WO2014141383A1 - 3次元情報処理装置 - Google Patents
3次元情報処理装置 Download PDFInfo
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- WO2014141383A1 WO2014141383A1 PCT/JP2013/056797 JP2013056797W WO2014141383A1 WO 2014141383 A1 WO2014141383 A1 WO 2014141383A1 JP 2013056797 W JP2013056797 W JP 2013056797W WO 2014141383 A1 WO2014141383 A1 WO 2014141383A1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/04—Architectural design, interior design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2004—Aligning objects, relative positioning of parts
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2016—Rotation, translation, scaling
Definitions
- the present invention relates to a three-dimensional information processing apparatus that adjusts display information in the height direction of a three-dimensional model such as a building.
- a device equipped with a map display function such as a car navigation system arranges a building model such as a commercial facility on a undulating 3D terrain model and views the terrain model and the building model from a bird's eye view. It has a function.
- Data for realizing the 3D map bird's-eye view display function is a terrain model or a building model, which is generally 3D information provided by a map data creation company, and these 3D information is converted to data obtained by actual positioning. Created based on.
- the positioning of the 3D information of the terrain and the building includes an error, when the 3D map based on the 3D information is displayed, the building model floats with respect to the terrain model, or There was a problem that the building model would sink.
- Patent Document 1 As an altitude correction process in accordance with actual terrain, the altitude at each vertex coordinate on the bottom surface of the building to be processed is extracted from three-dimensional terrain data, and the maximum value among the extracted altitudes is determined as the building concerned. By adding it to the height coordinates of each vertex other than the bottom of the building as the standard elevation of the building, and adding the minimum value of the extracted elevations to the height coordinates of each vertex of the building bottom as the bottom elevation of the building Is floating from the terrain model, or the building model is suppressed from sinking with respect to the terrain model.
- This invention was made to solve the above problems, and even if the terrain is large and the distance between the vertices of the bottom of the building is long, the building model floats with respect to the terrain model, Alternatively, the object is to suppress the building model from sinking too much with respect to the terrain model.
- the three-dimensional information processing apparatus includes a structure bottom surface extraction unit that extracts a bottom surface of a structure model represented by a polygonal column, and a rectangle circumscribing the bottom surface of the structure model extracted by the structure bottom surface extraction unit.
- the terrain model including the bottom surface range of the structure model calculated by the structure bottom surface range calculation unit with reference to the top surface model calculation unit that stores the set of topographic models and the bottom surface range calculation unit that calculates the bottom surface range of the structure model
- a terrain model extraction unit that extracts a terrain, a terrain vertex synthesis unit that synthesizes a plurality of terrain models extracted by the terrain model extraction unit, and generates a vertex set of the terrain model including the bottom surface range of the structure model, and a terrain vertex synthesis unit
- a bottom intersection calculation unit that calculates the intersection of the line segment formed by the vertex set of the terrain model generated by and the outer peripheral line segment of the bottom surface of the structure model extracted by the structure bottom extraction unit, and the bottom intersection calculation From the height of the terrain model calculated by the all-point height calculation unit and the all-point height calculation unit that calculates the height of the terrain model at each vertex constituting each intersection and the bottom of the structure model calculated by the unit,
- Reference height calculation unit for calculating the reference height in the three-dimensional
- the present invention it is possible to provide three-dimensional information that suppresses the occurrence of a malfunction when the building model floats with respect to the terrain model or the building model sinks too much with respect to the terrain model.
- FIG. 1 is a block diagram illustrating a configuration of a three-dimensional information processing apparatus according to Embodiment 1.
- FIG. 3 is a flowchart illustrating an operation of the three-dimensional information processing apparatus according to the first embodiment. It is a figure which shows an example of the building model accumulate
- FIG. 6 is a diagram illustrating an example of calculation of a building bottom surface range of the three-dimensional information processing apparatus according to Embodiment 1.
- FIG. 3 is an explanatory diagram illustrating synthesis of a topographic model of the three-dimensional information processing apparatus according to Embodiment 1.
- 6 is a diagram illustrating calculation of an intersection with a line segment parallel to the meridian of the three-dimensional information processing apparatus according to Embodiment 1.
- FIG. 6 is a diagram illustrating calculation of an intersection with a line segment parallel to the latitude line of the three-dimensional information processing apparatus according to Embodiment 1.
- FIG. 6 is a diagram illustrating calculation of an intersection with a line segment parallel to an oblique line of the three-dimensional information processing apparatus according to Embodiment 1.
- FIG. 6 is a diagram illustrating calculation of an intersection with a line segment parallel to an oblique line of the three-dimensional information processing apparatus according to Embodiment 1.
- FIG. 6 is a diagram illustrating calculation of an intersection with a line segment parallel to an oblique line of the three-dimensional information processing apparatus according to Embodiment 1.
- FIG. It is a figure which shows the intersection of the outer periphery line segment of the building bottom face of the three-dimensional information processing apparatus by Embodiment 1, and the line segment which a topography vertex set comprises.
- 6 is a diagram illustrating a calculation example of an all-point height calculation unit of the three-dimensional information processing apparatus according to Embodiment 1.
- FIG. 6 is a block diagram illustrating a configuration of a three-dimensional information processing apparatus according to Embodiment 2.
- FIG. 6 is a flowchart illustrating an operation of the three-dimensional information processing apparatus according to the second embodiment.
- 10 is an explanatory diagram illustrating acquisition of a base model of a three-dimensional information processing apparatus according to Embodiment 2.
- FIG. 1 is a block diagram showing a configuration of a three-dimensional information processing apparatus according to Embodiment 1 of the present invention.
- the three-dimensional information processing apparatus 100 includes a building model database 1, a building model input unit 2, a building bottom surface extraction unit (structure bottom surface extraction unit) 3, a building bottom surface range calculation unit (structure bottom surface range calculation unit) 4, and a terrain model database. 5. Topographic model extraction unit 6, topographic vertex composition unit 7, bottom surface intersection calculation unit 8, all-point height calculation unit 9, reference height calculation unit 10 and building height correction unit (structure height correction unit) 11 It is configured.
- the building model database 1 is a database in which building models that represent a plurality of buildings existing in an arbitrary map range as a three-dimensional model are accumulated.
- the building model input unit 2 acquires a building model related to one building from the building model database 1.
- the building bottom surface extraction unit 3 extracts vertices constituting the bottom surface of the building model acquired by the building model input unit 2.
- the building bottom range calculation unit 4 calculates the range where the building exists on the map from the top of the bottom of the building model.
- the terrain model database 5 is a database that accumulates terrain models that represent the terrain as a three-dimensional model.
- the terrain model extraction unit 6 extracts all terrain models existing in the range calculated by the building bottom surface range calculation unit 4 from the terrain model database 5.
- the terrain vertex composition unit 7 synthesizes the adjacent terrain models among the terrain models extracted by the terrain model extraction unit 6 into one vertex group.
- the bottom surface intersection calculation unit 8 is an intersection of a two-dimensional line segment group in which all the line segments formed by the combined topographic vertices are projected onto the horizontal plane and a two-dimensional line segment group in which the outer peripheral line segment of the building bottom surface is projected onto the horizontal plane. Is calculated.
- the all-point height calculation unit 9 calculates the heights of all intersections acquired by the bottom surface intersection calculation unit 8 and the heights at the vertices constituting the building bottom surface.
- the reference height calculation unit 10 calculates the height of the corrected building model using the heights of all the vertices calculated by the all-point height calculation unit 9.
- the building height correction unit 11 corrects the heights of all vertices constituting the building model using the height calculated by the reference height calculation unit 10, and reconstructs the building model.
- FIG. 2 is a flowchart showing the operation of the three-dimensional information processing apparatus according to the first embodiment.
- the building model input unit 2 acquires one building model from the building model database 1 (step ST1).
- FIG. 3 is a view showing an example of a building model stored in the building database 1
- FIG. 3 (a) shows an overhead view thereof
- FIG. 3 (b) shows a horizontal plane projection view thereof.
- the building model is a set of hexagonal prisms as shown in FIG.
- step ST1 hexagonal prism data as shown in FIG. 3 is acquired.
- the building bottom surface extraction unit 3 extracts only vertices constituting the bottom surface of the building from the building model acquired in step ST1 (step ST2). Specifically, only the vertex having the smallest Z value (height) is extracted from the vertices constituting the building model.
- the building bottom range calculation unit 4 extracts the minimum X, Y coordinates and the maximum X, Y coordinates from the X, Y coordinates of each vertex constituting the bottom of the building extracted in step ST2 (step ST3). A range surrounded by a point obtained by combining the extracted minimum X and Y coordinates and the maximum X and Y coordinates is calculated as a building bottom surface range (step ST4).
- FIG. 4 is a diagram illustrating an example of the calculation of the building bottom surface range by the building bottom surface range calculation unit 4, and illustrates a horizontal plane projection diagram in which the building bottom surface and the building bottom surface range are projected onto a horizontal plane.
- a method of calculating the building bottom area will be described in detail with reference to FIG.
- step ST3 using the X and Y coordinates of all the building bottom vertices A1, A2, A3, A4, A5 and A6 extracted by the building bottom extracting unit 3, the smallest X coordinate (XbMin), the smallest The Y coordinate (YbMin), the maximum X coordinate (XbMax), and the maximum Y coordinate (YbMax) are extracted.
- step ST4 four points of vertex B1 (XbMin, YbMin), vertex B2 (XbMax, YbMin), vertex B3 (XbMin, YbMax), and vertex B4 (XbMax, YbMax) obtained by combining the extracted coordinates are enclosed.
- the range B to be calculated is calculated as the building bottom surface range B.
- the building bottom surface range B is equivalent to a circumscribed rectangle that circumscribes a range obtained when the building bottom surface is projected onto a horizontal plane.
- the terrain model extraction unit 6 extracts from the terrain model database 5 a terrain model that overlaps the building bottom area calculated in step ST4 (step ST5).
- FIG. 5 is a diagram showing an example of the terrain model stored in the terrain database 5, FIG. 5 (a) shows an overhead view thereof, and FIG. 5 (b) shows a horizontal plane projection view thereof.
- the terrain model is the latitude and longitude coordinates of the vertices and the Z coordinate is the altitude (m system) as in the building model.
- FIG. 5B a mesh model set consisting of a set of vertices constituting a grid composed of straight lines parallel to the latitude meridian is obtained.
- the minimum X coordinate is XlMin
- the minimum Y coordinate is YlMin
- the maximum X coordinate is XlMax
- the maximum Y coordinate is Is YlMax
- the distance between vertices in the longitude direction is Xdiv
- the distance between vertices in the latitude direction is Ydiv.
- the number of vertices in the longitude direction composing the terrain model is XNum
- the number of vertices in the latitude direction is YNum
- XNum and YNum are all the same in each terrain model.
- XNum and YNum may be different numbers.
- the building bottom surface range of the building model calculated in step ST4 and the minimum X and Y coordinates and the maximum X and Y coordinates of each terrain model stored in the terrain model database 5 are as follows. A comparison is made using the following formula (1), and only those having a true result are extracted. By performing extraction using Expression (1), it is possible to extract all terrain models that partially overlap the building bottom surface range.
- the terrain vertex composition unit 7 synthesizes the terrain models adjacent in the terrain model extracted in step ST4 to generate a set of terrain vertices (step ST6).
- FIG. 6 is an explanatory diagram showing the composition of the terrain model by the terrain vertex composition unit 7, FIG. 6 (a) shows each terrain model before composition, and FIG. 6 (b) shows the terrain model after composition. .
- FIG. 6A when, for example, four terrain models C, D, E, and F are extracted in step ST5, the smallest XlMin among the four terrain models C, D, E, and F is extracted.
- a value (XlMinMin), a maximum XlMax value (XlMaxMax), a minimum YlMin value (YlMinMin), and a maximum YlMax value (YlMaxMax) are obtained.
- XlMinMin is the value of XlMin of the terrain model C
- XlMaxMax is the value of XlMax of the terrain model E
- YlMinMin is the value of YlMin of the terrain model C
- YlMaxMax is the value of YlMax of the terrain model F.
- the longitude direction vertex number XcNum and the latitude direction vertex YcNum of the combined vertex set are calculated based on the following equation (2).
- a composite vertex storage buffer having an area for storing vertices of XcNum ⁇ YcNum is created.
- the vertex coordinates of each terrain model are set in the combined vertex storage buffer using the following equation (3) to complete the terrain vertex set.
- P c (i, j) is i-th in the longitude direction (i starts from 0) from the southwest end in the composite vertex storage buffer to be set, and j-th (j is in the latitude direction).
- P l [s, t] (m, n) is the m-th (m is the m) in the longitude direction in the terrain model having X, Y coordinates (s, t) as XlMin, YlMin.
- n-th vertex coordinate (n starts from 0) in the latitude direction
- floor is a floor function that rounds off the decimal part.
- a terrain vertex set G is generated.
- the bottom surface intersection point calculation unit 8 calculates an intersection point between the line segment formed by the vertex formed when the topographic vertex set generated in step ST6 is projected on the horizontal plane and the outer peripheral line segment of the building bottom surface when the building bottom surface is projected on the horizontal plane. Calculate (step ST7).
- the intersection point calculation is performed by dividing the line segment formed by the terrain vertex set into three points: an intersection point with a line segment parallel to a meridian line, an intersection point with a line segment parallel to a latitude line, and an intersection point with an oblique line.
- the X coordinate of the line segment parallel to the meridian among the line segments formed by the set of topographic vertices between Xa and Xb is calculated using the following equation (5).
- Yk is calculated by substituting all Xk calculated using the above-described equation (5) into the above-described equation (4).
- This set of (X k , Y k ) becomes the coordinates of the intersection of the line segment formed by the two vertices of the bottom of the building and the line segment parallel to the meridian among the line segments formed by the terrain vertex set.
- the above-described process is a process for one line segment on the outer periphery of a certain building bottom surface. By performing this process for all the line segments on the outer periphery, the calculation of the intersection point with the line segment parallel to the meridian is completed.
- FIG. 7 is a diagram showing the intersection of the outer periphery of the building bottom surface H and the line segment parallel to the meridian among the line segments formed by the topography vertex set G.
- X k is calculated by substituting all Y k calculated using the above-described equation (6) into the above-described equation (4).
- This set of (X k , Y k ) is the coordinates of the intersection of the line segment formed by the two vertices of the building bottom and the line segment parallel to the latitude line among the line segments formed by the terrain vertex set.
- the above-described processing is processing for one line segment on the outer periphery of a certain building bottom, but by performing this processing for all the line segments on the outer periphery, calculation of intersections with line segments parallel to the parallels is completed.
- FIG. 8 is a diagram showing the intersection of the outer periphery of the building bottom H and a line segment parallel to the latitude line among the line segments formed by the topography vertex set G.
- the outer periphery of the bottom face H of the building intersects with line segments g3, g4, and g5 parallel to the latitude line at intersections H5, H6, H7, H8, H9, and H10.
- FIG. 9 shows topographical vertices for one grid of the topographical vertex set. As shown in FIG. 9, the angle formed between the oblique line and the latitude line is ⁇ (0 ⁇ ⁇ ⁇ ⁇ / 2), and sin ⁇ and cos ⁇ are calculated.
- FIG. 10 is a diagram showing the coordinate transformation according to the above-described equation (7)
- FIG. 10 (a) shows the building bottom surface H and the terrain vertex set G before the coordinate transformation
- FIG. 10 (b) shows the building after the coordinate transformation.
- a bottom surface H ′ and a topographic vertex set G ′ are shown.
- a point G0 (XlMinMin, YlMinMin) composed of the minimum X coordinate value and the minimum Y coordinate value in the terrain vertex set G is translated to the origin O by the matrix T of Expression (7).
- the matrix R is rotated by an angle ⁇ in the y-axis direction.
- the diagonal line formed by the point vertex set G ′ is parallel to the x-axis direction.
- both end coordinates (X a , Y a ) and (X b , Y b ) of the outer peripheral line segment with the building bottom are (X a ′, Y a ′), (X b ', Y b' is converted into).
- a linear equation passing through both the converted coordinates is calculated using the following equation (8).
- the Y ′ coordinate of the diagonal line is calculated among the line segments formed by the set of topographic vertices between Ya ′ and Yb ′.
- This can be calculated by Y k ′ shown by the following equation (9).
- X k ′ is calculated by substituting all Y k ′ calculated using the above-described equation (9) into the above-described equation (8).
- This set of (X k ′, Y k ′) is the coordinates of the intersection of the line segment formed by the two vertices of the bottom of the building and the diagonal line in the line segment formed by the terrain vertex set.
- the processing described above is processing for one line segment on the outer periphery of a building bottom, but by performing this processing for all the line segments on the outer periphery of the building bottom, the intersections with diagonal lines in the X′Y ′ space are calculated. Is done.
- FIG. 11 is a diagram showing intersections between the outer periphery of the building bottom surface H ′ and line segments parallel to the diagonal lines among the line segments formed by the topography vertex set G ′.
- the outer periphery of the building bottom H ′ intersects with line segments g6, g7, g8, and g9 parallel to the oblique lines at intersections H11, H12, H13, H14, H15, H16, H17, H18, and H19. Shows the case.
- FIG. 12 shows all the intersections calculated by the above-described three intersection calculation processes shown in (1) to (3).
- the outer line segment of the building bottom surface H and the line segment formed by the topography vertex set G are shown in FIG. It becomes an intersection.
- the all-point height calculation unit 9 uses the terrain vertex set to calculate the X and Y coordinate positions of the intersection calculated in step ST6 and the heights of the vertices constituting the building bottom at the X and Y coordinate positions. Calculate (see FIG. 13). In calculating the heights of the vertices constituting the building bottom at the X and Y coordinate positions, it is first determined in which triangle of the terrain vertex set each vertex is present (step ST8).
- step ST9 the terrain height Z 1 at the X and Y coordinate positions of the investigation target vertex is calculated according to the following equation (11) (step ST9).
- step ST8 and step ST9 By performing the processing of step ST8 and step ST9 on the intersection of the line segment formed by the set of topographical vertices and the outer peripheral line segment of the building bottom, and the vertex constituting the bottom of the building, the set of topographic heights at those points (Vertex height set) is calculated.
- the reference height calculation unit 10 extracts the lowest point in the vertex height set calculated in step ST7, and sets the extracted vertex height as the reference height (step ST10).
- the building height correction unit 11 calculates the difference between the reference height calculated in step ST10 and the vertex height calculated in step ST9, and uses the calculated difference value as the height of all the vertices constituting the building model. By adding to the height, the height of the building model is corrected (step ST11), and the process ends.
- the bottom surface intersection calculation unit 8 that calculates the intersection point where the outer periphery of the building bottom surface and the topography vertex set intersect, and the intersection point calculated by the bottom surface intersection calculation unit 8 is the highest.
- a building model that extracts a point having a low height matches the height of the bottom of the building with the reference height calculation unit 10 that uses the height of the extracted vertex as a reference height, and the reference height calculated by the reference height calculation unit 10 Since the building height correction unit 11 for adjusting the height of the building is provided, the terrain model can be buried without being buried more than necessary without causing a gap between the terrain model and the building model. The amount can also be minimized.
- the building model is expressed by a hexagonal column
- the expression of the building model is not limited to the hexagonal column, and all polygons can be applied.
- the direction of the oblique line of the terrain model indicates a line connecting the southeast and the northwest, but it may be a line connecting the southwest and the northeast.
- the reference height calculation unit 10 has shown the case where the lowest value in the vertex height set is set as the reference height, but the terrain model is buried in the building model. In consideration of the amount of burial, for example, an average value or median value of the vertex height set can be set.
- FIG. 14 is a block diagram illustrating a configuration of the three-dimensional information processing apparatus according to the second embodiment.
- the three-dimensional information processing apparatus 100 ′ illustrated in FIG. 14 is different from the three-dimensional information processing apparatus 100 according to the first embodiment illustrated in FIG. 1 in the correction mode input unit 12, the correction processing selection unit 13, the base texture database 14, and A base model generation unit 15 is additionally provided.
- the same or corresponding parts as those of the components of the three-dimensional information processing apparatus 100 shown in the first embodiment are denoted by the same reference numerals as those used in FIG. 1 and the description thereof is omitted or simplified. .
- the correction mode input unit 12 receives a correction mode input from the user.
- the correction process selection unit 13 selects whether the subsequent correction process is performed by the building height correction unit 11 or the base model generation unit 15 according to the correction mode input via the correction mode input unit 12.
- the foundation texture database 14 is a database that accumulates a plurality of foundation images.
- the foundation model generation unit 15 uses the vertexes that constitute the building bottom extracted by the building bottom extraction unit 3, the reference height calculated by the reference height calculation unit 10, and the foundation texture accumulated in the foundation texture database 14. A model is generated, and the generated base model is added to the building model.
- FIG. 15 is a flowchart showing the operation of the three-dimensional information processing apparatus according to the second embodiment.
- the same steps as those of the three-dimensional information processing apparatus according to the first embodiment are denoted by the same reference numerals as those used in FIG. 2, and the description thereof is omitted or simplified.
- the input mode input via the correction mode input unit 12 is either the height correction mode or the base addition mode, and the height of the building is adjusted according to the user's intention regarding the correction of the building model. It is assumed that it has a function capable of selecting either to fill a gap with a base texture without changing the height of the building.
- the correction mode input unit 12 receives an input of the correction mode from the user (step ST21).
- the correction process selection unit 13 determines whether the correction mode received in step ST21 is the height correction mode or the base addition mode (step ST22).
- the building height correction unit 11 corrects the height of the building model (step ST11) and ends the process.
- the base model generation unit 15 changes the vertices constituting the building bottom extracted in step ST2 and the heights of those vertices to the reference height calculated in step ST10.
- a vertex group based on the vertices is generated (step ST23).
- a polygonal column is generated by connecting each vertex on the bottom of the building and the vertex after the change to the reference height with a line segment, and a base model is acquired (step ST24).
- FIG. 16 is an explanatory diagram showing acquisition of a base model
- FIG. 16 (a) is an overhead view showing a change to the reference height of vertices constituting the building bottom
- FIG. 16 (b) is a base model. It is an overhead view which shows the production
- step ST23 the vertices I1, I2, I3, I4, I5, I6 constituting the building bottom are changed to the reference height, and the changed vertices J1, J2, J3, J4, J5, and J6 are generated.
- step ST23 the vertices I1, I2, I3, I4, I5, I6 constituting the building bottom are changed to the reference height, and the changed vertices J1, J2, J3, J4, J5, and J6 are generated.
- step ST23 the vertices I1, I2, I3, I4, I5, I6 constituting the building bottom are changed to the reference height, and the changed vertices J1, J2, J3, J4, J5, and J6 are generated.
- the vertex I1 and the vertex J1 are the line segment K1
- the vertex I2 and the vertex J2 are the line segment K2
- the vertex I3 and the vertex J3 are the line segment K3.
- Vertex I4 and vertex J4 are connected by line segment K4
- vertex I5 and vertex J5 are connected by line segment K5
- vertex I6 and vertex J6 are connected by line segment K6, hexagonal column L is generated, and a base model is acquired.
- the base model acquired in step ST24 is only a plurality of vertex information, and the display colors in multiple faces are indeterminate, so the base model generation unit 15 selects one of the base textures stored in the base texture database 14. One base texture is selected (step ST25).
- the base model generation unit 15 sets the base texture selected in step ST25 as the mapping texture of the base model acquired in step ST24, adds the base model to the building model (step ST26), and ends the process.
- one appropriate base texture may be selected at random, or a texture set corresponding to the city where the building exists or the material of the building has a one-to-one correspondence is prepared in advance. It is also possible to search for the set according to the location and material of the building, select a texture, and select a foundation model that looks according to the atmosphere of the land.
- the polygon formed by the vertex constituting the building bottom is defined as the top surface of the polygonal column, and the outer periphery of the building bottom Since a polygonal column is created with the polygon formed by the vertex of the minimum height among the intersections of the terrain as the lower surface of the polygonal column, it is configured as a base model, and the base model is added to the building model.
- the base model is added to the building model.
- the base model creation unit 15 has a configuration in which the shape of the upper surface and the lower surface of the base model is the same shape as the bottom surface of the building. It can also be generated as a rectangular parallelepiped using a shape, and it is a shape that includes a building in the XY direction, and the height of the upper surface is the height of the bottom surface of the building and the height of the lower surface is the reference height A base model having the same effect can be created with any shape as long as it is a prism.
- the three-dimensional information processing apparatus has a three-dimensional map bird's-eye display function that places a building model such as a commercial facility on a undulating three-dimensional terrain model and views them overhead.
- the present invention can be applied to a navigation device provided, and can suppress display data inconsistency caused by a positioning error included in actually-positioned data.
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Abstract
Description
例えば、ある建物底面の2頂点の標高が共に5mであり、当該2頂点間で地形の標高が最小で0mとなる場合に、本来であれば建物底面の標高を0mに合わせるべきであるが、建物底面の標高を5mに合わせてしまい、結果として地形モデルに対して建物モデルが浮いてしまう。
実施の形態1.
図1は、この発明の実施の形態1による3次元情報処理装置の構成を示すブロック図である。
3次元情報処理装置100は、建物モデルデータベース1、建物モデル入力部2、建物底面抽出部(構造物底面抽出部)3、建物底面範囲算出部(構造物底面範囲算出部)4、地形モデルデータベース5、地形モデル抽出部6、地形頂点合成部7、底面交点算出部8、全点高さ算出部9、基準高さ算出部10および建物高さ補正部(構造物高さ補正部)11で構成されている。
図2は、実施の形態1による3次元情報処理装置の動作を示すフローチャートである。
まず、建物モデル入力部2は、建物モデルデータベース1から建物モデルを1つ取得する(ステップST1)。図3は建物データベース1に蓄積された建物モデルの一例を示す図であり、図3(a)はその俯瞰図を示し、図3(b)はその水平面投影図を示している。建物モデルは、図3(a)に示すような六角柱の集合であり、各頂点の3次元座標はX,Y座標が緯度経度座標であり、Z座標が標高(m系)である。ステップST1の処理では、図3に示すような六角柱のデータが取得される。
図4を参照しながら建物底面範囲の算出手法を詳細に説明する。ステップST3として、建物底面抽出部3が抽出した全ての建物底面頂点A1,A2,A3,A4,A5,A6のX,Y座標を用いて、その中から最小のX座標(XbMin)、最小のY座標(YbMin)、最大のX座標(XbMax)、最大のY座標(YbMax)を抽出する。続いてステップST4として、抽出した座標を組み合わせて得られる頂点B1(XbMin、YbMin)、頂点B2(XbMax、YbMin)、頂点B3(XbMin、YbMax)、頂点B4(XbMax、YbMax)の4点で囲まれる範囲Bを建物底面範囲Bとして算出する。図4に示すように建物底面範囲Bは、建物底面を水平面に投影した際に得られる範囲に外接する外接矩形と等価である。
図5は、地形データベース5に蓄積された地形モデルの一例を示す図であり、図5(a)はその俯瞰図を示し、図5(b)はその水平面投影図を示している。図5(a)に示すように、地形モデルは建物モデルと同様に頂点のX,Y座標は緯度経度、Z座標は標高(m系)である。また、地形モデルを水平面投影した場合、図5(b)に示すように緯線経線に平行な直線からなる格子を構成する頂点の集合からなるメッシュモデルの集合となる。
図6は地形頂点合成部7による地形モデルの合成を示す説明図であり、図6(a)は合成前の各地形モデルを示し、図6(b)は合成後の地形モデルを示している。
図6(a)に示すように、ステップST5において例えば4つの地形モデルC,D,E,Fが抽出された場合に、4つの地形モデルC,D,E,Fの中で最小のXlMinの値(XlMinMin)、最大のXlMaxの値(XlMaxMax)、最小のYlMinの値(YlMinMin)、最大のYlMaxの値(YlMaxMax)を取得する。図6(a)の場合、XlMinMinは地形モデルCのXlMinの値、XlMaxMaxは地形モデルEのXlMaxの値、YlMinMinは地形モデルCのYlMinの値、YlMaxMaxは地形モデルFのYlMaxの値となる。
算出後、XcNum×YcNumの頂点を保存する領域を持つ合成頂点保存バッファを作成する。
上述した式(3)において、Pc(i,j)は設定対象である合成頂点保存バッファ内の南西端から経度方向にi番目(iは0から開始)、緯度方向にj番目(jは0から開始)の頂点座標であり、Pl[s,t](m,n)はX,Y座標(s,t)をXlMin,YlMinとして持つ地形モデル内の経度方向にm番目(mは0から開始)、緯度方向にn番目(nは0から開始)の頂点座標を示し、floorは小数点以下を切り捨てる床関数である。図6(b)に示した合成後の地形モデルでは、地形頂点集合Gが生成される。
建物底面の外周を成す線分ごとに、地形頂点集合の成す線分の中で経線に平行な線分との交点を算出する。建物底面のある外周の線分の両端座標をそれぞれ(Xa,Ya)、(Xb,Yb)とする。なお、Xa≦Xbの関係を満たすものとする。まず、以下の式(4)を用いて2頂点を通る直線式を算出する。
y=(Yb-Ya)(x-Xa)/(Xb-Xa)+Ya ・・・(4)
図7は、建物底面Hの外周と、地形頂点集合Gの成す線分の中で経線に平行な線分との交点を示す図である。図7に示す例では、建物底面Hの外周が経線に平行な線分g1,g2と交点H1,H2,H3,H4で交わる場合を示している。
建物底面の外周を成す線分ごとに、地形頂点集合の成す線分の中で緯線に平行な線分との交点を算出する。建物底面のある外周の線分の両端座標をそれぞれ(Xa,Ya)、(Xb,Yb)とする。なお、Ya≦Ybの関係を満たすものとする。まず、YaとYbの間にある地形頂点集合の成す線分の中で緯線に平行な線分のY座標を、以下の式(6)を用いて算出する。
図8は、建物底面Hの外周と、地形頂点集合Gの成す線分の中で緯線に平行な線分との交点を示す図である。図8に示す例では、建物底面Hの外周が緯線に平行な線分g3,g4,g5と、交点H5,H6,H7,H8,H9,H10で交わる場合を示している。
建物底面の外周を成す線分ごとに、地形頂点集合の成す線分の中で斜め線との交点を算出する。建物底面のある外周の線分の両端座標をそれぞれ(Xa,Ya)、(Xb,Yb)とする。ここで、図9では地形頂点集合の格子1つ分の地形頂点を示している。図9で示すように斜め線と緯線とのなす角をθ(0≦θ≦π/2)とし、sinθ、cosθを算出する。tanθ=YDiv/XDivであるため、三角関数を用いて容易に算出できる。次に、斜め線がX軸と平行であり、かつ地形頂点集合の南西端点が原点に位置するような空間であるX´Y´空間へ座標変換する。座標は以下の式(7)を用いて変換する。行列Tにより原点へ平行移動させ、行列Rによりy軸方向に角度θ回転させる。
図10(a)において地形頂点集合Gのうち、最小のX座標値および最小のY座標値で構成される点G0(XlMinMin,YlMinMin)を、式(7)の行列Tで原点Oまで平行移動させ、さらに行列Rでy軸方向に角度θ回転させる。これにより、地点頂点集合G´の成す斜め線が、x軸方向と平行となる。
上述した式(9)を用いて算出したYk´全てを、上述した式(8)に代入して、Xk´を算出する。この(Xk´,Yk´)の集合が建物底面の2頂点の成す線分と、地形頂点集合の成す線分の中で斜め線との交点の座標となる。上述した処理はある建物底面の外周の1線分についての処理であるが、この処理を建物底面外周上の全ての線分について行うことにより、X´Y´空間における斜め線との交点が算出される。
図12は、上述した(1)から(3)で示した3つの交点算出処理により算出された交点すべてを示しており、建物底面Hの外周線分と地形頂点集合Gの成す線分との交点となる。
上述した実施の形態1では、地形モデルを構成する頂点の高さを変更することにより地形モデルと建物モデル間に隙間が生じるのを抑制する構成を示したが、この実施の形態2では建物モデルの位置を変えずに地形モデルとの隙間を埋めるために、地形モデルと建物モデルとの間に新たなモデルを作成する構成について説明する。
図14は、実施の形態2による3次元情報処理装置の構成を示すブロック図である。
図14で示した3次元情報処理装置100´は、図1で示した実施の形態1の3次元情報処理装置100に対して補正モード入力部12、補正処理選択部13、土台テクスチャデータベース14および土台モデル生成部15を追加して設けている。なお、以下では、実施の形態1で示した3次元情報処理装置100の構成要素と同一または相当する部分には図1で使用した符号と同一の符号を付して説明を省略または簡略化する。
この実施の形態2では、補正モード入力部12を介して入力される入力モードは、高さ補正モードと土台付加モードのいずれかとし、建物モデルの補正に関してユーザの意図に従って建物の高さを調整する、あるいは建物の高さを変えずに土台テクスチャにより隙間を埋めるいずれかを選択可能な機能を有するものとする。
図16(a)に示す例では、まずステップST23として、建物底面を構成する頂点I1,I2,I3,I4,I5,I6を、基準高さへの変更を行い、変更した頂点J1,J2,J3,J4,J5,J6を生成する。次に、図16(b)に示すように、ステップST24として、頂点I1と頂点J1を線分K1で、頂点I2と頂点J2を線分K2で、頂点I3と頂点J3を線分K3で、頂点I4と頂点J4を線分K4で、頂点I5と頂点J5を線分K5で、頂点I6と頂点J6を線分K6で結び、六角柱Lを生成して土台モデルを取得する。
Claims (7)
- 所定領域の地形を3次元座標で示した地形モデルと、前記所定領域内に位置する構造物を3次元座標で示した構造物モデルとを用いて、前記所定領域の3次元情報を生成する3次元情報処理装置において、
多角柱で表現された前記構造物モデルの底面を抽出する構造物底面抽出部と、
前記構造物底面抽出部が抽出した構造物モデルの底面に外接する矩形を前記構造物モデルの底面範囲として算出する構造物底面範囲算出部と、
前記地形モデルの集合を蓄積した地形モデルデータベースを参照し、前記構造物底面範囲算出部が算出した前記構造物モデルの底面範囲を含む地形モデルを抽出する地形モデル抽出部と、
前記地形モデル抽出部が抽出した複数の地形モデルを合成し、前記構造物モデルの底面範囲を含む地形モデルの頂点集合を生成する地形頂点合成部と、
前記地形頂点合成部が生成した地形モデルの頂点集合の成す線分と、前記構造物底面抽出部が抽出した前記構造物モデルの底面の外周線分との交点を算出する底面交点算出部と、
前記底面交点算出部が算出した各交点および前記構造物モデルの底面を構成する各頂点における前記地形モデルの高さを算出する全点高さ算出部と、
前記全点高さ算出部が算出した前記地形モデルの高さから、前記所定領域の3次元情報における基準高さを算出する基準高さ算出部と、
前記基準高さ算出部が算出した基準高さと、前記全点高さ算出部が算出した前記構造物モデルの底面を構成する頂点における前記地形モデルの高さとの差分を用いて、前記構造物モデルの高さを補正する構造物高さ補正部とを備えたことを特徴とする3次元情報処理装置。 - 前記底面交点算出部は、前記地形頂点合成部が生成した地形モデルを水平面上に投影した頂点集合の成す2次元の線分群と、前記構造物底面抽出部が抽出した前記構造物モデルの底面の外周線分を水平面上に投影した2次元の線分群との交点を2次元座標として算出することを特徴とする請求項1記載の3次元情報処理装置。
- 前記全点高さ算出部は、前記底面交点算出部が算出した各交点および前記構造物モデルの底面を構成する各頂点の2次元座標が、前記地形モデルを水平面上に投影した頂点集合の成す2次元線分群が形成した三角形集合のうちいずれの三角形に属するかを特定し、特定した三角形を構成する三頂点の高さを用いて線形補間を行い、前記各交点および前記各頂点における前記地形モデルの高さを算出することを特徴とする請求項2記載の3次元情報処理装置。
- 前記基準高さ算出部は、前記全点高さ算出部が算出した前記地形モデルの高さの最小値、平均値、または中間値のいずれかを基準高さとすることを特徴とする請求項1記載の3次元情報処理装置。
- 前記構造物底面抽出部が抽出した前記構造物モデルの底面と、前記基準高さ算出部が算出した基準高さとから土台モデルを生成し、生成した土台モデルを前記地形モデルと前記建物モデルとの間に生じる隙間に付加する土台モデル生成部と、
ユーザによる補正モードの指定を受け付ける補正モード入力部と、
前記補正モード入力部が受け付けた補正モードに応じて、前記構造物高さ補正部による構造物モデルの高さの補正処理、あるいは前記土台モデル生成部による土台モデルの付加処理のいずれかの処理を選択する補正処理選択部とを備えたことを特徴とする請求項1記載の3次元情報処理装置。 - 前記土台モデル生成部は、前記構造物モデルの底面を前記土台モデルの上面とし、前記基準高さを構成する各頂点が形成する平面を前記土台モデルの下面とした多角柱を前記土台モデルとして生成することを特徴とする請求項5記載の3次元情報処理装置。
- 前記土台モデル生成部は、前記土台モデルのテクスチャを蓄積した土台テクスチャデータベースを参照し、前記生成した多角柱の土台モデルの側面に適用するテクスチャを選択することを特徴とする請求項5記載の3次元情報処理装置。
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JP2020061126A (ja) * | 2018-09-07 | 2020-04-16 | ザ・ボーイング・カンパニーThe Boeing Company | 3dモデルのための間隙検出 |
JP7169496B1 (ja) | 2021-12-21 | 2022-11-11 | 幸一 横田 | 画像生成装置、画像生成方法、及びコンピュータプログラム |
JP2023091828A (ja) * | 2021-12-21 | 2023-07-03 | 幸一 横田 | 画像生成装置、画像生成方法、及びコンピュータプログラム |
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JP5933814B2 (ja) | 2016-06-15 |
US9886791B2 (en) | 2018-02-06 |
DE112013006818T5 (de) | 2015-12-10 |
JPWO2014141383A1 (ja) | 2017-02-16 |
US20160005222A1 (en) | 2016-01-07 |
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