WO2013140567A1 - Dispositif de traitement de signe d'informations, procédé de traitement d'informations de signe et programme de traitement des informations de signe le signe programme de traitement d'informations - Google Patents

Dispositif de traitement de signe d'informations, procédé de traitement d'informations de signe et programme de traitement des informations de signe le signe programme de traitement d'informations Download PDF

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Publication number
WO2013140567A1
WO2013140567A1 PCT/JP2012/057314 JP2012057314W WO2013140567A1 WO 2013140567 A1 WO2013140567 A1 WO 2013140567A1 JP 2012057314 W JP2012057314 W JP 2012057314W WO 2013140567 A1 WO2013140567 A1 WO 2013140567A1
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WO
WIPO (PCT)
Prior art keywords
sign
information
registered
sign information
new
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PCT/JP2012/057314
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English (en)
Japanese (ja)
Inventor
康博 関島
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パイオニア株式会社
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Publication date
Application filed by パイオニア株式会社 filed Critical パイオニア株式会社
Priority to PCT/JP2012/057314 priority Critical patent/WO2013140567A1/fr
Publication of WO2013140567A1 publication Critical patent/WO2013140567A1/fr

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    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3602—Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera

Definitions

  • the present invention relates to a technique for generating sign information using an image taken while a mobile object is traveling.
  • Japanese Patent Application Laid-Open No. 2004-133826 describes a method of taking a road sign with a camera mounted on a field investigation vehicle and storing information such as the position thereof.
  • Japanese Patent Application Laid-Open No. 2004-228561 describes a method of displaying an image of a traveling direction of a vehicle photographed during traveling, recognizing a traffic sign from the photographed image, and displaying the traffic sign in the traveling direction image.
  • the road signs are basically recognized each time a road sign is recognized. Data about is created. Therefore, for example, on a road where a user passes every day by commuting, data on the road sign is created every time it passes, but due to a difference in timing for recognizing the road sign, the same road sign is actually It may be recognized as a road sign at a different point and stored redundantly.
  • the present invention provides a method for generating and processing road sign information that does not register the same road sign redundantly or automatically re-registers a sign that is deleted as unnecessary by the user. With the goal.
  • the invention according to claim 1 is a sign information processing apparatus, a sign recognition means for recognizing a sign included in an image photographed by the photographing means, and position information of the sign spot where the sign is recognized And a road type and sign information generating means for generating sign information including the traveling direction of the moving object when the sign is recognized, a registration means for registering the sign information in a storage unit, and the sign information generating means When the new sign information is generated, the sign point of the new sign information and the sign point of the registered sign information registered in the storage unit are within a predetermined distance, and the A duplication determination means for determining that the new sign information and the registered sign information overlap when the direction of travel and the road type of the new sign information and the registered sign information are the same. Registration means, the new label information and the registered label information when it is determined that the overlap, and performs update processing of the label information.
  • the invention according to claim 8 is a sign information processing method executed by the sign information generation apparatus, wherein a sign recognition step for recognizing a sign contained in an image photographed by a photographing means, and the sign is recognized A sign information generation step for generating sign information including the position information and road type of the sign point, which is a point, and the traveling direction of the moving object when the sign is recognized, and registration for registering the sign information in the storage unit And when the sign information generating step generates new sign information, the sign point of the new sign information and the sign point of the registered sign information registered in the storage unit are predetermined. If the new sign information and the registered sign information have the same traveling direction and road type, the new sign information and the registered sign information are determined to overlap. Comprising a duplication judgment step of, wherein the registration process, the new label information and the registered label information when it is determined that the overlap, and performs update processing of the label information.
  • the invention according to claim 9 is a sign information processing program executed by an apparatus including a computer and a storage unit, the sign recognition means for recognizing a sign included in an image photographed by the photographing means, and the sign
  • the sign information generating means for generating the sign information including the position information and road type of the sign point that is the point where the sign is recognized, and the traveling direction of the moving object when the sign is recognized, and the sign information
  • the sign information generating means When the sign information generating means generates new sign information, a sign point of the new sign information and a sign point of the registered sign information registered in the storage unit are registered.
  • the new sign information and the registered sign information have the same traveling direction and road type within a predetermined distance
  • the new sign information and the new sign information The computer is caused to function as an overlap determination unit that determines that recorded marker information overlaps, and the registration unit updates the marker information when it is determined that the new marker information and the registered marker information overlap. It is characterized by performing processing.
  • the invention according to claim 11 is a sign information processing apparatus, a sign recognition means for recognizing a sign included in an image photographed by the photographing means, a registration means for additionally registering information relating to the sign in a storage unit, Control means for preventing information related to the sign from being additionally registered in the storage section when the sign recognized by the sign recognition means is the same sign at the same point as the sign already registered in the storage section; It is characterized by having.
  • the invention according to claim 12 is a sign information processing method, a sign recognition process for recognizing a sign contained in an image photographed by a photographing means, and a registration process for additionally registering information related to the sign in a storage unit;
  • a control step that prevents additional registration of information on the sign in the storage unit when the sign recognized in the sign recognition step is the same sign at the same point as the sign already registered in the storage unit; It is characterized by having.
  • the sign information processing apparatus includes a sign recognition means for recognizing a sign included in an image photographed by the photographing means, position information of a sign spot that is a spot where the sign is recognized, and a road.
  • a label information generating means for generating the label information including the type and the traveling direction of the moving object when the sign is recognized, a registration means for registering the sign information in the storage unit, and the sign information generating means are newly provided.
  • the new marker information is generated, the marker location of the new marker information and the marker location of the registered marker information registered in the storage unit are within a predetermined distance, and the new marker information is registered.
  • the duplication determination means for judging that the new sign information and the registered sign information overlap
  • Recording means when the new label information and the registered sign information is determined to overlap, it performs update processing of the label information. This prevents new sign information from being registered in duplicate.
  • the sign information processing apparatus recognizes the sign from the captured image obtained while the mobile object is traveling, generates sign information including the position information of the sign point, the road type, and the traveling direction, and registers the sign information in the storage unit.
  • sign information When new sign information is generated, it is determined whether or not there is registered sign information that overlaps with the new sign information.
  • sign information update processing is performed.
  • the sign information includes an accuracy indicating the probability of the recognized sign
  • the registration unit is configured such that the accuracy of the new sign information is greater than or equal to the accuracy of the registered sign information. If so, the sign information is updated by registering the new sign information. In this aspect, the marker information with the higher probability of the recognized marker is registered.
  • the sign information includes a display setting value indicating whether or not to display an image of the sign when the moving body approaches the sign point
  • the registration unit includes the new sign information. Is registered, the set value of the registered sign information is maintained for the display set value. Thereby, even when the sign information is updated, the display setting value set by the user is maintained at the previous setting value.
  • the sign information includes a sound effect setting value indicating whether or not to output a sound effect that notifies the presence of the sign when the mobile object approaches the sign point, and the registration information
  • the means maintains the set value of the registered sign information for the sound effect set value even when registering the new sign information. Thereby, even when the sign information is updated, the set value up to that point is maintained for the sound effect set value set by the user.
  • the sign information includes an access date and time indicating the latest date and time when the sign information is accessed, and the registration unit includes the accuracy of the new sign information. Is less than the accuracy of the registered sign information, the access date and time is updated with the access date and time of the new sign information. In this aspect, even when new sign information is not employed, it is difficult to delete the sign information by updating the access date and time.
  • the sign information includes a display setting value indicating whether or not to display an image of the sign when the moving object approaches the sign point, and the sign information.
  • the sign information includes a sound effect setting that indicates whether or not to output a sound effect that notifies the presence of the sign when the moving object approaches the sign point. Value and an access date and time indicating the latest date and time when the sign information is accessed, and the storage unit can register a predetermined number of sign information that can be registered, and the registration means Is a sound effect setting that indicates that the sound effect is to be output when the registered sign information of the number that can be registered is already registered in the storage unit when the sign information generating means generates new sign information. Of the registered sign information excluding the sign information having a value, the oldest access date is deleted, and the new sign information is registered.
  • the number of sign information that can be registered is already registered, and the sign information for which the user has set the sound effect setting to ON is not deleted even when the sign information with the old access date / time is deleted. This prevents the sign information used by the user from being deleted.
  • a sign information processing method executed by the sign information generating apparatus includes a sign recognition step for recognizing a sign included in an image photographed by a photographing means, and the sign is recognized.
  • a sign information generation step for generating sign information including the position information and road type of the sign point, which is a point, and the traveling direction of the moving object when the sign is recognized, and registration for registering the sign information in the storage unit
  • the sign information generating step generates new sign information
  • the sign point of the new sign information and the sign point of the registered sign information registered in the storage unit are predetermined. It is determined that the new sign information and the sign information overlap if they are within a distance and the new sign information and the registered sign information have the same traveling direction and road type.
  • Comprises a duplication determination step said registration step, when the new label information and the registered sign information is determined to overlap, performs update processing of the label information. This prevents new sign information from being registered in duplicate.
  • a sign information processing program executed by an apparatus including a computer and a storage unit includes a sign recognition unit that recognizes a sign included in an image photographed by a photographing unit, and the sign
  • the sign information generating means for generating the sign information including the position information and road type of the sign point that is the point where the sign is recognized, and the traveling direction of the moving object when the sign is recognized, and the sign information
  • the sign information generating means When the sign information generating means generates new sign information, a sign point of the new sign information and a sign point of the registered sign information registered in the storage unit are registered.
  • the new sign information and the registered sign information have the same traveling direction and road type within a predetermined distance
  • the computer is caused to function as an overlap determination unit that determines that registered marker information is duplicated, and the registration unit updates the marker information when it is determined that the new marker information and the registered marker information overlap.
  • This program can preferably be stored in a storage medium.
  • the sign information processing apparatus includes a sign recognition means for recognizing a sign included in an image photographed by the photographing means, and a registration means for additionally registering information related to the sign in a storage unit.
  • Control means for preventing information related to the sign from being additionally registered in the storage section when the sign recognized by the sign recognition means is the same sign at the same point as the sign already registered in the storage section; Have.
  • This sign information processing apparatus also prevents new sign information from being registered redundantly.
  • a sign information processing method includes a sign recognition process for recognizing a sign included in an image photographed by a photographing means, and a registration process for additionally registering information on the sign in a storage unit.
  • a control step that prevents additional registration of information on the sign in the storage unit when the sign recognized in the sign recognition step is the same sign at the same point as the sign already registered in the storage unit; Have.
  • This sign information processing method also prevents new sign information from being registered redundantly.
  • FIG. 1 shows the configuration of the navigation device 1.
  • the navigation device 1 includes a self-supporting positioning device 10, a GPS receiver 18, a system controller 20, a disk drive 31, a data storage unit 36, a communication interface 37, a communication device 38, a display unit 40, an audio output.
  • a unit 50, an input device 60, and a camera 90 are provided.
  • the self-supporting positioning device 10 includes an acceleration sensor 11, an angular velocity sensor 12, and a distance sensor 13.
  • the acceleration sensor 11 is made of, for example, a piezoelectric element, detects vehicle acceleration, and outputs acceleration data.
  • the angular velocity sensor 12 is composed of, for example, a vibrating gyroscope, detects the angular velocity of the vehicle when the direction of the vehicle is changed, and outputs angular velocity data and relative azimuth data.
  • the distance sensor 13 measures a vehicle speed pulse composed of a pulse signal generated with the rotation of the vehicle wheel.
  • the GPS receiver 18 receives radio waves 19 carrying downlink data including positioning data from a plurality of GPS satellites.
  • the positioning data is used to detect the absolute position of the vehicle (hereinafter also referred to as “current position”) from latitude and longitude information.
  • the system controller 20 includes an interface 21, a CPU (Central Processing Unit) 22, a ROM (Read Only Memory) 23, and a RAM (Random Access Memory) 24, and controls the entire navigation device 1.
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the interface 21 performs an interface operation with the acceleration sensor 11, the angular velocity sensor 12, the distance sensor 13, and the GPS receiver 18. From these, vehicle speed pulses, acceleration data, relative azimuth data, angular velocity data, GPS positioning data, absolute azimuth data, and the like are input to the system controller 20.
  • the CPU 22 controls the entire system controller 20.
  • the ROM 23 includes a nonvolatile memory (not shown) in which a control program for controlling the system controller 20 is stored.
  • the RAM 24 stores various data such as route data preset by the user via the input device 60 so as to be readable, and provides a working area to the CPU 22.
  • a system controller 20 a disk drive 31 such as a CD-ROM drive or a DVD-ROM drive, a data storage unit 36, a communication interface 37, a display unit 40, an audio output unit 50 and an input device 60 are mutually connected via a bus line 30. It is connected to the.
  • the disk drive 31 reads and outputs content data such as music data and video data from the disk 33 such as CD, DVD, Blu-ray Disk, etc. under the control of the system controller 20.
  • the data storage unit 36 is configured by, for example, an HDD or the like, and stores various data used for navigation processing such as map data.
  • the communication device 38 includes, for example, an FM tuner, a beacon receiver, a mobile phone, a dedicated communication card, and the like, and information distributed from a VICS (Vehicle Information Communication System) center (hereinafter referred to as “VICS information”). Is obtained from the radio wave 39.
  • VICS information Vehicle Information Communication System
  • the interface 37 performs an interface operation of the communication device 38 and inputs the VICS information to the system controller 20 or the like.
  • the display unit 40 displays various display data on a display device such as a display under the control of the system controller 20.
  • the system controller 20 reads map data from the data storage unit 36.
  • the display unit 40 displays the map data read from the data storage unit 36 by the system controller 20 on the display screen.
  • the display unit 40 includes a graphic controller 41 that controls the entire display unit 40 based on control data sent from the CPU 22 via the bus line 30 and a memory such as a VRAM (Video RAM), and can display image information that can be displayed immediately.
  • a buffer memory 42 that temporarily stores, a display control unit 43 that controls display of a display 44 such as a liquid crystal or a CRT (Cathode Ray Tube) based on image data output from the graphic controller 41, and a display 44 are provided.
  • the display 44 functions as an image display unit, and includes, for example, a liquid crystal display device having a diagonal size of about 5 to 10 inches and is mounted near the front panel in the vehicle.
  • the audio output unit 50 performs D / A (Digital to Analog) conversion of audio digital data sent from the CD-ROM drive 31, DVD-ROM 32, RAM 24, or the like via the bus line 30 under the control of the system controller 20.
  • a D / A converter 51 to perform an amplifier (AMP) 52 that amplifies the audio analog signal output from the D / A converter 51, and a speaker 53 that converts the amplified audio analog signal into sound and outputs the sound into the vehicle. It is prepared for.
  • AMP amplifier
  • the input device 60 includes keys, switches, buttons, a remote controller, a voice input device, and the like for inputting various commands and data.
  • the input device 60 is disposed around the front panel and the display 44 of the main body of the in-vehicle electronic system mounted in the vehicle.
  • the display 44 is a touch panel system
  • the touch panel provided on the display screen of the display 44 also functions as the input device 60.
  • the camera 90 is attached to a position where the front of the vehicle is photographed, and photographs the traveling direction while the vehicle is traveling.
  • An image taken by the camera 90 is sent to the system controller 20 via the bus 30.
  • the system controller 20 can transmit an image captured by the camera 90 to the display unit 40 and display it on the display 44. Thereby, the user can view the captured image in the traveling direction of the vehicle on the display 44.
  • FIG. 2 shows a functional configuration of a part that executes processing such as generation and registration of road sign information according to the present embodiment.
  • the system controller 20 includes a road sign recognition unit 71, a sign point data generation unit 72, a duplication determination unit 73, and a registration unit 74. These elements are realized by the CPU 22 of the system controller 20 executing a program prepared in advance.
  • the road sign recognition unit 71 recognizes a road sign in the image taken by the camera 90. Specifically, the road sign recognition unit 71 recognizes a road sign included in the captured image by pattern matching using various road sign templates prepared in advance. A sign ID is set in advance for each type of road sign, and the road sign recognition unit 71 determines the sign ID of the road sign recognized in the captured image. Further, the road sign recognition unit 71 extracts an image of the recognized road sign portion from the photographed image and outputs it as image data.
  • the sign point data generation unit 72 When the road sign recognition unit 71 recognizes a road sign included in the photographed image, the sign point data generation unit 72 generates sign point data for the road sign.
  • the sign point data is data including information of the recognized road sign and related information such as the point where the road sign is recognized and the date and time.
  • the sign point data corresponds to the road sign information of the present invention.
  • the sign point data includes sign ID, position information, shooting date / time, traveling direction, road type, neighborhood name, image data, accuracy, access date / time, display setting, and sound effect setting.
  • “Signal ID” is an ID indicating a road sign recognized in the captured image.
  • the sign ID of the recognized road sign is determined by the road sign recognition unit 71 as described above, and the sign point data generation unit 72 acquires the sign ID from the road sign recognition unit 71 and includes it in the sign point data.
  • “Position information” is position information of a point where the road sign is recognized, and is specifically indicated by latitude and longitude.
  • the point where the road sign is recognized is hereinafter referred to as a “sign point”.
  • the sign point basically indicates the position where the captured image including the road sign is captured, that is, the position of the vehicle when the captured image including the road sign is captured. Therefore, the sign point data generation unit 72 outputs the position information of the vehicle when the road sign recognition unit 71 takes a photographed image including the recognized road sign as an output from the autonomous positioning device 10 and / or the GPS receiver 18. Acquire based on the data and include it in the sign point data.
  • “Shooting date and time” indicates the date and time when the photographed image including the road sign was photographed.
  • the sign point data generation unit 72 acquires the shooting date and time of the road sign based on the time obtained based on the clock of the CPU 22 or the time information obtained from the GPS receiver 18 and includes it in the sign point data.
  • “Advancing direction” indicates the advancing direction of the vehicle when a captured image including a road sign is captured, and is specifically described by a direction or the like.
  • the system controller 20 always keeps track of the traveling direction of the vehicle based on the output from the autonomous positioning device 10 and / or the GPS receiver 18, and the sign point data generation unit 72 captures a photographed image including a road sign. The traveling direction of the vehicle is acquired and included in the sign point data.
  • “Road type” indicates whether the road on which the vehicle is traveling is a general road or an expressway. Since the system controller 20 knows which road the vehicle is driving by performing map matching processing using the map data, the sign point data generation unit 72 takes a photographed image including the road sign. It is determined whether the road on which the vehicle is traveling is a general road or a highway, and is included in the sign point data.
  • “Neighboring name” is a name schematically indicating a sign point, and a general area name, a municipality name, or the like is used.
  • the sign point data generation unit 72 refers to the map data stored in the data storage unit 36, determines a neighborhood name corresponding to the sign point, and includes it in the sign point data.
  • Image data is image data of a recognized road sign.
  • the road sign recognition unit 71 recognizes a road sign in the captured image
  • the road sign recognition unit 71 cuts out the road sign portion from the captured image.
  • the sign point data generation unit 72 acquires the image data from the road sign recognition unit 71 and includes it in the sign point data.
  • “Accuracy” indicates the accuracy of the recognized road sign.
  • the accuracy is indicated by a numerical value from 0 to 65535, for example. The smaller the numerical value, the higher the accuracy and the recognized road sign is likely.
  • the accuracy is determined based on the image sharpness of the recognized road sign image data. That is, the clearer the image data of the road sign, the higher the recognition accuracy of the road sign, and the higher the probability that the road sign included in the captured image is the road sign of the recognition result.
  • the accuracy may be determined based on factors other than the image sharpness. For example, when the recognition accuracy by pattern matching differs depending on the shape of the road sign design, the accuracy may be determined or corrected in consideration of that point.
  • “Access date / time” indicates the latest date / time when the sign point data was accessed. That is, the access date and time indicates the date and time when the sign point data was last used. When new sign point data is created, the access date / time is the date / time when the sign point data was created. Thereafter, when the sign point data is accessed for display or other purposes, the access date and time is updated. As will be described later, the access date and time is used when the sign point data is deleted when the storage capacity is full.
  • Display setting indicates whether or not an image of a road sign at a sign point is displayed on the display 44 while the vehicle is running.
  • the display setting is basically set for each sign point data by the user. The user sets the display setting of the sign point data to “ON” for the road sign to be displayed while traveling, and sets the display setting of the sign point data to “OFF” for the road sign not to be displayed.
  • Sound effect setting indicates whether or not to output a sound effect for notifying that there is a road sign nearby when the vehicle passes near the sign point.
  • the sound effect setting is basically set for each sign point data by the user. The user sets the sound effect setting of the sign point data “on” for the road sign for which the sound effect is to be output, and “off” the sound effect setting of the sign point data for the road sign for which the sound effect is not output. Set to.
  • the overlap determination unit 73 determines whether or not there is registered sign point data that overlaps with the sign point data.
  • the sign point data is stored in a storage unit such as the data storage unit 36, for example.
  • the duplication determination unit 73 determines that the already registered sign point data that satisfies the following three conditions is sign point data for the same road sign, that is, overlapping sign point data. This determination is hereinafter referred to as “duplication determination”.
  • A It exists within a predetermined distance (for example, 25 m) from the sign point of the newly generated sign point data.
  • the traveling direction is within a predetermined range.
  • the road type is the same.
  • the reason for targeting sign point data within a predetermined distance is that only road signs recognized at different points due to a difference in shooting timing by the camera 90 are the same road signs. This is because there is a possibility.
  • the condition (b) is that the traveling direction is within a predetermined range because the road signs installed are different when the traveling direction is different.
  • the condition (c) is that the road attributes are the same, in order to distinguish road signs separately arranged on two roads having different road types. For example, it is to prevent a road sign installed on a certain general road and another road sign installed on an expressway intersecting or parallel to the general road from being determined as the same road sign. However, when a plurality of roads do not pass through the same point and one road can be determined, it is not necessary to determine the road type.
  • the registration unit 74 registers the sign point data in a storage unit such as the data storage unit 36. At this time, if the duplication determination unit 73 determines that there is registered sign point data that overlaps with the new sign point data, the registration unit 74 determines that the new sign point data is based on the accuracy of the sign point data. Whether to overwrite or keep the registered sign point data. That is, when there is new tagging point data and registered tagging point data determined to overlap with the new tagging point data, the registration unit 74 compares the accuracy of both and validates the tagging point data with the higher accuracy.
  • the registration unit 74 adopts the new sign point data and overwrites the registered sign point data with it. .
  • the registration unit 74 maintains the registered sign point data. Thereby, when overlapping sign point data is obtained, the sign point data with high accuracy can always be validated and held in the storage unit.
  • the display setting and sound effect settings are It is preferable to take over the contents. That is, it is preferable to maintain the contents of the registered sign point data for the display setting and the sound effect setting and register the contents of the new sign point data for other than these. This is because the display setting and sound effect setting are set by the user himself / herself, and it is preferable that the contents set by the user continue to be valid even when new sign point data is obtained. It is.
  • the access date / time should be updated to the access date / time of the new tagging point data. Is preferred. The reason for this is that, as will be described later, when the number of registered sign point data exceeds the number that can be stored, the registered sign point data is deleted from the oldest access date and time, so a new sign point This is because the sign point where the data is generated is made difficult to be deleted by updating the access date and time.
  • FIG. 4A shows an example of displaying road sign image data at a sign point.
  • a map is displayed on the display screen 80 of the display 44, and a vehicle current position mark 81 is displayed on the map.
  • road sign image data 82 is displayed on the map.
  • the image data 82 is image data included in the sign point data as shown in FIG. If there is another sign point in the area displayed on the display screen 80, a mark point mark 83 is displayed at a corresponding position.
  • road sign image data 82 is displayed on the map image. Instead, an image of the traveling direction photographed by the camera 90 is displayed on the display 44, Alternatively, the road sign image data 82 may be displayed in an overlapping manner.
  • FIG. 4B shows an example in which a plurality of sign points are displayed as a list.
  • road signs installed on the roads are recognized, and corresponding sign point data is generated and stored in the storage unit.
  • the user can perform display setting and sound effect setting for each sign point data.
  • a list including a plurality of sign points is displayed in the left area 80a of the display screen 80 as shown in FIG. Is done.
  • the display name of each sign point in the list the neighborhood name in the sign point data is used.
  • the road sign image data 85 at each sign point is displayed in a reduced size.
  • FIG. 4B shows an example in which a plurality of sign points are displayed as a list.
  • a sign point “near Kawagoe” is being selected, and a map near the sign point is displayed in the right area 80b of the display screen 80, and a road sign mark 83 is displayed at the corresponding position. Is displayed. If necessary, the direction of travel when the sign is recognized is indicated by an arrow 86.
  • an edit button 87 is pressed while a specific road sign in the list is selected, an edit window (not shown) is displayed, and the user turns display setting on / off, sound effect setting, etc. for the sign point data. Can be set.
  • the display of each sign point in the list may be the road name of the road of the photographed point in addition to the neighborhood name.
  • FIGS. 5 to 7 are flowcharts of the registration process of the sign point data. This process is realized by the CPU 22 of the system controller 20 executing a program prepared in advance and operating as each element shown in FIG.
  • the camera 90 captures an image in the traveling direction while the vehicle is traveling, and the road sign recognition unit 71 of the system controller 20 recognizes the road sign in the captured image.
  • the sign point data generation unit 72 generates sign point data (step S10).
  • the registration unit 74 sorts the registered sign point data in ascending order from the position of the new sign point data generated in step S10 (step S11), and first selects the nearest registered sign point data. (Step S12).
  • the duplication determination unit 73 performs duplication determination on the new sign point data generated in step S10. That is, the duplication determination unit 73 calculates the distance to the nearest of the registered sign point data selected in step S12 (step S13), and whether the distance is within a predetermined distance (radius 25m). Is determined (step S14). When the distance from the nearest registered sign point data is within a predetermined distance (step S14; Yes), the duplication determination unit 73 determines whether the new sign point data and the registered sign point data have the same road type. Is determined (step S15). When the road types are the same (step S15; Yes), the duplication determination unit 73 determines whether the traveling directions of the new sign point data and the registered sign point data are within a predetermined range (step S16). ).
  • step S16 When the traveling direction is within the predetermined range (step S16; Yes), the duplication determination unit 73 determines that the new sign point data and the registered sign point data overlap, and the registration unit 74 executes the overwrite process A. (Step S30). On the other hand, when the traveling direction is not within the predetermined range (step S16; No), the duplication determination unit 73 determines whether or not all the registered sign point data has been checked (step S17). When all the registered sign point data are not checked (step S17; No), the duplication determination unit 73 proceeds to step S18. Moreover, when the determination result of step S14 or S15 is No, the overlap determination unit 73 determines that the new sign point data and the registered sign point data do not overlap, and proceeds to step S18. Then, the duplication judgment unit 73 selects the next registered sign point data (step S18), and repeats steps S13 to S16.
  • step S17 determines that the number of sign point data already registered in the storage unit is the number of registrable items. It is determined whether they are equal (step S19).
  • the “number of items that can be registered” is determined in advance based on the capacity of the storage unit or the like. If the number of already-registered tagging point data is less than the number that can be registered (step S19; No), the registration unit 74 registers the tagging point data generated in step S10 as new tagging point data (step S20). ). On the other hand, when the number of cases that can be registered has been reached (step S19; Yes), the registration unit 74 executes the overwrite process B (step S40).
  • Fig. 6 shows the overwrite process A.
  • the overwriting process A is a process in the case where there is registered sign point data that overlaps with newly generated sign point data. Therefore, the registration unit 74 determines whether or not the accuracy of the new sign point data is equal to or higher than the accuracy of the registered sign point data (step S31). When the accuracy of the new sign point data is equal to or higher than the accuracy of the registered sign point data (step S31; Yes), the registration unit 74 takes over the contents of the registered sign point data for display setting and sound effect setting. For other cases, the contents of the new sign point data are overwritten (step S32), and the process is terminated.
  • the registration unit 74 updates only the access date and time to the access date and time of the new sign point data. Is maintained for the contents of the registered sign point data (step S33).
  • the accuracy is high when it overlaps with the registered sign point data. Is registered. Therefore, it is possible to prevent data from being registered with respect to the same road sign.
  • Fig. 7 shows the overwrite process B.
  • the overwrite process B is a process in the case where there is no registered sign point data that overlaps the newly generated sign point data, but the number of sign point data that can be registered has already been registered in the storage unit. Therefore, the registration unit 74 deletes the old registered sign point data and registers new sign point data. Specifically, the registration unit 74 sorts the plurality of sign point data registered in the storage unit in the order of access date (step S41), and selects the sign point data having the oldest access date (step S42). Next, the registration unit 74 determines whether the display setting of the sign point data is on and the sound effect setting is off (step S43). When the display setting is on and the sound effect setting is off (step S43; Yes), the registration unit 74 deletes the registered sign point data and registers new sign point data in the storage unit ( Step S44). Then, the process ends.
  • step S43 determines whether or not all registered sign point data have been checked (step S45).
  • step S45 determines that new sign point data cannot be registered (step S47), and ends the process.
  • step S46 selects the next old sign point data (step S46) and executes step S43.
  • the sign point whose display setting is turned off is not used by the user. If this is deleted, the corresponding sign point data will be displayed the next time the same road sign is recognized. Is registered again, and the user needs to turn off the display setting for the sign point data again.
  • the display setting step S32 or S33
  • the display setting can be performed even when new sign point data overlapping with the sign point data is generated. Off) is carried over, so that the user does not need to make the setting again.
  • the registration unit 74 does not delete the old registered sign point data because the number of registered sign point data exceeds the number of items that can be registered. Is excluded from deletion. This is because it is desirable not to delete the sign point data for which the sound effect setting is on because it is data intended for the user.
  • the old sign point data is deleted in order from the old sign point data as long as there is no problem for the user. Will be registered.
  • the present invention can be used in various devices that recognize road signs in captured images and store the information.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Un dispositif de traitement de signe d'informations qui reconnaît un signe à partir d'une image capturée obtenue tandis qu'un objet mobile se déplace, génère des informations de signe comprenant des informations de position et une classe de route se rapportant à une enseigne, un point et une direction de déplacement, et enregistre les informations de signe dans une unité de stockage. Lorsque de nouvelles informations de signe sont générées, la présence ou l'absence de signe d'informations enregistré se superposant avec les nouvelles informations de signe est déterminé. Ici, les informations de signe enregistré qui sont présentes à l'intérieur d'une distance prédéterminée à partir de la nouvelle information de signe dans une distance prédéterminée à partir des nouvelles informations de signe et présente la même classe de route et la direction de déplacement en tant que nouvelle information de signe est déterminée pour être superposées aux informations de signe. Lorsque le chevauchement enregistré des informations de signe est présent, le traitement de mise à jour de l' information de signe est effectuée.
PCT/JP2012/057314 2012-03-22 2012-03-22 Dispositif de traitement de signe d'informations, procédé de traitement d'informations de signe et programme de traitement des informations de signe le signe programme de traitement d'informations WO2013140567A1 (fr)

Priority Applications (1)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023079288A1 (fr) 2021-11-03 2023-05-11 Endomagnetics Ltd. Améliorations apportées à des marqueurs ferromagnétiques implantables ou relatives à ceux-ci
WO2023079293A1 (fr) 2021-11-03 2023-05-11 Endomagnetics Ltd. Améliorations apportées à des marqueurs ferromagnétiques implantables ou se rapportant à ceux-ci

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Publication number Priority date Publication date Assignee Title
JP2001165669A (ja) * 1999-12-07 2001-06-22 Pioneer Electronic Corp ナビゲーションシステム
JP2006330908A (ja) * 2005-05-24 2006-12-07 Toyota Motor Corp 位置記録装置及び位置記録方法
JP2007183764A (ja) * 2006-01-05 2007-07-19 Hitachi Ltd 車載装置
JP2009110394A (ja) * 2007-10-31 2009-05-21 Equos Research Co Ltd 道路標識表示装置
JP2012002595A (ja) * 2010-06-15 2012-01-05 Sony Corp 情報処理装置、情報処理方法、情報処理システム、及びプログラム

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001165669A (ja) * 1999-12-07 2001-06-22 Pioneer Electronic Corp ナビゲーションシステム
JP2006330908A (ja) * 2005-05-24 2006-12-07 Toyota Motor Corp 位置記録装置及び位置記録方法
JP2007183764A (ja) * 2006-01-05 2007-07-19 Hitachi Ltd 車載装置
JP2009110394A (ja) * 2007-10-31 2009-05-21 Equos Research Co Ltd 道路標識表示装置
JP2012002595A (ja) * 2010-06-15 2012-01-05 Sony Corp 情報処理装置、情報処理方法、情報処理システム、及びプログラム

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023079288A1 (fr) 2021-11-03 2023-05-11 Endomagnetics Ltd. Améliorations apportées à des marqueurs ferromagnétiques implantables ou relatives à ceux-ci
WO2023079293A1 (fr) 2021-11-03 2023-05-11 Endomagnetics Ltd. Améliorations apportées à des marqueurs ferromagnétiques implantables ou se rapportant à ceux-ci

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