Display method of road property and display device of road property

• US 10,275,916 B2
• Filed: 02/03/2017
• Issued: 04/30/2019
• Est. Priority Date: 02/04/2016
• Status: Active Grant

• Current Assignee: Topcon Corporation
• Original Assignee: Topcon Corporation
• Inventors: Sasaki, You, Ito, Tadayuki
• Primary Examiner(s): Sajous, Wesner
• Application Number:
  US15/423,817
• Publication Number:
  US 20170309050A1
• Time in Patent Office: 816 Days
• CPC Class Codes: G06T 11/001 Texturing; Colouring; Generation of texture or colour inpainting G06T5/77
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• CPC Class Codes: G06V 10/50 by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
• CPC Class Codes: G06V 10/758 Involving statistics of pixels or of feature values, e.g. histogram matching
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

To efficiently and effectively display a plurality of pieces of information that can be acquired from measurement data. Measurement data on a spaced amount from a measurement reference plane at each point of a road measured for a predetermined road width along a measurement path of a road to be measured and road image data including the road acquired along the measurement path are acquired; a unit area to become a unit of processing is set based on the measurement data; a model plane in the unit area is set from the measurement data in the unit area; point group data indicating a spaced amount from the model plane at each point of the unit area is generated; spaced amount display data displaying shading or hue corresponding to a spaced amount specified with the point group data in a contour of the road is generated; and a road image based on road image data corresponding to a specified area of the road and a spaced amount image based on the spaced amount display data corresponding to the road image are simultaneously displayed.

Claims

1. A display method of a road property comprising the steps of:

acquiring, using a data acquiring device, measurement data on a spaced amount from a measurement reference plane at each point of a road surface measured for a predetermined road width along a measurement path of a road to be measured;

setting, using a display and a unit area setting means thereof, a unit area to become a unit of processing based on the measurement data;

setting, using the display and a model plane setting means thereof, a model plane in the unit area from the measurement data in the unit area, and generating point group data indicating a spaced amount from the model plane at each point of the unit area;

generating, using the display and a spaced amount display generating means thereof, spaced amount display data displaying shading or hue corresponding to a spaced amount specified with the point group data in a contour of the road; and

determining at least one repair state of the road by simultaneously displaying, on the display, a road image of the road together with a spaced amount image based on the spaced amount display data corresponding to a specified area of the road, the spaced amount image showing an uneven state of the road surface.

2. The display method of the road property according to claim 1, further comprising the steps of:

acquiring road image data including the road acquired along the measurement path; and

displaying the road image based on the road image data corresponding to the specified area of the road with the spaced amount image or with the spaced amount image superimposed.

3. The display method of the road property according to claim 1, comprising the steps of:

acquiring map data including the road to be measured; and

displaying a map image based on the map data with at least one of the spaced amount image or the road image.

4. The display method of the road property according to claim 1, wherein

a road image pointer that points to one point on the road image and a spaced amount image pointer that points to one point on the spaced amount image are displayed, at least one of the road image pointer or the spaced amount image pointer being position variable;

and

the road image pointer and the spaced amount image pointer point to a same area of the road.

5. The display method of the road property according to claim 1, further comprising a step of displaying at least one of a longitudinal profile or a transverse profile of the road in an area specified in the road image or the spaced amount image.

6. The display method of the road property according to claim 4, wherein a value of at least one of a position coordinate at one point on the road specified with the road image pointer or the spaced amount image pointer, a spaced amount from the model plane, and an acquisition timing of the measurement data is displayed in characters.

7. The display method of the road property according to claim 1, further comprising the steps of:

acquiring the point group data of a same position acquired at different timing; and

executing at least one of displaying a plurality of longitudinal profiles at specified different timing in a same specified area in a superimposed manner, and displaying a plurality of transverse profiles at specified different timing in a same specified area in a superimposed manner.

8. The display method of the road property according to claim 1, further comprising the steps of

acquiring the point group data of the same position acquired at different timing;

and

displaying a temporal change in the spaced amount from the model plane at the same specified area in a graph.

9. The display method of the road property according to claim 1, further comprising the steps of:

generating a contour of a puddle formed in a recess of a road surface by an amount of precipitation specified based on the point group data; and

displaying the contour on the road image in a superimposed manner.

10. The display method of the road property according to claim 1, further comprising the steps of:

dividing the unit area into a plurality of sections and calculating a statistic of the point group data in each section;

extracting a section having a statistic satisfying a predefined reference value;

detecting a deformed area candidate based on a changing amount of the statistic of the extracted section and a statistic of a section adjacent to the extracted section; and

displaying a deformed area detection mark at a detection position of the detected deformed area candidate in the road image.

11. A display device of a road property comprising:

means for storing measurement data on a spaced amount from a measurement reference plane at each point of a road surface measured for a predetermined road width along a measurement path of a road to be measured;

means for setting a unit area to become a unit of processing based on the measurement data;

means for setting a model plane in the unit area from the measurement data in the unit area;

means for generating point group data indicating a spaced amount from the model plane at each point of the unit area;

means for generating spaced amount display data displaying shading or hue corresponding to a spaced amount specified with the point group data in a contour of the road; and

means for simultaneously displaying on the display, a road image of the road together with a spaced amount image based on the spaced amount display data corresponding to a specified area of the road, the spaced amount image showing an uneven state of the road surface, and determining at least one repair state of the road from the simultaneous displaying of the road image and the spaced amount image.

12. The display device of the road property according to claim 11, further comprising:

means for acquiring road image data including the road acquired along the measurement path; and

means for displaying the road image based on the road image data corresponding to the specified area of the road with the spaced amount image or with the spaced amount image superimposed.

13. The display device of the road property according to claim 11, further comprising:

means for acquiring map data including the road to be measured; and

means for displaying a map image based on the map data with at least one of the spaced amount image or the road image.

14. The display device of the road property according to claim 11, further comprising:

a means that points to one point on the road image and a spaced amount image pointer that points to one point on the spaced amount image are displayed, at least one of the road image pointer or the spaced amount image pointer being position variable; and

the road image pointer and the spaced amount image pointer cooperatively operate to point to a same area in the road.

15. The display device of the road property according to claim 13, further comprising a means for displaying at least one of a longitudinal profile or a transverse profile of the road in an area specified in the road image or the spaced amount image.

16. The display device of the road property according to claim 13, further comprising a means for displaying a value of at least one of a position coordinate at one point on the road specified with the road image pointer or the spaced amount image pointer, a spaced amount from the model plane, and an acquisition timing of the measurement data in characters.

17. The display device of the road property according to claim 11, wherein the means for storing the point group data includes at least one of:

means for storing the point group data of a same position acquired at different timing;

or

means for displaying a plurality of longitudinal profiles at specified different timing in a same specified area in a superimposed manner, and a means for displaying a plurality of transverse profiles at specified different timing in a same specified area in a superimposed manner.

18. The display device of the road property according to claim 11, wherein

the means for storing the point group data stores the point group data of the same position acquired at different timing;

and

the device further includes a means for displaying a temporal change in the spaced amount from the model plane at the same specified area in a graph.

19. The display device of the road property according to claim 11, further comprising:

means for generating a contour of a puddle formed in a recess of a road surface by an amount of precipitation specified based on the point group data; and

means for displaying the contour on the road image in a superimposed manner.

20. The display device of the road property according to claim 11, further comprising:

means for dividing the unit area into a plurality of sections and calculating a statistic of the point group data in each section;

means for extracting a section having a statistic satisfying a predefined reference value, and detecting a deformed area candidate based on a changing amount of the statistic of the extracted section and a statistic of a section adjacent to the extracted section; and

means for displaying a deformed area detection mark at a detection position of the detected deformed area candidate in the road image.