Environment map generating apparatus, environment map generating method, and environment map generating program

• US 8,023,727 B2
• Filed: 05/09/2008
• Issued: 09/20/2011
• Est. Priority Date: 03/07/2008
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Matsumoto, Kosei, Moriya, Toshio
• Primary Examiner(s): Wu; Jingge
• Application Number:
  US12/118,014
• Publication Number:
  US 20090226113A1
• Time in Patent Office: 1,229 Days
• Field of Search: 382/153, 382/154, 345418-426
• US Class Current: 382/154
• CPC Class Codes: G06V 20/36 Indoor scenes

Abstract

An environment map generating apparatus is provided. The environment map generating apparatus includes: a storage unit, a cross-sectional image generating unit, a model processing unit, an obtaining unit and an environment map generating unit. The storage unit stores a model of an obstacle. The cross-sectional image generating unit generates a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment. The model processing unit generates a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle. The obtaining unit obtains an obstacle map at the predetermined height from the reference plane in the environment. The environment map generating unit generates an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.

Claims

1. An environment map generating apparatus comprising:

a storage unit that stores a model of an obstacle;

a cross-sectional image generating unit that generates a cross-sectional image of the model of the obstacle at a predetermined height from a reference plane in an environment;

a model processing unit that generates a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle;

an obtaining unit that obtains an obstacle map at the predetermined height from the reference plane in the environment; and

an environment map generating unit that generates an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.

2. An environment map generating apparatus according to claim 1, wherein

the model processing unit generates the cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle that corresponds to when the obstacle is observed from above in the environment.

3. An environment map generating apparatus according to claim 2, wherein

the model of the obstacle is a three-dimensional image.

4. An environment map generating apparatus according to claim 3, wherein

the environment map generating unit displays layout candidates for the cross-sectional image-appended model on the obstacle map based on a degree of similarity for geometric characteristics of the cross-sectional image-appended model with respect to the obstacle map.

5. An environment map generating apparatus according to claim 4, wherein

the environment map generating unit is operable when the degree of similarity of the geometric characteristics of the cross-sectional image-appended model with respect to the obstacle map exceeds a set first threshold, to display a layout candidate of the cross-sectional image-appended model on the obstacle map.

6. An environment map generating apparatus according to claim 5, wherein

the environment map generating unit decides a layout position out of layout candidates of the cross-sectional image-appended model displayed on the obstacle map based on a selection instruction made via a user operation.

7. An environment map generating apparatus according to claim 5, wherein

the environment map generating unit selects a cross-sectional image-appended model where the degree of similarity of the geometric characteristics of the cross-sectional image-appended model with respect to the obstacle map is the highest, and displays the selected cross-sectional image-appended model on the obstacle map.

8. An environment map generating apparatus according to claim 5, wherein

the environment map generating unit selects a cross-sectional image-appended model where the degree of similarity of the geometric characteristics of the cross-sectional image-appended model with respect to the obstacle map exceeds a second threshold that is larger than the first threshold and displays the selected cross-sectional image-appended model on the obstacle map.

9. An environment map generating apparatus according to claim 3, wherein

the environment map generating unit lays out a cross-sectional image-appended model on the obstacle map based on an instruction made via a user operation.

10. An environment map generating method comprising:

generating a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment;

generating a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle;

obtaining an obstacle map at the predetermined height from the reference plane in the environment; and

generating an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.

11. An environment map generating program for causing a computer to execute the steps of:

generating a cross-sectional image of a model of an obstacle at a predetermined height from a reference plane in an environment;

generating a cross-sectional image-appended model by superimposing the cross-sectional image onto the model of the obstacle;

obtaining an obstacle map at the predetermined height from the reference plane in the environment; and

generating an environment map where the cross-sectional image-appended model is superimposed in a semitransparent state onto the corresponding obstacle in the obstacle map.