Mitsubishi Electric Corporation

Waseda University

Ryujiro Kurosaki

Yoshihiro Shima

Junichi Takiguchi

Naoyuki Kajiwara

Takumi Hashizume

Mitsunobu Yoshida

Masakazu Miya

An apparatus and method generating a road image including no features such as trees and tunnels hiding or covering a road surface. A mobile measuring apparatus installed in a vehicle may acquire a distance and orientation point cloud, a camera image, GPS observation information, a gyro measurement value, and an odometer measurement value, while moving in a target area. The position and attitude localizing apparatus may localize the position and attitude of the vehicle based on the GPS observation information, the gyro measurement value and the odometer measurement value. The point cloud generating apparatus may generate a point cloud based on the camera image, the distance and orientation point cloud, and a position and attitude localized value. The point cloud orthoimage generating apparatus may extract points close to a road surface exclusively from the point cloud by removing points higher than the road surface, orthographically project each extracted point onto a horizontal plane, and generate a point cloud orthoimage. The point cloud orthoimage may show the road surface including no features covering or hiding the road surface.

Aerial image generating apparatus, aerial image generating method, and storage medium having aerial image generating program stored therein

It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unitstores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. Using an image point inputting unit, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unitextracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unitoutputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.

Measurement apparatus, measurement method, and feature identification apparatus

It is an object to measure a position of a feature around a road. An image memory unit stores images in which neighborhood of the road is captured. Further, a three-dimensional point cloud model memory unitstores a point cloud showing three-dimensional coordinates obtained by laser measurement which is carried out simultaneously to the image-capturing of the images as a road surface shape model. A model projecting unitprojects a point cloud on the image, and an image displaying unitdisplays the point cloud superimposed with the image on the displaying device. Using an image point inputting unit, a pixel on a feature of a measurement target is specified by a user as a measurement image point. A neighborhood extracting unitextracts a point which is located adjacent to the measurement image point and superimposed on the feature for the measurement target from the point cloud. A feature position calculating unitoutputs three-dimensional coordinates shown by the extracted point as three-dimensional coordinates of the feature for the measurement target.

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Tokyo, Japan

Ryujiro Kurosaki