METHOD OF ESTIMATING A LOCATION BY FUSING INDOOR SPATIAL INFORMATION DATA

摘要

The present invention relates to a method for estimating a location through fusion of indoor spatial information data, and using a mobile mapping system (MMS), three-dimensional image information in the building for autonomous driving of a vehicle entering the building, and A first step of obtaining location information; A second step of receiving two-dimensional image information and location information, which are architectural drawing information of the building, from an external server; By matching the three-dimensional image information and location information obtained in the first step with the two-dimensional image information and location information received in the second step, the spatial information in the building for parking the autonomous vehicle is obtained. Including a third step of generating; Including, it is possible to obtain the location information of the vehicle even when a vehicle for autonomous driving enters a building where GPS signals cannot be received, and it is difficult to obtain image information and location information inside the building. It is possible to provide a technology that can supplement spatial information on the boundary area. According to the present invention, by fusing the building construction drawing including the location information with the image information and location information obtained through the mobile mapping system (MMS) of the autonomous vehicle, the autonomous vehicle entering the building is automatically Parking can be enabled, and by fusing the processed two-dimensional building construction drawings with three-dimensional raw data, it is possible to supplement the image information and location information incorrectly obtained by the attached installations in the building. It includes the effect of generating indoor spatial information, and by fusing architectural drawings with 3D point cloud data, it automates the process of constructing 3D spatial information, which is mostly manual, so that the update of spatial information in the building is faster. Includes the possible effects.