CN116977582B - Road 3D model generation method and device based on GPS data - Google Patents
Road 3D model generation method and device based on GPS data Download PDFInfo
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Abstract
The invention provides a road 3D model generation method based on GPS data, which comprises the following steps: acquiring first position information of a plurality of first positions on a road acquired by a vehicle-mounted GPS; obtaining first position information of a plurality of second positions after processing; processing the first position information of the first position and the second position to obtain a plurality of road sections; each road segment includes at least one of a first location and a second location; processing the first position information of each road section to obtain second position information; the second position information is position information in a second coordinate system; defining a spline curve component; binding a spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an Actor; defining spline curve grid components in the grid updating function, and binding the spline curve grid components to the spline curve components; and importing the second position information into the spline curve component to generate a three-dimensional road model.
Description
Technical Field
The invention relates to the field of data processing, in particular to a road 3D model generation method and device based on GPS data.
Background
Currently, three schemes are commonly available for using real urban road scenes for automatic driving simulation and digital twinning. The first is to perform high-precision map data acquisition by using a data acquisition vehicle and then perform modeling independently. And the second is to use open source osm open source map data to quickly build a white model map in cooperation with a script program. The third is to manually model with related software (e.g. blender, UE 4) on the basis of a small amount of critical location data.
In the existing three schemes, low-cost and rapid modeling of scenes with relatively remote positions and high flexibility cannot be realized. The scheme of collecting the high-precision map by oneself is high in cost due to the fact that a collection vehicle with high collection precision is needed, and modification is difficult to carry out when the condition of a road occurs. The scheme using the open source map has high requirements on open source data, and often has poor data quality in remote areas and is difficult to expand, so that the scheme cannot be used in relatively remote areas. The manual modeling method is very tedious, and is difficult to model a large number of roads, and can only be used for a simple test scene.
Disclosure of Invention
The embodiment of the invention aims to provide a road 3D model generation method and device based on GPS data, so as to solve the problems in the prior art.
In a first aspect, the present invention provides a road 3D model generating method based on GPS data, the method comprising:
acquiring first position information of a plurality of first positions on a road acquired by a vehicle-mounted GPS;
processing the first position information to obtain first position information of a plurality of second positions; the second position is different from the first position; the first position information is position information in a first coordinate system;
processing the first position information of the first position and the second position to obtain a plurality of road sections; each road segment includes at least one of a first location and a second location;
processing the first position information of each road section to obtain second position information; the second position information is position information in a second coordinate system;
defining a spline curve component; binding the spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an Actor; defining spline curve grid body components in the grid body updating function, and binding the spline curve grid body components to the spline curve components;
and importing the second position information into a spline curve component to generate a three-dimensional road model.
In one possible implementation, first location information of a plurality of first locations on a road collected by a vehicle-mounted GPS is obtained;
processing the first position information to obtain first position information of a plurality of second positions; the second position is different from the first position; the first position information is position information in a first coordinate system;
processing the first position information of the first position and the second position to obtain a plurality of road sections; each road segment includes at least one of a first location and a second location;
processing the first position information of each road section to obtain second position information; the second position information is position information in a second coordinate system;
defining a spline curve component; binding the spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an Actor; defining spline curve grid body components in the grid body updating function, and binding the spline curve grid body components to the spline curve components;
importing the second position information into a spline curve assembly to generate a three-dimensional road model, and processing the first position information to obtain first position information of a plurality of second positions specifically comprises:
when the distance between two adjacent first positions is larger than a preset distance threshold value, calling a map interface to perform first supplement on the road points between the two adjacent first positions;
when the number of the road points between the two adjacent first positions is smaller than a preset threshold after the first supplement, performing the second supplement through the two adjacent first positions and the road points after the first supplement; the positions of the first supplementary road points and the second supplementary road points are second positions.
In one possible implementation manner, the processing the first location information of the first location and the second location to obtain a plurality of road segments specifically includes:
dividing the road to obtain a plurality of road sections; each link includes a link ID, a link start coordinate, a link end coordinate, and an angle of the link.
In one possible implementation, the setting up a grid body and defining a grid body update function in an Actor; defining spline curve mesh components in the mesh update function, and binding the spline curve mesh components to the spline curve components specifically comprises:
setting a grid body as a cross section stretched along a spline curve;
defining a grid body updating function in an Actor, defining a spline curve grid body component in the grid body updating function, and spotting the spline curve grid body component on a spline curve component;
and generating a spline grid body between two points according to the data of the adjacent points in the spline curve.
In one possible implementation manner, the importing the second position information into a spline curve component, and generating the three-dimensional road model specifically includes:
obtaining second position information of a plurality of road segments on the road;
generating a road actor;
obtaining a spline curve component on the road actor;
storing the second position information into a spline curve component on the road actor;
and updating the spline curve grid body component to generate a three-dimensional road model.
In one possible implementation, the method further comprises thereafter:
determining a road point for generating a building and a road section where the road point is located from the second position information;
processing the road points to obtain distance data of the road points from the central line of the road and length, width and height data of the building;
storing the road points, the road sections where the road points are located, distance data and length, width and height data in a building model file;
and loading the building model file in a spline curve grid body component, and simulating to obtain a building around the road.
In a second aspect, the present invention provides a road 3D model generating apparatus based on GPS data, the apparatus comprising:
the acquisition module is used for acquiring first position information of a plurality of first positions on a road acquired by the vehicle-mounted GPS;
the first processing module is used for processing the first position information to obtain first position information of a plurality of second positions; the second position is different from the first position; the first position information is position information in a first coordinate system;
the second processing module is used for processing the first position information of the first position and the second position to obtain a plurality of road sections; each road segment includes at least one of a first location and a second location;
the third processing module is used for processing the first position information of each road section to obtain second position information; the second position information is position information in a second coordinate system;
the component processing module is used for defining a spline curve component; binding the spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an Actor; defining spline curve grid body components in the grid body updating function, and binding the spline curve grid body components to the spline curve components;
and the importing module is used for importing the second position information into the spline curve component to generate a three-dimensional road model.
In a third aspect, the present invention provides a computer server comprising: memory, processor, and transceiver;
the processor is used for being coupled with the memory, reading and executing the instructions in the memory to realize the road 3D model generating method based on the GPS data according to the first aspect;
the transceiver is coupled to the processor and is controlled by the processor to transmit and receive messages.
In a fourth aspect, the present invention provides a chip system, comprising a processor coupled to a memory, the memory storing program instructions, which when executed by the processor, implement the road 3D model generating method based on GPS data of any of the first aspects.
In a fifth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to perform the road 3D model generating method based on GPS data according to any one of the first aspects.
By applying the road 3d model generation method based on GPS data provided by the embodiment of the invention, a model can be constructed through the spline curve component and the grid body component, the acquired GPS data and the supplementary data are input into the model for modeling to obtain the three-dimensional road model, the modeling precision is improved, and the model can be quickly subjected to digital twin. Furthermore, the building around the road can be further simulated, so that the modeling accuracy is improved.
Drawings
FIG. 1 is a flowchart of a road 3D model generating method based on GPS data according to an embodiment of the present invention;
fig. 2 is a schematic representation of a road section according to a second embodiment of the present invention;
FIG. 3 is a spline point schematic;
FIG. 4 is a schematic diagram of a three-dimensional road model;
FIG. 5 is a schematic illustration of a building model;
fig. 6 is a schematic structural diagram of a road 3D model generating device based on GPS data according to a second embodiment of the present invention;
fig. 7 is a schematic diagram of a computer server according to a third embodiment of the present invention;
fig. 8 is a schematic diagram of a chip system according to a fourth embodiment of the present invention;
fig. 9 is a schematic structural diagram of a computer readable storage medium according to a fifth embodiment of the present invention.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
The first embodiment of the invention provides a road 3D model generation method based on GPS data, and an execution subject of the method is equipment, a terminal, a server and the like with operation capability. As shown in fig. 1, the present application includes the steps of:
step 110, acquiring first position information of a plurality of first positions on a road acquired by a vehicle-mounted GPS;
specifically, the first location may be a critical location, such as a turning point, a junction, etc., and thus be acquired in real time by the GPS to be more accurate. The first location information is a location of a first coordinate system, which may be a GPS coordinate system.
Step 120, processing the first position information to obtain first position information of a plurality of second positions; the second position is different from the first position; the first position information is position information in a first coordinate system;
specifically, because of the limitation of GPS acquisition, scenes such as lane changing will occur in the running of the vehicle, the first position data of the first position of the GPS is often more "tortuous" than the real road, that is, the road formed by the adjacent first position data is more tortuous, so that the existing map data is used for the first supplement, if after the first supplement, the road points on the road are too sparse, and when the number of road points is not satisfied, the second supplement can be performed, and the step 120 includes two supplements, where the two supplements are specifically:
when the distance between two adjacent first positions is larger than a preset distance threshold value, calling a map interface to perform first supplement on the road points between the two adjacent first positions;
when the number of the road points between the two adjacent first positions is smaller than a preset threshold after the first supplement, performing the second supplement through the two adjacent first positions and the road points after the first supplement; the positions of the first supplementary road points and the second supplementary road points are second positions.
The map interface is a call port through which a webpage map or an APP map can be called, so that the first position is supplemented. When the number of road points still does not meet the requirement after the map interface is called, interpolation and division supplement can be carried out to obtain more positions.
Step 130, processing the first position information of the first position and the second position to obtain a plurality of road segments; each road segment includes at least one of a first location and a second location;
specifically, the road is divided to obtain a plurality of road sections; each link includes a link ID, a link start coordinate, a link end coordinate, and an angle of the link.
A complete road is divided into a plurality of road sections, and each road section is a line section and consists of a starting point and a finishing point. Referring to fig. 2, the road_id is a road section id; lon and lat are the longitude and latitude of the road section starting point respectively; lon_next and lat_next are the longitude and latitude of the road section end point respectively; dir is the angle from the start point to the end point of the road section; the road_id_next is a road_id of a road section connected to the present road section. The angle may be an included angle between a line segment from a start point to an end point of the road segment and the positive direction of the x-axis in a first coordinate system in which the positive east is the positive direction of the x-axis and the positive north is the positive direction of the y-axis. Wherein the positive x-axis direction is 0 degrees and the angle increases with the counter-clockwise direction.
Step 140, processing the first position information of each road section to obtain second position information; the second position information is position information in a second coordinate system;
the processing here is coordinate conversion, that is, converting first position information of a first coordinate system into second position information of a second coordinate system. The first coordinate system may be a GPS coordinate system and the second coordinate system may be an ink-card-holder coordinate system.
Step 150, defining a spline curve component; binding the spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an actor; defining spline curve grid body components in the grid body updating function, and binding the spline curve grid body components to the spline curve components;
the spline curve grid body component generates a grid body through spline curves with only two spline points. The spline curve grid body component functions to repeatedly generate along spline curves to achieve model generation, similar to the function of "lofting" in three-dimensional modeling software. The definition in spline curve components, i.e., the definition in c++, is an example of defining a class of spline curve grid body components. The purpose of the update function is to call the api of ue4 to cause the actor to update to automatically generate the model after obtaining new spline point data. The mesh body component is updated, namely a model is generated according to the newly obtained data, and the underlying principle is to generate a plurality of triangular single-sided mesh bodies (the operation of ue4 underlying api).
Referring to fig. 3, the spline curve component generates a mesh volume from a spline curve having a number of spline points. The spline curve component has two functions, one is to calculate angles according to coordinates, and the other is to generate a model according to spline curves.
In the application, the spline curve component can generate a curve according to the positions of a plurality of points, and the curve can pass through all the points and set the tangential direction of the spline points. After spline curve generation is completed, a spline curve grid body component can be used for generating a grid body through two adjacent points in a plurality of spline points, a tangential direction is calculated by using the spline curve component, and then the spline curve grid body component is used for generating the grid body. The function of the spline curve component is described by a plurality of points, and the function is applied in step 160 as soon as possible, that is, the plurality of position points are input into an actor in step 160 to generate a three-dimensional model.
Setting a grid body and defining a grid body updating function in an actor; defining spline curve mesh components in the mesh update function, and binding the spline curve mesh components to the spline curve components specifically comprises:
setting a grid body as a cross section stretched along a spline curve;
defining a grid body updating function in an actor, defining a spline curve grid body component in the grid body updating function, and spotting the spline curve grid body component on a spline curve component;
and generating a spline grid body between two points according to the data of the adjacent points in the spline curve.
And step 160, importing the second position information into a spline curve component to generate a three-dimensional road model.
Wherein step 160 comprises: obtaining second position information of a plurality of road segments on the road;
generating a road actor;
obtaining a spline curve component on the road actor;
storing the second position information into a spline curve component on the road actor;
updating the spline curve grid body component to generate a three-dimensional road model, and the generated three-dimensional road model is shown in fig. 4. The road actor is the actor defined before, here, the position data is imported, and the function is called, so that the actor generates a 3d model.
Further, step 160 may further include:
determining a road point for generating a building and a road section where the road point is located from the second position information;
processing the road points to obtain distance data of the road points from the central line of the road and length, width and height data of the building;
storing the road points, the road sections where the road points are located, distance data and length, width and height data in a building model file;
and loading the building model file in a spline curve grid body component, and simulating to obtain a building around the road.
Referring to fig. 5, buildings around the road can be obtained to better simulate the road.
Further, when digital twinning is performed, the actor in the steps 110-160 may be exported to perform twinning, so that the 3d model of the road may be obtained by twinning on other servers, so that the road model may be obtained quickly, and the related program does not need to be run again to generate the road model.
By applying the road 3d model generation method based on GPS data provided by the embodiment of the invention, a model can be constructed through the spline curve component and the grid body component, the acquired GPS data and the supplementary data are input into the model for modeling to obtain the three-dimensional road model, the modeling precision is improved, and the model can be quickly subjected to digital twin. Furthermore, the building around the road can be further simulated, so that the modeling accuracy is improved.
Example two
The second embodiment of the present invention provides a road 3d model generating device based on GPS data, as shown in fig. 6, including: the system comprises an acquisition module 610, a first processing module 620, a second processing module 630, a third processing module 640, a component processing module 650 and an importing module 660.
The acquiring module 610 is configured to acquire first location information of a plurality of first locations on a road acquired by a vehicle-mounted GPS;
the first processing module 620 is configured to process the first location information to obtain first location information of a plurality of second locations; the second position is different from the first position; the first position information is position information in a first coordinate system;
the second processing module 630 is configured to process the first position information of the first position and the second position to obtain a plurality of road segments; each road segment includes at least one of a first location and a second location;
the third processing module 640 is configured to process the first location information of each road segment to obtain second location information; the second position information is position information in a second coordinate system;
the component processing module 650 is configured to define a spline curve component; binding the spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an Actor; defining spline curve grid body components in the grid body updating function, and binding the spline curve grid body components to the spline curve components;
the importing module 660 is configured to import the second location information into a spline curve component to generate a three-dimensional road model.
The device provided in the second embodiment of the present invention may perform the method steps in the first embodiment of the method, and its implementation principle and technical effects are similar, and are not described herein again.
It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the determining module may be a processing element that is set up separately, may be implemented in a chip of the above apparatus, or may be stored in a memory of the above apparatus in the form of program code, and may be called by a processing element of the above apparatus and execute the functions of the determining module. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element described herein may be an integrated circuit having signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.
For example, the modules above may be one or more integrated circuits configured to implement the methods above, such as: one or more specific integrated circuits (Application Specific Integrated Circuit, ASIC), or one or more microprocessors (Digital Signal Processor, DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, FPGA), or the like. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a System-on-a-chip (SOC).
In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces, in whole or in part, the procedures or functions described in accordance with embodiments of the present application. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wired (e.g., coaxial cable, fiber optic, digital subscriber line ((Digital Subscriber Line, DSL)), or wireless (e.g., infrared, wireless, bluetooth, microwave, etc.) means, the computer-readable storage medium may be any available medium that can be accessed by the computer or a data storage device such as a server, data center, etc., that contains an integration of one or more available media, the available media may be magnetic media (e.g., floppy disk, hard disk, tape), optical media (e.g., DVD), or semiconductor media (e.g., solid state disk, SSD), etc.
Example III
An embodiment of the present invention provides a computer server, as shown in fig. 7, including: memory, processor, and transceiver;
the processor is used for coupling with the memory, reading and executing the instructions in the memory to realize any road 3D model generating method based on GPS data provided by the first embodiment;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
Example IV
The fourth embodiment of the present invention provides a chip system, as shown in fig. 8, including a processor, where the processor is coupled to a memory, and the memory stores program instructions, and when the program instructions stored in the memory are executed by the processor, any one of the road 3D model generating methods based on GPS data provided in the first embodiment is implemented.
Example five
A fifth embodiment of the present invention provides a computer readable storage medium, as shown in fig. 9, including a program or instructions, which when executed on a computer, implement any one of the road 3D model generating methods based on GPS data as provided in the first embodiment.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of function in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the invention is not limited to the particular embodiments disclosed, but is intended to cover all modifications, equivalents, alternatives, and improvements within the spirit and principles of the invention.
Claims (9)
1. A road 3D model generation method based on GPS data, the method comprising:
acquiring first position information of a plurality of first positions on a road acquired by a vehicle-mounted GPS; the first position information is position information in a first coordinate system;
processing the first position information to obtain first position information of a plurality of second positions; the first position is a key position and comprises a turning part and a turnout; the second position is different from the first position;
processing the first position information of the first position and the second position to obtain a plurality of road sections; each road segment includes at least one of a first location and a second location;
processing the first position information of each road section to obtain second position information; the second position information is position information in a second coordinate system;
defining a spline curve component; binding the spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an Actor; defining spline curve grid body components in the grid body updating function, and binding the spline curve grid body components to the spline curve components;
importing the second position information into a spline curve assembly to generate a three-dimensional road model;
the processing the first position information to obtain first position information of a plurality of second positions specifically includes:
when the distance between two adjacent first positions is larger than a preset distance threshold value, calling a map interface to perform first supplement on the road points between the two adjacent first positions;
when the number of the road points between the two adjacent first positions is smaller than a preset threshold after the first supplement, performing the second supplement through the two adjacent first positions and the road points after the first supplement; the positions of the first supplementary road points and the second supplementary road points are second positions.
2. The method of claim 1, wherein the processing the first location information of the first location and the second location to obtain the plurality of road segments specifically includes:
dividing the road to obtain a plurality of road sections; each link includes a link ID, a link start coordinate, a link end coordinate, and an angle of the link.
3. The method of claim 1, wherein the setting up of the mesh volume and defining mesh volume update functions in an Actor; defining spline curve mesh components in the mesh update function, and binding the spline curve mesh components to the spline curve components specifically comprises:
setting a grid body as a cross section stretched along a spline curve;
defining a grid body updating function in an Actor, defining a spline curve grid body component in the grid body updating function, and binding the spline curve grid body component on a spline curve component;
and generating a spline grid body between two points according to the data of the adjacent points in the spline curve.
4. The method according to claim 1, wherein the importing the second location information into a spline curve component, generating a three-dimensional road model specifically comprises:
obtaining second position information of a plurality of road segments on the road;
generating a road actor;
obtaining a spline curve component on the road actor;
storing the second position information into a spline curve component on the road actor;
and updating the spline curve grid body component to generate a three-dimensional road model.
5. The method according to claim 1, characterized in that the method further comprises after that:
determining a road point for generating a building and a road section where the road point is located from the second position information;
processing the road points to obtain distance data of the road points from the central line of the road and length, width and height data of the building;
storing the road points, the road sections where the road points are located, distance data and length, width and height data in a building model file;
and loading the building model file in a spline curve grid body component, and simulating to obtain a building around the road.
6. A road 3D model generating device based on GPS data, the device comprising:
the acquisition module is used for acquiring first position information of a plurality of first positions on a road acquired by the vehicle-mounted GPS; the first position information is position information in a first coordinate system;
the first processing module is used for processing the first position information to obtain first position information of a plurality of second positions; the first position is a key position and comprises a turning part and a turnout; the second position is different from the first position;
the second processing module is used for processing the first position information of the first position and the second position to obtain a plurality of road sections; each road segment includes at least one of a first location and a second location;
the third processing module is used for processing the first position information of each road section to obtain second position information; the second position information is position information in a second coordinate system;
the component processing module is used for defining a spline curve component; binding the spline curve component to a root component of an Actor; setting a grid body and defining a grid body updating function in an Actor; defining spline curve grid body components in the grid body updating function, and binding the spline curve grid body components to the spline curve components;
the importing module is used for importing the second position information into a spline curve assembly to generate a three-dimensional road model;
the first processing module processes the first position information to obtain first position information of a plurality of second positions, wherein the first position information specifically includes:
when the distance between two adjacent first positions is larger than a preset distance threshold value, calling a map interface to perform first supplement on the road points between the two adjacent first positions;
when the number of the road points between the two adjacent first positions is smaller than a preset threshold after the first supplement, performing the second supplement through the two adjacent first positions and the road points after the first supplement; the positions of the first supplementary road points and the second supplementary road points are second positions.
7. A computer server, comprising: memory, processor, and transceiver;
the processor is coupled with the memory, reads and executes the instructions in the memory to implement the road 3D model generating method based on GPS data according to any of claims 1-5;
the transceiver is coupled to the processor and is controlled by the processor to transmit and receive messages.
8. A system on a chip comprising a processor coupled to a memory, the memory storing program instructions that when executed by the processor implement the GPS data-based roadway 3D model generation method of any of claims 1-5.
9. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and the computer program is executed by a processor to perform the road 3D model generating method based on GPS data as set forth in any one of claims 1 to 5.
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