BIRD'S-EYE IMAGE FORMING DEVICE, BIRD'S-EYE IMAGE FORMING METHOD, AND BIRD'S-EYE IMAGE FORMING PROGRAM

摘要

Disclosed are a bird's-eye image forming device, a bird's-eye image forming method and a bird's-eye image forming program for acquiring a road image, from which a shield such as a tree or tunnel is removed.  A distance azimuth point-group (291), a camera image (292), a GPS-observed information (293), a gyro-measured value (294) and an odometry-measured value (295) are acquired while a target area being traveled by a vehicle carrying a mover measuring device (200).  A position-posture orientation device (300) orients the position and posture of the vehicle on the basis of the GPS-observed information (293), the gyro-measured value (294) and the odometry-measured value (295).  A point-cloud creation device (400) creates a point cloud (491) on the basis of the camera image (292), the distance azimuth point-group (291) and a position-posture orientation value (391).  A point-group ortho-image creation device (100) removes points higher than a road surface from the point cloud (491) to thereby extract only points near the road surface, and projects only the individual extracted points orthogonally on a horizontal plane to thereby create a point-group ortho image (191).  The point-group ortho image (191) represents the road surface unshielded.