Patent ID: 11971274
Assignee: THINKWARE CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 9:
10. An apparatus for producing a high-definition (HD) map using an aerial image and mobile mapping system (MMS) data of an MMS, the apparatus comprising:
an aerial image analyzing unit detecting an object of a road area and at least one second object of the road area from the aerial image and extracting a two-dimensional (2D) coordinate value of the detected object from the aerial image, wherein the object of the road area is a lane marking and the at least one second object is at least one of a road surface marking and a polygon;
a space coordinate calculating unit calculating a height value corresponding to the 2D coordinate value by projecting the extracted 2D coordinate value onto point cloud data included in the MMS data, and calculating a three-dimensional (3D) coordinate value corresponding to the 2D coordinate value based on the calculated height value; and
an HD map generating unit generating the HD map of the road area of the aerial image in three dimensions based on the calculated 3D coordinate value,
wherein the space coordinate calculating unit detects MMS data corresponding to a proximity position nearest the extracted 2D coordinate value and having MMS data when there is no MMS data corresponding to the 2D coordinate value of the detected object extracted from the aerial image, and calculates the height value corresponding to the 2D coordinate value of the object of the road area by projecting the extracted 2D coordinate value onto the point cloud data of the detected MMS data corresponding to the proximity position,
wherein the extracted 2D coordinate value is used to generate the HD map for the polygon and/or the road surface marking,
wherein a height value of the polygon and/or the road surface marking is calculated based on the height value calculated for the lane marking, and
wherein the apparatus further comprises:
an aerial image updating unit generating a top view image based on a driving image included in the MMS data and updating the aerial image by arranging the generated top view image in chronological order on a position of the aerial image corresponding to an imaging position at which the driving image is captured,
wherein the apparatus produces the HD map using the updated aerial image.