Data collecting method and system
The data collecting method includes: collecting first and second sensor data respectively through a first and a second sensors while a data collecting apparatus moves within a target area, and tagging a first and a second timestamp values respectively to the first and the second sensor data; generating map data of the target area and location data at a point of time corresponding to the first timestamp value, based on the first sensor data; generating map information of the target area based on the map data, and generating moving path information on the map based on the location data; and estimating a sensing location at a point of time corresponding to the second timestamp value based on the moving path information, and tagging the sensing location to the second sensor data.
1. A location data collecting method using a mobile data collecting apparatus having a processor, a first sensor and a second sensor, the method comprising:
collecting space data for generating a location and moving path of the mobile data collecting apparatus and sensing location data indicating a sensing location of the mobile data collecting apparatus where the sensing location data is obtained respectively through the first sensor and the second sensor while the data collecting apparatus is currently moving within a target area, and tagging a first timestamp value and a second timestamp value respectively to the space data and the sensing location data;
generating temporary map data of the target area, and temporary location data at a point of time corresponding to the first timestamp value, based on the space data collected while the data collecting apparatus is currently moving;
calculating a similarity between pieces of the space data and a similarity between pieces of the sensing location data;
detecting a loop closure indicating the mobile data collecting apparatus has re-visited a location previously passed by the mobile data collecting apparatus, based on the similarity between the pieces of the space data and the similarity between the pieces of the sensing location data;
detecting a sensing error in the temporary map data by comparing the space data previously collected with space data collected at the re-visited location;
generating map information regarding a map of the target area by correcting the sensing error in the temporary map data, and generating moving path information regarding a moving path of the mobile data collecting apparatus on the map of the target area by correcting a sensing error in the temporary location data;
estimating a sensing location of the mobile data collecting apparatus at a point of time corresponding to the second timestamp value based on the moving path information generated after correcting the sensing error in the temporary location data, using the sensing location data previously collected while the temporary map data were being generated; and
storing sensing location data indicating the estimated sensing location of the mobile data collecting apparatus on the moving path information,
wherein the sensing location data indicating the estimated sensing location is used to identify a location of a mobile device moving within the map of the target area.
2. The data collecting method of claim 1 , wherein
the moving path information comprises the location data at the point of time corresponding to the first timestamp value, and
the sensing location at the point of time corresponding to the second timestamp value is estimated through interpolation using the location data at the point of time corresponding to the first timestamp value.
3. The data collecting method of claim 1 , wherein
the first sensor comprises at least one of a laser scanner, a camera, or a red, green, blue, depth (RGBD) sensor.
4. The data collecting method of claim 1 , wherein
the second sensor comprises at least one of a camera, a WiFi module, a Bluetooth module, a geomagnetic sensor, a laser scanner, or an RGBD sensor.
5. The data collecting method of claim 4 , wherein the first sensor is a 3-dimensional (3D) laser scanner.
6. A non-transitory computer readable recording medium storing a computer program which, when executed by a processor, performs the location data collecting method of claim 1 .
7. A location data collecting system comprising:
a mobile data collecting apparatus having a first sensor and a second sensor;
at least one processor in communication with the first sensor and the second sensor, and having a plurality of functional modules each configured to perform a predefined function, the functional modules including,
a timestamping module configured to collect space data for generating a location and moving path of a mobile data collecting apparatus and sensing location data indicating a sensing location of the mobile data collecting apparatus where the sensing location data is obtained respectively through the first sensor and the second sensor while the first sensor and the second sensor is currently moving within a target area, and tag a first timestamp value and a second timestamp value respectively to the space data and the sensing location data;
a simultaneous localization and mapping (SLAM) module configured to generate temporary map data of the target area based on the space data, generate temporary location data at a point of time corresponding to the first timestamp value, calculate a similarity between pieces of the space data and a similarity between pieces of the sensing location data, detect a loop closure indicating the mobile data collecting apparatus has re-visited a location previously passed by the mobile data collecting apparatus, based on the similarity between the pieces of the space data and the similarity between the pieces of the sensing location data, detect a sensing error in the temporary map data by comparing the space data previously collected with space data collected at the re-visited location, generate map information regarding a map of the target area by correcting the sensing error in the temporary map data, and generate moving path information regarding a moving path of the mobile data collecting apparatus on the map of the target area by correcting a sensing error in the temporary location data;
a tagging module configured to estimate a sensing location of the mobile data collecting apparatus at a point of time corresponding to the second timestamp value based on the moving path information generated after correcting the sensing error in the temporary location data, using the sensing location data previously collected while the temporary map data were being generated; and
a storing module configured to store sensing location data indicating the estimated sensing location of the mobile data collecting apparatus on the moving path information,
wherein the sensing location data indicating the estimated sensing location is used to identify a location of a mobile device moving within the map of the target area.
8. The data collecting system of claim 7 , wherein
the first sensor comprises at least one of a laser scanner, a camera, or a red, green, blue, depth (RGBD) sensor.
9. The data collecting system of claim 7 , wherein
the first sensor is a 3-dimensional (3D) laser scanner, and
the second sensor comprises at least one of a camera, a WiFi module, a Bluetooth module, or a geomagnetic sensor.
10. A location data collecting method using a data collecting apparatus having a first sensor and a second sensor, the method comprising:
collecting, by a first processor, space data for generating a location and moving path of the mobile data collecting apparatus and sensing location data indicating a sensing location of the mobile data collecting apparatus where the sensing location data is obtained respectively through the first sensor and the second sensor while the data collecting apparatus is currently moving within a target area, and tagging a first timestamp value and a second timestamp value respectively to the space data and the sensing location data;
generating, by a second processor, temporary map data of the target area, and temporary location data at a point of time corresponding to the first timestamp value, based on the space data collected while the data collecting apparatus is currently moving;
calculating, by the second processor, a similarity between pieces of the space data and a similarity between pieces of the sensing location data;
detecting, by the second processor, a loop closure indicating the mobile data collecting apparatus has re-visited a location previously passed by the mobile data collecting apparatus, based on the similarity between the pieces of the space data and the similarity between the pieces of the sensing location data;
detecting, by the second processor, a sensing error in the temporary map data by comparing the space data previously collected with space data collected at the re-visited location;
generating, by the second processor, map information regarding a map of the target area by correcting the sensing error in the temporary map data, and generating moving path information regarding a moving path of the mobile data collecting apparatus on the map of the target area by correcting a sensing error in the temporary location data;
estimating, by the second processor, a sensing location of the mobile data collecting apparatus at a point of time corresponding to the second timestamp value based on the moving path information generated after correcting the sensing error in the temporary location data, using the sensing location data previously collected while the temporary map data were being generated; and
storing, by the second processor, sensing location data indicating the estimated sensing location of the mobile data collecting apparatus on the moving path information,
wherein the sensing location data indicating the estimated sensing location is used to identify a location of a mobile device moving within the map of the target area.
11. The data collecting method of claim 10 , wherein the first processor is provided in the data collecting apparatus and the second processor is provided in a computer server apparatus connected to the data collecting apparatus through a network.