Map generation device, map generation method, and program

Abstract

To provide a map generation device, a map generation method and a program that can generate an appropriate two-dimensional map by suppressing that two-dimensional processing becomes to be complex.SOLUTION: A processing unit 13 of a map generation device 10 divides a two-dimensional map format F which is obtained on the basis of projection of point group data on a two-dimensional plane into a plurality of second division areas R. The processing unit 13 sets a second height reference value Sz2 that is a reference value of the point group data in a height direction in each of the plurality of second division areas R. The processing unit 13 sets a height reference value (first height reference value) Sz1 in each of a plurality of first division areas G within each second division area R. The processing unit 13 determines whether or not each first division area G is a movable area or non-movable area according to a difference (=Sz1-Sz2) between a second height reference value Sz2 of each second division area R and a first height reference value Sz1 of each first division area G.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a map generating device, a map generating method, and a program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, for example, a method is known for converting a traveling image showing a three-dimensional area into a traveling map of a two-dimensional area (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent Application Publication No. 2021 / 0168996 Summary of the Invention [Problem to be solved by the invention]

[0004] In the process of converting three-dimensional data into two-dimensional data, it is necessary to prevent the process from becoming complicated and to properly represent changes in topography.

[0005] An object of the present invention is to provide a map generating device, a map generating method, and a program that can generate an appropriate two-dimensional map by suppressing the complexity of the two-dimensionalization process. [Means for solving the problem]

[0006] In order to solve the above problems and achieve the above object, the present invention employs the following aspects. (1): A map generating device according to one aspect of the present invention (e.g., map generating device 10 in an embodiment) divides a two-dimensional plan view (e.g., two-dimensional map format F in an embodiment) obtained based on the projection of a three-dimensional map (e.g., point cloud data in an embodiment) onto a two-dimensional plane into a plurality of sections (e.g., a plurality of second divided areas R in an embodiment), sets a reference value (e.g., second height reference value Sz2 in an embodiment) or a threshold value (e.g., a predetermined threshold value for an RZ value in an embodiment) in the height direction of the three-dimensional map in each of the plurality of sections, and includes a processing unit (e.g., processing unit 13 in an embodiment) that determines whether or not each of a plurality of positions on the two-dimensional coordinates in each of the plurality of sections can be moved based on a comparison between a height position (e.g., first height reference value Sz1 in an embodiment) and the reference value or the threshold value at each of a plurality of positions on the two-dimensional coordinates in each of the plurality of sections.

[0007] (2): In the map generating device described in (1) above, the processing unit may set the reference value as an average value of height positions at a plurality of positions on a two-dimensional coordinate system in each of the plurality of partitions.

[0008] (3): In the map generating device described in (1) above, the processing unit may set the reference value to a minimum value among a plurality of height positions on a two-dimensional coordinate system in each of the plurality of partitions.

[0009] (4): In the map generating device described in any one of (1) to (3) above, when there are multiple height positions at each position on the two-dimensional coordinates within each of the multiple sections, the processing unit may set the average value of the multiple height positions as the height position of each position on the two-dimensional coordinates.

[0010] (5): In the map generating device described in (4) above, when there are multiple height positions at each position on the two-dimensional coordinates within each of the multiple sections, the processing unit may exclude height positions greater than a predetermined first threshold or height positions smaller than a predetermined second threshold that is smaller than the first threshold from the height positions of each position on the two-dimensional coordinates.

[0011] (6): In the map generating device described in any one of (1) to (3) above, the processing unit may create a two-dimensional map based on whether or not the multiple positions on two-dimensional coordinates within the area can be moved.

[0012] (7): A map generation method according to one embodiment of the present invention is a map generation method executed by an electronic device having a processing unit for generating a map, and includes the steps of: dividing a two-dimensional plan view obtained based on a projection of a three-dimensional map onto a two-dimensional plane into a plurality of sections; setting a reference value or threshold value in the height direction of the three-dimensional map for each of the plurality of sections; and determining whether or not each of a plurality of positions on the two-dimensional coordinates within each of the plurality of sections can be moved based on a comparison between the height position and the reference value or threshold value at each of a plurality of positions on the two-dimensional coordinates within each of the plurality of sections.

[0013] (8): The map generating method described in (7) above may include a step in which the electronic device sets the reference value to an average value of height positions at multiple positions on two-dimensional coordinates within each of the multiple sections.

[0014] (9): The map generating method described in (7) above may include a step in which the electronic device sets the minimum value among the height positions at multiple positions on two-dimensional coordinates within each of the multiple sections as the reference value.

[0015] (10): The map generating method described in any one of (7) to (9) above may include a step in which, when there are multiple height positions at each position on the two-dimensional coordinates within each of the multiple sections, the electronic device sets the average value of the multiple height positions as the height position of each position on the two-dimensional coordinates.

[0016] (11): The map generating method described in (10) above may include a step in which, when there are multiple height positions at each position on the two-dimensional coordinates within each of the multiple sections, the electronic device excludes height positions greater than a predetermined first threshold or height positions smaller than a predetermined second threshold that is smaller than the first threshold from the height positions of each position on the two-dimensional coordinates.

[0017] (12): The map generating method described in any one of (7) to (9) above may include a step in which the electronic device creates a two-dimensional map based on whether or not the multiple positions on two-dimensional coordinates within the area can be moved.

[0018] (13): A program according to one embodiment of the present invention causes a computer of an electronic device having a processing unit for generating a map to execute the steps of: dividing a two-dimensional plan view obtained based on the projection of a three-dimensional map onto a two-dimensional plane into a plurality of sections; setting a reference value or threshold value in the height direction of the three-dimensional map for each of the plurality of sections; and determining whether or not each of a plurality of positions on the two-dimensional coordinates within each of the plurality of sections can be moved based on a comparison between the height position and the reference value or threshold value at each of a plurality of positions on the two-dimensional coordinates within each of the plurality of sections.

[0019] (14): The program described in (13) above may cause the computer to execute a step of creating a two-dimensional map based on the mobility of the multiple positions on two-dimensional coordinates within the section. Effect of the Invention

[0020] According to (1) above, by providing a processing unit that compares the reference value or threshold value of the height of each partition with the height position of each position on the two-dimensional coordinates in each partition, it is possible to prevent the process of converting three-dimensional point cloud data into two dimensions from becoming complicated, as compared with, for example, processing height position information individually at each position on the two-dimensional coordinates. For example, by providing a processing unit that determines whether each position can be moved based on the difference between the reference value or threshold value of the height of each partition and the height position at each position on the two-dimensional coordinates in each partition, it is possible to properly express changes in terrain.

[0021] In the case of (2) or (3) above, by setting the average value or the minimum value of the height positions of multiple positions on the two-dimensional coordinates within each section as the reference value for the height of each section, it is possible to prevent the process of converting the three-dimensional point cloud data into two dimensions from becoming complicated.

[0022] In the case of (4) above, even if there are multiple height positions at each position on the two-dimensional coordinates within each section, by setting the average value of the multiple height positions as the height position of each position on the two-dimensional coordinates, the process of converting the three-dimensional point cloud data into two dimensions can be made less complicated than, for example, processing each of the multiple height positions at each position.

[0023] In the above case of (5), a height position greater than a predetermined first threshold can be determined to correspond to the presence of an object unlikely to impede the movement of the moving body, such as a tree branch or leaf present above the movable area of ​​the moving body. A height position smaller than a predetermined second threshold can be determined to correspond to an area where topographical changes can be ignored, such as a flat road, or an area where there is no object likely to impede the movement of the moving body, such as an obstacle. When processing information on a plurality of height positions, excluding a predetermined height position according to the first threshold and the second threshold can prevent the process of converting three-dimensional point cloud data into two dimensions from becoming complicated.

[0024] In the case of (6) above, a two-dimensional map showing whether or not each position can be moved can be easily and automatically generated based on a comparison between a reference value or threshold value for the height of each section and the height position at each position on the two-dimensional coordinates within each section.

[0025] According to (7) above, the electronic device compares the reference value or threshold value of the height of each partition with the height position of each position on the two-dimensional coordinates in each partition, thereby making it possible to suppress the complication of the process of converting three-dimensional point cloud data into two dimensions, as compared with, for example, processing information on the height position individually at each position on the two-dimensional coordinates. For example, the electronic device can appropriately represent the change in terrain by determining whether each position can be moved based on, for example, the difference between the reference value or threshold value of the height of each partition and the height position at each position on the two-dimensional coordinates in each partition.

[0026] In the case of (8) or (9) above, by setting the average value or the minimum value of the height positions of multiple positions on the two-dimensional coordinates within each section as the reference value for the height of each section, it is possible to prevent the process of converting the three-dimensional point cloud data into two dimensions from becoming complicated.

[0027] In the case of (10) above, even if there are multiple height positions at each position on the two-dimensional coordinates within each section, by setting the average value of the multiple height positions as the height position of each position on the two-dimensional coordinates, it is possible to prevent the process of converting the three-dimensional point cloud data into two dimensions from becoming complicated compared to, for example, processing each of the multiple height positions at each position.

[0028] In the case of (11) above, a height position greater than a predetermined first threshold can be determined to correspond to the presence of an object unlikely to impede the movement of the moving body, such as a tree branch or leaf present above the movable area of ​​the moving body. A height position smaller than a predetermined second threshold can be determined to correspond to an area where topographical changes can be ignored, such as a flat road, or an area where there is no object likely to impede the movement of the moving body, such as an obstacle. When processing information on a plurality of height positions, excluding a predetermined height position according to the first threshold and the second threshold can prevent the process of converting three-dimensional point cloud data into two dimensions from becoming complicated.

[0029] In the case of (12) above, a two-dimensional map showing whether or not each position can be moved can be easily and automatically generated based on a comparison between a reference value or threshold value for the height of each section and the height position at each position on the two-dimensional coordinates within each section.

[0030] According to (13) above, the computer of the electronic device can prevent the process of converting three-dimensional point cloud data into two-dimensional data from becoming complicated by comparing the reference value or threshold value of the height of each section with the height position of each position on the two-dimensional coordinates in each section, compared to, for example, processing height position information individually at each position on the two-dimensional coordinates. For example, the computer can appropriately express the change in topography by determining whether each position can be moved based on the difference between the reference value or threshold value of the height of each section and the height position at each position on the two-dimensional coordinates in each section.

[0031] In the case of (14) above, a two-dimensional map showing whether or not each position can be moved can be easily and automatically generated based on a comparison between a reference value or threshold value for the height of each section and the height position at each position on the two-dimensional coordinates within each section. [Brief description of the drawings]

[0032] [Figure 1] FIG. 1 is a block diagram showing a functional configuration of a map generating device according to an embodiment of the present invention. [Diagram 2] 4A to 4C are diagrams showing examples of representative height values ​​in the height direction (RZ axis direction) calculated from point cloud data by the map generating device according to the embodiment of the present invention. [Diagram 3] FIG. 2 is a diagram showing an example of a two-dimensional map format created from point cloud data by a map generating device according to an embodiment of the present invention. [Figure 4] 3A and 3B are diagrams showing examples of divided areas set on a two-dimensional map format by a map generating device according to an embodiment of the present invention. [Diagram 5] 4 is a diagram showing an example of a first height reference value in each first divided area and a second height reference value in each second divided area calculated by the map generating device according to the embodiment of the present invention. FIG. [Figure 6] FIG. 1 is a diagram showing an example of a two-dimensional map created by a map generating device according to an embodiment of the present invention. [Figure 7] 4 is a flowchart showing the operation of the map generating device according to the embodiment of the present invention. [Figure 8] 8 is a flowchart showing the two-dimensional conversion process shown in FIG. 7. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0033] Hereinafter, a map generating device according to an embodiment of the present invention will be described with reference to the accompanying drawings. The map generating device of the embodiment generates, for example, two-dimensional map data indicating movable areas and immovable areas of a moving body such as a vehicle or a mobile work machine from three-dimensional point cloud data. FIG. 1 is a block diagram showing a functional configuration of a map generating device 10 according to an embodiment. FIG. 2 is a diagram showing an example of a height representative value Sz in a height direction (RZ axis direction) calculated from point cloud data by the map generating device 10 according to an embodiment. FIG. 3 is a diagram showing an example of a two-dimensional map format F created from point cloud data by the map generating device 10 according to an embodiment. FIG. 4 is a diagram showing an example of a first divided area G and a second divided area R set on the two-dimensional map format F by the map generating device 10 according to an embodiment. FIG. 5 is a diagram showing an example of a first height reference value Sz1 in each first divided area G and a second height reference value Sz2 in each second divided area R calculated by the map generating device 10 according to an embodiment. FIG. 6 is a diagram showing an example of a two-dimensional map created by the map generating device 10 according to an embodiment.

[0034] As shown in FIG. 1, the map generating device 10 includes, for example, a point cloud data storage unit 11, a processing unit 13, and a two-dimensional map storage unit 15. The point cloud data storage unit 11 stores, for example, three-dimensional point cloud data acquired based on distance information to an object in a three-dimensional space. The point cloud data is acquired by an object detection device such as a sonar, a radar device, or a finder. The sonar, the radar device, and the finder each emit ultrasonic waves, electromagnetic waves, and light around the object, and detect the distance or position to the object by detecting reflection or scattering by the object. The finder is, for example, a LIDAR (Light Detection and Ranging, or Laser Imaging Detection and Ranging). As shown in Fig. 2, for example, each point P (px, py, pz) of the point cloud data is stored in a robot coordinate system with RX, RY, and RZ axes that are orthogonal to each other in a three-dimensional space. For example, the RX and RY axes are parallel to the horizontal direction, and the RZ axis is parallel to the vertical direction.

[0035] The processing unit 13 includes a software function unit that functions when a processor such as a CPU (Central Processing Unit) executes a predetermined program. The software function unit is an ECU (Electronic Control Unit) that includes a processor such as a CPU, a ROM (Read Only Memory) that stores programs, a RAM (Random Access Memory) that temporarily stores data, and electronic circuits such as a timer. At least a part of the processing unit 13 may be an integrated circuit such as an LSI (Large Scale Integration).

[0036] As shown in FIG. 1, the processing unit 13 includes, for example, a point cloud data acquisition unit 21, a height data extraction unit 23, a format generation unit 25, a division region setting unit 27, and a conversion processing unit 29. The point cloud data acquisition unit 21 acquires the point cloud data stored in the point cloud data storage unit 11. The point cloud data acquisition unit 21 reduces the number of pieces of point cloud data to be acquired, for example, by a predetermined downsampling.

[0037] The height data extraction unit 23 calculates, for example, a height representative value Sz in the height direction (RZ axis direction) of the point cloud data acquired by the point cloud data acquisition unit 21. As shown in Fig. 2, for example, for each point of the point cloud data that has a common RX value (e.g., px) in the RX axis direction and a common RY value (e.g., py) in the RY axis direction, the height data extraction unit 23 calculates the height representative value Sz by using only the height (i.e., RZ value, for example, pz) within a predetermined RZ value range defined by a predetermined threshold value for the RZ value. For example, for the RZ values ​​of the point cloud data (pz=1.8, 2.0, 2.0, 2.3, 2.6, 2.7, 2.7, 8.0, 8.0), the RZ values ​​(pz=1.8, 2.0, 2.0, 2.3, 2.6, 2.7, 2.7) are adopted according to the minimum value (pz=1.8) and the predetermined threshold value (=1.0). The height representative value Sz of each point is, for example, the average value of the RZ value within a predetermined RZ value range (for example, the arithmetic average value, or the weighted average value considering the distribution of the RZ value, or other average value). The predetermined RZ value range is, for example, the range from the minimum value of the RZ value of each point to a predetermined threshold value or less. The predetermined threshold is, for example, a height value that is not effective for determining whether or not a moving object can move. The predetermined threshold is set according to, for example, the attributes of the area including each point having a common RX value and RY value. For example, the predetermined threshold when each point is outdoors is set to a relatively large value compared to the predetermined threshold when each point is indoors.

[0038] The format generating unit 25 generates the two-dimensional map format F based on, for example, the size, resolution, and the like of the three-dimensional map based on the point cloud data acquired by the point cloud data acquiring unit 21. FIG. 3 shows an example of the correspondence between a two-dimensional map MSz indicating a representative height value Sz based on point cloud data on a two-dimensional coordinate plane of the RX and RY axes of the robot coordinate system, and a two-dimensional map format F. 3, the two-dimensional map format F is generated in a coordinate system with an X-axis and a Y-axis that are orthogonal to each other on a two-dimensional plane. For example, a point (px, py) on the RX-RY plane of a point PSz(px, py, Sz) having a height representative value Sz according to the point cloud data in the robot coordinate system is associated with a point C(x, y) on the two-dimensional map format F. The height representative value Sz according to the point cloud data is stored in a list (zList) of Z values ​​(z) associated with the point C(x, y) on the two-dimensional map format F.

[0039] The divided area setting unit 27 sets, for example, a first divided area G including a single point C(x,y) on a two-dimensional map format F, and a second divided area R including a plurality of first divided areas G. FIG. 4 shows a two-dimensional map MSz of point cloud data superimposed on a two-dimensional map format F for convenience. As shown in FIG. 4, the outer shape of each of the first divided area G and the second divided area R is, for example, a square. For example, the second divided area R partitioned by a plurality of grid lines L parallel to each of the X-axis and the Y-axis is composed of N×N first divided areas G with a predetermined natural number N. Each first divided area G is associated with each point C(x,y) and a Z value (z). The size of each second divided area R is set to, for example, a size that can cancel the gradient of a sloping land.

[0040] The conversion processing unit 29 executes, for example, a two-dimensional conversion process in each second divided region R according to the Z value (z) associated with each first divided region G. For example, the conversion processing unit 29 sets reference values ​​(height reference values) Sz1 and Sz2 of height data for each of the first divided region G and the second divided region R. 5, the height reference value (first height reference value) Sz1 of each first divided region G corresponds to, for example, the Z value (z) of each point C(x, y), that is, the height representative value Sz of the point cloud data. The height reference value (second height reference value) Sz2 of each second divided region R corresponds to, for example, the weighted average value or the minimum value of the Z values ​​(z) included in the zList of the multiple first divided regions G of each second divided region R. In this case, for example, depending on whether each second divided area R is located outdoors or indoors, the height reference value (second height reference value) Sz2 of each second divided area R may be set to either a weighted average value of the Z values ​​(z) included in the zList of the multiple first divided areas G of each second divided area R, or the minimum value of the Z values ​​(z) included in the zList of the multiple first divided areas G of each second divided area R. In the above, as an example of the height reference value (second height reference value) Sz2 of each second divided region R, the weighted average value of the Z values ​​(z) contained in the zList of multiple first divided regions G of each second divided region R was given, but it may also be, for example, the arithmetic average value or other average value. The conversion processing unit 29 determines whether each first divided area G is a movable area of ​​a moving body (e.g., an area where a vehicle can drive) or an unmovable area of ​​a moving body (e.g., an area where a vehicle cannot drive) depending on the difference (=Sz1-Sz2) between the second height reference value Sz2 of each second divided area R and the first height reference value Sz1 of each first divided area G.

[0041] For example, when the difference (=Sz1-Sz2) is equal to or smaller than a first threshold, the conversion processing unit 29 determines that the area is a movable area of ​​the moving object due to the presence of a road or the like. For example, when the difference (=Sz1-Sz2) is greater than the first threshold and equal to or smaller than a second threshold greater than the first threshold, the conversion processing unit 29 determines that the area is a movable area of ​​the moving object due to the presence of an obstacle or the like. An obstacle is, for example, an object or the like that exists on a movement route such as a road. For example, when the difference (=Sz1-Sz2) is greater than a second threshold, the conversion processing unit 29 determines that the area is a movable area of ​​the moving object due to the presence of an object (non-obstacle) that does not hinder movement. A non-obstacle is, for example, a tree branch and leaves that exist above the road. The conversion processing unit 29 generates a two-dimensional map by drawing each first divided area G on the two-dimensional map format F to indicate each of the movable areas and immovable areas of the moving object, depending on the result of determining the difference (=Sz1-Sz2) in each first divided area G.

[0042] The two-dimensional map storage unit 15 stores a two-dimensional map generated by the processing unit 13, such as a two-dimensional planar map based on X and Y axes as shown in FIG. It can be seen that the two-dimensional map shown in FIG. 6 properly displays a gently sloping road, such as the road in area A.

[0043] (Map generation device operation) The operation (map generating method) of the map generating device 10 of the embodiment will be described below. Fig. 7 is a flowchart showing the operation of the map generating device 10 according to the embodiment. Fig. 8 is a flowchart showing the two-dimensional conversion process shown in Fig. 7. First, in step S01 shown in FIG. 7, the processing unit 13 acquires the point cloud data stored in the point cloud data storage unit 11. Next, in step S02, the processing unit 13 generates a two-dimensional map format F based on the size, resolution, etc. of the three-dimensional map based on the point cloud data. Next, in step S03, the processing unit 13 extracts elevation data associated with each point on the two-dimensional map format F from the point cloud data. Next, in step S04, the processing unit 13 sets, on the two-dimensional map format F, a first divided area G including each point C(x, y) and a second divided area R including a plurality of the first divided areas G.

[0044] Next, in step S05, the processing unit 13 executes a two-dimensional conversion process, which will be described later. Next, in step S06, the processing unit 13 stores the two-dimensional map generated by the two-dimensional conversion process, and then the processing unit 13 advances the process to the end.

[0045] In the two-dimensional conversion process shown in FIG. 8, first, in step S11, the processing unit 13 sets a first height reference value Sz1 for each first divided region G and a second height reference value Sz2 for each second divided region R based on the point cloud data. Next, in step S12, the processing unit 13 calculates the difference between the second height reference value Sz2 of each second divided region R and the first height reference value Sz1 of each first divided region G (=Sz1-Sz2).

[0046] Next, in step S13, the processing unit 13 determines whether or not the difference (=Sz1-Sz2) is equal to or smaller than a first threshold value. If the result of this determination is "YES", the processing unit 13 advances the process to step S14. On the other hand, if the result of this determination is "NO", the processing unit 13 advances the process to step S15. Next, in step S14, the processing unit 13 determines that the first divided area G is a movable area of ​​the moving object, for example, due to the presence of a travel path or the like. Next, in step S15, the processing unit 13 determines whether or not the difference (=Sz1-Sz2) is equal to or smaller than a second threshold value. If the result of this determination is "YES", the processing unit 13 advances the process to step S16. On the other hand, if the result of this determination is "NO", the processing unit 13 advances the process to step S17. Next, in step S16, the processing unit 13 determines that the first divided region G is an area where the moving object cannot move due to the presence of, for example, an obstacle or the like. Furthermore, in step S17, the processing unit 13 determines that the first divided area G is a movable area of ​​the moving object, for example, due to the presence of an object (non-obstacle) that does not impede the movement. Then, the processing unit 13 advances the process to the end.

[0047] As described above, according to the map generating device 10 and the map generating method of the embodiment, the processing unit 13 judges whether or not the moving object can move based on the difference (=Sz1-Sz2) between the second height reference value Sz2 of each second divided area R and the first height reference value Sz1 of each first divided area G. As a result, compared to, for example, processing height position information individually at each position on the two-dimensional map format F, it is possible to prevent the process of converting three-dimensional point cloud data into two dimensions from becoming complicated, and it is possible to properly express subtle changes in topography, such as a gently sloping road, and it is possible to easily and automatically generate a two-dimensional map showing whether or not each position can be moved.

[0048] The height data extraction unit 23 calculates the height representative value Sz using only heights within a specified RZ value range defined by a specified threshold value for the RZ value, and therefore, by excluding height positions corresponding to the presence of objects unlikely to impede the movement of a moving body, such as tree branches or leaves present above the movable area of ​​a moving body, it is possible to prevent the process of converting three-dimensional point cloud data into two dimensions from becoming complicated.

[0049] (Modification) Modifications of the embodiment will be described below. Note that the same parts as those in the above-described embodiment will be denoted by the same reference numerals and descriptions thereof will be omitted or simplified. In the above embodiment, the height data extraction unit 23 uses only the RZ values ​​within a predetermined RZ value range defined by the minimum value and a predetermined threshold value when calculating the height representative value Sz for each point of the point cloud data having a common RX value and RY value, but is not limited to this. For example, the height data extraction unit 23 may calculate the height representative value Sz using only the RZ values ​​within the RZ value range defined by a predetermined high-side threshold value and a low-side threshold value. The predetermined high-side threshold value corresponds to the predetermined threshold value in the above embodiment, for example. The predetermined low-side threshold value is a threshold value for excluding areas where topographical changes can be ignored, such as flat roads, or areas where there are no objects that are likely to hinder the movement of a moving body, such as obstacles.

[0050] In addition, a program for realizing all or part of the functions of the map generating device 10 of the present invention may be recorded in a computer-readable recording medium, and the program recorded in the recording medium may be read into a computer system and executed to perform all or part of the processes performed by the map generating device 10. Note that the term "computer system" as used herein includes hardware such as an OS and peripheral devices. The term "computer system" also includes a WWW system equipped with a homepage providing environment (or display environment). The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into a computer system. The term "computer-readable recording medium" also refers to storage devices that hold a program for a certain period of time, such as volatile memory (RAM) inside a computer system that becomes a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line.

[0051] The above program may also be transmitted from a computer system in which the program is stored in a storage device or the like to another computer system via a transmission medium, or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The above program may also be for realizing part of the above-mentioned functions. Furthermore, it may be a so-called difference file (difference program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0052] The embodiments of the present invention are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents as described in the claims, as well as the scope and spirit of the invention. [Explanation of symbols]

[0053] 10...map generating device, 11...point cloud data storage unit, 13...processing unit, 15...two-dimensional map storage unit, 21...point cloud data acquisition unit, 23...height data extraction unit, 25...format generation unit, 27...division area setting unit, 29...conversion processing unit.

Claims

1. A two-dimensional plan view obtained based on a projection of a three-dimensional map including point cloud data onto a two-dimensional plane is divided into a plurality of first divisions corresponding to a plurality of positions on the two-dimensional coordinate system, and further divided into a plurality of second divisions, each of which is composed of a predetermined number of first divisions among the plurality of first divisions; setting a first reference value related to a height position for each of the first sections based on the point cloud data corresponding to each of the first sections; setting a second reference value, which is a reference value or a threshold value in a height direction of the three-dimensional map, for each of the second sections based on the first reference values ​​for the predetermined number of first sections in each of the second sections; a processing unit that determines whether each of the plurality of first sections is a movable area or a non-movable area of ​​a moving object based on a comparison between the first reference value and the second reference value for each of the plurality of first sections; The size of each of the plurality of second sections is set to a size capable of canceling the gradient of the slope; The processing unit generates a two-dimensional map by drawing the first sections so as to indicate the movable area and the non-movable area on a two-dimensional map format based on the determination result. A map generating device comprising:

2. The processing unit includes: In each of the plurality of second sections, the average value of the plurality of first reference values ​​for the predetermined number of first sections is set as the second reference value.

2. The map generating device according to claim 1 .

3. The processing unit includes: In each of the plurality of second sections, the minimum value of the plurality of first reference values ​​for the predetermined number of first sections is set as the second reference value.

2. The map generating device according to claim 1 .

4. The processing unit includes: A map generating device as described in any one of claims 1 to 3, characterized in that when the point cloud data corresponding to the first division in each of the plurality of second divisions includes a plurality of height positions, the average value of the plurality of height positions is set as the height position of the first division.

5. The processing unit includes: The map generating device described in claim 4, characterized in that when the point cloud data corresponding to the first division in each of the multiple second divisions includes multiple height positions, height positions greater than a predetermined first threshold or height positions smaller than a predetermined second threshold which is smaller than the first threshold are excluded from the height positions of the first division.

6. A map generating method executed by an electronic device having a processing unit for generating a map, The electronic device comprises: A step of dividing a two-dimensional plan view obtained based on a projection of a three-dimensional map including point cloud data onto a two-dimensional plane into a plurality of first divisions corresponding to a plurality of positions on a two-dimensional coordinate system, and into a plurality of second divisions each composed of a predetermined number of the first divisions among the plurality of first divisions; setting a first reference value related to a height position for each of the plurality of first sections based on the point cloud data corresponding to each of the plurality of first sections; setting a second reference value, which is a reference value or a threshold value in a height direction of the three-dimensional map, in each of the second sections based on the first reference values ​​for the predetermined number of first sections in each of the second sections; determining whether each of the plurality of first sections is a movable area or a non-movable area of ​​a moving object based on a comparison between the first reference value and the second reference value for each of the plurality of first sections; generating a two-dimensional map by drawing the first sections so as to indicate each of the movable area and the non-movable area on a two-dimensional map format based on the determination result; The size of each of the plurality of second sections is set to a size capable of canceling the gradient of the slope. A map generating method comprising:

7. The electronic device comprises: a step of setting an average value of the plurality of first reference values ​​for the predetermined number of first sections in each of the plurality of second sections as the second reference value.

7. The method of claim 6, wherein the map is generated based on the selected feature.

8. The electronic device comprises: a step of setting the minimum value of the plurality of first reference values ​​for the predetermined number of first sections as the second reference value in each of the plurality of second sections.

7. The method of claim 6, wherein the map is generated based on the selected feature.

9. The electronic device comprises: A map generation method as described in any one of claims 6 to 8, characterized in that when the point cloud data corresponding to the first division in each of the plurality of second divisions includes a plurality of height positions, the average value of the plurality of height positions is set as the height position of the first division.

10. The electronic device comprises: The map generation method described in claim 9, characterized in that when the point cloud data corresponding to the first division in each of the plurality of second divisions includes a plurality of height positions, the method further comprises a step of excluding height positions greater than a predetermined first threshold or height positions smaller than a predetermined second threshold which is smaller than the first threshold from the height positions of the first division.

11. A computer of an electronic device having a processing unit for generating a map, A step of dividing a two-dimensional plan view obtained based on a projection of a three-dimensional map including point cloud data onto a two-dimensional plane into a plurality of first divisions corresponding to a plurality of positions on a two-dimensional coordinate system, and into a plurality of second divisions each composed of a predetermined number of the first divisions among the plurality of first divisions; setting a first reference value related to a height position for each of the plurality of first sections based on the point cloud data corresponding to each of the plurality of first sections; setting a second reference value, which is a reference value or a threshold value in a height direction of the three-dimensional map, in each of the second sections based on the first reference values ​​for the predetermined number of first sections in each of the second sections; determining whether each of the plurality of first sections is a movable area or a non-movable area of ​​a moving object based on a comparison between the first reference value and the second reference value for each of the plurality of first sections; generating a two-dimensional map by drawing the first sections so as to indicate the movable area and the non-movable area on a two-dimensional map format based on the determination result; The size of each of the plurality of second sections is set to a size capable of canceling the gradient of the slope. A program characterized by:

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