CN115795070A - Method and device for detecting map overdue guideboard, electronic equipment and storage medium - Google Patents
Method and device for detecting map overdue guideboard, electronic equipment and storage medium Download PDFInfo
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Abstract
The application relates to a method and a device for detecting an overdue guideboard of a map, electronic equipment and a storage medium, and relates to the technical field of guideboard detection. The method comprises the following steps: resolving the coordinates of each guideboard on the road to be detected; comparing the coordinates of each guideboard with each guideboard stored in a map database on the road to be detected, and screening out all candidate overdue guideboards from the map database; and determining a reference coordinate through the coordinates of the candidate overdue guideboards in the plurality of vehicle coordinates acquired along the road to be detected, and filtering the image acquired along the road to be detected and associated with the reference coordinate to determine the overdue guideboards in the candidate overdue guideboards. The scheme provided by the application can accurately detect the overdue guideboard in the map.
Description
Technical Field
The present application relates to the technical field of guideboard detection, and in particular, to a method and an apparatus for detecting a map-expired guideboard, an electronic device, and a storage medium.
Background
With the popularization of automatic driving technology, the scale of map data is continuously expanded and developed, but a road board for guiding a vehicle owner to drive on a road in a map has the defect of untimely update. If the guideboard is overdue and the guideboard in the map is not updated in time, the overdue traffic indication information will interfere with the navigation planning of the automatic driving, so as to 'ignore' the vehicle owner.
For a high-precision map carried in an automatic driving technology, the guideboard is not updated timely. For example, if the live guideboard is updated, but the guideboard information in the high-precision map is not updated, the accuracy of the navigation path or the driving control command planned based on the high-precision map may be reduced.
Therefore, it is important to effectively detect whether the guideboard in the map is expired.
Disclosure of Invention
In order to solve or partially solve the problems in the related art, the application provides a method and a device for detecting an overdue guideboard in a map, electronic equipment and a storage medium, which can accurately detect the overdue guideboard in the map.
A first aspect of the present application provides a method for detecting a map expiring guideboard, the method including:
resolving coordinates of each guideboard on the road to be detected;
comparing the coordinates of each guideboard with each guideboard stored in a map database on the road to be detected, and screening out all candidate overdue guideboards from the map database;
and determining a reference coordinate through the coordinate of the candidate overdue guideboard in the plurality of vehicle coordinates acquired along the road to be detected, and performing filtering processing on the image acquired along the road to be detected and associated with the reference coordinate to determine the overdue guideboard in the candidate overdue guideboards.
In an embodiment, the calculating the coordinates of each guideboard on the road to be detected includes:
acquiring an image acquired along the road to be detected and vehicle coordinates corresponding to the image;
identifying a target image in the acquired image, wherein the target image comprises a guideboard;
and solving the coordinates of each guideboard on the road to be detected according to the identified target image and the vehicle coordinates corresponding to the target image.
In an embodiment, the comparing the determined coordinates of each guideboard with each guideboard stored in a map database on the road to be detected includes:
and judging whether the coordinates of the guideboard stored in the map database on the road to be detected are consistent with the guideboard on the road to be detected.
In one embodiment, the determining the reference coordinate from the coordinates of the candidate expiring guideboard in the coordinates of the plurality of vehicles collected along the road to be detected includes:
and determining the vehicle coordinate closest to the coordinate of the candidate overdue guideboard in a plurality of vehicle coordinates acquired along the road to be detected, and defining the closest vehicle coordinate as the reference coordinate.
In an embodiment, the filtering the image collected along the road to be detected and associated with the reference coordinate includes:
taking the reference coordinate as a stop point coordinate of a limited road section in the road to be detected, and calling all images and vehicle coordinates continuously collected in the limited road section, wherein the limited road section is a road section with a preset distance from the reference coordinate;
and resolving the called image and the vehicle coordinates to obtain pixel information of the called image, and filtering and screening the obtained pixel information.
In an embodiment, the filtering and screening the obtained pixel information includes:
judging whether the obtained pixel information meets the filtering condition;
the determining an expired guideboard of the candidate expired guideboards comprises:
confirming corresponding candidate overdue guideboards from the pixel information which does not meet the filtering condition, wherein the confirmed candidate overdue guideboards are overdue guideboards;
wherein the filtering conditions include:
the included angle between the vehicle track direction and the guideboard exceeds a set included angle threshold value, or the guideboard direction is opposite to the vehicle track direction, or the guideboard pixel exceeds a picture pixel, or the guideboard pixel is not in a preset shape, or the guideboard pixel area is smaller than a set area threshold value, or the length of the guideboard pixel is shorter than a set length threshold value, or the guideboard pixel is matched with a corresponding guideboard identification frame.
In one embodiment, the determining an expired guideboard of the candidate expired guideboards further comprises:
recording expired guideboards confirmed at different sampling times;
and determining the final overdue guideboard by judging whether the recorded overdue guideboards are the same.
A second aspect of the present application provides an apparatus for detecting a map expiring guideboard, the apparatus comprising:
the resolving module is configured to resolve coordinates of each guideboard on the road to be detected;
the screening module is configured to compare the coordinates of each guideboard with each guideboard stored in a map database on the road to be detected, and screen out all candidate overdue guideboards from the map database;
the determining module is configured to determine a reference coordinate through the coordinates of the candidate overdue guideboards in a plurality of vehicle coordinates collected along the road to be detected, and perform filtering processing on the images collected along the road to be detected and associated with the reference coordinate to determine the overdue guideboards in the candidate overdue guideboards.
A third aspect of the present application provides an electronic device comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method as described above.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon executable code, which, when executed by a processor of an electronic device, causes the processor to perform a method as described above.
The technical scheme provided by the application can comprise the following beneficial effects:
according to the technical scheme, candidate overdue guideboards are screened from a map database through comparison between the calculated coordinates of the guideboards on the road to be detected and the guideboards in the map database; and determining a reference coordinate from the coordinates of the candidate overdue guideboards in the plurality of vehicle coordinates acquired along the road to be detected, and filtering the image acquired along the road to be detected and associated with the reference coordinate to further determine the overdue guideboards in the candidate overdue guideboards. Through the processing, the candidate overdue guideboards are combined with the relevant images and the vehicle coordinates acquired along the road to be detected to accurately determine the overdue guideboards, the candidate overdue guideboards with possible errors are eliminated, errors caused by operation processing when the candidate overdue guideboards are screened are effectively avoided, and a more reliable basis is provided for a later-stage user/processor when a map is used/called.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The foregoing and other objects, features and advantages of the application will be apparent from the following more particular descriptions of exemplary embodiments of the application as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the application.
Fig. 1 is a schematic flowchart illustrating a method for detecting a map expiring guideboard according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of step S100 in a method for detecting a map-expired guideboard according to an embodiment of the present application;
fig. 3 is a schematic flow chart of step S300 in the method for detecting a map expiring guideboard according to the embodiment of the present application;
fig. 4 is another schematic flow chart of step S300 in the method for detecting map-expiring guideboards according to the embodiment of the present application;
fig. 5 is a schematic structural diagram of an apparatus for detecting map-expired guideboards according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While embodiments of the present application are illustrated in the accompanying drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
It should be understood that although the terms "first," "second," "third," etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present application. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the related art, a guideboard in the map database, such as an expired guideboard, interferes with the navigation planning of the vehicle, and the "neglect" owner/processor.
In view of the above problems, the embodiment of the present application provides a method for detecting map overdue guideboards, which can avoid errors caused by operation processing when candidate overdue guideboards are screened, and provide a more reliable basis for a later user/processor when using/calling map navigation. In the method, candidate overdue guideboards are screened from a map database through comparison between calculated coordinates of the guideboards on a road to be detected and the guideboards in the map database; and determining a reference coordinate through the coordinates of the candidate overdue guideboards in a plurality of vehicle coordinates acquired along the road to be detected, filtering images acquired along the road to be detected and associated with the reference coordinate, further determining the overdue guideboards in the candidate overdue guideboards, accurately determining the overdue guideboards by combining the candidate overdue guideboards, the related images acquired along the road to be detected and the vehicle coordinates, and eliminating the candidate overdue guideboards with possible errors, thereby improving the detection accuracy of the overdue guideboards.
The technical solutions of the embodiments of the present application are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, an embodiment of the present application provides a method for detecting a map expiring guideboard, where the method includes:
step S100: and calculating the coordinates of each guideboard on the road to be detected.
As shown in fig. 2, further, step S100 specifically includes:
step S101: acquiring an image acquired along a road to be detected and vehicle coordinates corresponding to the image;
step S102: identifying a target image in the acquired image, wherein the target image comprises a guideboard;
step S103: and resolving the coordinates of each guideboard on the road to be detected according to the identified target image and the vehicle coordinates corresponding to the target image.
In this embodiment, an image acquired by an image acquisition device on the map acquisition vehicle is used, the geographic position acquired by the positioning device represents the coordinates of the vehicle, the image acquisition device may be a monocular camera, and the positioning device may be a GPS locator. When the map collection vehicle runs on a road to be detected, the monocular camera shoots the road environment in real time to collect images, the GPS locator knows the coordinates of the vehicle, and the collected images and the coordinates of the vehicle are respectively arranged and stored according to the collection time sequence.
In the process of acquiring the images, the acquired images are sent to a processor on the map acquisition vehicle in real time to mark time, and then the marked time is associated with the unique corresponding vehicle coordinate of the map acquisition vehicle, however, certain time is consumed for transmitting the images to a processing terminal. Although there is a delay in the time of acquiring the image and the vehicle coordinates, the image and the vehicle coordinates have a clear relative relationship, and it can also be expressed that the map acquisition vehicle can acquire the image acquired by the map acquisition vehicle and the vehicle coordinates corresponding to the image, and the information acquired by the map acquisition vehicle is not limited to be processed by the on-board processor.
In this embodiment, the image acquired by the map collecting vehicle includes both the image with the guideboard information and the image without the guideboard information, and therefore, all the images are recognized and the image with the guideboard is used as the target image. And resolving the world geographic coordinates of each guideboard on the road to be detected according to the recognized target image and the vehicle coordinates corresponding to the target image through information such as camera parameters, camera course angles and the like, and taking the resolved world geographic coordinates of the guideboards as the guideboard coordinates. The means for calculating the coordinates of the guideboard can be implemented by any technical means in the related art, and thus, detailed description thereof is omitted.
Step S200: and comparing the coordinates of each guideboard with each guideboard stored in a map database on the road to be detected, and screening out all candidate overdue guideboards from the map database.
Further, step S200 specifically includes:
step S201: judging whether the coordinates of the guideboards stored in the map database on the road to be detected are consistent with the guideboards on the road to be detected;
step S202: and screening all candidate overdue guideboards from the map database according to the judgment result.
In the present embodiment, in order to distinguish the guideboards on the road to be measured from the guideboards stored in the map database, the guideboards on the road to be measured are defined with the first guideboard, and the guideboards stored in the map database are defined with the second guideboard. In step S100, the coordinates of each first guideboard are already known, after the coordinates of each second guideboard are determined, the coordinate parameters are used to compare whether the first guideboard and the second guideboard are the same guideboard, for example, if the second guideboard does not have a corresponding guideboard in the first guideboard, the second guideboard without the corresponding guideboard is defined as a candidate overdue guideboard, and all second guideboards on the road to be detected are screened out in the same manner, that is, all candidate overdue guideboards are screened out from the map database.
It should be noted that the candidate overdue guideboard is also an overdue guideboard, but in the process of obtaining the candidate overdue guideboard, some temporary interference may occur in the acquired original image or a fault may occur in the calculation process, which may result in that the candidate overdue guideboard is not a real overdue guideboard. If the candidate overdue guideboards are used as the basis for removing the overdue guideboards in the map database in the later period, errors of navigation information can be caused naturally, and the use experience of car owners is reduced. Therefore, the candidate overdue guideboards need to be further processed, so that the error probability is reduced, and the accuracy of overdue guideboard detection is improved.
Step S300: and determining a reference coordinate through the coordinate of the candidate overdue guideboard in the plurality of vehicle coordinates acquired along the road to be detected, and filtering the image acquired along the road to be detected and associated with the reference coordinate to determine the overdue guideboard in the candidate overdue guideboards.
As shown in fig. 3, further, step S300 specifically includes:
step S301: determining the vehicle coordinate closest to the coordinate of the candidate overdue guideboard in a plurality of vehicle coordinates collected along the road to be detected, and defining the closest vehicle coordinate as a reference coordinate.
Further, step S300 further specifically includes:
step S302: taking the reference coordinate as a stop point coordinate of a limited road section in the road to be detected, and calling all images and vehicle coordinates continuously collected in the limited road section, wherein the limited road section is a road section with a preset distance from the reference coordinate;
step S303: and resolving the called image and the vehicle coordinates to obtain pixel information of the called image, and filtering and screening the obtained pixel information.
As shown in fig. 4, further, in step S303, the filtering and screening the obtained pixel information specifically includes:
step S303': and judging whether the obtained pixel information meets the filtering condition.
Further, step S300 further specifically includes:
step S304: confirming corresponding candidate overdue guideboards from pixel information which does not meet the filtering condition, wherein the confirmed candidate overdue guideboards are overdue guideboards;
wherein the filtration conditions include:
the included angle between the vehicle track direction and the guideboard exceeds a set included angle threshold, or the guideboard direction is opposite to the vehicle track direction, or the guideboard pixel exceeds a picture pixel, or the guideboard pixel is in a non-preset shape (such as a rectangle), or the guideboard pixel area is smaller than a set area threshold, or the length of the guideboard pixel is shorter than a set length threshold, or the guideboard pixel is matched with a corresponding guideboard identification frame.
In this embodiment, it is assumed that a plurality of second guideboards are screened out as candidate expired guideboards, and the candidate expired guideboard is defined as a third guideboard. And finding out the vehicle coordinate closest to a third guideboard from all vehicle coordinates collected by the map collection vehicle according to the coordinate of the third guideboard, and taking the found vehicle coordinate as a reference coordinate, wherein the distance from the reference coordinate to the coordinate of the third guideboard is less than a preset distance, and the preset distance can be 50m. It may be determined that the image and the vehicle coordinates are stored in time, the reference coordinate is used as the last coordinate point stored, all vehicle coordinates within a track of the map-collecting vehicle 50m before the coordinate point are retrieved from all the acquired images and vehicle coordinates, and the corresponding image is acquired according to the vehicle coordinates. After all the images and the vehicle coordinates are retrieved, the pixel information of each image is resolved on each retrieved image from the coordinates of the guideboard in the image, the camera parameters, in combination with the retrieved image and the corresponding vehicle coordinates. The calculated pixel information is respectively subjected to set filtering conditions or screening strategies, and the finally obtained image is regarded as an overdue guideboard; wherein, the set filtering conditions or screening strategies are as follows:
1. the included angle between the track direction of the vehicle and the guideboard exceeds a set included angle threshold value, wherein the set included angle threshold value is generally 60-120 degrees;
2. the direction of the guideboard is opposite to the direction of the vehicle track;
3. guideboard pixels exceed picture pixels;
4. guideboard pixels are non-rectangular;
5. the area of the guideboard pixel is smaller than a set area threshold;
6. the road pixel length is shorter than a set length threshold, wherein the corresponding third route card in this case is defined as an "invalid route card";
7. the guideboard pixels are matched with corresponding guideboard identification frames IOU (intersection unit), wherein if the guideboard pixels are matched with corresponding guideboards, a first guideboard (a candidate overdue guideboard screening fault) exists in the corresponding image, and a third guideboard corresponding to the first guideboard is defined as a "visible guideboard", that is, a valid guideboard, so that the visible guideboard is also discarded.
The accuracy of the result of the overdue guideboard determined in the embodiment is verified, a road in a certain city is used as a road to be detected, and the road to be detected is divided into a road 1 and a road 2 which are different. As shown in table 1, it is a comparison between the overdue guideboard detected on the road to be detected and the real overdue guideboard.
TABLE 1 comparison of expired signboards detected on roads to be detected with real expired signboards
As can be seen from the table, the overall detection accuracy is 85.7%, and although the detection accuracy is not good, the detection accuracy of the past-due signboards is required to be improved as the accuracy of the map drawing is improved.
In order to make the confirmed expired guideboard result more accurate, step S300 further includes:
step S305: recording expired guideboards confirmed at different sampling times;
step S306: and determining the final overdue guideboard by judging whether the recorded overdue guideboards are the same.
In this embodiment, three sets of expiration guideboards are obtained and stored separately by sampling three times at different sampling times, such as 2022 year 4/month 2, 2022 year 4/month 8, and 2022 year 4/month 11. And if one overdue guideboard in the three groups of overdue guideboards appears three times, determining the overdue guideboard appearing three times as a final overdue guideboard, otherwise, not determining the overdue guideboard as the overdue guideboard. Whether the guideboard in the map database is overdue or not is determined by sampling and judging the guideboard on the road to be detected for multiple times, the accuracy is higher, and the requirement of a high-precision map can be met.
As shown in fig. 5, an embodiment of the present application further provides an apparatus for detecting a map expiring guideboard, where the apparatus includes:
a resolving module 100 configured to resolve coordinates of each guideboard on a road to be detected;
the screening module 200 is configured to compare the coordinates of each guideboard with each guideboard stored in a map database on a road to be detected, and screen out all candidate overdue guideboards from the map database;
the determining module 300 is configured to determine a reference coordinate from coordinates of the candidate past due guideboards among a plurality of vehicle coordinates collected along the road to be detected, and perform filtering processing on the image collected along the road to be detected, which is associated with the reference coordinate, to determine a past due guideboard in the candidate past due guideboards.
In the device of the embodiment, firstly, the coordinates of the guideboards on the road to be detected are solved by the resolving module 100, and then the candidate overdue guideboards are screened from the map database by the screening module 200 according to the comparison between the solved coordinates of the guideboards on the road to be detected and the guideboards in the map database; finally, the determining module 300 determines a reference coordinate from the coordinates of the candidate past-due guideboards in the plurality of vehicle coordinates collected along the road to be detected, and then filters the image collected along the road to be detected, which is associated with the reference coordinate, to determine the past-due guideboard in the candidate past-due guideboards. According to the embodiment of the application, the candidate overdue guideboards are combined with the relevant images and vehicle coordinates collected along the road to be detected to accurately determine the overdue guideboards, the candidate overdue guideboards with possible errors are removed, and the detection accuracy of the overdue guideboards is further improved.
Further, the resolving module 100 specifically includes:
an acquisition unit 101 configured to acquire an image acquired along a road to be detected and vehicle coordinates corresponding to the image;
a recognition unit 102 configured to recognize a target image in the acquired image, wherein the target image includes a guideboard;
a calculating unit 103 configured to calculate coordinates of each of the signboards on the road to be detected from the recognized target image and the vehicle coordinates corresponding to the target image.
The screening module 200 specifically includes:
a determination unit 201 configured to determine whether the coordinates of the guideboard stored in the map database on the road to be detected are consistent with the guideboard on the road to be detected.
In this embodiment, the candidate expired guideboard is also an expired guideboard, but in the process of obtaining the candidate expired guideboard, some temporary interference may also occur in the acquired original image or a fault may occur in the operation process, which may result in that the candidate expired guideboard is not a real expired guideboard. If the candidate overdue guideboards are used as the basis for removing the overdue guideboards in the map database in the later period, errors of navigation information can be caused naturally, and the use experience of car owners is reduced. Therefore, the candidate overdue guideboard needs to be further processed, so that the error probability is reduced, and the overdue guideboard detection accuracy is improved.
The determining module 300 specifically includes:
a determining unit 301 configured to determine, among a plurality of vehicle coordinates collected along a road to be detected, a vehicle coordinate closest to the coordinate of the candidate expiring guideboard, and define the closest vehicle coordinate as a reference coordinate.
A calling unit 302, configured to call all images and vehicle coordinates continuously collected in a defined road segment with a reference coordinate as a stop point coordinate of the defined road segment in the road to be detected, wherein the defined road segment is a road segment with a preset distance from the reference coordinate;
a filtering unit 303 configured to calculate the called image and the vehicle coordinates, obtain pixel information of the called image, and filter and screen the obtained pixel information; specifically, it is determined whether the obtained pixel information satisfies a filtering condition, where the filtering condition includes:
the included angle between the vehicle track direction and the guideboard exceeds a set included angle threshold, or the guideboard direction is opposite to the vehicle track direction, or the guideboard pixel exceeds a picture pixel, or the guideboard pixel is in a non-preset shape (such as a rectangle), or the guideboard pixel area is smaller than a set area threshold, or the length of the guideboard pixel is shorter than a set length threshold, or the guideboard pixel is matched with a corresponding guideboard identification frame.
A confirming unit 304 configured to confirm a corresponding candidate overdue guideboard from the pixel information that does not satisfy the filtering condition, wherein the confirmed candidate overdue guideboard is the overdue guideboard.
With the improvement of the accuracy of map drawing, the detection accuracy of the overdue guideboards is required to be improved continuously.
In order to make the confirmed expired guideboard result more accurate, the determining module 300 further specifically includes:
a recording unit 305 configured to record expired signboards confirmed at different sampling times;
expired guideboard determination 306 configured to determine a final expired guideboard by determining whether the recorded expired guideboards are the same.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated herein.
Fig. 6 is a schematic structural diagram of an electronic device shown in an embodiment of the present application.
Referring to fig. 6, an electronic device 600 includes a memory 610 and a processor 620.
The Processor 620 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 610 may include various types of storage units such as system memory, read Only Memory (ROM), and permanent storage. Wherein the ROM may store static data or instructions that are required by the processor 620 or other modules of the computer. The persistent storage device may be a read-write storage device. The persistent storage may be a non-volatile storage device that does not lose stored instructions and data even after the computer is powered off. In some embodiments, the persistent storage device employs a mass storage device (e.g., magnetic or optical disk, flash memory) as the persistent storage device. In other embodiments, the permanent storage may be a removable storage device (e.g., floppy disk, optical drive). The system memory may be a read-write memory device or a volatile read-write memory device, such as a dynamic random access memory. The system memory may store instructions and data that some or all of the processors require at runtime. In addition, the memory 610 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), magnetic and/or optical disks, as well. In some embodiments, memory 610 may include a removable storage device that is readable and/or writable, such as a Compact Disc (CD), a digital versatile disc read only memory (e.g., DVD-ROM, dual layer DVD-ROM), a Blu-ray disc read only memory, an ultra-dense disc, flash memory cards (e.g., SD, min SD, micro-SD, etc.), magnetic floppy disks, and the like. Computer-readable storage media do not contain carrier waves or transitory electronic signals transmitted by wireless or wired means.
The memory 610 has stored thereon executable code that, when processed by the processor 620, may cause the processor 620 to perform some or all of the methods described above.
Furthermore, the method according to the present application may also be implemented as a computer program or computer program product comprising computer program code instructions for performing some or all of the steps of the above-described method of the present application.
Alternatively, the present application may also be embodied as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) having executable code (or a computer program or computer instruction code) stored thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the various steps of the above-described method according to the present application.
Having described embodiments of the present application, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or improvements to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (10)
1. A method of detecting a map-expiring guideboard, the method comprising:
resolving the coordinates of each guideboard on the road to be detected;
comparing the coordinates of each guideboard with each guideboard stored in a map database on the road to be detected, and screening out all candidate overdue guideboards from the map database;
and determining a reference coordinate through the coordinates of the candidate overdue guideboards in the plurality of vehicle coordinates acquired along the road to be detected, and filtering the image acquired along the road to be detected and associated with the reference coordinate to determine the overdue guideboards in the candidate overdue guideboards.
2. The method for detecting the expiring guideboard in the map according to claim 1, wherein the calculating the coordinates of each guideboard on the road to be detected includes:
acquiring an image acquired along the road to be detected and vehicle coordinates corresponding to the image;
identifying a target image in the acquired image, wherein the target image comprises a guideboard;
and resolving the coordinates of each guideboard on the road to be detected according to the identified target image and the vehicle coordinates corresponding to the target image.
3. The method according to claim 1, wherein the comparing the determined coordinates of each guideboard with each guideboard stored in the map database on the road to be detected comprises:
and judging whether the coordinates of the guideboard stored in the map database on the road to be detected are consistent with the guideboard on the road to be detected.
4. The method for detecting a map-expiring guideboard according to claim 1, wherein said determining a reference coordinate from the coordinates of said candidate expiring guideboard among the coordinates of the plurality of vehicles collected along the road to be detected comprises:
and determining the vehicle coordinate closest to the coordinate of the candidate overdue guideboard in a plurality of vehicle coordinates acquired along the road to be detected, and defining the closest vehicle coordinate as the reference coordinate.
5. The method for detecting road signs out of date on maps according to claim 1 or 4, characterized in that said filtering of the images acquired along the road to be detected associated with said reference coordinates comprises:
taking the reference coordinate as a stop point coordinate of a limited road section in the road to be detected, and calling all images and vehicle coordinates continuously collected in the limited road section, wherein the limited road section is a road section with a preset distance from the reference coordinate;
and resolving the called image and the vehicle coordinates to obtain pixel information of the called image, and filtering and screening the obtained pixel information.
6. The method for detecting the expiring guideboard in the map according to claim 5, wherein the filtering and screening the obtained pixel information includes:
judging whether the obtained pixel information meets the filtering condition;
the determining an expired guideboard of the candidate expired guideboards comprises:
confirming corresponding candidate overdue guideboards from the pixel information which does not meet the filtering condition, wherein the confirmed candidate overdue guideboards are overdue guideboards;
wherein the filtering conditions include:
the included angle between the vehicle track direction and the guideboard exceeds a set included angle threshold, or the guideboard direction is opposite to the vehicle track direction, or the guideboard pixel exceeds a picture pixel, or the guideboard pixel is not in a preset shape, or the guideboard pixel area is smaller than a set area threshold, or the road pixel length is shorter than a set length threshold, or the guideboard pixel is matched with a corresponding guideboard recognition frame.
7. The method of detecting map past due guideboards of claim 6, wherein the determining a past due guideboard of the candidate past due guideboards further comprises:
recording expired guideboards confirmed at different sampling times;
and determining the final overdue guideboard by judging whether the recorded overdue guideboards are the same.
8. An apparatus for detecting a map-expiring guideboard, the apparatus comprising:
the resolving module is configured to resolve coordinates of each guideboard on the road to be detected;
the screening module is configured to compare the coordinates of each guideboard with each guideboard stored in a map database on the road to be detected, and screen out all candidate overdue guideboards from the map database;
the determining module is configured to determine a reference coordinate through the coordinates of the candidate overdue guideboards in a plurality of vehicle coordinates collected along the road to be detected, and perform filtering processing on the images collected along the road to be detected and associated with the reference coordinate to determine the overdue guideboards in the candidate overdue guideboards.
9. An electronic device, comprising:
a processor; and
a memory having executable code stored thereon, which when executed by the processor, causes the processor to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon executable code which, when executed by a processor of an electronic device, causes the processor to perform the method of any of claims 1 to 7.
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| CN102099656A (en) * | 2008-07-16 | 2011-06-15 | 奥迪股份公司 | Method for updating a geographic database for a vehicle navigation system |
| CN111382645A (en) * | 2018-12-29 | 2020-07-07 | 顺丰科技有限公司 | Method and system for identifying expired buildings in electronic map |
| CN111930877A (en) * | 2020-09-18 | 2020-11-13 | 蘑菇车联信息科技有限公司 | Map guideboard generation method and electronic equipment |
| US20210049901A1 (en) * | 2019-08-16 | 2021-02-18 | Here Global B.V. | Method, apparatus, and system for vehicle map data update |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102099656A (en) * | 2008-07-16 | 2011-06-15 | 奥迪股份公司 | Method for updating a geographic database for a vehicle navigation system |
| CN111382645A (en) * | 2018-12-29 | 2020-07-07 | 顺丰科技有限公司 | Method and system for identifying expired buildings in electronic map |
| US20210049901A1 (en) * | 2019-08-16 | 2021-02-18 | Here Global B.V. | Method, apparatus, and system for vehicle map data update |
| CN111930877A (en) * | 2020-09-18 | 2020-11-13 | 蘑菇车联信息科技有限公司 | Map guideboard generation method and electronic equipment |
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