Apparatus and method for constructing indoor map using cloud point

• US 10,019,821 B2
• Filed: 11/13/2015
• Issued: 07/10/2018
• Est. Priority Date: 09/02/2014
• Status: Active Grant

• Current Assignee: Naver Cloud Corporation (Naver Corporation)
• Original Assignee: Naver Business Platform Corporation (Naver Corporation)
• Inventors: Park, Weongi, Yoo, Jaewook, Lee, Ho Jin, Cheong, Eun Yong, Sim, Byeong-Ryeol, Kim, Byung-Jo
• Primary Examiner(s): Lee, Jonathan S
• Application Number:
  US14/941,021
• Publication Number:
  US 20160071294A1
• Time in Patent Office: 970 Days
• CPC Class Codes: G06F 16/2365 Ensuring data consistency and integrity
• CPC Class Codes: G06T 11/20 Drawing from basic elements, e.g. lines or circles
• CPC Class Codes: G06T 17/05 Geographic models
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 7/55 from multiple images
• CPC Class Codes: G06T 7/97 Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• CPC Class Codes: G06V 30/422 Technical drawings; Geographical maps
• CPC Class Codes: H04W 4/33 for indoor environments, e.g. buildings

Abstract

An indoor map constructing apparatus may include an information extractor configured to extract cloud point information from scan information about each point inside a target facility of which an indoor map is to be constructed, and an indoor map constructer configured to construct the indoor map of the target facility based on the cloud point information about each point.

Claims

1. An apparatus configured to construct an indoor map, the apparatus comprising:

a processor configured to,

extract cloud point information from scan information associated with points inside a target facility,

construct the indoor map of the target facility based on the cloud point information by,

acquiring attribute information associated with each of the points, the attribute information including at least one of (i) numerical or textual data, or (ii) a determined structure,

performing a drawing operation based on the cloud point information,

mapping the attribute information to space information associated with the target facility to construct the indoor map, and

determine whether the drawing operation contains errors by detecting whether the attribute information in the indoor map is at least one of (i) incorrect or (ii) missing.

2. The apparatus of claim 1, wherein the processor is further configured to perform the drawing operation on a shape of the target facility by synthesizing or filtering a cross-section of the target facility at each of the points based on the cloud point information.

3. The apparatus of claim 2, wherein the processor is further configured to determine whether the drawing operation contains errors using a structured query language (SQL) function.

4. The apparatus of claim 3, wherein the processor is further configured to automatically correct the errors in the drawing operation based on attribute information and image information associated with the points inside the target facility.

5. The apparatus of claim 1, wherein the processor is configured to construct the indoor map such that the indoor map maps an inside of the target facility to an absolute coordinate system.

6. The apparatus of claim 1, wherein the processor is configured to construct the indoor map such that the indoor map has a same coordinate system as an outdoor map of an area outside the target facility.

7. The apparatus of claim 1, wherein the processor is further configured to process the indoor map to designate a different color to the points inside the target facility, each color corresponding to a different category of destination.

8. The apparatus of claim 1, wherein

the apparatus is configured to receive the scan information from a scan device configured to scan the points inside the target facility, and

the processor is further configured to correct a drawing error based on acceleration information associated with the scan device.

21. The apparatus of claim 1, wherein the processor is configured to acquire the scan information from one or more coordinated scan devices.

22. The apparatus of claim 21, wherein the processor is configured to,

perform optical character recognition (OCR) on image information received from the one or more coordinated scan devices to generate the attribute information, and

associate the points with one or more of a plurality of service provider types based on the attribute information.

9. A method of constructing an indoor map of a target facility, the method comprising:

extracting cloud point information from scan information associated with points inside the target facility;

constructing the indoor map of the target facility based on the cloud point information by,

acquiring attribute information associated with each of the points, the attribute information including at least one of (i) numerical or textual data, or (ii) a determined structure,

performing a drawing operation based on the cloud point information,

mapping the attribute information to space information associated with the target facility to construct the indoor map, and

determining whether the drawing operation contains errors by detecting whether the attribute information in the indoor map is at least one of (i) incorrect or (ii) missing.

10. The method of claim 9, wherein the

performing includes performing the drawing operation on a shape of the target facility based on the cloud point information.

11. The method of claim 10, wherein the

performing includes performing the drawing operation on the shape of the target facility by synthesizing or filtering a cross-section of the target facility at each point based on the cloud point information.

12. The method of claim 10, wherein the determining whether the drawing operation contains errors includes using a structured query language(SQL) function;

and

the constructing of the indoor map further comprises automatically correcting the errors in the drawing operation based on attribute information and image information associated with the points inside the target facility.

13. The method of claim 9, wherein the constructing of the indoor map comprises:

constructing the indoor map such that the indoor map maps an inside of the target facility to an absolute coordinate system.

14. The method of claim 9, wherein the constructing of the indoor map comprises:

processing the indoor map to designate a different color to the points inside the target facility.

15. The method of claim 9, further comprising:

collecting, from a scan device, scan information and image information associated with each of the points inside the target facility.

16. The method of claim 15, wherein the constructing of the indoor map comprises:

correcting a drawing error based on acceleration information associated with the scan device.

17. A method of constructing an indoor map by a scan device, the method comprising:

generating scan information by scanning points inside a target facility; and

constructing an indoor map of the target facility by filtering processing the scan information by,

acquiring attribute information associated with each of the scanning points, the attribute information including at least one of (i) numerical or textual data, or (ii) a determined structure,

performing a drawing operation based on cloud point information from the scan information,

mapping the attribute information to space information associated with the target facility to construct the indoor map, and

determining whether the drawing operation contains errors by detecting whether the attribute information in the indoor map is at least one of (i) incorrect or (ii) missing.

18. The method of claim 17, wherein the constructing of the indoor map comprises:

constructing the indoor map such that the indoor map connects inner walls of the target facility with lines.

19. The method of claim 18, wherein the constructing of the indoor map comprises:

performing a primary drawing operation and a secondary drawing operation, the primary drawing operating including drawing the inner walls, and the second drawing operation including drawing an inside of the target facility through a server connected to the scan device.

20. The method of claim 17, wherein the constructing of the indoor map comprises:

correcting a drawing error based on acceleration information associated with the scan device.