CN107631733A - The method, apparatus and server of new added road are found based on floating wheel paths - Google Patents
The method, apparatus and server of new added road are found based on floating wheel paths Download PDFInfo
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- CN107631733A CN107631733A CN201610567254.0A CN201610567254A CN107631733A CN 107631733 A CN107631733 A CN 107631733A CN 201610567254 A CN201610567254 A CN 201610567254A CN 107631733 A CN107631733 A CN 107631733A
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Abstract
This application discloses a kind of method, apparatus and server that new added road is found based on floating wheel paths, this method includes：By region rasterizing interested, each grid includes multiple pixels；Road net data is mapped in grid and obtains road network figure layer；The passback tracing point of floating wheel paths is mapped in the pixel of corresponding grid and obtains track figure layer, wherein the value of pixel is associated with the passback tracing point number being mapped in the pixel；By the road network figure layer and the track map overlay, retain in the track figure layer the not track regions overlapping with road network figure layer, obtain comparing figure layer；Track regions according to comparing in figure layer determine new added road.The present invention is by the way that vector data is mapped in grid, and the calculating by returning tracing point is converted to the calculating of fixed amount data, not only saves calculating memory space, and improve computational efficiency.
Description
Technical field
The application is related to GIS-Geographic Information System field, more particularly to a kind of side that new added road is found based on floating wheel paths
Method, device and server.
Background technology
In cartographic information system field, realize the road in electronic map it is consistent with real road be electronic map provide
One of target that business most asks.The infrastructure construction in China is in the stage of high speed development, the road between city and city
And the road of urban inner is all changing daily, and electronic map provider is difficult to perfect tracking to new road at present
Increase, so as to carry out corresponding change to provide the user more preferable service in electronic map.
At present, the means that electronic map provider obtains new added road are mainly that the number of field exploring is obtained from Mapping departments
According to, or electronic map provider oneself field exploring acquisition data, but this mode is time-consuming and laborious, and the cycle is very long, full
The development of foot not current mobile Internet is to the demand of electronic map renewal speed.
In recent years, there is a kind of Floating Car (Floating Car Data) technology, it is international intelligent transportation system
(ITS) one of advanced technology means of acquisition Traffic Information employed in.The general principle of floating car technology is：According to
The vehicle location of Floating Car periodic logging during its traveling of vehicle-bone global positioning system, direction and velocity information are equipped,
Handled using the related computation model such as map match, path culculating and algorithm, make Floating Car position data and city road
Road associates over time and space, finally gives Floating Car and passes through the Vehicle Speed of road and the driving of road
The traffic congestion informations such as hourage.If sufficient amount of Floating Car is disposed in city, and by the position of these Floating Cars
Data by wireless telecommunication system periodically, be transferred to an information processing centre in real time, by information centre's integrated treatment, so that it may
To obtain whole city dynamic, real-time traffic congestion information.
So, in order to improve the renewal speed of new added road, if can be used to be increased newly by Floating Car motion track
The detection of roadHowever, in practice, the inventors found that because it is entered based on real Floating Car motion track
Row new added road detects, it is necessary to which the data volume of processing is very big.If the program is applied to the service of electronic map provider
, it is necessary to take substantial amounts of memory space and superpower computing capability in device, server may be caused can not to bear so big bear
Lotus, it is therefore necessary to a kind of more efficient new added road detection scheme is found, to reduce the clothes of Map Service provider
The load that business device is born during new added road is detected.
The content of the invention
In view of this, the embodiment of the present application provide it is a kind of based on floating wheel paths find new added road method, apparatus with
And server, to solve the problems, such as that new added road detects in electronic map provider.
On the one hand, a kind of method that new added road is determined based on floating wheel paths that the embodiment of the present application provides, including：
By region rasterizing interested, each grid includes multiple pixels；
Road net data is mapped in grid and obtains road network figure layer；
The passback tracing point of floating wheel paths is mapped in the pixel of corresponding grid obtains track figure layer, wherein pixel
It is worth associated with the passback tracing point number being mapped in the pixel；
By the road network figure layer and the track map overlay, retain not overlapping with road network figure layer in the track figure layer
Track regions, obtain comparing figure layer；
Track regions according to comparing in figure layer determine new added road.
Alternatively, this method also includes：
Judge to whether there is pixel value abnormality in the track figure layer, if rejecting if having exception, pixel value in the figure layer of track is different
Normal pixel；And/or
The track figure layer is filtered, wherein described include inciting somebody to action by the road network figure layer and the track map overlay
The road network figure layer and filtered track map overlay.
Alternatively, road net data is mapped in grid and obtains road network figure layer and include：
Vector road data in road net data is mapped into the vector road data to correspond in the pixel of grid；
Performance Level according to the vector road data enters row buffering and obtains road network figure layer.
Alternatively, it is described to determine that new added road includes according to the track regions compared in figure layer：
Connected region detection is carried out to the relatively figure layer；
Rejecting covering in the connected region detected, less than the connected region of N number of pixel, N is positive integer；
The remaining connected region detected is expanded；
Rejecting covering in the connected region after expansion, less than the connected region of M pixel, M is positive integer；
Skeletal extraction is carried out to the connected region after remaining expansion, and extracts the vector characteristic of the skeleton, is obtained new
Increase road.
Alternatively, this method also includes：The obtained relatively figure layer is filtered, wherein described according to comparing figure layer
In track regions determine that new added road includes determining new added road according to filtered track regions relatively in figure layer.
On the other hand, in order to realize the above method, the embodiment of the present application provides a kind of new based on the determination of floating wheel paths
Increase the device of road, the device includes：
Rasterizing module, for region rasterizing interested, each grid to be included into multiple pixels；
Road network figure layer module, road network figure layer is obtained for road net data to be mapped in grid；
Track figure layer module, rail is obtained for the passback tracing point of floating wheel paths to be mapped in the pixel of corresponding grid
The value of mark figure layer, wherein pixel is associated with the passback tracing point number being mapped in the pixel；
Compare figure layer module, for retaining the road network figure layer and the track map overlay in the track figure layer
The not track regions overlapping with road network figure layer, obtain comparing figure layer；
New added road determining module, for determining new added road according to the track regions compared in figure layer.
Alternatively, said apparatus also includes：Pixel rejects module, for judging to whether there is pixel in the track figure layer
Value is abnormal, if the pixel that pixel value abnormality in the figure layer of track is rejected if having exception；And/or filtration module, for the track
Figure layer or the relatively figure layer are filtered；
Wherein compare figure layer module to be additionally operable to by the road network figure layer and filtered track map overlay, new added road
The track regions that determining module is additionally operable in filtered relatively figure layer determine new added road.
Alternatively, the road network figure layer module, for the vector road data in road net data to be mapped into the vector road
Circuit-switched data is corresponded in the pixel of grid；Performance Level according to the vector road data enters row buffering and obtains road network figure layer.
Alternatively, the new added road determining module further comprises：
Connected region detection unit, for carrying out connected region detection to the relatively figure layer；
First connected region culling unit, the connection of N number of pixel is less than for rejecting covering in the connected region detected
Region, N are positive integer；
Expansion cell, for being expanded to the remaining connected region detected；
Second connected region culling unit, the connection of M pixel is less than for rejecting covering in the connected region after expanding
Region, M are positive integer；
Skeletal extraction unit, for carrying out skeletal extraction to the connected region after remaining expansion, and extract the skeleton
Vector characteristic, obtain new added road.
The embodiment of the present application provides a kind of server, and the server is provided with：The embodiment of the present invention is disclosed based on floating
Motor-car track determines the device of new added road；And/or
It is stored with the database of the server：Determine that the method for new added road is given birth to based on floating wheel paths using described
The electronic map data of production.
It is of the invention by the way that vector data is mapped in grid based on above-mentioned technical proposal, and by returning tracing point
The calculating for being converted to fixed amount data is calculated, not only saves calculating memory space, and improve computational efficiency.The present invention is logical
Cross and buffered road network according to Performance Level, alleviate GPS drifts, and by the screening to connected region, reduce
Due to erroneous judgement situation caused by GPS drifts.In addition, the present invention takes full advantage of existing road net data, in track figure layer and
When road network figure layer is overlapped processing, the track of obtained comparison figure layer is more accurate.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding of the present application, forms the part of the application, this Shen
Schematic description and description please is used to explain the application, does not form the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the method flow diagram that new added road is determined based on floating wheel paths that the embodiment of the present application provides；
Fig. 2A is the 4- neighborhood neighbouring relations schematic diagrames that the present embodiment provides；
Fig. 2 B are the 8- neighborhood neighbouring relations schematic diagrames that the present embodiment provides；
A kind of schematic diagram to area-of-interest rasterizing that Fig. 3 the embodiment of the present application provides；
Fig. 4 is the road network figure layer schematic diagram that the embodiment of the present application provides；
Fig. 5 is the track figure layer schematic diagram that the embodiment of the present application provides；
Fig. 6 is the comparison figure layer schematic diagram that the embodiment of the present application provides；
Fig. 7 is the connected region schematic diagram detected that the embodiment of the present application provides；
Fig. 8 is the new added road schematic diagram that the embodiment of the present application provides；
Fig. 9 is the apparatus structure schematic diagram that new added road is determined based on floating wheel paths that the embodiment of the present application provides；
Figure 10 is the new added road determining module schematic diagram that the embodiment of the present application provides；
Figure 11 is the apparatus structure schematic diagram that new added road is determined based on floating wheel paths that the embodiment of the present application provides.
Description of reference numerals
The road network figure layer module of 905 rasterizing module 910
915 track figure layer modules 920 compare figure layer module
The connected region detection unit of 925 new added road determining module 1005
The expansion cell of 1010 first connected region culling unit 1015
The skeletal extraction unit of 1020 second connected region culling unit 1025
The filter unit of 1105 pixel culling unit 1110
Embodiment
To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the application specific embodiment and
Technical scheme is clearly and completely described corresponding accompanying drawing.Obviously, described embodiment is only the application one
Section Example, rather than whole embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not doing
Go out under the premise of creative work the every other embodiment obtained, belong to the scope of the application protection.
Embodiment of the method
Reference picture 1, it is the method flow diagram that new added road is determined based on floating wheel paths that the embodiment of the present application provides,
This method comprises the following steps：
Step 105, region rasterizing interested, each grid are included into multiple pixels.
In the present embodiment, in order to reduce the load of the amount of storage of data and server process, floating track is no longer stored
Mark in itself, but counts to passback tracing point, and is mapped in corresponding pixel.Therefore, in the present embodiment, first to sense
The region of interest carries out rasterizing, and then each grid is split again, forms multiple pixels.
It should be noted that the area-of-interest of the present embodiment meaning can be used as area interested using the territory in China
Domain, or can also some key cities as region interested, such as Beijing or Nanjing, it might even be possible to some county or
Area is as region interested, such as Haidian District, Miyun County etc..After determining region interested, rasterizing can be carried out,
Such as：Using the territory in the whole nation as region interested, the whole nation can be divided into 10km × 10km grid, each grid can
To be divided into 1024 × 1024 pixels.Division for grid, it can be determined according to the demand of reality, if required precision
Than relatively low, 100km × 100km grid during can the whole nation be split, if required precision is higher, in national can splitting
1km × 1km grid.No matter the size of grid is much, and each grid can be divided into 1024 × 1024 pixels.Phase
Ying Di, it is that how many individual pixels can determine according to being actually needed for each grid division, such as can be by each grid division
For 2048 × 1024 pixels, or 512 × 512 pixels.
Step 110, road net data is mapped in grid and obtains road network figure layer；Rasterizing is being carried out to region interested
After, each pixel that can be mapped to road net data according to the corresponding relation of road net data and grid in grid.
,, can will be every after the whole nation is divided into 10km × 10km grid by taking the territory in the whole nation as an example in this step
Corresponding road net data is mapped in the pixel of corresponding grid in individual grid.The present embodiment mainly considers how to determine newly-increased road
Road, therefore can only be mapped to the vector road in road net data in the pixel of corresponding grid, such as setting-out can be passed through
Vector road is mapped in the pixel of corresponding grid by (line drawing) algorithm, without its in processing road net data
His data, such as the data such as rivers and lakes and building.After the pixel that road net data is mapped in corresponding grid, it is possible to
Independent one layer is formed, the layer can include raster data and road net data, hereon referred to as road network figure layer.
Step 115, the passback tracing point of floating wheel paths is mapped in the pixel of corresponding grid and obtains track figure layer, its
The value of middle pixel is associated with the passback tracing point number being mapped in the pixel.
For example, the value of pixel can be the passback tracing point number sum being mapped in the pixel, or it is somebody's turn to do sum
Natural logrithm rounds or other values, and the present embodiment is required to reflect passback tracing point number relative populations
Size.
It should be noted that the acquisition of floating wheel paths can have various ways, if for example, electronic map provider sheet
Body provides navigation Service, and the passback tracing point of floating wheel paths can be directly received in navigation procedure.At present, with based on position
The development of service is put, also has many new business to occur, such as the service of calling a taxi is provided by application software, there is provided these services
Server can also obtain the passback tracing point of floating wheel paths, and Map Service provider can obtain between these servers
Take the passback tracing point of floating wheel paths.As described above, floating wheel paths are no longer stored in the present embodiment, but to floating track
The passback tracing point of mark is handled to reduce memory space, so as to lower the negative of the server of Map Service provider
Lotus.
In order to realize this purpose, as a kind of implementation, rail is returned by counting in each pixel in the present embodiment
Value of the quantity of mark point as pixel, so as to reduce memory space, and existing server can also be handled, and reduce clothes
The load of business device.By this processing mode, the pixel of pixel value abnormality can also be rejected by experience.Such as：It can unite
The average value of pixel value in all pixels in grid is counted, such as pixel value is higher than one times of the average value or less than the average value
1/2, then it is considered that the pixel value abnormality of the pixel.It should be noted that it may be considered that abnormal pixel value can pass through
Those skilled in the art are determined by experiment several times.By rejecting abnormalities pixel, can avoid to a certain extent different
The interference often put.As optional embodiment, the quantity that tracing point is returned in each pixel is worth to track as pixel
After figure layer, medium filtering can be carried out to track figure layer, so as to filter out noise.
Step 120, by the road network figure layer and the track map overlay, retain in the track figure layer not with road network figure
The overlapping track of layer, obtains comparing figure layer.
In this step, the road network figure layer is being carried out and trajectory diagram stacking is in addition preceding, it is necessary to by road network figure layer and rail
Mark figure layer carries out binaryzation, and the processing is the conventional means of this area, no longer sews state herein.In order to determine new added road, it is necessary to
Road overlapping with existing road network in the figure layer of track is wiped, leaves the track regions being not covered with road network, figure is compared in formation
Layer.Track regions according to comparing in figure layer are assured that new added road., can be to comparing figure as optional embodiment
Layer carries out medium filtering again, so as to filter out noise.
Step 125, new added road is determined according to the track compared in figure layer.Some track regions are remained in relatively figure layer
Domain, in order to determine whether for new added road, it is necessary to carry out connected region detection to comparing the track regions retained in figure layer.
,, can be again in order to reduce the error probability for determining new added road when carrying out connected region detection in this step
The pixel quantity of connected region is counted, and the connected region less than N number of pixel can be rejected.Using the size of each grid as
Exemplified by 10km × 10km, each grid have 1024 × 1024 pixels, such as N can be 10,20,30 etc., this area skill
Art personnel can determine according to practical experience.
In above-described embodiment expansion process can also be carried out to the connected region detected.As a kind of optional embodiment party
Formula, pixels statisticses can also be carried out to the connected region after expansion, reject the connected region less than M pixel, such as M can be
100th, 150,300 etc., those skilled in the art can determine according to practical experience.After connected region is obtained, Ke Yijin
Row skeleton extract, the vector characteristic of skeleton is extracted, that is, has obtained new added road, so as to complete the determination of new added road.
In order that those skilled in the art's the present embodiment easier to understand, is described below the company that the present embodiment can use
Logical region detection, connected region expansion and skeleton extract scheme：
In above-described embodiment, connected region generally refers to have the adjacent foreground pixel of same pixel value and position in image
The image-region of point composition, the object of usual connected region detection are the images after a binaryzation.Carrying out connected region inspection
During survey, two-pass scan method or se ed filling algorithm can be used.Two-pass scan method is by by twice of image scanning, so as to obtain figure
All connected regions as in.In two-pass scan method, one mark is set for each location of pixels during first pass, swept
During retouching, the pixel set belonged in same connected region may be equipped with the mark of one or more different values, can
So that the mark for belonging to same connected region but having different value to be merged, the relation of equality between recording mark；
During two times scanning, pixel corresponding to the mark with relation of equality is classified as same connected region, and sets identical to mark,
Such as the mark with the minimum value in relation of equality.Seed filling method is to be used as seed by choosing a pixel, then
According to the two of connected region primary conditions, i.e., pixel value is identical and position is adjacent, and the potting gum adjacent with seed is arrived
In same pixel set, the pixel set finally obtained is then a connected region.When connected region detects, adjacent pass
The judgement of system can be judged by the way of 4- neighborhoods or 8- neighborhoods.Fig. 2A shows the neighbouring relations of 4- neighborhoods, figure
2B shows the neighbouring relations of 8- neighborhoods.
In above-described embodiment, connected region expansion is that the connected region detected to connected region is handled again.From
For the angle of image procossing, bianry image expansion is in a big binary map by a small-sized binary map (structural element)
As point-by-point movement and compare, by taking the binary map with black and white as an example, when carrying out black connected region expansion process,
In point-by-point moving process, if structural element has the more than one black color dots of big image element identical corresponding with it, the point
It is otherwise white for black.In this example, image expansion and corrosion it is corresponding, the expansion to black connected region correspond to
Corrosion to white connected region.
During skeletal extraction is carried out, Delaunay triangulation network model extraction skeleton can be utilized.Delaunay tri-
Rule as the net satisfaction of angle：Delaunay triangulation network is to adjoin each other and the set of the triangle of non-overlapping copies, and each three
Other points are not included in angular circumscribed circle.
Fig. 3 shows a kind of schematic diagram to area-of-interest rasterizing provided in an embodiment of the present invention, wherein interested
Region is border circular areas, and the border circular areas is divided into 1km × 1km multiple grids, and each grid includes 10 × 10 pixels,
The pixel of a grid is shown in which in figure.
Fig. 4, which is shown, to be mapped vector road in area-of-interest shown in Fig. 3 and is obtained afterwards according to Performance Level buffering
Road network figure layer schematic diagram, the different road of two Performance Levels is shown in the schematic diagram.
Fig. 5 shows that the passback tracing point of floating wheel paths is mapped into the track figure layer that the respective pixel of grid obtains shows
It is intended to, the pixel that triangle symbol be present represents the pixel that passback tracing point be present, according to passback track in each pixel
Point calculates the pixel value (not shown) of pixel.
After road network figure layer and track figure layer is obtained, road network figure layer and track figure layer can be subjected to binaryzation respectively,
Such as the pixel two-value with pixel value turns to 1, the pixel two-value of no pixel value turns to 0, to facilitate follow-up erasing operation.
Fig. 6 shows the comparison figure layer schematic diagram for only retaining the unlapped track regions of road network.In the schematic diagram, track
Pixel corresponding with existing road in road network has been wiped free of in figure layer, such as pixel value processing is 0.
Fig. 7, which is shown, carries out obtained connected region after connected region detection to the track regions for comparing figure layer.As one
The optional embodiment of kind, the connected region for only covering 3 pixels is eliminated, such as be by the pixel value processing of three pixels
0。
Fig. 8 shows carry out skeleton extract, and extracts the new added road obtained after vector characteristic, and the new added road can be with
Change as actual road network adds road net data, so as to complete upgrading in time for road net data.
Pass through above-mentioned method, it is possible to achieve determine new added road according to floating wheel paths, and it is empty to reduce storage
Between and server needed for disposal ability, be advantageous to electronic map provider in the case where not increasing cost, there is provided more preferable
Service.
The method that new added road is determined based on floating wheel paths provided above for the embodiment of the present application, based on same hair
Bright design, the embodiment of the present application also provide a kind of device that new added road is determined based on floating wheel paths.
Device embodiment
Reference picture 9, it is a kind of device knot that new added road is determined based on floating wheel paths that the embodiment of the present application provides
Structure schematic diagram, the device include:
Rasterizing module 905, for region rasterizing interested, each grid to be included into multiple pixels；
Road network figure layer module 910, road network figure layer is obtained for road net data to be mapped in grid；
Track figure layer module 915, obtained for the passback tracing point of floating wheel paths to be mapped in the pixel of corresponding grid
It is associated with the passback tracing point number being mapped in the pixel to track figure layer, the wherein value of pixel；
Compare figure layer module 920, for by the road network figure layer and the track map overlay, retaining the track figure layer
In not track regions overlapping with road network figure layer, obtain comparing figure layer；
New added road determining module 925, for determining new added road according to the track regions compared in figure layer.
It should be noted that in order to determine new added road, the road network figure layer module can be by the vector in road net data
Road data is mapped to the vector road data and corresponded in the pixel of grid.In addition, as optional embodiment, the road network
Figure layer module enters row buffering according to the Performance Level of the vector road data and obtains road network figure layer.
In an alternative embodiment, above-mentioned new added road determining module 925 can further comprise：
Connected region detection unit 1005, for carrying out connected region detection to the relatively figure layer；
First connected region culling unit 1010, N number of pixel is less than for rejecting covering in the connected region detected
Connected region, N are positive integer；
Expansion cell 1015, for being expanded to the remaining connected region detected；
Second connected region culling unit 1020, it is individual less than M for rejecting covering in the remaining connected region after expanding
The connected region of pixel, M are positive integer；
Skeletal extraction unit 1025, for carrying out skeletal extraction to the connected region after remaining expansion, and extract and be somebody's turn to do
The vector characteristic of skeleton, obtains new added road.
Wherein, connected region detection unit 1005 can carry out connected region using two-pass scan method or se ed filling algorithm
Detection.First connected region culling unit 1010 can reject the connected region of pixel very little, to avoid it is determined that new added road
During interference.Expansion cell 1015 can carry out expansion process using structural element to connected region, be connected region
Border addition pixel.Second connected region culling unit 1020 can reject to be covered less in the remaining connected region after expansion
In the connected region of M pixel, equally also it is used for exempting from it is determined that interference during new added road.Skeletal extraction unit 1025
The center line of the connected region after the expansion of Delaunay triangulation network model extraction can be utilized, and the vector for extracting the center line is special
Sign, so as to obtain newly-increased road.
In addition, in order to reduce noise and exception, the present embodiment additionally provides a kind of based on the newly-increased road of floating wheel paths determination
The device on road, as shown in figure 11.Compared to the device shown in Fig. 9, the device also includes：
Pixel rejects module 1105, and pixel rejects the pixel that module 1105 is used to reject pixel value abnormality in the figure layer of track；
And/or filtration module 1110, for being filtered to the track figure layer or the relatively figure layer.
Wherein, pixel, which rejects module 1105, can reject the pixel that pixel value is too low or too high in the figure layer of track.Filtering
Module 1110 can be filtered to the track figure layer after rejecting abnormalities pixel, can also be filtered to comparing figure layer.Picture
Element rejects module 1105 and is used to filter out abnormity point, and filtration module 1110 can filter out noise.
Correspondingly, the present embodiment additionally provides a kind of server, and the server is provided with：Disclosed in any of the above-described embodiment
The device of new added road is determined based on floating wheel paths；And/or
It is stored with the database of the server：Determined newly using floating wheel paths are based on disclosed in any of the above-described embodiment
Increase the electronic map data of the method production of road.
It should be noted that determine that the method and device of new added road has based on floating wheel paths due to any of the above-described kind
Above-mentioned technique effect, therefore, the server for employing the method and device that new added road is determined based on floating wheel paths also should
Possesses corresponding technique effect, its specific implementation process is similar to the above embodiments, does not repeat hereby.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and internal memory.
Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, the information that can be accessed by a computing device available for storage.Define, calculate according to herein
Machine computer-readable recording medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that process, method, commodity or equipment including a series of elements not only include those key elements, but also wrapping
Include the other element being not expressly set out, or also include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that wanted including described
Other identical element also be present in the process of element, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program product.
Therefore, the application can be using the embodiment in terms of complete hardware embodiment, complete software embodiment or combination software and hardware
Form.Deposited moreover, the application can use to can use in one or more computers for wherein including computer usable program code
The shape for the computer program product that storage media is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
Embodiments herein is the foregoing is only, is not limited to the application.For those skilled in the art
For, the application can have various modifications and variations.All any modifications made within spirit herein and principle, it is equal
Replace, improve etc., it should be included within the scope of claims hereof.
Claims (10)
- A kind of 1. method that new added road is determined based on floating wheel paths, it is characterised in that including：By region rasterizing interested, each grid includes multiple pixels；Road net data is mapped in grid and obtains road network figure layer；The passback tracing point of floating wheel paths is mapped in the pixel of corresponding grid and obtains track figure layer, wherein the value of pixel with The passback tracing point number being mapped in the pixel is associated；By the road network figure layer and the track map overlay, retain in the track figure layer the not track overlapping with road network figure layer Region, obtain comparing figure layer；Track regions according to comparing in figure layer determine new added road.
- 2. the method according to claim 1 that new added road is determined based on floating wheel paths, it is characterised in that this method is also Including：Judge to whether there is pixel value abnormality in the track figure layer, if pixel value abnormality in rejecting track figure layer if having exception Pixel；And/orThe track figure layer is filtered, wherein described include the road network figure layer and the track map overlay by described in Road network figure layer and filtered track map overlay.
- 3. the method according to claim 1 or 2 that new added road is determined based on floating wheel paths, it is characterised in that by road Network data, which is mapped in grid, to be obtained road network figure layer and includes：Vector road data in road net data is mapped into the vector road data to correspond in the pixel of grid；Performance Level according to the vector road data enters row buffering and obtains road network figure layer.
- 4. the method that new added road is determined based on floating wheel paths according to any one of claims 1 to 3, its feature are existed In described to determine that new added road includes according to the track regions compared in figure layer：Connected region detection is carried out to the relatively figure layer；Rejecting covering in the connected region detected, less than the connected region of N number of pixel, N is positive integer；The remaining connected region detected is expanded；Rejecting covering in the connected region after expansion, less than the connected region of M pixel, M is positive integer；Skeletal extraction is carried out to the connected region after remaining expansion, and extracts the vector characteristic of the skeleton, obtains newly-increased road Road.
- 5. the method that new added road is determined based on floating wheel paths according to any one of Claims 1-4, its feature are existed In this method also includes：The obtained relatively figure layer is filtered, wherein described according to the track regions compared in figure layer The track regions that determining new added road is included in filtered relatively figure layer determine new added road.
- A kind of 6. device that new added road is determined based on floating wheel paths, it is characterised in that including：Rasterizing module, for region rasterizing interested, each grid to be included into multiple pixels；Road network figure layer module, road network figure layer is obtained for road net data to be mapped in grid；Track figure layer module, trajectory diagram is obtained for the passback tracing point of floating wheel paths to be mapped in the pixel of corresponding grid Layer, wherein the value of pixel is associated with the passback tracing point number being mapped in the pixel；Compare figure layer module, for by the road network figure layer and the track map overlay, retain in the track figure layer not with The overlapping track regions of road network figure layer, obtain comparing figure layer；New added road determining module, for determining new added road according to the track regions compared in figure layer.
- 7. the device according to claim 6 that new added road is determined based on floating wheel paths, it is characterised in that the device is also Including：Pixel rejects module, and for judging to whether there is pixel value abnormality in the track figure layer, track is rejected if having exception The pixel of pixel value abnormality in figure layer；And/or filtration module, for being filtered to the track figure layer or the relatively figure layer Ripple；Wherein compare figure layer module to be additionally operable to the road network figure layer and filtered track map overlay, new added road will be determined The track regions that module is additionally operable in filtered relatively figure layer determine new added road.
- 8. the device that new added road is determined based on floating wheel paths according to claim 6 or 7, it is characterised in that described Road network figure layer module, for the vector road data in road net data to be mapped into the pixel that the vector road data corresponds to grid In；Performance Level according to the vector road data enters row buffering and obtains road network figure layer.
- 9. the device according to claim 8 that new added road is determined based on floating wheel paths, it is characterised in that described newly-increased Road determining module includes：Connected region detection unit, for carrying out connected region detection to the relatively figure layer；First connected region culling unit, the connected region of N number of pixel is less than for rejecting covering in the connected region detected, N is positive integer；Expansion cell, for being expanded to the remaining connected region detected；Second connected region culling unit, the connected region of M pixel is less than for rejecting covering in the connected region after expanding, M is positive integer；Skeletal extraction unit, for carrying out skeletal extraction to the connected region after remaining expansion, and extract the arrow of the skeleton Measure feature, obtain new added road.
- 10. a kind of server, it is characterised in that the server is provided with：According to claim any one of 6-9 based on floating Motor-car track determines the device of new added road；And/orIt is stored with the database of the server：It is new using being determined described in claim any one of 1-5 based on floating wheel paths Increase the electronic map data of the method production of road.
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