JP2003241655A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation device which provides the three-dimensional display of a specified facility with a small amount of data, and eliminates unnaturalness in display. <P>SOLUTION: Map data which is read from a DVD 2 and stored in a map buffer 10 includes: building polygon data indicating a common three-dimensional object which is prepared at every category; and site polygon data indicating the actual arrangement state of each specified facility concerning the categorized specified facilities. A graphic deforming part 40 in a plotting processing part 14 deforms the shape of the common three-dimensional object constituted of building polygon data in response to the shape of a site polygon, and, then, generates an intrinsic three-dimensional object corresponding to the actual building shape of each specified facility. Thus, a specified facility picture is plotted on a background map picture by using the intrinsic three-dimensional object. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a navigation device for stereoscopically displaying a specific facility such as a convenience store on a map.

[0002]

2. Description of the Related Art Conventionally, among navigation devices that display map information around a vehicle position, one of the display modes is shown.
As one of them, there is one in which a so-called bird's-eye view display can be performed in which the viewpoint position is set above the own vehicle position and the front side of the vehicle is viewed. In addition to such a map display form, recently, in many cases, three-dimensional display of various facilities is performed. For example, a case where a tall building with a predetermined number of floors or more is stereoscopically displayed can be considered.

[0003]

By the way, when performing the above-mentioned bird's-eye view display or the like, for a symbol mark called an icon or a landmark representing a specific facility, the symbol mark for the plan map is displayed in the same display form. Often used. In this case, it seems as if a plate-shaped symbol mark has risen vertically from the ground between the various three-dimensionally displayed buildings, which is uncomfortable from the perspective of displaying the map in three dimensions. There was a problem that the display became unnatural. In order to solve this problem, instead of the symbol mark, it is sufficient to display a stereoscopic image of the corresponding specific facility, but the site shape of each specific facility is different, and the specific facility corresponding to one symbol mark is displayed. If they are replaced with the same stereoscopic image, the building shape in the map image often differs from the actual building shape, and the discomfort and unnaturalness of the display image cannot be eliminated. It is also possible to prepare a stereoscopic image for each specific facility, but preparing a stereoscopic image for each specific facility separately for the entire wide area map will increase the data capacity, so it is practical. Not at all.

The present invention was created in view of the above points, and an object thereof is to realize a three-dimensional display of a specific facility with a small amount of data and eliminate the unnaturalness of the display. It is to provide a navigation device.

[0005]

In order to solve the above-mentioned problems, the navigation device of the present invention classifies a plurality of facilities to be stereoscopically displayed, and common to one or a plurality of facilities belonging to each category. In order to display the map by associating the individual 3D objects having the characteristics of 1st, the first map data for identifying the common 3D objects having the common characteristics for each classification, and the background of the individual 3D objects. By using the map data storage means for storing the second map data regarding the map image and the first map data stored in the map data storage means, the common three-dimensional object is individually set according to the installation state of the facility. A map image is drawn based on the three-dimensional object transforming means that transforms into a three-dimensional object and the second map data stored in the map data storing means. Both includes a map drawing means for drawing overlapping individual three-dimensional object that is deformed by the three-dimensional object deforming means on the map image, and a display processing means for displaying a map drawn by the map drawing unit. A common 3D object is prepared for each facility classification, not for each facility, and is transformed according to the installation state of each facility to create an individual 3D object for each facility. The amount of data can be reduced as compared with the case where a three-dimensional object is prepared for each facility. In addition, since the map display is performed using individual 3D objects for each facility, when the map display is performed by associating only the symbol mark with each facility, or the same 3D object is displayed for all facilities belonging to each category. It is possible to eliminate the unnaturalness of the display as compared to the case where the map is displayed correspondingly. Furthermore, since a three-dimensional object having common characteristics is used for each classification, good visibility can be secured when the vehicle is actually run.

Further, it is desirable that the above-mentioned common three-dimensional object is composed of polygons.
This makes it possible to further reduce the amount of data and facilitate the transformation process when creating an individual three-dimensional object. In addition, it is desirable that the above-mentioned first data include data that specifies the shape of the polygon and data that specifies the texture corresponding to the polygon. By using the polygon and the texture in combination, it is possible to simplify and speed up the processing contents when performing the deformation processing of the object, and obtain a more natural facility image.

Further, the map data storage means described above,
Site data specifying the site shape corresponding to the facility is included, and it is desirable that the three-dimensional object transforming unit performs processing for transforming the common three-dimensional object into individual three-dimensional objects based on the site data. By deforming the common 3D object according to the site shape, the actual shape of the facility can be reproduced almost accurately.

Further, the above-mentioned site data includes the entrance position of the corresponding facility, and the three-dimensional object transforming means adds an entrance to the individual three-dimensional object based on the entrance position of the site data. Is desirable. This makes it possible to create a unique three-dimensional object that matches the actual entrance position of each facility, so that the shape of the facility can be reproduced more accurately.

In addition, the above-mentioned map data storage means,
The symbol mark data necessary for drawing the symbol mark indicating the type of facility belonging to each classification is included, and the map drawing means superimposes the symbol mark on the drawing range of the individual three-dimensional object based on the symbol mark data. It is desirable to draw. Although the use of the unique three-dimensional object is a good mark, the visibility can be further improved by displaying the symbol mark in an overlapping manner.

Further, it is desirable that the texture described above includes a symbol mark representing the type of facility belonging to each category. By including the symbol mark in the texture, the symbol mark can be displayed more naturally.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION A navigation device according to an embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing the configuration of the navigation device of the present embodiment. The navigation device shown in FIG. 1 includes a navigation controller 1, a DVD 2, a disc reading device 3, a remote control (remote control) unit 4, a vehicle position detecting section 5, and a display device 6.

The navigation controller 1 controls the overall operation of the navigation device. The navigation controller 1 includes a CPU, ROM, RA
The function is realized by executing a predetermined operation program using M or the like. The detailed configuration of the navigation controller 1 will be described later.

The DVD 2 is an information storage medium in which map data required for map display and route search is stored.
Specifically, the DVD 2 stores map data in units of rectangular-shaped map leaves divided into appropriate sizes by longitude and latitude, and the map data of each map leaf specifies a map leaf number. By doing so, it becomes possible to identify and read.

The map data of each map leaf includes (1) a "drawing unit" composed of various data necessary for displaying a map image,
(2) "Road unit" consisting of various data necessary for processing such as map matching, route search, route guidance, etc. (3)
An “intersection unit”, which is made up of various data representing detailed information on intersections, is included. The drawing unit described above includes background layer data necessary for displaying buildings, rivers, etc., and character layer data necessary for displaying municipalities, road names, etc.

In the present embodiment, a plurality of facilities to be displayed three-dimensionally are classified, common three-dimensional objects having common characteristics are associated with the facilities belonging to each classification, and at the time of display, the individual three-dimensional objects are displayed. Is transformed according to the actual installation of each facility to create individual 3D objects. In order to perform such a process in addition to the conventional map display process, (a) building polygon data used for specifying a common three-dimensional object commonly prepared for facilities belonging to each classification,
(B) Texture data showing the surface pattern of this building polygon, (c) Site polygon data showing the actual installation state of each facility, (d) Used in combination to improve the visibility of individual three-dimensional objects. The above-mentioned background layer includes the symbol mark data for each classification and (e) the background data that is the background of the individual three-dimensional object.

The disc reading device 3 can be loaded with one or a plurality of DVDs 2, and reads the map data from any one of the DVDs 2 under the control of the navigation controller 1. The loaded disc does not necessarily have to be a DVD, but may be a CD. Also, D
Both VD and CD may be selectively loadable.

The remote control unit 4 is provided with various operation keys such as up, down, left and right cursor keys and a numeric keypad, and outputs a signal according to the operation content to the navigation controller 1. The vehicle position detection unit 5 includes, for example, a GPS receiver, an azimuth sensor, a distance sensor, and the like, detects the vehicle position (longitude, latitude) at a predetermined timing, and outputs the detection result.

The display device 6 displays various information such as a map image around the position of the vehicle based on the image data output from the navigation controller 1. Next, the detailed configuration of the navigation controller 1 will be described. Navigation controller 1 shown in FIG.
Is a map buffer 10, a map reading control unit 12, a drawing processing unit 14, a specific facility extraction unit 16, a VRAM 18, a vehicle position calculation unit 20, a route search processing unit 22, a guide route memory 2.
4, a guide route drawing unit 26, an input processing unit 28, a mark image drawing unit 30, and an image combining unit 32.

The map buffer 10 is a disk reader 3
The map data read from the DVD 2 is temporarily stored. Map buffer 1 read from DVD2
The map data stored in 0 includes building polygon data, texture data, site polygon data, symbol mark data, and background data of the background layer described above.

The map reading control unit 12 includes a vehicle position calculation unit 2
In response to a vehicle position calculated by 0, a request from the input processing unit 28, and the like, a read request for map data in a predetermined range is output to the disk reading device 3. The drawing processing unit 14 stereoscopically displays the specific facility in which the individual three-dimensional object is created based on the map data stored in the map buffer 10, and displays a map image in which the other parts are represented by a bird's-eye view. The map image data of is generated. The drawing processing unit 14 includes a graphic transformation unit 40, a texture processing unit 42, a symbol drawing unit 44, and a map drawing unit 46.
Is included.

The graphic transformation unit 40 transforms the shape of the common three-dimensional object specified by the building polygon data using the site polygon data to create an individual three-dimensional object suitable for the installation form of each facility. The texture processing unit 42 performs texture processing on the individual three-dimensional object created by the graphic transformation unit 40. The symbol drawing unit 44 draws the symbol mark on one surface of the individual three-dimensional object based on the symbol mark data and having the largest area viewed from the viewpoint position when drawing the map. The map drawing unit uses the background data to perform a process of drawing a map image other than the individual three-dimensional object.

The specific facility extraction unit 16 extracts a specific facility included in the drawing range, which is a target of stereoscopic display. In this embodiment, a group of facilities having a form called a chain store is classified as one classification, and a common three-dimensional object is prepared for each classification. For example, at convenience stores and family restaurants, one category corresponds to each brand. The specific facility extraction unit 16 performs a process of extracting whether or not there is a facility of each classification in which the common three-dimensional object is associated with the drawing range of the map image.

The VRAM 18 stores the drawing data output from the drawing processing section 14. The vehicle position calculation unit 20
A map for calculating the own vehicle position and the own vehicle direction based on the detection data output from the vehicle position detection unit 5, and correcting the own vehicle position if the calculated own vehicle position is not on the road in the map data. Perform matching processing.

The route search processing unit 22 searches for a travel route connecting a departure place and a destination (or a waypoint) designated by the user under predetermined conditions. For example, the shortest distance,
Under various conditions such as the shortest time, the travel route that minimizes the cost is set as the guide route. Data indicating the contents of the guide route set by the route search processing unit 22 (guide route data) is stored in the guide route memory 24.

The guide route drawing unit 26 includes a route search processing unit 2
From the guide route data set by 2 and stored in the guide route memory 24, a guide route for selecting the one included in the map drawn in the VRAM 18 at that time and displaying the guide route in an overlapping manner on the map. Generate drawing data.

The input processing unit 28 outputs a command for performing an operation corresponding to various operation instructions input from the remote control unit 4, to each unit in the navigation controller 1. The mark image drawing unit 30 generates image data for displaying a predetermined vehicle position mark at the own vehicle position after the map matching processing is performed or for displaying a predetermined cursor mark at the cursor position.

The image synthesizing section 32 superimposes the map image data read from the VRAM 18 and the image data output from the mark image drawing section 30 in correspondence with the position of the vehicle, and synthesizes the image data. Output to the display device 6. The above-mentioned map buffer 10 serves as map data storage means, the graphic transformation section 40 serves as three-dimensional object transformation means, the map drawing section 46, the texture processing section 42, and the symbol drawing section 44 serve as map drawing means, and the VRAM 18 and the image composition section 32. Respectively correspond to the display processing means.

The navigation device of this embodiment has such a structure, and its operation will be described below. 2, 3, and 4 are diagrams showing specific examples of the common three-dimensional object. These figures show common three-dimensional objects corresponding to stores of three brands included in convenience stores as an example. In the present embodiment, “store” is defined as “major classification”, each type of “store” such as convenience stores and family restaurants is defined as “medium classification”, and each brand such as convenience store is defined as “small classification”.

As shown in these figures, a common three-dimensional object of the same shape is prepared corresponding to the middle classification called convenience store, and different patterns or the like are attached to the common three-dimensional object for each brand. Has been
A common three-dimensional object is created for each brand. Specifically, a common three-dimensional object having a pattern or a color representing the characteristics of the A brand is created corresponding to the A brand convenience store shown in FIG. Further, a common three-dimensional object having a pattern or a color representing the characteristic of the B brand is created corresponding to the convenience store of the B brand shown in FIG. Similarly, corresponding to the C-brand convenience store shown in FIG. 4, a common three-dimensional object with a pattern or color representing the characteristics of the C-brand is created.

The three common three-dimensional objects corresponding to the above-mentioned three types of brands all have the same shape, and the characteristics of each brand are expressed by changing the pattern, color, etc. . Therefore, for the common three-dimensional object prepared for each small classification, if the same middle classification is used, the same building polygon data may be used, and only the texture data to be combined may be changed.

FIG. 5 is a diagram showing an outline of processing for deforming the shape of the common three-dimensional object performed in the graphic deforming section 40. For example, as shown in FIG. 5, a case is considered in which a common three-dimensional object 100 having a shape close to a cube is prepared and is deformed according to a site polygon having a rectangular site shape with a part cut off. .
In the site polygon data, the positions of four points A, B, C, D corresponding to the four corner points on the bottom surface of the common three-dimensional object are specified, and the common three-dimensional object 100 is transformed so as to satisfy these correspondences. To do. As a result, the individual three-dimensional object 120 is created.

FIG. 6 is a diagram showing a specific example of processing by the graphic transformation unit 40. FIG. 6A shows a common three-dimensional object of A brand. Further, FIG. 6B shows an individual three-dimensional object created when the bottom surface of the common three-dimensional object and the shape of the site polygon are almost the same and the orientation is different by 180 °. FIG. 6C shows an individual three-dimensional object created when the shape of the site polygon is shortened along one direction. FIG. 6D shows an individual three-dimensional polygon created when the site polygon has a substantially circular shape. In this way, the shape of the common three-dimensional object is transformed according to various site shapes to create individual three-dimensional objects. Since individual three-dimensional objects are created by matching the site shape in consideration of the orientation as well, the shape of the three-dimensional object close to the actual building can be realized. Since the common three-dimensional object is composed of polygons, it goes without saying that it can be freely rotated by 360 ° in accordance with the actual site shape.

FIG. 7 is a flow chart showing the operation procedure of the navigation device of this embodiment. For example, when displaying a map image of the periphery of a moving vehicle, an image of an individual three-dimensional object corresponding to a specific facility is displayed. The operation procedure to be performed is shown. When the vehicle position is calculated by the vehicle position calculation unit based on the output of the vehicle position detection unit 5 (step 10
0), the map reading control unit 12 determines whether or not it is necessary to read new map data of the map leaf as the vehicle position is changed (step 101). When it becomes necessary to read the map data corresponding to the new map sheet, an affirmative judgment is made in the judgment of step 101, and then the map reading control unit 12 sends an instruction to the disc reading device 3 so that the disc reading device 3 causes the map reading device 3 to read. The map data corresponding to a predetermined map leaf is read (step 102).

After the reading of the map data in the predetermined range is completed in this way, or after the map data does not need to be read and a negative determination is made in the determination in step 101, the drawing processing by the drawing processing unit 14 is performed. Be started. When the specific facility extraction unit 16 extracts the specific facility within the drawing range (step 103), the graphic transformation unit 40
Performs processing for transforming the shape of the common three-dimensional object into the shape of the individual three-dimensional object based on the extracted building polygon data and site polygon data corresponding to the specific facility (step 104). Next, or in parallel with the above-described specific facility extraction processing and shape change processing to individual three-dimensional objects, the map drawing unit 46
Based on the background data included in the map data, a background map image that becomes the background of each individual three-dimensional object is drawn (step 105). This drawing process is performed, for example, in a bird's-eye view display format in which the viewpoint position is set above the rear part of the vehicle.

Next, the texture processing unit 42 carries out a texture mapping process for pasting a texture onto the building polygons constituting the individual three-dimensional object after the shape change and a perspective projection conversion to make the individual three-dimensional object a predetermined one. Drawing processing is performed from the viewpoint position (step 106). In addition, the symbol drawing unit 44 draws a symbol mark corresponding to the specific facility on the individual three-dimensional object extracted and drawn by the specific facility extracting unit 16 (step 107).

FIG. 8 is a diagram showing a specific example of drawing a symbol mark. As shown in FIG. 8, in the present embodiment, when an image corresponding to an individual three-dimensional object is drawn, it overlaps with a surface having the largest display area among the basic six surfaces (front surface, right side surface, etc.). As described above, the symbol mark is displayed.

When the symbol mark drawing process is completed,
A series of map drawing processing around the vehicle position ends. After that, the processing after the above-described vehicle position calculation in step 100 is repeated at regular time intervals, and a map display of the surrounding area is performed according to the traveling position of the vehicle.

As described above, in the navigation device according to the present embodiment, three-dimensional objects having a common shape are prepared not for each specific facility but for each facility belonging to the middle classification, and further for each facility belonging to the small classification. 3D objects that have the same shape and pattern and color are set are prepared, and when the map is displayed, the drawing process is performed by transforming the shape of the 3D object according to the shape of the site polygon. The data amount of map data can be reduced as compared with the case where a three-dimensional object is individually prepared for each.

Further, the map display is performed by using the individual three-dimensional object having the characteristic pattern and color for each specific facility belonging to the small classification and having the building shape matching the actual site shape. The display is unnatural compared to the case where a map is displayed by associating only the planar symbol mark with each facility or the map is displayed by associating the same three-dimensional object with all the facilities belonging to each classification. Can be resolved. In particular, since a 3D object with a common pattern and color is used for each sub-class, an individual 3D as a mark close to the actual building that the driver or the like sees when actually driving the vehicle The object can be used for each specific facility, and good visibility can be secured.

Further, in this embodiment, since the common three-dimensional object prepared for each specific facility belonging to the middle classification or the small classification is composed of polygons, the common three-dimensional object can be expressed with a small amount of data. In addition, the process of generating the common 3D object and the individual 3D object is facilitated. By performing the transformation process and the rendering process of the three-dimensional object by combining the polygon and the texture, it is possible to simplify and speed up the processing content when performing the transformation process, and obtain a more natural facility image.

Further, in the present embodiment, the symbol mark is drawn so as to overlap the drawing range of the individual three-dimensional object corresponding to each specific facility, so that the visibility of the specific facility in the surrounding map can be further improved. . The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist of the present invention. For example, in the above-described embodiment, the symbol mark is superimposed and drawn in the drawing range of the individual three-dimensional object, but the symbol mark may be included as a part of the texture.

FIG. 9 is a diagram showing a specific example in which a symbol mark is included in a part of the texture. As shown in FIG. 9, when a symbol mark is attached to a predetermined portion of the building in an actual specific facility, the texture is created so as to accurately reproduce the position and size of the building. It is possible to display a map closer to the actual scenery seen from. Further, even when the symbol mark is not attached to the actual specific facility, the symbol mark image can be displayed in a more natural display mode.

In the above-mentioned embodiment, the case where the building entrance is provided as a part of the pattern has been described.
In a convenience store or the like, even if it is in front of the building, the impression it receives when looking at the image of the building varies greatly depending on whether the entrance is on the left side, the center, or the right side. Therefore, by accurately drawing the position of the entrance, it is possible to make a display closer to the actual building.

FIG. 10, FIG. 11 and FIG. 12 are views showing a concrete method for accurately displaying the position of the entrance of the building. In addition to the building polygon shown in FIG.
By preparing the entrance polygon shown in (B), it becomes possible to form the entrance at an arbitrary position on a specific surface of the building.

For example, data of points E and F indicating the position of the entrance near the left end of one side are added to the data of the site polygon as shown in FIG. By arranging the entrance polygon between these two points E and F, it is possible to create a unique three-dimensional object having an entrance on the front left side as shown in FIG. 11B.

Data of points E and F indicating the position of the entrance near the right end of one side are added to the data of the site polygon as shown in FIG. By arranging the entrance polygon between these two points E and F, it is possible to create a unique three-dimensional object having the entrance on the front right side as shown in FIG. 12B.

[0047]

As described above, according to the present invention, a common three-dimensional object is prepared not for each facility but for each facility classification, and this is transformed according to the installation state of each facility. Thus, since the individual three-dimensional object is created for each facility, the amount of data can be reduced as compared with the case where the three-dimensional object is prepared for each facility.
In addition, since the map display is performed using individual 3D objects for each facility, when the map display is performed by associating only the symbol mark with each facility, or the same 3D object is displayed for all facilities belonging to each category. It is possible to eliminate the unnaturalness of the display as compared to the case where the map is displayed correspondingly. Furthermore, since a three-dimensional object having common characteristics is used for each classification, good visibility can be secured when the vehicle is actually run.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a navigation device according to an embodiment.

FIG. 2 is a diagram showing a specific example of a common three-dimensional object.

FIG. 3 is a diagram showing a specific example of a common three-dimensional object.

FIG. 4 is a diagram showing a specific example of a common three-dimensional object.

FIG. 5 is a diagram showing an outline of a process of deforming the shape of a common three-dimensional object, which is performed in the graphic deforming unit.

FIG. 6 is a diagram showing a specific example of processing by a graphic transformation unit.

FIG. 7 is a flowchart showing an operation procedure of the navigation device of the present embodiment.

FIG. 8 is a diagram showing a specific example of drawing a symbol mark.

FIG. 9 is a diagram showing a specific example in which a symbol mark is included in a part of a texture.

FIG. 10 is a diagram showing a specific method for accurately displaying the position of the entrance of a building.

FIG. 11 is a diagram showing a specific method for accurately displaying the position of the entrance of a building.

FIG. 12 is a diagram showing a specific method for accurately displaying the position of the entrance of a building.

[Explanation of symbols]

1 Navigation controller 2 DVD 3 disk reader 5 Vehicle position detector 6 Display device 10 map buffer 12 Map read control unit 14 Drawing processing unit 16 Specific Facility Extraction Department 18 VRAM 32 Image synthesizer 40 Graphic transformation part 42 Texture Processing Unit 44 Symbol drawing part 46 Map drawing section

Continued front page    F term (reference) 2C032 HB02 HB05 HC08 HC13 HC23                       HC26 HD03                 2F029 AA02 AB01 AB07 AC03 AC14                       AC19                 5H180 AA01 BB13 CC12 FF04 FF05                       FF22 FF27 FF38

Claims (7)

[Claims] 1. A navigation device for classifying a plurality of facilities to be displayed three-dimensionally and displaying a map by associating individual three-dimensional objects having common characteristics with one or a plurality of facilities belonging to each category. A map in which first map data for specifying a common three-dimensional object having the common characteristic for each of the classifications and second map data for a map image as a background of the individual three-dimensional object are stored. Three-dimensional object transformation for transforming the common three-dimensional object into the individual three-dimensional object according to the installation state of the facility by using the data storage means and the first map data stored in the map data storage means. Means for drawing the map image based on the second map data stored in the map data storage means, and A map drawing means for drawing the individual three-dimensional object deformed by the three-dimensional object deforming means on a map image, and a display processing means for displaying the map drawn by the map drawing means. Characteristic navigation device. 2. The navigation device according to claim 1, wherein the common three-dimensional object is composed of polygons. 3. The navigation according to claim 2, wherein the first data includes data that specifies a shape of the polygon and data that specifies a texture corresponding to the polygon. apparatus. 4. The map data storage unit according to claim 1, wherein the map data storage unit includes site data that specifies a site shape corresponding to the facility, and the three-dimensional object transformation unit includes the site data. A navigation device, which performs a process of transforming the common three-dimensional object into the individual three-dimensional object based on site data. 5. The site data according to claim 4, wherein the site data includes an entrance position of the corresponding facility, and the three-dimensional object transforming unit is configured to perform the individual cubic function based on the entrance position of the site data. A navigation device characterized by adding an entrance to an original object. 6. The map data storage means according to claim 1, wherein the map data storage means includes symbol mark data necessary for drawing a symbol mark representing a type of facility belonging to each of the classifications, The navigation device, wherein the map drawing means draws the symbol mark on the drawing range of the individual three-dimensional object based on the symbol mark data. 7. The navigation device according to claim 3, wherein the texture includes a symbol mark indicating a type of facility belonging to each of the categories.