Integrated point cloud creation method, integrated triangular net creation method, integrated point cloud, integrated triangular net, and virtual point derivation program

Abstract

To accurately acquire the elevation of a road surface at a boundary between the road surface and an edge block when there is a level difference at the boundary between the road surface and the edge block.SOLUTION: A triangular net creation method of the present invention comprises: a current condition point cloud acquisition step of acquiring, by a three-dimensional scanning device, a current condition point cloud in a region including a boundary between a road surface and an edge block arranged adjacent to the road surface; an outer frame setting step of setting an outer frame including an offset line arranged on a road inner side relative to the boundary between the road surface and the edge block with respect to the current condition point cloud; a virtual point derivation step of deriving a virtual point located on a road outer side relative to the offset line, on the basis of three-dimensional coordinates of at least one point located inside the outer frame in the current condition point cloud; an integrated point cloud creation step of creating an integrated point cloud including an extracted point cloud extracted from the current condition point cloud as points located inside the outer frame, and the virtual point; and a triangular net creation step of creating a triangular net in which the integrated point cloud is used as vertices.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The present invention relates to an integrated point cloud creation method, an integrated triangular mesh creation method, an integrated point cloud, an integrated triangular mesh, and a virtual point derivation program used when performing pavement repairs, such as cutting road surfaces, using a cutting machine. [Background technology]

[0002] It has been known that road pavement repairs (repairs) are carried out when damage such as cracks occurs on the surface of the asphalt pavement that constitutes the surface layer of a road. In order to investigate the current condition of the road surface when repairing the road, a three-dimensional scanning device may be used to irradiate the road surface with laser light, thereby acquiring three-dimensional coordinated point cloud data (a set of elevations having planar position coordinates) of each point on the road surface and its surroundings (see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2020-64064 Summary of the Invention [Problem to be solved by the invention]

[0004] One method of repairing roads is to cut off the damaged area (thickness) near the road surface, but in recent years, automatic cutting using a cutting machine has become a possibility.Automatic cutting using a cutting machine involves inputting current surface data about the current elevation for each planar position on the surface of the asphalt pavement where damage has occurred, and planned surface data about the elevation of the planned surface, which shows how the surface of the asphalt pavement will be repaired, into the cutting machine, and then automatically cutting off the area near the surface of the asphalt pavement based on the difference between the elevation of the planned surface and the current elevation for each planar position.

[0005] 27(a) is a schematic diagram of a current point cloud acquired by a 3D scanning device for an area where a road surface 531, which is a carriageway, and a sidewalk are separated by a curb 532. The road surface 531 is an asphalt pavement surface, and the curb 532 is a concrete block. There is a step at the boundary 533 between the road surface 531 and the curb 532. As described above, in order to perform automatic cutting using a cutting machine, the elevation of the road surface 531 at the boundary 533 between the road surface 531 and the curb 532 is required.

[0006] Here, the elevation of the road surface 531 at the boundary 533 between the road surface 531 and the curb 532 is obtained based on the current situation point cloud, but the three-dimensional coordinates of points not included in the current situation point cloud are often derived from a triangular mesh, which is a collection of triangular planes connected with surrounding point clouds as vertices. For example, if the elevation of point T0 on the road surface 531 at the boundary 533 between the road surface 531 and the curb 532 is derived from a triangular plane connected with points a and b on the road surface 531 and point c on the curb 532 as vertices, as shown in Figure 27(b), the elevation of point T on the plane passing through points a, b, and c will be erroneously derived as the elevation of point T0.

[0007] In this way, if the elevation of the road surface 531 at the boundary 533 between the road surface 531 and the curb 532 is incorrectly derived, the difference between the current elevation and the elevation of the planned surface will not be calculated properly. Therefore, if cutting is performed automatically based on the value of that difference, a problem occurs in which the elevation at the plan position of point T0 does not match the elevation of the planned surface.

[0008] The present invention has been made in light of these problems, and aims to provide an integrated point cloud creation method, an integrated triangular mesh creation method, an integrated point cloud, an integrated triangular mesh, and a virtual point derivation program that enable automatic cutting to be carried out appropriately using a cutting machine. [Means for solving the problem]

[0009] In order to solve the above problems, the present invention takes the following measures.

[0010] In other words, the integrated point cloud creation method of the present invention is characterized by comprising a current status point cloud acquisition step of acquiring a current status point cloud in an area including the boundary between the road surface and an end block located adjacent to the road surface using a three-dimensional scanning device; an outer frame setting step of setting an outer frame including an offset line that is located inside the road than the boundary between the road surface and the end block for the current status point cloud; a virtual point derivation step of deriving a virtual point that is outside the road than the offset line based on the three-dimensional coordinates of at least one point in the current status point cloud that is inside the outer frame; and an integrated point cloud creation step of creating an integrated point cloud that includes an extracted point cloud extracted from the current status point cloud as points inside the outer frame and the virtual points.

[0011] As a result, an offset line is set on the inside of the road than the boundary between the road surface and the end block, and a virtual point on the outside of the road than the offset line is derived using the 3D coordinates of a point on the inside of the road than the offset line. Therefore, the elevation of the road surface at the boundary between the road surface and the end block can be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point. Therefore, even if there is a step at the boundary between the road surface and the end block, the elevation of the road surface at the boundary between the road surface and the end block can be accurately obtained.

[0012] In the integrated point cloud creation method of the present invention, it is preferable that the virtual point derivation step derives virtual points that are located outside the road beyond the offset line using three-dimensional coordinates of points on the offset line, which is part of the outer frame.

[0013] This allows the elevation error of the virtual point to be reduced by using the three-dimensional coordinates of the points on the offset line.

[0014] In the integrated point cloud creation method of the present invention, it is preferable that the virtual point derivation step determines a point that is a predetermined distance horizontally away from a point on the offset line, which is part of the outer frame, toward the outside of the road than the offset line, as the virtual point.

[0015] This allows the virtual point to be easily derived, since the virtual point is a point that is a predetermined distance away in the horizontal direction from a point on the offset line.

[0016] In the integrated point cloud creation method of the present invention, it is preferable that the outer perimeter frame setting step includes a temporary outer perimeter frame setting step that sets a temporary outer perimeter frame including a temporary offset line that is positioned inside the road than the boundary between the road surface and the end block in the orthoimage of the area, and a temporary outer perimeter frame that includes an offset line that is positioned inside the road than the boundary between the road surface and the end block for the current point cloud based on the temporary outer perimeter frame.

[0017] This makes it possible to easily set the range in which to set the outer frame using the orthoimage for the specified area by setting a temporary outer frame on the orthoimage for the specified area and then setting the outer frame based on that temporary outer frame.

[0018] The integrated triangulation network creation method of the present invention is characterized by comprising: a current status point cloud acquisition step for acquiring a current status point cloud in an area including the boundary between the road surface and an end block located adjacent to the road surface using a three-dimensional scanning device; an outer perimeter frame setting step for setting an outer perimeter frame including an offset line that is located inside the road than the boundary between the road surface and the end block for the current status point cloud; a virtual point derivation step for deriving a virtual point that is outside the road than the offset line based on the three-dimensional coordinates of at least one point in the current status point cloud that is inside the outer perimeter frame; an integrated point cloud creation step for creating an integrated point cloud that includes an extracted point cloud extracted from the current status point cloud as points inside the outer perimeter frame and the virtual points; and an integrated triangulation network creation step for creating an integrated triangulation network connected using the integrated point cloud as vertices.

[0019] As a result, an offset line is set on the inside of the road than the boundary between the road surface and the end block, and a virtual point on the outside of the road than the offset line is derived using the 3D coordinates of a point on the inside of the road than the offset line. Therefore, the elevation of the road surface at the boundary between the road surface and the end block can be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point. Therefore, even if there is a step at the boundary between the road surface and the end block, the elevation of the road surface at the boundary between the road surface and the end block can be accurately obtained.

[0020] In the integrated triangulation mesh creation method of the present invention, it is preferable that the virtual point derivation step derives virtual points that are located outside the road beyond the offset line using the three-dimensional coordinates of points on the offset line, which is part of the outer frame.

[0021] This allows the elevation error of the virtual point to be reduced by using the three-dimensional coordinates of the points on the offset line.

[0022] In the integrated triangulation network creation method of the present invention, it is preferable that the virtual point derivation step selects a point that is a predetermined distance horizontally away from a point on the offset line, which is part of the outer frame, toward the outside of the road than the offset line, as the virtual point.

[0023] This allows the virtual point to be easily derived, since the virtual point is a point that is a predetermined distance away in the horizontal direction from a point on the offset line.

[0024] In the integrated triangulation network creation method of the present invention, it is preferable that the outer perimeter frame setting step includes a temporary outer perimeter frame setting step that sets a temporary outer perimeter frame including a temporary offset line that is positioned inside the road than the boundary between the road surface and the end block in the orthoimage of the area, and a temporary outer perimeter frame that includes an offset line that is positioned inside the road than the boundary between the road surface and the end block for the current point cloud based on the temporary outer perimeter frame.

[0025] This makes it possible to easily set the range in which to set the outer frame using the orthoimage for the specified area by setting a temporary outer frame on the orthoimage for the specified area and then setting the outer frame based on that temporary outer frame.

[0026] The integrated point cloud of the present invention is characterized in that it includes a virtual point located outside the road beyond the offset line, derived based on the three-dimensional coordinates of at least one point located inside an outer frame including an offset line located inside the road beyond the boundary between the road surface and the end block, among a current point cloud located in an area including the boundary between the road surface acquired by a three-dimensional scanning device and an end block located adjacent to the road surface, and an extracted point cloud extracted from the current point cloud as points located inside the outer frame.

[0027] This allows the elevation of the road surface at the boundary between the road surface and the end block to be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point. Therefore, even if there is a step at the boundary between the road surface and the end block, the elevation of the road surface at the boundary between the road surface and the end block can be accurately obtained.

[0028] The integrated triangular network of the present invention is characterized in that it is connected at its vertices by an integrated point cloud including a virtual point located outside the road beyond the offset line, which is derived based on the three-dimensional coordinates of at least one point located inside an outer frame including an offset line located inside the road beyond the boundary between the road surface and the end block, among a current situation point cloud located in an area including the boundary between the road surface acquired by a three-dimensional scanning device and an end block located adjacent to the road surface, and an extracted point cloud extracted from the current situation point cloud as points located inside the road beyond the outer frame.

[0029] This allows the elevation of the road surface at the boundary between the road surface and the end block to be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point. Therefore, even if there is a step at the boundary between the road surface and the end block, the elevation of the road surface at the boundary between the road surface and the end block can be accurately obtained.

[0030] The integrated point cloud creation method of the present invention is characterized by comprising: a current status point cloud acquisition step of acquiring a current status point cloud in an area including the boundary between a road surface and an end block located adjacent to the road surface when there is no step at the boundary; an outer perimeter frame setting step of setting an outer perimeter frame including an offset line that is positioned so as to coincide with the boundary between the road surface and the end block for the current status point cloud; a virtual point derivation step of deriving a virtual point that is located outside the road beyond the offset line based on the three-dimensional coordinates of at least one point in the current status point cloud that is inside the outer perimeter frame; and an integrated point cloud creation step of creating an integrated point cloud that includes an extracted point cloud extracted from the current status point cloud as points inside the outer perimeter frame and the virtual points.

[0031] As a result, an offset line is set to coincide with the boundary between the road surface and the end block, and a virtual point located outside the road from the offset line is derived using the 3D coordinates of a point located inside the offset line. Therefore, the elevation of the road surface at the boundary between the road surface and the end block can be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point. Therefore, the elevation of the road surface at the boundary between the road surface and the end block can be accurately obtained.

[0032] In the integrated point cloud creation method according to the present invention, it is preferable that the virtual point derivation step derives a virtual point located outside the offset line of the road by using the three-dimensional coordinates of a point on the side of a triangular plane that is closest to the offset line inside the offset line, which is part of the outer frame.

[0033] This makes it possible to reduce errors in the elevation of the virtual point by using the three-dimensional coordinates of the point on the side of the triangular plane that is closest to the offset line.

[0034] In the integrated point cloud creation method of the present invention, it is preferable that the virtual point derivation step determines a point that is a predetermined distance horizontally away from a point on the edge of the triangular plane that is closest to the offset line, which is part of the outer frame, toward the outside of the offset line.

[0035] This allows the virtual point to be easily derived, since the virtual point is a point that is a predetermined distance away in the horizontal direction from a point on the side of the triangular plane that is closest to the offset line.

[0036] In the integrated point cloud creation method of the present invention, it is preferable that the outer frame setting step includes a temporary outer frame setting step of setting a temporary outer frame including a temporary offset line that is positioned so as to coincide with the boundary between the road surface and the end block in the orthoimage of the area, and setting an outer frame including an offset line that is positioned so as to coincide with the boundary between the road surface and the end block for the current point cloud based on the temporary outer frame.

[0037] This makes it possible to easily set the range in which to set the outer frame using the orthoimage for the specified area by setting a temporary outer frame on the orthoimage for the specified area and then setting the outer frame based on that temporary outer frame.

[0038] The triangulation network creation method of the present invention is characterized by comprising: a current status point cloud acquisition step for acquiring a current status point cloud in an area including the boundary between a road surface and an end block located adjacent to the road surface when there is no step at the boundary; an outer perimeter frame setting step for setting an outer perimeter frame including an offset line that is positioned so as to coincide with the boundary between the road surface and the end block for the current status point cloud; a virtual point derivation step for deriving a virtual point that is outside the road than the offset line based on the three-dimensional coordinates of at least one point in the current status point cloud that is inside the road than the outer perimeter frame; an integrated point cloud creation step for creating an integrated point cloud that includes an extracted point cloud extracted from the current status point cloud as points inside the outer perimeter frame and the virtual point; and a triangulation network creation step for creating a triangulation network connected with the integrated point cloud as vertices.

[0039] As a result, an offset line is set to coincide with the boundary between the road surface and the end block, and a virtual point located outside the road from the offset line is derived using the 3D coordinates of a point located inside the offset line. Therefore, the elevation of the road surface at the boundary between the road surface and the end block can be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point. Therefore, the elevation of the road surface at the boundary between the road surface and the end block can be accurately obtained.

[0040] In the integrated triangular mesh creation method of the present invention, it is preferable that the virtual point derivation step derives a virtual point located outside the offset line, which is part of the outer frame, using the three-dimensional coordinates of a point on the edge of the triangular plane that is closest to the offset line and inside the offset line.

[0041] This allows the elevation error of the virtual point to be reduced by using the three-dimensional coordinates of the point on the side of the triangular plane that is closest to the offset line inside the offset line.

[0042] In the method for creating a contiguous triangular network according to the present invention, it is preferable that the virtual point derivation step determines a point that is a predetermined distance horizontally away from a point on the side of the triangular plane that is closest to the offset line, which is part of the outer frame, toward the outside of the road, rather than the offset line.

[0043] This allows the virtual point to be easily derived, as it is a point located a predetermined distance horizontally from a point on the side of the triangular plane that is closest to the offset line and inside the offset line.

[0044] In the integrated triangulation mesh creation method of the present invention, it is preferable that the outer frame setting step includes a temporary outer frame setting step of setting a temporary outer frame including a temporary offset line that is positioned so as to coincide with the boundary between the road surface and the end block in the orthoimage of the area, and a step of setting an outer frame including an offset line that is positioned so as to coincide with the boundary between the road surface and the end block for the current point cloud based on the temporary outer frame.

[0045] This makes it possible to easily set the range in which to set the outer frame using the orthoimage for the specified area by setting a temporary outer frame on the orthoimage for the specified area and then setting the outer frame based on that temporary outer frame.

[0046] The integrated point cloud of the present invention is characterized in that, when there is no step at the boundary between the road surface and an end block located adjacent to the road surface, it includes a current point cloud in an area including the boundary acquired by a 3D scanning device, a virtual point located outside the road beyond the offset line, which is derived based on the 3D coordinates of at least one point inside an outer frame including an offset line that is positioned to coincide with the boundary between the road surface and the end block, and an extracted point cloud extracted from the current point cloud as points inside the outer frame.

[0047] This allows the elevation of the road surface at the boundary between the road surface and the end block to be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point, thereby making it possible to accurately obtain the elevation of the road surface at the boundary between the road surface and the end block.

[0048] The integrated triangular network of the present invention is characterized in that, when there is no step at the boundary between the road surface and an end block located adjacent to the road surface, the integrated triangular network is connected at its vertices to include an integrated point group derived based on the three-dimensional coordinates of at least one point inside an outer frame including an offset line that is positioned to coincide with the boundary between the road surface and the end block among the current point group in an area including the boundary between the road surface acquired by a two-dimensional scanning device and the end block located adjacent to the road surface, and an extracted point group extracted from the current point group as points inside the outer frame.

[0049] This allows the elevation of the road surface at the boundary between the road surface and the end block to be obtained based on the elevation of a point on the virtual plane formed between the offset line and the virtual point, thereby making it possible to accurately obtain the elevation of the road surface at the boundary between the road surface and the end block.

[0050] The virtual point derivation program of the present invention, when loaded into a computer, causes the computer to function as: a current status point cloud receiving means for receiving a current status point cloud in an area including the boundary between the road surface acquired by a three-dimensional scanning device and an end block located adjacent to the road surface; an outer perimeter frame receiving means for receiving an outer perimeter frame including an offset line that is located inside the road than the boundary between the road surface and the end block for the current status point cloud; an offset information receiving means for receiving offset information used when deriving a virtual point; and a virtual point derivation means for deriving a virtual point outside the road than the offset line based on the offset information and the three-dimensional coordinates of at least one point in the three-dimensional point cloud that is inside the road than the outer perimeter frame, wherein the offset information includes an offset direction that is a direction from an offset starting point on the offset line along the gradient of the road surface.

[0051] This makes it possible to easily derive virtual points located outside the road beyond the offset line by setting an outer frame that includes an offset line that is positioned inside the road beyond the boundary between the road surface and the end block. [Effects of the Invention]

[0052] As described above, according to the present invention, the elevation of the road surface at the boundary between the road surface and the end block can be accurately obtained. [Brief explanation of the drawings]

[0053] [Figure 1] 1 is a diagram showing a schematic configuration of an integrated triangulation mesh creation system 1 according to a first embodiment of the present invention. [Figure 2] 10 is a flowchart illustrating a procedure for creating an integrated triangular mesh. [Figure 3] FIG. 2 is a diagram showing a current point cloud acquired by a three-dimensional scanning device 2. [Figure 4] FIG. 1 is a diagram showing an orthoimage of a predetermined area. [Figure 5] FIG. 5 is a partial enlarged view of the orthoimage of FIG. 4. [Figure 6] FIG. 5 is a partial enlarged view of the orthoimage of FIG. 4. [Figure 7] FIG. 10 is a diagram illustrating a temporary outer peripheral frame A2. [Figure 8] FIG. 10 is a diagram illustrating the outer peripheral frame A5. [Figure 9] FIG. 10 is a diagram illustrating a method for deriving a virtual point. [Figure 10] FIG. 10 is a diagram illustrating a method for deriving a virtual point. [Figure 11] FIG. 11(a) is a schematic diagram showing the current state and planned states when automatic cutting is performed by a cutting machine, and FIG. 11(b) is a partially enlarged view of FIG. 11(a). [Figure 12] FIG. 2 is a diagram showing an integrated point cloud; [Figure 13] FIG. 13 is a partially enlarged view of FIG. [Figure 14] FIG. 1 shows an integrated triangular mesh; [Figure 15]FIG. 15 is a partially enlarged view of FIG. [Figure 16] FIG. 10 is a diagram illustrating a temporary outer perimeter frame A2 of the integrated triangulation mesh creation system according to the second embodiment of the present invention. [Figure 17] FIG. 2 is a partially enlarged view of an orthoimage. [Figure 18] 10 is a diagram illustrating a case where there is no step at a boundary 33 between a road surface 31 and an end block 32. FIG. [Figure 19] 10 is a diagram illustrating a case where there is no step at a boundary 33 between a road surface 31 and an end block 32. FIG. [Figure 20] 10 is a diagram illustrating a case where there is no step at a boundary 33 between a road surface 31 and an end block 32. FIG. [Figure 21] 10 is a diagram illustrating a case where there is no step at a boundary 33 between a road surface 31 and an end block 32. FIG. [Figure 22] FIG. 10 is a diagram illustrating a method for deriving a virtual point. [Figure 23] 10A and 10B are diagrams illustrating a modified example of a method for deriving a virtual point. [Figure 24] FIG. 10 is a diagram showing an example of a boundary between a road surface and an end block. [Figure 25] FIG. 10 is a diagram showing an example of a boundary between a road surface and an end block. [Figure 26] FIG. 10 is a diagram showing an example of a boundary between a road surface and an end block. [Figure 27] FIG. 1 is a diagram illustrating a conventional technical problem. DETAILED DESCRIPTION OF THE INVENTION

[0054] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0055] (First embodiment) An integrated triangulation mesh creation system 1 according to an embodiment of the present invention includes a 3D scanning device 2 and an integrated triangulation mesh creation device 10 to which the 3D scanning device 2 is connected via a wired or wireless connection.

[0056] The three-dimensional scanning device 2 emits a laser beam to acquire three-dimensional coordinated point cloud data (a set of elevations with planar position coordinates) of each point on the road surface, and supplies the point cloud data to the integrated triangulation network creation device 10 or the like. The three-dimensional scanning device 2 emits a line laser beam, for example, vertically and horizontally, toward the object to be measured (the road surface), and measures the time it takes for the laser pulse to travel back and forth between the measurement point on the object to be measured and the sensor, thereby determining the distance to the measurement point. In this embodiment, the three-dimensional scanning device 2 is used to acquire three-dimensional coordinates (point cloud data) of each point in an area including a repair site where road repair work is to be performed, at the time of commencement of repair work. The point cloud data acquired by the three-dimensional scanning device 2 is data at positions spaced, for example, at intervals of 25 cm or less. In this embodiment, the three-dimensional scanning device 2 acquires point cloud data at positions spaced, for example, at intervals of 5 mm. The intervals between the point cloud data acquired by the three-dimensional scanning device 2 are arbitrary.

[0057] 1, the integrated triangulation device 10 has a control unit 10a, which is configured, for example, by a microcomputer and includes a CPU, a ROM storing various programs that control the operation of the integrated triangulation device 10, and a RAM for temporarily storing data used when executing the programs. That is, the control unit 10a is primarily configured as a normal microcomputer including a CPU, memory, and an interface, and performs predetermined calculations and processing in accordance with the programs stored in the memory to create an integrated point cloud and an integrated triangulation in cooperation with peripheral hardware.

[0058] The control unit 10a of the integrated triangulation mesh creation device 10 has a current point cloud memory unit 11, an orthoimage memory unit 12, a construction information memory unit 13, a perimeter frame memory unit 14 (including a temporary perimeter frame memory unit 14a), a point cloud extraction unit 15, a virtual point derivation unit 16, an integrated point cloud creation unit 17, and an integrated triangulation mesh creation unit 18. The integrated triangulation mesh creation device 10 is also connected to a 3D scanning device 2, an operation device 5 such as a mouse, and a display device 6 such as a display screen.

[0059] The current status point cloud storage unit 11 stores a point cloud (point cloud data) that is converted into three-dimensional coordinates for each point in a predetermined area acquired by the 3D scanning device 2. The predetermined area is an area that includes the road surface where road repair is to be performed and its surroundings. The current status point cloud stored in the current status point cloud storage unit 11 includes a current status point cloud located in the vicinity of an area that includes the boundary between the road surface where road repair is to be performed and an edge block located adjacent to the road surface. The current status point cloud stored in the current status point cloud storage unit 11 was separately acquired by the 3D scanning device 2 and supplied to the integrated triangulation mesh creation device 10.

[0060] The orthoimage storage unit 12 stores an orthoimage created separately for a predetermined area. Specifically, the orthoimage is created based on the three-dimensional coordinates of a plurality of feature points acquired by, for example, a total station and a photographed image of the road surface taken from the sky by, for example, a UAV 3. The plurality of feature points are points included in the predetermined area. The UAV has a photographing device, and the photographed image is a photograph of the road taken from the sky by the UAV flying at an arbitrary altitude. For example, the photograph may be a photograph of the road taken from the sky by a UAV flying at an altitude of 20 meters or less above ground or at an altitude of more than 20 meters above ground.

[0061] The method for creating an orthoimage is, for example, to perform SfM (Structure from Motion) analysis on data for multiple captured images, and connect two adjacent captured images based on a common anti-aircraft sign 6 captured in the images to create an orthoimage. The ground pixel size of the orthoimage is arbitrary. For example, the ground pixel size of the orthoimage is arbitrary, and may be, for example, 5 millimeters or less or greater than 5 millimeters.

[0062] The construction information storage unit 13 stores information about the construction range indicating the range of the road where road repairs will be performed, information about the road alignment indicating the shape of the road where road repairs will be performed, etc. The construction information also includes the pitch indicating the interval between predetermined points set on the temporary outer perimeter frame other than the change points, the pitch indicating the interval between predetermined points set on the outer perimeter frame other than the change points, offset information used when deriving virtual points, that is, various parameters (the pitch indicating the interval between predetermined points set on the road alignment, the offset amount and offset direction to offset from a point on the outer perimeter frame toward the outside of the road), etc.

[0063] When an outer perimeter frame A5 used to extract a portion of the current point cloud is set, the outer perimeter frame memory unit 14 stores the set outer perimeter frame A5. In this embodiment, first, a temporary outer perimeter frame A2 is set on the orthoimage by operating the operation device 5 while an orthoimage of a predetermined area is displayed on the display device 6, and then an outer perimeter frame A5 is set on the current point cloud based on the temporary outer perimeter frame A2. Therefore, the outer perimeter frame memory unit 14 has a temporary outer perimeter frame memory unit 14a that stores the set temporary outer perimeter frame A2 when the temporary outer perimeter frame A2 is set. The method for setting the temporary outer perimeter frame A2 and the outer perimeter frame A5 will be described later.

[0064] The point cloud extraction unit 15 extracts a point cloud that is inside the outer peripheral frame A5 stored in the outer peripheral frame storage unit 14 from the current point cloud acquired by the 3D scanning device 2. In the following description, the point cloud extracted by the point cloud extraction unit 15 may be referred to as the "extracted point cloud."

[0065] The virtual point derivation unit 16 derives a virtual point located outside the road beyond the offset line based on the three-dimensional coordinates of at least one point located inside the outer frame A5 among the current state point cloud. The method of deriving the virtual point will be described later.

[0066] The integrated point cloud creating unit 17 creates an integrated point cloud by integrating the extracted point cloud extracted by the point cloud extracting unit 15 and the virtual points derived by the virtual point derivation unit 16.

[0067] The integrated triangular mesh creating unit 18 creates an integrated triangular mesh, which is a collection of triangular planes connected with points included in the integrated point cloud created by the integrated point cloud creating unit 17 as vertices.

[0068] (How to create an integrated triangular mesh) The method by which the integrated triangular mesh is created by the integrated triangular mesh creating device 10 will be described with reference to FIG.

[0069] In step S1 (current point cloud acquisition step), the 3D scanning device 2 acquires the 3D coordinates, i.e., planar position (latitude, longitude) and elevation (height), of each point in a specified area including the construction area where road repairs will be carried out and its surrounding areas.

[0070] FIG. 3 shows a current status point cloud (current status point cloud data) for a predetermined area acquired by the 3D scanning device 2. Note that noise above the road surface has been removed in FIG. 3. Examples of noise removed in FIG. 3 include vehicles, people, trees, power lines, utility poles, fences, weeds, and the like above the road surface. Note that the current status point cloud in FIG. 3 may be a collection of points of a predetermined color, but it is preferable that each point included in the current status point cloud is supplemented with clear color information contained in an orthoimage created for the predetermined area.

[0071] In step S2 (construction range setting step), the construction range where road repairs will be performed is set on the orthoimage created for the specified area. Figure 4 shows the orthoimage created for the specified area, with the construction range A1 where road repairs will be performed indicated by a dotted line and the road alignment A3 indicating the shape of the road indicated by a dashed line. Note that Figure 7 shows an extracted version of only the construction range A1, temporary outer frame A2, and road alignment A3 shown in Figure 4, with the road alignment A3 shown as a broken line with straight lines connecting each of the change points p1 to p7.

[0072] As shown in Fig. 5, which is an enlarged view of (Area 1) in Fig. 4, the road surface 31 on which road repair is to be performed is paved with asphalt, and edge blocks 32, such as curbs or roadway / sidewalk divider blocks, are provided at the edges of the asphalt-paved road surface. The edge blocks 32 are made of, for example, concrete. Therefore, the construction area A1 is often set along the boundary 33 between the road surface 31 and the edge blocks 32 arranged adjacent to the road surface 31.

[0073] In other words, when repairing a road, for example, by cutting off a damaged portion (thickness) near the asphalt-paved road surface 31, the area of ​​the asphalt-paved road surface 31 inside the road beyond the boundary 33 between the road surface 31 and the end block 32 is cut off, whereas the area of ​​the end block 32 outside the road beyond the boundary 33 between the road surface 31 and the end block 32 is not cut off.

[0074] Explaining FIG. 5 in more detail, a rectangular parallelepiped curbstone 32 (end block 32) is provided along the edge of the road surface 31 (the upper end in FIG. 5). The curbstone 32 protrudes above the road surface 31, and the top surface of the curbstone 32 is located higher than the road surface 31. Therefore, there is a step at the boundary 33 between the road surface 31 and the curbstone 32. The boundary 33 between the road surface 31 and the curbstone 32 is the boundary between the asphalt-paved road surface 31 and the concrete curbstone 32, and the area inside the boundary 33 is the area to be repaired. Therefore, although the construction area A1 is shown by a dotted line in FIG. 5, most of the construction area A1 near the edge of the road surface 31 is set to coincide with the boundary 33 between the road surface 31 and the curbstone 32.

[0075] In step S3 (temporary outer perimeter frame setting step), a temporary outer perimeter frame A2 is set on the orthoimage created for the specified area. Figure 4 shows the orthoimage created for the specified area, with the temporary outer perimeter frame A2 shown in solid lines.

[0076] As described above, if there is a step at the boundary 33 between the road surface 31 and the curb 32, using all of the points near the boundary between the road surface 31 and the curb 32 in the current state point cloud acquired by the 3D scanning device 2 may result in inaccurate extraction of the 3D coordinates of points at the edge of the road surface 31. For this reason, in this embodiment, only a portion of the current state point cloud acquired by the 3D scanning device 2 is used. Therefore, a peripheral frame A5 is set for extracting the point cloud to be used for the current state point cloud acquired by the 3D scanning device 2. In this embodiment, a temporary peripheral frame A2 is first set on the orthoimage, and then a peripheral frame A5 for the current state point cloud is set based on the temporary peripheral frame A2. In other words, the temporary peripheral frame A2 is a two-dimensional frame, and the peripheral frame A5 is a three-dimensional frame.

[0077] 5, in an area where there is a step at the boundary 33 between the road surface 31 and the curb 32, a temporary offset line A2' is set that is positioned on the inside of the road than the boundary 33 between the road surface 31 and the curb 32. In other words, in an area where there is a step at the boundary 33 between the road surface 31 and the curb 32, only the point cloud that is on the inside of the road than the temporary offset line A2' is used among the current situation point clouds acquired by the 3D scanning device 2. In other words, the point cloud that is on the outside of the road than the temporary offset line A2' is not used among the current situation point clouds acquired by the 3D scanning device 2.

[0078] In this way, in an area on the orthoimage for a predetermined area where there is a step at the boundary 33 between the road surface 31 and the curb 32 for the entire periphery of the construction range A1, a temporary offset line A2' is set on the inside of the road from the boundary 33 between the road surface 31 and the curb 32 (at a position away from the boundary 33 on the inside of the road). Note that it is up to the discretion of the operator how far inside the road the temporary offset line A2' should be set from the boundary 33 between the road surface 31 and the curb 32, but in this embodiment, the temporary offset line A2' is set at a position 10 cm on the inside of the road from the boundary 33 between the road surface 31 and the curb 32.

[0079] 6, which is an enlargement of (area 2) included in FIG. 4, a curb 32 (end block 32) is provided along the edge of the road surface 31 (the lower end in FIG. 6), just as in FIG. 5. The curb 32 protrudes above the road surface 31, and the top surface of the curb 32 is located higher than the road surface 31. Therefore, there is a step at the boundary 33 between the road surface 31 and the curb 32. In FIG. 6, the construction area A1 is shown by a dotted line, but near the edge of the road surface 31, most of the construction area A1 is set to coincide with the boundary 33 between the road surface 31 and the curb 32.

[0080] However, in the orthoimage of FIG. 4 , catch basins 35 on which gratings 34 are installed are provided at multiple locations on the road inside the boundary 33 between the road surface 31 and the curbstone 32, as shown in FIG. 6 . The catch basins 35 are made of concrete, for example, and are provided to surround the area where the gratings 34 are to be installed. The area where the catch basins 35 are located needs to be excluded from the construction area 31 as an obstacle, and as shown in FIG. 6 , in the area near the catch basin 35, the construction area 31 is set along the boundary between the road surface 31 and the catch basin 35. Furthermore, for the area where the catch basin 35 is located, as in the area where there is a step at the boundary 33 between the road surface 31 and the curbstone 32, a temporary offset line A2' is set inside the construction area 31, and only the point cloud inside the road from the temporary offset line A2' is used among the current point clouds acquired by the 3D scanning device 2.

[0081] In contrast to this, for areas around the entire perimeter of construction area A1 where there is no step at boundary 33 between road surface 31 and curbstone 32, temporary outer perimeter frame A2 may be set to coincide with construction area A1, or temporary outer perimeter frame A2 may be set outside the road from construction area A1. In this embodiment, for areas where there is no step at boundary 33 between road surface 31 and curbstone 32, for example, temporary outer perimeter frame A2 is set outside the road from construction area A1, as in the upper right area of ​​Figure 5.

[0082] After setting the temporary outer frame A2 on the orthoimage for the specified area in this manner, the planar positions (x, y) of the change points n1 to n30 on the temporary outer frame A2 are extracted, as shown in FIG. 7. Note that any point included in the orthoimage for the specified area has a planar position (x, y), so the planar positions (x, y) of the change points n1 to n30 can be easily extracted. Also, although not shown, in addition to the change points n1 to n30, planar positions (x, y) are also extracted as multiple predetermined points on the temporary outer frame A2 for points located, for example, every 20 cm clockwise from the change point n1, around the entire circumference of the temporary outer frame A2. Note that the intervals between the multiple predetermined points on the temporary outer frame A2 are arbitrary, and the intervals (pitch) are not limited to every 20 cm.

[0083] In step S4 (perimeter frame setting step), a temporary outer perimeter frame A2 set on the orthoimage for a predetermined area is matched to the current situation point cloud acquired by the 3D scanning device 2, thereby setting an outer perimeter frame A5 for the current situation point cloud, as shown in Fig. 8. The outer perimeter frame A5 shown in Fig. 8 corresponds to the temporary outer perimeter frame A2 set on the orthoimage and includes an offset line A5' corresponding to the offset line A2' included in the temporary outer perimeter frame A2. That is, just as the offset line A2' included in the temporary outer perimeter frame A2 is set on the inner side of the road than the boundary 33 between the road surface 31 and the end block 32 in the orthoimage shown in Fig. 4, the offset line A5' included in the outer perimeter frame A5 is set on the inner side of the road than the boundary 33 between the road surface 31 and the end block 32 in the current situation point cloud shown in Fig. 8.

[0084] After the outer peripheral frame A5 is set on the current point cloud acquired by the 3D scanning device 2 in this manner, the three-dimensional coordinates (x, y, z) of the change points n1 to n30 on the outer peripheral frame A5 that correspond to the change points n1 to n30 on the temporary outer peripheral frame A2 are extracted. Note that in FIG. 8, only some of the change points n1 to n30 are labeled. Also, although not shown, the three-dimensional coordinates (x, y, z) of points located, for example, every 20 cm clockwise from the change point n1, are extracted as multiple predetermined points on the outer peripheral frame A5, in addition to the points corresponding to the change points n1 to n30, for the entire circumference of the outer peripheral frame A5. Note that the intervals between the multiple predetermined points on the outer peripheral frame A5 are arbitrary, and the intervals (pitch) are not limited to every 20 cm. As described above, the planar position (x, y) has already been extracted from the orthoimage, and the elevation at that planar position (x, y) is extracted from a triangular network, which is a collection of triangular planes connected with points included in the current status point cloud as vertices. Note that FIG. 8 illustrates a triangular network connected with points included in the extracted point cloud extracted from the current status point cloud as vertices. Therefore, the change points n1 to n30 and multiple specified points are arranged in a straight line on the outer frame A5. In the triangular network connecting the current status point clouds in FIG. 8, the current status point cloud may be a collection of points of a specified color, similar to the current status point cloud in FIG. 3. However, it is preferable that each point included in the current status point cloud be supplemented with clear color information contained in the orthoimage created for the specified area.

[0085] In step S5 (point cloud extraction step), a point cloud (extracted point cloud) inside the outer peripheral frame A5 is extracted from the current point cloud acquired by the three-dimensional scanning device 2. In this embodiment, change points n1 to n30 and multiple predetermined points on the outer peripheral frame A5 are added to the extracted point cloud, but this will be described as a case where the change points n1 to n30 and multiple predetermined points on the outer peripheral frame A5 do not overlap with points included in the point cloud inside the outer peripheral frame A5. In the following description, the point cloud (extracted point cloud) inside the outer peripheral frame A5 includes the point cloud inside the outer peripheral frame A5 from the current point cloud acquired by the three-dimensional scanning device 2, as well as the change points n1 to n30 and multiple predetermined points on the outer peripheral frame A5.

[0086] In step S6 (imaginary point derivation step), the three-dimensional coordinates of at least one point inside the outer peripheral frame A5 are used to derive the three-dimensional coordinates of imaginary points outside the outer peripheral frame A5.

[0087] Specifically, as shown in FIG. 9 , when the extracted points inside the outer frame A5 extracted from the current status point cloud acquired by the 3D scanning device 2 are viewed from above, points C are set at a predetermined interval on the road alignment A3 set near the center of the road. In FIG. 9 , the extracted points inside the outer frame A5 form a triangular network, which is a collection of triangular planes connected with points included in the current status point cloud as vertices. Then, an intersection point N between the outer frame A5 and a line a passing through point C on the road alignment A3 and perpendicular to the road alignment A3 is derived. A point spaced a predetermined offset distance horizontally from the intersection point N toward the outside of the road is then derived as a virtual point T. The road alignment A3 shown in FIGS. 9 and 10 corresponds to the road alignment A3 shown in FIG. 4 . In this embodiment, as shown in FIG. 9 , a virtual point T spaced a predetermined offset distance horizontally from the intersection point N toward the outside of the road is derived in all regions on both sides of the road width. In other words, a virtual point T is derived that is offset horizontally from the intersection point N toward the outside of the road not only in areas where there is a step at the boundary 33 between the road surface 31 and the end block 32, but also in areas where there is no step at the boundary 33 between the road surface 31 and the end block 32.

[0088] A method for deriving the imaginary point T will be described in detail with reference to Fig. 10. Here, a method for deriving three imaginary points T1, T2, and T3 corresponding to three points C1, C2, and C3 on the road alignment A3 will be described, but the method for deriving imaginary points corresponding to other points on the road alignment A3 is similar.

[0089] When the extracted points inside the outer perimeter frame A5 are viewed from above, points C1, C2, and C3 are set on the road alignment A3. Then, intersections N1, N2, and N3 of lines a1, a2, and a3 that pass through points C1, C2, and C3 on the road alignment A3, respectively, and that are perpendicular to the road alignment A3, with the offset line A5' (outer perimeter frame A5) are derived. As described above, change points n1 to n30 and multiple predetermined points spaced at 20 cm intervals are set on the outer perimeter frame A5, and each of the change points n1 to n30 and the multiple predetermined points has three-dimensional coordinates (x, y, z). Therefore, two adjacent points included in the change points n1 to n30 and the multiple predetermined points, together with one point inside the outer perimeter frame A5, form a triangular network, which is a collection of triangular planes connected by these points as vertices. Therefore, since the intersection points N1, N2, and N3 on the outer frame A5 (all of the points on the outer frame A5) are on the triangular plane included in the triangular mesh, the three-dimensional coordinates (x, y, z) of the intersection points N1, N2, and N3 can be easily derived.

[0090] Then, when the extracted point cloud is viewed from above, points that are horizontally offset from intersections N1, N2, and N3 along straight lines a1, a2, and a3 (along a direction perpendicular to offset line A5' (outer peripheral frame A5)) toward the outside of the road by the offset amount are derived as virtual points T1, T2, and T3, respectively. Note that the predetermined pitch interval and offset amount at which points C are set on road alignment A3 are arbitrary, but in this embodiment, the predetermined pitch interval at which points C are set on road alignment A3 is set to 20 cm, and the offset amount is set to 20 cm. However, if temporary offset line A2' is set at a position α1 cm inside the road from boundary 33 between road surface 31 and curb 32, the offset amount must be set to α2 cm, which is a value greater than α1 cm.

[0091] Figure 11(a) is a schematic diagram showing the current surface and the planned surface when automatic cutting is performed by a cutting machine. The elevation of the current surface is higher than the elevation of the planned surface. Figure 11(b) is a partially enlarged view of Figure 11(a), and it can be seen that the virtual point T1 is a point that is offset horizontally from point N1 on offset line A5', which is set inside the road from the boundary between the road surface and the curb, toward the outside of the road by the offset amount. In other words, the elevation of point N1 and the elevation of virtual point T1 are the same.

[0092] In many cases, as shown in Figure 11(a), the road surface is formed so that the elevation is highest at road alignment A3 near the center of the road and the elevation decreases along a predetermined gradient from the center of the road toward both ends. Therefore, the actual elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 is lower than the elevation of point N1 on the offset line A5', as shown in Figure 11(b).

[0093] In contrast, in this embodiment, a point that is horizontally away from point N1 on offset line A5' toward the outside of the road by the offset amount is set as virtual point T1, and therefore a virtual plane that passes through intersection point N1 and virtual point T1 is formed horizontally. Therefore, the elevation of a point on the virtual plane that passes through intersection point N1 and virtual point T1 is used as the virtual elevation of road surface 31 at boundary 33 between road surface 31 and end block 32. Thus, in this embodiment, the virtual elevation of road surface 31 at boundary 33 between road surface 31 and end block 32 is an approximate value that is slightly higher than the actual elevation.

[0094] As described above, the temporary offset line A2' is set at a position 10 cm inside the road from the boundary 33 between the road surface 31 and the curbstone 32. Therefore, if the predetermined gradient of the road surface from the center of the road to both ends is, for example, 2%, the virtual elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 is 2 mm higher than the actual elevation. There is a slight error between the virtual elevation in this embodiment and the actual elevation, but this is within an acceptable range.

[0095] In step S7 (integrated point cloud creation step), the extracted point cloud inside the outer frame A5 is integrated with the multiple virtual points derived in step S6 to create the integrated point cloud shown in Figures 12 and 13. That is, the integrated point cloud includes the extracted point cloud inside the outer frame A5 and multiple virtual points located on both sides of it. The integrated point clouds in Figures 12 and 13 may be a collection of points of a predetermined color, like the current state point cloud in Figure 3, but it is preferable that each point included in the current state point cloud is supplemented with clear color information contained in the orthoimage created for the specified area.

[0096] In step S8 (integrated triangular mesh creation step), a triangular mesh is created, which is a collection of triangular planes connected with the integrated point cloud created in step S7 as vertices, resulting in an integrated triangular mesh as shown in Figure 14. The integrated triangular mesh in Figure 14 may be a collection of points of a predetermined color, similar to the current status point cloud in Figure 3, but it is preferable that each point included in the current status point cloud is supplemented with clear color information contained in the orthoimage created for the predetermined area.

[0097] In Figure 15, which is an enlarged view of a portion of Figure 14, multiple imaginary points are positioned outside the road by an offset amount from the outer peripheral frame A5, and points on the outer peripheral frame A5 and their corresponding imaginary points are positioned at the same height (elevation). In this embodiment, the construction area A1 is located approximately in the center between the points on the outer peripheral frame A5 and the imaginary points. Therefore, when the elevation of the boundary 33 between the asphalt-paved road surface 31 and the end block 32 is obtained, the elevation of each point on the construction area A1 is obtained based on the integrated triangular mesh. However, as shown in Figure 15, the construction area A1 is located on a virtual plane of the same height, located between the points on the outer peripheral frame A5 and the imaginary points, so height information (elevation) can be easily obtained.

[0098] As described above, the triangular mesh creation method of this embodiment includes a current status point cloud acquisition step in which a current status point cloud in an area including the boundary 33 between the road surface 31 and the end block 32 located adjacent to the road surface 31 is acquired using the 3D scanning device 2; an outer frame setting step in which an outer frame A5 including an offset line A5' that is located inside the road more than the boundary 33 between the road surface 31 and the end block 32 is set for the current status point cloud; a virtual point derivation step in which a virtual point that is located outside the road more than the offset line A5' is derived based on the three-dimensional coordinates of at least one point in the current status point cloud that is inside the outer frame A5; an integrated point cloud creation step in which an integrated point cloud is created that includes an extracted point cloud extracted from the current status point cloud as points inside the outer frame A5 and the virtual point; and an integrated triangular mesh creation step in which an integrated triangular mesh is created that is connected using the integrated point cloud as vertices.

[0099] As a result, an offset line A5' is set on the inside of the road than the boundary 33 between the road surface 31 and the end block 32, and a virtual point on the outside of the road than the offset line A5' is derived using the three-dimensional coordinates of a point on the inside of the road than the offset line A5'. Therefore, the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 can be obtained based on the elevation of a point on the virtual plane formed between the offset line A5' and the virtual point. Therefore, even if there is a step at the boundary 33 between the road surface 31 and the end block 32, for example, the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 can be accurately obtained.

[0100] In the integrated triangular mesh creation method of this embodiment, the virtual point derivation step uses the three-dimensional coordinates of points on the offset line A5', which is part of the outer frame A5, to derive virtual points that are located outside the road beyond the offset line A5'.

[0101] This makes it possible to reduce errors in the elevation of the virtual point by using the three-dimensional coordinates of the point on the offset line A5'.

[0102] In the integrated triangular mesh creation method of this embodiment, the virtual point derivation step determines a point that is a predetermined distance horizontally away from a point on the offset line A5', which is part of the outer frame A5, toward the outside of the road than the offset line A5', as a virtual point.

[0103] As a result, a point that is a predetermined distance away in the horizontal direction from a point on the offset line A5' is set as the imaginary point, and therefore the imaginary point can be easily derived.

[0104] In the integrated triangulation network creation method of this embodiment, the outer perimeter frame setting step includes a step of setting a temporary outer perimeter frame A2 including a temporary offset line A2' that is positioned inside the road more than the boundary 33 between the road surface 31 and the end block 32 in an orthoimage of a specified area, and a step of setting an outer perimeter frame A5 including an offset line A5' that is positioned inside the road more than the boundary 33 between the road surface 31 and the end block 32 for the current point cloud based on the temporary outer perimeter frame A2.

[0105] This allows a temporary outer frame A2 to be set on the orthoimage for a specified area, and then an outer frame A5 to be set based on that temporary outer frame A2, making it possible to easily grasp the three-dimensional coordinates of points on the outer frame A5 using the orthoimage for the specified area.

[0106] The integrated triangular network of this embodiment is formed by connecting vertices of an integrated point group including a virtual point located outside the road beyond the offset line A5', which is derived based on the three-dimensional coordinates of at least one point located inside the outer frame A5 including the offset line A5' located inside the road beyond the boundary 33 between the road surface 31 and the end block 32, among the current situation point group located in an area including the boundary 33 between the road surface 31 acquired by the three-dimensional scanning device 2 and the end block 32 located adjacent to the road surface 31, and an extracted point group extracted from the current situation point group as points located inside the outer frame A5.

[0107] As a result, the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 can be obtained based on the elevation of a point on the imaginary plane formed between the offset line A5' and the imaginary point. Therefore, even if there is a step at the boundary 33 between the road surface 31 and the end block 32, the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 can be accurately obtained.

[0108] (Second embodiment) This embodiment differs from the first embodiment in that, in the first embodiment, for an area where there is no step at the boundary 33 between the road surface 31 and the curb 32, the temporary outer perimeter frame A2 (outer perimeter frame A5) is set outside the road from the construction area A1, whereas in this embodiment, for an area where there is no step at the boundary 33 between the road surface 31 and the curb 32, the temporary outer perimeter frame A2 (outer perimeter frame A5) is set to coincide with the construction area A1. Note that other aspects of this embodiment are similar to those of the first embodiment, and therefore detailed description thereof will be omitted.

[0109] In this embodiment, as in the first embodiment, a construction area A1 where road repairs will be performed and a temporary outer perimeter frame A2 are set on an orthoimage created for a specified area. Fig. 16 shows an extracted construction area A1, temporary outer perimeter frame A2, and road alignment A3 set on the orthoimage. In Fig. 16, for the entire perimeter of construction area A1, in the area where there is no step at the boundary 33 between the road surface 31 and the curb 32 (the area from change point n4 to change point n8), the temporary outer perimeter frame A2 (temporary offset line A2') is set to coincide with construction area A1.

[0110] Specifically, in areas on the orthoimage where there is no step at the boundary 33 between the road surface 31 and the curb 32, the temporary offset line A2' is set to coincide with the construction range A1, as in the upper right area of ​​Figure 17.

[0111] 18(a), in an area where there is no step at the boundary 33 between the road surface 31 and the curbstone 32, even if the construction range A1 is set to coincide with the boundary 33 between the road surface 31 and the curbstone 32, a triangular network, which is a collection of triangular planes connected with the current situation point cloud around the boundary 33 as vertices, is formed based on the current situation point cloud acquired by the 3D scanning device 2. Therefore, the elevations of points T1 to T6 on the road surface 31 at the boundary 33 between the road surface 31 and the curbstone 32 can be derived based on the triangular network created based on the current situation point cloud.

[0112] However, in order to properly derive the elevations of points T1 to T6 on the road surface 31 at the boundary 33 between the road surface 31 and the curb 32, it is preferable to eliminate as much as possible any noise that could prevent the elevations of points T1 to T6 from being properly derived. Therefore, as shown in FIG. 19 , it is conceivable to use only points on the road surface 31 in the current point cloud, without using points on the end block 32. That is, it is conceivable to use only points inside the road than the boundary 33 between the road surface 31 and the end block 32, without using points outside the boundary 33. In this case, a triangular mesh is not formed in the construction area A1, and therefore it is not possible to derive the elevations of points T1 to T6 on the road surface 31 at the boundary 33 between the road surface 31 and the curb 32.

[0113] Therefore, in this embodiment, for example, in an area on the orthoimage where there is no step at the boundary 33 between the road surface 31 and the end block 32, the temporary outer periphery frame A2 (including the temporary offset line A2') is set to coincide with the construction area A1. FIG. 20 is a perspective view of the boundary 33 between the road surface 31 and the end block 32, and shows that the temporary outer periphery frame A2 (including the temporary offset line A2') is set to coincide with the construction area A1. Thereafter, in the same manner as in the first embodiment, an outer periphery frame A5 (including the offset line A5') is derived from the outer periphery frame A2 including the temporary offset line A2', and a virtual point is derived that is offset horizontally by the offset amount from a point near the outer periphery frame A5 toward the outside of the road.

[0114] 21, multiple imaginary points are positioned at an offset from points in the vicinity of outer peripheral frame A5, and the points in the vicinity of outer peripheral frame A5 and the imaginary points corresponding to those points are positioned at the same height (altitude). Points T1 to T6 on road surface 31 at boundary 33 between road surface 31 and curb 32 are on an imaginary plane at the same height, positioned between the points in the vicinity of outer peripheral frame A5 and the imaginary points, so height information (altitude) can be easily obtained.

[0115] A method for deriving the imaginary point T in this embodiment will be described in detail with reference to Fig. 22. Here, a method for deriving three imaginary points T1, T2, and T3 corresponding to three points C1, C2, and C3 on the road alignment A3 will be described, but the method for deriving imaginary points corresponding to other points on the road alignment A3 is similar.

[0116] As described above, the change points n1 to n30 and the plurality of predetermined points on the outer peripheral frame A5 are added to the extracted point group inside the outer peripheral frame A5. In this embodiment, a case will be described in which some of the change points n1 to n30 and the plurality of predetermined points on the outer peripheral frame A5 overlap with points included in the point group inside the outer peripheral frame A5. In this case, a triangular mesh, which is a collection of triangular planes connected with the point group as vertices, is re-formed for the extracted point group (an extracted point group including the point group inside the outer peripheral frame A5 among the current point group acquired by the 3D scanning device 2 and the change points n1 to n30 and the plurality of predetermined points on the outer peripheral frame A5). In this embodiment, a case will be described in which the re-formed triangular mesh includes an area not formed on the outer peripheral frame A5, as shown in FIG. 22.

[0117] When the imaginary points are derived in this embodiment, points C1, C2, and C3 are set on the road alignment A3 when the group of extracted points inside the outer peripheral frame A5 is viewed from above. Then, intersections N1, N2, and N3 are derived between straight lines a1, a2, and a3 that pass through points C1, C2, and C3 on the road alignment A3, respectively, and that are perpendicular to the road alignment A3, and the side of the triangular plane that is closest to the offset line A5' (outer peripheral frame A5) among the triangular planes that form the triangular net, inside the offset line A5' (the side of the triangular plane that is located outermost among the triangular planes that form the triangular net).

[0118] Then, with the extracted point group viewed from above, points that are offset horizontally from intersection points N1, N2, and N3 along straight lines a1, a2, and a3 (along the direction perpendicular to offset line A5' (peripheral frame A5)) toward the outside of the road by the offset amount are derived as virtual points T1, T2, and T3, respectively. Note that the predetermined pitch intervals and offset amount at which points C are set on road alignment A3 are arbitrary, but in this embodiment, the predetermined pitch intervals at which points C are set on road alignment A3 are set to 20 cm, and the offset amount is set to 20 cm.

[0119] As described above, the triangular mesh creation method of this embodiment includes a current status point cloud acquisition step in which a current status point cloud in an area including the boundary 33 between the road surface 31 and an end block 32 located adjacent to the road surface 31 is acquired using a 3D scanning device 2 when there is no step at the boundary 33; an outer perimeter frame setting step in which an outer perimeter frame A5 including an offset line A5' is set so as to coincide with the boundary 33 between the road surface 31 and the end block 32 for the current status point cloud; a virtual point derivation step in which a virtual point located outside the road beyond the offset line A5' is derived based on the three-dimensional coordinates of at least one point in the current status point cloud that is inside the outer perimeter frame A5; an integrated point cloud creation step in which an integrated point cloud is created including an extracted point cloud extracted from the current status point cloud as points inside the outer perimeter frame A5 and the virtual point; and an integrated triangular mesh creation step in which an integrated triangular mesh is created in which the integrated point cloud is connected as vertices.

[0120] As a result, an offset line A5' is set so as to coincide with the boundary 33 between the road surface 31 and the end block 32, and a virtual point located outside the road from the offset line A5' is derived using the three-dimensional coordinates of a point located inside the road from the offset line A5'. Therefore, the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 can be obtained based on the elevation of a point on the virtual plane formed between the offset line A5' and the virtual point. Therefore, the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 can be accurately obtained.

[0121] In the integrated triangular mesh creation method of this embodiment, the virtual point derivation step derives a virtual point located outside the road beyond the offset line A5' by using the three-dimensional coordinates of a point on the side of the triangular plane that is closest to the offset line A5' inside the offset line A5', which is part of the outer frame A5.

[0122] This makes it possible to reduce errors in the elevation of the virtual point by using the three-dimensional coordinates of a point on the side of the triangular plane that is closest to the offset line A5' inside the offset line A5'.

[0123] In the integrated triangular mesh creation method of this embodiment, the virtual point derivation step determines a point that is a predetermined distance horizontally away from a point on the edge of the triangular plane that is closest to the offset line A5' inside the offset line A5', which is part of the outer frame A5, toward the outside of the road, as a virtual point.

[0124] This allows the virtual point to be easily derived, as it is a point located a predetermined distance horizontally from a point on the side of the triangular plane that is closest to the offset line A5' inside the offset line A5'.

[0125] In the integrated triangulation network creation method of this embodiment, the outer perimeter frame setting step includes a step of setting a temporary outer perimeter frame A2 including a temporary offset line A2' that is positioned so as to coincide with the boundary 33 between the road surface 31 and the end block 32 in the orthoimage of a specified area, and a step of setting an outer perimeter frame A5 including an offset line A5' that is positioned so as to coincide with the boundary 33 between the road surface 31 and the end block 32 for the current point cloud based on the temporary outer perimeter frame A2.

[0126] This allows a temporary outer frame A2 to be set on the orthoimage for a specified area, and then an outer frame A5 to be set based on that temporary outer frame A2, making it possible to easily grasp the three-dimensional coordinates of points on the outer frame A5 using the orthoimage for the specified area.

[0127] The integrated triangular network of the present invention is formed by connecting vertices of an integrated point group including a virtual point located outside the road beyond the offset line A5', which is derived based on the three-dimensional coordinates of at least one point located inside the outer frame A5 including the offset line A5' positioned to coincide with the boundary 33 between the road surface 31 and the end block 32, among the current situation point group in the area including the boundary 33 acquired by the three-dimensional scanning device 2 when there is no step at the boundary 33 between the road surface 31 and the end block 32, and an extracted point group extracted from the current situation point group as points located inside the outer frame A5.

[0128] As a result, the elevation of the road surface at the boundary 33 between the road surface 31 and the end block 32 can be obtained based on the elevation of a point on the imaginary plane formed between the offset line A5' and the imaginary point, so that the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 can be accurately obtained.

[0129] Although an embodiment of the present invention has been described above, the specific configuration of each part is not limited to the above-described embodiment, and various modifications are possible within the scope of the spirit of the present invention.

[0130] In the first embodiment described above, as shown in Figure 23(a), a point that is horizontally away from the intersection N1 between a straight line a1 passing through point C1 on the road alignment A3 and the offset line A5' (outer frame A5) by an offset amount toward the outside of the road is derived as virtual point T1, but the method of deriving the virtual point is not limited to this.

[0131] 23(b), when the group of extracted points inside the outer peripheral frame A5 is viewed from above, an intersection N1 between a straight line a1 passing through point C1 on the road alignment A3 and offset line A5' (outer peripheral frame A5) is derived. Here, the gradient (gradient in the height direction) of the straight line a1 passing through the elevation of point C1 and the elevation of intersection N1 can be determined from the elevation of point C1 and the elevation of intersection N1, so a point that is an offset amount away from intersection N1 along the gradient of the straight line a1 toward the outside of the road may be derived as virtual point T1.

[0132] In this modified example, the various programs stored in the control unit 10a include a virtual point derivation program for deriving a virtual point as described below.

[0133] When the virtual point derivation program is loaded into a computer, it causes the computer to function as a current status point cloud receiving means that receives a current status point cloud in an area including the boundary 33 between the road surface 31 acquired by the three-dimensional scanning device 2 and the end block 32 located adjacent to the road surface 31, an outer perimeter frame receiving means that receives an outer perimeter frame A5 including an offset line A5' that is located inside the road more than the boundary 33 between the road surface 31 and the end block 32 for the current status point cloud, an offset information receiving means that receives offset information used when deriving virtual points, and a virtual point derivation means that derives a virtual point outside the road more than the offset line A5' based on the offset information and the three-dimensional coordinates of at least one point in the three-dimensional point cloud that is inside the road more than the outer perimeter frame A5.

[0134] That is, a virtual point derivation program for deriving virtual points is stored in the control unit 10a, and the control unit 10a performs predetermined calculations and processes in accordance with the virtual point derivation program stored in memory to create an integrated point cloud and an integrated triangulation network in cooperation with peripheral hardware. Specifically, when the virtual point derivation program is loaded into the computer, the computer functions as a current status point cloud receiving means for receiving a current status point cloud stored in the current status point cloud storage unit 11, an outer perimeter frame receiving means for receiving an outer perimeter frame A5 stored in the outer perimeter frame storage unit 14, an offset information receiving means for receiving offset information stored in the construction information storage unit 13, and a virtual point derivation means for deriving a virtual point located outside the road relative to the offset line A5' based on the offset information and the 3D coordinates of at least one point in the 3D point cloud located inside the road relative to the outer perimeter frame A5, thereby deriving a virtual point.

[0135] The offset information used when deriving the virtual point includes information about the offset start point (the position that serves as the offset start point), information about the offset amount, and information about the offset direction. The information about the offset start point includes, for example, information about the shape of the road alignment A3, information about the interval between predetermined points on the road alignment A3, and information about the intersection N of a straight line a that passes through point C on the road alignment A3 and is perpendicular to the road alignment A3 with the offset line A5' (outer frame A5) as the offset start point. The information about the offset amount includes the amount of offset from the offset start point toward the outside of the road. The information about the offset direction sets a direction along the gradient from the offset start point between each point on the road alignment A3 and the offset start point on the offset line A5'.

[0136] In the first embodiment, a point located horizontally away from point N1 on offset line A5' toward the outside of the road by the offset amount is defined as virtual point T1, and therefore a virtual plane passing through intersection point N1 and virtual point T1 is formed horizontally. Therefore, the virtual elevation of road surface 31 at boundary 33 between road surface 31 and end block 32 is an approximate value that is slightly higher than the actual elevation. In contrast, in this modified example, a point located horizontally away from intersection point N1 along the gradient of straight line a1 toward the outside of the road by the offset amount is derived as virtual point T1, and therefore the virtual elevation of road surface 31 at boundary 33 between road surface 31 and end block 32 matches the actual elevation.

[0137] In the first embodiment, as shown in Fig. 24(a), a case has been described in which a rectangular parallelepiped curbstone is used as the end block 32 and there is a step at the boundary 33 between the road surface 31 and the end block 32, but the present invention can also be applied to other cases. For example, as shown in Fig. 24(b), the present invention can also be applied to a case in which a rectangular parallelepiped curbstone and a plate-shaped curb slab formed integrally as the end block 32 is used and there is a step at the boundary 33 between the road surface 31 and the end block 32.

[0138] 25(a), the present invention is also applicable when an end block 32 made of a rectangular parallelepiped curbstone and a plate-shaped curb and culvert slab integrally formed is used, and there is no step at the boundary 33 between the road surface 31 and the end block 32, but there is an obstacle such as weeds or a deposit of earth and sand at the boundary 33. Also, as shown in FIG. 25(b), the present invention is also applicable when an end block 32 made of a rectangular parallelepiped curbstone and a plate-shaped curb and culvert slab integrally formed is used, and there is no step at the boundary 33 between the road surface 31 and the end block 32, but there is an obstacle such as weeds on the end block 32. In other words, for example, if a weed is on end block 32, and the elevation of a point on road surface 31 at boundary 33 between road surface 31 and end block 32 is derived using a triangular plane connected by points a and b on road surface 31 and point c on the weed on end block 32 as vertices, as in Figure 27, the elevation of a point on the plane passing through points a, b, and c may be derived incorrectly, so the present invention is effective.

[0139] Furthermore, in the above first embodiment, considering the need to eliminate as much as possible noise that could prevent the elevation of the road surface 31 at the boundary 33 between the road surface 31 and the end block 32 from being properly derived, as in the second embodiment, it is preferable to set the offset line A5' inside the road than the boundary 33 between the road surface 31 and the end block 32, even in areas where there is no step at the boundary 33 between the road surface 31 and the end block 32.

[0140] In the first embodiment, a case has been described in which a catch basin 35 with a grating 34 installed as an obstacle is provided on the road inside the boundary 33 between the road surface 31 and the curbstone 32, but the obstacle is not limited to this. For example, the present invention is also applicable to a case in which an obstacle such as weeds or sediment is present on the road inside the boundary 33 between the road surface 31 and the curbstone 32.

[0141] In the first embodiment, a case where there is a step at the boundary between the road surface and the end block at the width direction end of the road surface has been described, but this is not limited to this. For example, as shown in Fig. 26, a case where there is a central median strip (end block) made of concrete at the center of the road surface in the width direction will be described. As for the boundary 133a between the road surface and the side portion of the central median strip, as in the first embodiment, there is a step at the boundary between the road surface and the end block at the width direction end of the road surface, so the present invention is applicable.

[0142] The present invention can also be applied to the boundary 133b between the road surface and the edge of the median strip. In this case, the road alignment is set so that it roughly follows the edge of the median strip at a position away from the edge, and an outer perimeter frame is set that includes an offset line that is positioned inside the road from the boundary 133b between the road surface and the edge of the median strip. This makes it possible to accurately obtain the elevation of the road surface at the boundary 133b between the road surface and the edge of the median strip, just like in the above embodiment.

[0143] In the first and second embodiments, the outer peripheral frame A5 is set based on the three-dimensional coordinates (x, y, z) of the change points n1 to n30 on the outer peripheral frame A5 and the three-dimensional coordinates (x, y, z) of points located every 20 cm clockwise from the change point n1, but the method for setting the outer peripheral frame A5 is not limited to this. For example, the outer peripheral frame A5 may be set based only on a plurality of change points on the outer peripheral frame A5, or may be set based only on a plurality of other predetermined points. Furthermore, even when the outer peripheral frame A5 is set based on a plurality of change points on the outer peripheral frame A5 and a plurality of other predetermined points, the number and arrangement (pitch interval) of the plurality of predetermined points can be changed as desired.

[0144] In the first embodiment, the virtual point T is derived not only for the area where there is a step at the boundary 33 between the road surface 31 and the end block 32, but also for the area where there is no step at the boundary 33 between the road surface 31 and the end block 32. However, this is not limiting. The virtual point T may be derived only for the area where there is a step at the boundary 33 between the road surface 31 and the end block 32, and may not be derived for the area where there is no step at the boundary 33 between the road surface 31 and the end block 32. Even if the virtual point T is derived only for the area where there is a step at the boundary 33 between the road surface 31 and the end block 32, it is sufficient that the virtual point T is derived for at least a part of the area where there is a step at the boundary 33 between the road surface 31 and the end block 32.

[0145] In the first embodiment, the virtual point is derived using the three-dimensional coordinates of a point on the offset line A5', which is part of the outer peripheral frame A5. However, this is not limiting. In the present invention, the virtual point may be derived based on the three-dimensional coordinates of at least one point inside the outer peripheral frame A5 among the current point cloud. For example, in the first embodiment, if the triangular mesh includes an area not formed on the outer peripheral frame A5, the virtual point may be derived using the three-dimensional coordinates of a point on the side of the triangular plane closest to the offset line A5', which is part of the outer peripheral frame A5, inside the offset line A5'.

[0146] In the second embodiment, the virtual point is derived using the three-dimensional coordinates of a point on the side of the triangular plane closest to the offset line A5', which is part of the outer peripheral frame A5, inside the offset line A5'. However, this is not limited to this. In the present invention, the virtual point may be derived based on the three-dimensional coordinates of at least one point inside the outer peripheral frame A5 in the current point cloud. For example, in the second embodiment, the virtual point may be derived using the three-dimensional coordinates of a point on the offset line A5', which is part of the outer peripheral frame A5.

[0147] In the first and second embodiments, a point other than the change points n1 to n30 and the plurality of predetermined points spaced at 20 cm intervals on the outer peripheral frame A5 is set as the offset start point, but this is not limiting. That is, all or at least one of the change points n1 to n30 and the plurality of predetermined points spaced at 20 cm intervals on the outer peripheral frame A5 may be set as the offset start point, and a position spaced by the offset amount toward the outside of the road may be derived as a virtual point.

[0148] In the first and second embodiments, first, a temporary outer perimeter frame A2 is set by operating the operation device 5 while an orthoimage of the predetermined area is displayed on the display device 6, and then the outer perimeter frame A5 is set based on the temporary outer perimeter frame A2. However, the outer perimeter frame A5 may be set without setting the temporary outer perimeter frame A2. That is, in the above embodiments, the orthoimage of the predetermined area and the current state point cloud are used to extract the three-dimensional coordinates (x, y, z) of the change points n1 to n30 on the outer perimeter frame A5 and the three-dimensional coordinates (x, y, z) of points located every 20 cm clockwise from the change point n1. However, the three-dimensional coordinates (x, y, z) of the change points n1 to n30 on the outer perimeter frame A5 and the three-dimensional coordinates (x, y, z) of points located every 20 cm clockwise from the change point n1 may be measured using a total station, for example, in the predetermined area where road repair is to be performed, and the outer perimeter frame A5 may be set.

[0149] In the first and second embodiments, after creating an integrated point group, an integrated triangular mesh is created, which is a collection of triangular planes connected with points included in the integrated point group as vertices. However, this is not limiting. For example, the process may end after creating the integrated point group without creating an integrated triangular mesh. [Explanation of symbols]

[0150] 1. Integrated triangulation system 2. 3D scanning device 10 Integrated triangular network creation device 10a Control section 11 Current point cloud storage 12 Orthoimage storage unit 13 Construction information storage section 14 Outer frame memory section 14a Temporary outer frame memory section 15 Point cloud extraction part 16 Virtual point derivation part 17 Integrated point cloud creation section 18 Integrated triangular network creation section

Claims

1. a current situation point cloud acquisition step of acquiring, by a three-dimensional scanning device, a current situation point cloud in an area including a boundary between a road surface and an end block disposed adjacent to the road surface; a peripheral frame setting step of setting a peripheral frame including an offset line that is positioned on the road inner side of the boundary between the road surface and the end block for the current situation point cloud; a virtual point derivation step of deriving a virtual point located outside the offset line based on three-dimensional coordinates of at least one point located inside the outer perimeter frame among the current situation point cloud; An integrated point cloud creation method characterized by comprising an integrated point cloud creation step of creating an integrated point cloud including an extracted point cloud extracted from the current point cloud as points inside the outer frame and the virtual points.

2. The virtual point deriving step includes: The integrated point cloud creation method described in claim 1, characterized in that a virtual point located outside the road beyond the offset line is derived using the three-dimensional coordinates of a point on the offset line, which is part of the outer frame.

3. The virtual point deriving step includes: The integrated point cloud creation method described in claim 2, characterized in that a point that is a predetermined distance horizontally away from a point on the offset line, which is part of the outer frame, toward the outside of the road than the offset line is defined as a virtual point.

4. The outer peripheral frame setting step includes: a temporary outer periphery frame setting step of setting a temporary outer periphery frame including a temporary offset line that is placed inside the road from the boundary between the road surface and the end block in the orthoimage of the area; An integrated point cloud creation method described in any one of claims 1 to 3, characterized in that, based on the temporary outer perimeter frame, an outer perimeter frame including an offset line that is positioned inside the road more than the boundary between the road surface and the end block is set for the current point cloud.

5. a current situation point cloud acquisition step of acquiring, by a three-dimensional scanning device, a current situation point cloud in an area including a boundary between a road surface and an end block disposed adjacent to the road surface; a peripheral frame setting step of setting a peripheral frame including an offset line that is positioned on the road inner side of the boundary between the road surface and the end block for the current situation point cloud; a virtual point derivation step of deriving a virtual point located outside the road relative to the offset line based on three-dimensional coordinates of at least one point located inside the road relative to the outer perimeter frame among the current situation point cloud; an integrated point cloud creation step of creating an integrated point cloud including an extracted point cloud extracted from the current point cloud as points inside the outer frame and the virtual points; a triangular mesh creation step of creating a triangular mesh connected with the integrated point group as vertices.

6. The virtual point deriving step includes: The integrated triangulation network creation method described in claim 5, characterized in that a virtual point located outside the road beyond the offset line is derived using the three-dimensional coordinates of a point on the offset line, which is part of the outer frame.

7. The virtual point deriving step includes: The integrated triangulation network creation method described in claim 6, characterized in that a point located a predetermined distance horizontally toward the outside of the road from a point on the offset line, which is part of the outer frame, is defined as a virtual point.

8. The outer peripheral frame setting step includes: a temporary outer periphery frame setting step of setting a temporary outer periphery frame including a temporary offset line that is placed inside the road from the boundary between the road surface and the end block in the orthoimage of the area; An integrated triangulation network creation method as described in any one of claims 5 to 7, characterized in that, based on the temporary outer perimeter frame, an outer perimeter frame including an offset line that is positioned inside the road more than the boundary between the road surface and the end block is set for the current point cloud.

9. a virtual point located outside the road beyond the offset line, the virtual point being derived based on the three-dimensional coordinates of at least one point located inside an outer perimeter frame including an offset line located inside the road beyond the boundary between the road surface and the end block, among a current point cloud located in an area including the boundary between the road surface acquired by a three-dimensional scanning device and an end block located adjacent to the road surface; and an extracted point group extracted from the current point group as points inside the outer frame.

10. a virtual point located outside the road beyond the offset line, the virtual point being derived based on the three-dimensional coordinates of at least one point located inside an outer perimeter frame including an offset line located inside the road beyond the boundary between the road surface and the end block, among a current point cloud located in an area including the boundary between the road surface acquired by a three-dimensional scanning device and an end block located adjacent to the road surface; An integrated triangular network characterized by being connected at its vertices as an integrated point group including an extracted point group extracted from the current point group as points inside the outer frame.

11. a current situation point cloud acquisition step of acquiring a current situation point cloud in an area including a boundary between a road surface and an end block arranged adjacent to the road surface by a three-dimensional scanning device when there is no step at the boundary; a peripheral frame setting step of setting a peripheral frame including an offset line that is arranged to coincide with the boundary between the road surface and the end block for the current situation point cloud; a virtual point derivation step of deriving a virtual point located outside the offset line based on three-dimensional coordinates of at least one point located inside the outer perimeter frame among the current situation point cloud; An integrated point cloud creation method characterized by comprising an integrated point cloud creation step of creating an integrated point cloud including an extracted point cloud extracted from the current point cloud as points inside the outer frame and the virtual points.

12. The virtual point deriving step includes: The integrated point cloud creation method described in claim 11, characterized in that a virtual point located outside the offset line is derived using the three-dimensional coordinates of a point on the side of a triangular plane that is closest to the offset line inside the offset line, which is part of the outer frame.

13. The virtual point deriving step includes: The integrated point cloud creation method described in claim 12, characterized in that a point that is a predetermined distance horizontally away from a point on the side of a triangular plane that is closest to the offset line inside the offset line, which is part of the outer frame, toward the outside of the road, is defined as a virtual point.

14. The outer peripheral frame setting step includes: a temporary outer periphery frame setting step of setting a temporary outer periphery frame including a temporary offset line that is arranged so as to coincide with the boundary between the road surface and the end block in the orthoimage of the area; An integrated point cloud creation method described in any one of claims 11 to 13, characterized in that, based on the temporary outer perimeter frame, an outer perimeter frame including an offset line is set for the current point cloud so as to coincide with the boundary between the road surface and the end block.

15. a current situation point cloud acquisition step of acquiring a current situation point cloud in an area including a boundary between a road surface and an end block arranged adjacent to the road surface by a three-dimensional scanning device when there is no step at the boundary; a peripheral frame setting step of setting a peripheral frame including an offset line that is arranged to coincide with the boundary between the road surface and the end block for the current situation point cloud; a virtual point derivation step of deriving a virtual point located outside the road relative to the offset line based on three-dimensional coordinates of at least one point located inside the road relative to the outer perimeter frame among the current situation point cloud; an integrated point cloud creation step of creating an integrated point cloud including an extracted point cloud extracted from the current point cloud as points inside the outer frame and the virtual points; a triangular mesh creation step of creating a triangular mesh connected with the integrated point group as vertices.

16. The virtual point deriving step includes: The integrated triangulation network creation method described in claim 15, characterized in that a virtual point located outside the offset line is derived using the three-dimensional coordinates of a point on the side of the triangular plane that is closest to the offset line inside the offset line, which is part of the outer frame.

17. The virtual point deriving step includes: The integrated triangular mesh creation method described in claim 16, characterized in that a virtual point is a point that is a predetermined distance horizontally away from a point on the side of the triangular plane that is closest to the offset line inside the offset line, which is part of the outer frame, toward the outside of the road than the offset line.

18. The outer peripheral frame setting step includes: a temporary outer periphery frame setting step of setting a temporary outer periphery frame including a temporary offset line that is arranged so as to coincide with the boundary between the road surface and the end block in the orthoimage of the area; An integrated triangulation network creation method as described in any one of claims 15 to 17, characterized in that, based on the temporary outer perimeter frame, an outer perimeter frame including an offset line is set so as to coincide with the boundary between the road surface and the end block for the current point cloud.

19. When there is no step at the boundary between the road surface and the end block arranged adjacent to the road surface, a virtual point located outside the road beyond the offset line, the virtual point being derived based on the three-dimensional coordinates of at least one point located inside an outer perimeter frame including an offset line that is positioned so as to coincide with the boundary between the road surface and the end block, among the current point cloud in the area including the boundary acquired by a three-dimensional scanning device; and an extracted point group extracted from the current point group as points inside the outer frame.

20. When there is no step at the boundary between the road surface and the end block arranged adjacent to the road surface, a virtual point located outside the road beyond the offset line, the virtual point being derived based on the three-dimensional coordinates of at least one point located inside an outer perimeter frame including an offset line that is positioned so as to coincide with the boundary between the road surface and the end block, among a current point group located in an area including the boundary between the road surface acquired by a three-dimensional scanning device and an end block that is positioned adjacent to the road surface; An integrated triangular network characterized by being connected at its vertices as an integrated point group including an extracted point group extracted from the current point group as points inside the outer frame.

21. When loaded into a computer, the computer: a current status point cloud receiving means for receiving a current status point cloud in an area including a boundary between a road surface acquired by a three-dimensional scanning device and an end block disposed adjacent to the road surface; an outer perimeter frame receiving means for receiving an outer perimeter frame including an offset line that is positioned inside the road with respect to the boundary between the road surface and the end block, for the current state point cloud; offset information receiving means for receiving offset information used when deriving a virtual point; a virtual point deriving means for deriving a virtual point located outside the road relative to the offset line based on the offset information and the three-dimensional coordinates of at least one point in the three-dimensional point cloud located inside the road relative to the outer perimeter frame; It functions as a The virtual point derivation program is characterized in that the offset information includes, as an offset direction, a direction from an offset starting point on the offset line along the gradient of the road surface.

Images