| 摘要 |
The present invention relates to a method for automatically generating an indoor map using a LiDAR device which extracts data of the reflection intensity, height, width, and length of a wall, floor, and ceiling composing the interior of a building structure using a LiDAR device capable of moving indoors, generates spaces for the wall, ceiling, and floor of the interior using the extracted data, and make the indoor map by combining the generated spaces. The method for automatically generating an indoor map using a LiDAR device of the present invention comprises the following steps of: a first step in which a LiDAR device stores, in a data storage unit, original data obtained by measuring an interior area; a second step in which a data extracting unit extracts one-dimensional data from the original data stored in the data storage unit; a third step in which a data processing unit classifies space data about the interior area in the extracted one-dimensional data and combines the interior area using the classified space data; and a fourth step in which a space generating unit generates indoor map data using the space data and stores the indoor map data in the data storage unit; wherein the space data is at least one among a ceiling, floor, and wall and includes a reflection intensity value. [Reference numerals] (AA) Start;(BB,CC,DD,HH) No;(EE,FF,GG,II) Yes;(JJ) End;(S205) Scan the interior of a building;(S210) Store scanned original data;(S215) Extract one-dimensional data from the original data;(S220) Ceiling area?;(S225) Generate ceiling space;(S230) Floor area?;(S235) Generate floor area;(S240) Wall area?;(S245) Generate wall space;(S250) Combine generated space data;(S255) Final data?;(S260) Generate indoor map by using generated space data |
