor of the target facility, or may check the error of the drawing operation at once for all floors of the target facility. In this case, when the error of the drawing operation is confirmed through the inspection, the mobile computing unit 105 may automatically correct the error of the drawing operation based on the attribute information and the image information of each point in the target facility.
  • the mobile computing unit 105 may build an indoor map including absolute coordinates using georeferencing.
  • the mobile computing unit 10 may process the constructed indoor map into a service indoor map to provide a location-based service.
  • the mobile computing unit 105 may interwork with an outdoor map having the same coordinate system as the constructed indoor map.
  • the scan information, the direction information, the acceleration information, and the image information collection have been described in chronological order, which corresponds to an embodiment, and the collection order of the information for constructing the indoor map is collected at the same time, or any one is collected first. It is possible to change various implementations such as.
  • the image information, the direction information, and the acceleration information may be collected before the scan information and transmitted to the mobile computing unit, and the scan information and the image information may be collected before the direction information and the acceleration information and transmitted to the mobile computing unit. have.
  • FIG. 5 is a block diagram illustrating an internal configuration of an indoor map building device according to one embodiment of the present invention.
  • the indoor map building apparatus 500 may include a processor 510, a bus 520, a network interface 530, and a memory 540.
  • the memory 540 may include an operating system 541 and an indoor map building routine 542.
  • the processor 510 may include a spatial information generator 511 and an indoor map builder 512.
  • the processor 510 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations of the indoor map building apparatus 100.
  • the instructions may be provided to the processor 510 by the memory 540 or the network interface 530 and via the bus 520.
  • the processor 510 may be configured to execute program code for the spatial information generator 512 and the indoor map builder 512.
  • Such program code may be stored in a recording device such as memory 540.
  • the memory 540 is a computer-readable recording medium, and may include a permanent mass storage device such as random access memory (RAM), read only memory (ROM), and a disk drive.
  • the memory 540 may store program codes for the operating system 541 and the indoor map building routine 542.
  • These software components may be loaded from a computer readable recording medium separate from the memory 540 using a drive mechanism (not shown).
  • a separate computer-readable recording medium may include a computer-readable recording medium (not shown) such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, and the like.
  • the software components may be loaded into the memory 540 via the network interface 530 rather than a computer readable recording medium.
  • the bus 520 may enable communication and data transmission between components of the indoor map building apparatus 100.
  • the bus 520 may be configured using a high-speed serial bus, a parallel bus, a storage area network and / or other suitable communication technology.
  • the network interface 530 may be a computer hardware component for connecting the indoor map building device 100 to a computer network.
  • the network interface 530 may connect the indoor map building device 100 to a computer network through a wireless or wired connection.
  • the spatial information generator 511 and the indoor map builder 512 may be configured to construct an indoor map by using information collected from a sensor and a camera mounted on the moving means.
  • the spatial information generation unit 511 may generate the spatial information on the inside of the target facility by receiving in real time the scan information collected from the laser scanner mounted on the moving means, the direction information and the acceleration information collected from the IMU sensor. Can be. Then, the indoor map building unit 512 may construct an indoor map by mapping spatial information and image information.
  • the indoor map building unit 512 may construct an indoor map by mapping spatial information and image information.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
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  • Educational Technology (AREA)
  • Processing Or Creating Images (AREA)
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Abstract

Un dispositif pour établir une carte de l'intérieur d'une installation cible est divulgué. Le dispositif d'établissement d'une carte d'intérieur peut comprendre : une unité de collecte d'informations de balayage pour balayer l'intérieur d'une installation cible de l'intérieur de laquelle on souhaite établir une carte et pour recueillir des informations de balayage sur des endroits respectifs à l'intérieur de l'installation cible ; une unité de collecte d'informations d'accélération pour collecter des informations d'accélération et des informations de direction sur les endroits respectifs ; une unité de collecte d'informations d'image pour collecter des informations d'image sur les endroits respectifs ; et une unité de calcul mobile pour l'établissement de la carte de l'intérieur de l'installation cible sur la base des informations de balayage, des informations de direction, des informations d'accélération, et des informations d'image.
PCT/KR2015/007037 2014-09-02 2015-07-08 Dispositif pour l'établissement de carte d'intérieur WO2016035992A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2017600076U JP3211823U (ja) 2014-09-02 2015-07-08 屋内地図構築装置

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KR2020140006496U KR200488998Y1 (ko) 2014-09-02 2014-09-02 실내 지도 구축 장치
KR20-2014-0006496 2014-09-02

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WO2016035992A1 true WO2016035992A1 (fr) 2016-03-10

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CN110426713A (zh) * 2019-09-04 2019-11-08 云南电网有限责任公司昆明供电局 一种手推车式三维激光扫描地图装置
CN116164744A (zh) * 2021-11-24 2023-05-26 北京大学 一种室内平面图构建方法、系统、存储介质及计算设备

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KR101982822B1 (ko) * 2017-04-06 2019-05-29 명지대학교 산학협력단 멀티센서 기반의 웨어러블 실내공간정보 구축시스템

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