# US 2021/0174579 A1 · Map creation system and map creation method

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- Number: US 2021/0174579 A1
- Document ID: US20210174579A1
- Status: Published application
- Kind: A1
- Application number: 16/070,755
- Filed: 2016-03-07
- Published: 2021-06-10
- Earliest claimed: 2016-03-07
- Assignees: Mitsubishi Electric Corporation
- Applicants: Mitsubishi Electric Corporation
- Inventors: Koji WAKIMOTO
- Web page: https://patentgrep.com/patent/US20210174579A1

## CPC

- G01B 11/24: for measuring contours or curvatures
- G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light
- G01C 3/06: Use of electric means to obtain final indication
- G01C 7/00: Tracing profiles (by photogrammetry or videogrammetry G01C11/00)
- G01S 17/89: for mapping or imaging
- G06T 7/73: using feature-based methods
- G06T 17/05: Geographic models
- G09B 29/003: {Maps}
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)

## Abstract

In order to create an accurate map with a simple operation, the map creation system includes: a relative position acquisition means to measure distances and directions from a sensor to points on a surface of an infrastructure or an object and to create point cloud data in a relative space with the sensor at the center thereof; a sensor position acquisition means to measure the position and the attitude of the sensor and to create sensor position data; an absolute position calculation means to calculate position information of the point cloud in the absolute space on the basis of the point cloud data in the relative space and the sensor position data; a direction-vector calculation means to obtain a direction vector from the sensor to each point of the point cloud in the absolute space on the basis of the point cloud data in the relative space and the sensor position data; an area detection means to extract points composing a plane area on the basis of the position information and the direction vectors of the point cloud in the absolute space and to obtain the area outline on the basis of the distribution of the extracted points; and a drawing means to draw a picture representing the detected area outline with a line.

## Claims

### Claim at position 1

1-4. (canceled)

### Claim 5

A map creation system, comprising:
a relative position detector to measure distances and directions from a sensor to points on a surface of an infrastructure or an object and to create point cloud data in a relative space with the sensor at a center thereof;
a sensor position detector to measure a position and an attitude of the sensor and to create sensor position data;
a processor to execute a program; and
a memory to store the program which, when executed by the processor, performs processes of:
calculating position information of the point cloud in the absolute space on the basis of the point cloud data in the relative space and the sensor position data;
obtaining a direction vector from the sensor to each of points of the point cloud in the absolute space on the basis of the point cloud data in the relative space and the sensor position data;
extracting points composing a plane area on the basis of the position information and the direction vectors of the point cloud in the absolute space and to obtain an area outline on the basis of distribution of the extracted points,
the extraction process including setting a reference plane to provide a reference in the three-dimensional space,
the extraction process including extracting a point whose neighborhood points have direction vector distribution that fits vector distribution calculated from positional relationships between the reference plane and the sensor position data; and drawing a picture representing an outline of the detected area with a line.

### Claim 6

A map creation method, comprising:
distances and directions from a sensor to points on a surface of an infrastructure or an object to create point cloud data in a relative space with the sensor at a center thereof;
measuring a position and an attitude of the sensor to create sensor position data;
calculating position information of the point cloud in the absolute space on the basis of the point cloud data in the relative space and the sensor position data;
obtaining a direction vector from the sensor to each of points of the point cloud in the absolute space on the basis of the point cloud data in the relative space and the sensor position data;
extracting points composing a plane area on the basis of the position information and the direction vectors of the point cloud in the absolute space to obtain an area outline on the basis of distribution of the extracted points,
the extraction including setting a reference plane to provide a reference in the three-dimensional space,
the extraction including extracting a point whose neighborhood points have direction vector distribution that fits vector distribution calculated from positional relationships between the reference plane and the sensor position data; and drawing a picture representing an outline of the detected area with a line.