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公开(公告)号：US11619496B2
公开(公告)日：2023-04-04
申请号：US16729450
申请日：2019-12-29
申请人： KOREA EXPRESSWAY CORP. , U1GIS
发明人： In Gu Choi , Jae Hyung Park , Gi Chang Kim , Duk Jung Kim
摘要： According to an embodiment, a system includes at least one change detecting device that includes a map information storage unit receiving a high-definition map including a property of each road facility object and spatial coordinates of a feature point from a map updating server and storing the received high-definition map, an object coordinates obtaining unit recognizing at least one road facility object from the road image and obtaining a property of the recognized object and spatial coordinates of a feature point. and a changed object detecting unit comparing the property of the recognized object and the spatial coordinates of the feature point with the high-definition map and, if a change object is detected, transmitting object change information including a property and feature point spatial coordinates of the change object to the map updating server.
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公开(公告)号：US20210190526A1
公开(公告)日：2021-06-24
申请号：US16729448
申请日：2019-12-29
申请人： KOREA EXPRESSWAY CORP. , U1GIS
发明人： In Gu CHOI , Jae Hyung Park , Gi Chang Kim , Duk Jung Kim
摘要： According to an embodiment, there is provided a system creating a high-definition map based on a camera. The system includes at least one map creating device that includes an object recognizing unit recognizing, per frame of the road image, a road facility object including at least one of a GCP object and an ordinary object and a property, a feature point extracting unit extracting a feature point of at least one or more road facility objects from the road image, a feature point tracking unit matching and tracking the feature point in consecutive frames of the road image, a coordinate determining unit obtaining relative spatial coordinates of the feature point to minimize a difference between camera pose information predicted from the tracked feature point and calculated camera pose information, and a correcting unit obtaining absolute spatial coordinates of the feature point.
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公开(公告)号：US20210072400A1
公开(公告)日：2021-03-11
申请号：US16683294
申请日：2019-11-14
发明人： Oh Cheol KWON , In Gu Choi , Shi Han Kim , Jae Hyung Park , Sung Hwan Kim , Gi Chang Kim , Duk Jung Kim
摘要： According to an embodiment, an apparatus for precise position correction using a positioning difference comprises a first distribution information obtaining unit gathering first distribution information from an external terminal, a global navigation satellite system (GNSS) receiver obtaining a GNSS positioning value of the apparatus based on a GNSS, and a positioning correcting unit obtain a corrected location of the apparatus by correcting the GNSS positioning value using the gathered first distribution information. The first distribution information includes a GNSS positioning value of the external terminal, a GNSS positioning time, a precise positioning value, and a positioning difference between the GNSS positioning value and the precise positioning value.
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公开(公告)号：US11255979B2
公开(公告)日：2022-02-22
申请号：US16683292
申请日：2019-11-14
申请人： KOREA EXPRESSWAY CORP. , U1GIS
发明人： Oh Cheol Kwon , In Gu Choi , Shi Han Kim , Jae Hyung Park , Sung Hwan Kim , Gi Chang Kim , Duk Jung Kim
摘要： According to an embodiment, an apparatus and method for generating distribution information may include periodically generating GNSS information including GNSS positioning information and a positioning time, generating image information including an image of at least one or more facility object, at the positioning time, while a vehicle drives, obtaining precise positioning information for a capturing position at the positioning time based on the image information, a high-definition map, and the GNSS information, calculating a positioning difference which is a difference between the GNSS positioning information and the precise positioning information, and generating distribution information including the GNSS information, the positioning difference, and the precise positioning information. The high-definition map includes information for feature point spatial coordinates and a property for each facility object.
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公开(公告)号：US11175408B2
公开(公告)日：2021-11-16
申请号：US16683294
申请日：2019-11-14
发明人： Oh Cheol Kwon , In Gu Choi , Shi Han Kim , Jae Hyung Park , Sung Hwan Kim , Gi Chang Kim , Duk Jung Kim
摘要： According to an embodiment, an apparatus for precise position correction using a positioning difference comprises a first distribution information obtaining unit gathering first distribution information from an external terminal, a global navigation satellite system (GNSS) receiver obtaining a GNSS positioning value of the apparatus based on a GNSS, and a positioning correcting unit obtain a corrected location of the apparatus by correcting the GNSS positioning value using the gathered first distribution information. The first distribution information includes a GNSS positioning value of the external terminal, a GNSS positioning time, a precise positioning value, and a positioning difference between the GNSS positioning value and the precise positioning value.
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公开(公告)号：US20210190512A1
公开(公告)日：2021-06-24
申请号：US16729450
申请日：2019-12-29
申请人： KOREA EXPRESSWAY CORP. , U1GIS
发明人： In Gu Choi , Jae Hyung Park , Gi Chang Kim , Duk Jung Kim
摘要： According to an embodiment, a system includes at least one change detecting device that includes a map information storage unit receiving a high-definition map including a property of each road facility object and spatial coordinates of a feature point from a map updating server and storing the received high-definition map, an object coordinates obtaining unit recognizing at least one road facility object from the road image and obtaining a property of the recognized object and spatial coordinates of a feature point. and a changed object detecting unit comparing the property of the recognized object and the spatial coordinates of the feature point with the high-definition map and, if a change object is detected, transmitting object change information including a property and feature point spatial coordinates of the change object to the map updating server.
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