Centerline correction apparatus, centerline correction method, and spatial network data generation system and program

1 . A centerline correction apparatus configured to correct a centerline of a path that is acquired from shape information about an indoor space or road shape information about an outdoor space and that is a travelable region in the indoor space or the outdoor space, the centerline correction apparatus comprising:

at least one memory and

one or more processors configured to perform operations including:

extracting a center point of an individual side of the centerline;

moving the centerline to be at a center with respect to a distance to a boundary of an original shape based on the extracted center point by rotating the individual side of the centerline around the center point, and translating the rotated centerline; and

deleting an unnecessary one of the moved centerlines.

2 . The centerline correction apparatus according to claim 1 , wherein the one or more processors are configured to perform operations further comprising:

dividing an outer frame shape of the path;

extracting straight line portions of the outer frame shape in order of length;

grouping the straight line portions based on respective angles formed by the extracted straight line portions and a reference line and that generates a region per group with a plurality of the straight line portions included in each group; and

performing the correction of the centerline per region.

3 . The centerline correction apparatus according to claim 2 , wherein the one or more processors are configured to perform the centerline correction process by performing operations including:

excluding the region from a correction target of the centerline correction process when an area of the region is equal to or less than a threshold; and

removing, when different ones of the regions overlap with each other, a smaller region from a figure included in a larger region and further performs division of the region.

4 . The centerline correction apparatus according to claim 3 , wherein the one or more processors are configured to perform a division process that translates, along a circumscribed rectangle of the larger region, a straight line parallel to the reference line from one end to the other end of the circumscribed rectangle and divides the larger region at a position where a significant change occurs in the region to be divided.

5 . A centerline correction method performed by a centerline correction apparatus which corrects a centerline of a path that is acquired from shape information about an indoor space or road shape information about an outdoor space and that is a travelable region in the indoor space or the outdoor space, the centerline correction method, comprising:

extracting a center point of an individual side of the centerline;

moving the centerline to be at a center with respect to a distance to a boundary of an original shape based on the extracted center point by rotating the individual side of the centerline around the center point, and translating the rotated centerline; and

deleting an unnecessary one of the moved centerlines.

6 . A network data generation system comprising:

at least one memory; and

one or mor processors configured to perform operations comprising:

generating spatial network data which is information about a path based on a centerline corrected by at least one of the one or more processors;

extracting a center point of an individual side of the centerline;

moving the centerline to be at a center with respect to a distance to a boundary of an original shape based on the extracted center point by rotating the individual side of the centerline around the center point, and translating the rotated centerline; and

deleting an unnecessary one of the moved centerlines.