APPARATUS AND METHOD FOR INPAINTING OCCLUSION OF ROAD SURFACE

摘要

The present invention discloses a device and a method for a road surface occlusion region, which restore an occlusion region of a road surface three-dimensional point group by using multi-viewpoint images, thereby being utilized for lane extraction and map construction. The device for restoring a road surface occlusion region comprises: an abnormal point group removing part removing an abnormal point group from a three-dimensional point group obtained by a mobile mapping system (MMS); an occlusion region detecting part detecting the occlusion region from an image in which the abnormal point group is removed by the abnormal point group removing part; a point group generating part generating a virtual point group on the occlusion region detected by the occlusion region detecting part; and an occlusion region restoring part projecting each virtual point generated by the point group generating part to the multi-viewpoint image, and changing each color of the virtual point in the multi-viewpoint image into grayscale to restore the occlusion region.