CN115797585B - Parking lot map generation method and device - Google Patents
Parking lot map generation method and device Download PDFInfo
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- CN115797585B CN115797585B CN202211632294.0A CN202211632294A CN115797585B CN 115797585 B CN115797585 B CN 115797585B CN 202211632294 A CN202211632294 A CN 202211632294A CN 115797585 B CN115797585 B CN 115797585B
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Abstract
The disclosure provides a method and a device for generating a map of a parking lot, relates to the technical field of artificial intelligence, in particular to the technical fields of computer vision, augmented reality, virtual reality, deep learning and the like, and can be applied to scenes such as smart cities, metauniverse and the like. The specific implementation scheme is as follows: according to a plane structure diagram of a parking lot, first position information of each parking space in the parking lot is obtained; determining second position information representing the relative position between each parking space and the road according to the information of the road in the planar structure diagram and the first position information of each parking space; according to the first position information and the second position information of each parking space, the pose of each parking space is obtained; and generating a parking lot map based on the parking space numbers of the parking spaces and the pose of the parking spaces recorded in the planar structure diagram. By applying the map generation scheme of the parking lot provided by the embodiment of the disclosure, the map generation efficiency of the parking lot can be improved.
Description
Technical Field
The disclosure relates to the technical field of artificial intelligence, in particular to the technical fields of computer vision, augmented reality, virtual reality, deep learning and the like, and can be applied to scenes such as smart cities, metauniverse and the like.
Background
The structure of a large parking lot is generally complex, and the shape and outline of a large number of parking spaces in the parking lot can be approximately regarded as the same, and objects such as drivers, pedestrians and the like are easy to lose directions in the parking lot, so that the passing of the objects in the parking lot is affected, and therefore, the navigation of the objects is needed to be assisted by a map of the parking lot.
Disclosure of Invention
The disclosure provides a method and a device for generating a map of a parking lot.
According to an aspect of the present disclosure, there is provided a parking lot map generation method including:
according to a plane structure diagram of a parking lot, first position information of each parking space in the parking lot is obtained;
determining second position information representing the relative positions between each parking space and the road according to the information of the road in the plane structure diagram and the first position information of each parking space;
according to the first position information and the second position information of each parking space, the pose of each parking space is obtained;
and generating a parking lot map based on the parking space numbers of the parking spaces and the pose of each parking space recorded in the plane structure diagram.
According to another aspect of the present disclosure, there is provided a parking lot map generating apparatus including:
the information obtaining module is used for obtaining first position information of each parking space in the parking lot according to the plane structure diagram of the parking lot;
The information determining module is used for determining second position information representing the relative position between each parking space and the road according to the information of the road in the plane structure diagram and the first position information of each parking space;
the pose obtaining module is used for obtaining the pose of each parking space according to the first position information and the second position information of each parking space;
and the map generation module is used for generating a parking lot map based on the parking space numbers of the parking spaces and the pose of each parking space recorded in the plane structure diagram.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the method embodiments described above.
According to another aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method of the above-described method embodiments.
According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when being executed by a processor, implements the method of the above-described method embodiments.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generating a map of a parking lot, the first position information is obtained according to a planar structure diagram of the parking lot, the second position information is determined according to the information of the road and the first position information in the planar structure diagram, the pose of the parking space is obtained according to the first position information and the second position information of the parking space, and the parking space number of each parking space and the pose of each parking space recorded in the planar structure diagram are based, so that the map of the parking lot can be generated. When the scheme provided by the embodiment of the disclosure is applied to generate the map of the parking lot, manual participation is not needed, so that the map generation efficiency can be improved, and the labor cost for generating the map is reduced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the disclosure, nor is it intended to be used to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following specification.
Drawings
The drawings are for a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a flow chart of a first method for generating a map of a parking lot according to an embodiment of the disclosure;
fig. 2a is a schematic flow chart of a second method for generating a map of a parking lot according to an embodiment of the disclosure;
FIG. 2b is a plan view of a first parking lot according to an embodiment of the present disclosure;
FIG. 2c is a plan view of a second parking lot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a first parking lot map generating apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a second parking lot map generating apparatus according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a third parking lot map generating apparatus according to an embodiment of the present disclosure;
fig. 6 is a block diagram of an electronic device used to implement a parking lot map generation method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and should be considered as merely exemplary. Accordingly, one of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
When the map of the parking lot is generated, the pose of each parking space in the planar structure diagram can be determined according to the planar structure diagram of the parking lot, and the map of the parking lot can be constructed according to the position numbers of each parking space and the determined pose of each parking space.
When the pose of the parking space in the plane structure diagram is determined, the parking space position information of the parking space in the plane structure diagram and the point position information of the position point with a specific position relation with the parking space can be obtained, so that the pose of the parking space is determined according to the obtained parking space position information and the point position information.
In the prior art, a parking lot map is generally generated by manually arranging information of a parking lot. The above-mentioned position points having a specific positional relationship with the parking spaces need to be manually determined, and the efficiency of determining the pose of the parking spaces in the planar structure is low, and in addition, the number of parking spaces in the parking lot is generally large, so that the efficiency of generating the map of the parking lot by manually determining the above-mentioned position points is low.
In order to solve the above problems, embodiments of the present disclosure provide a method and an apparatus for generating a map of a parking lot, and the following detailed description will be given by way of specific embodiments.
Referring to fig. 1, fig. 1 is a flowchart of a first parking lot map generation method according to an embodiment of the disclosure, where the method includes the following steps S101 to S104.
Step S101: according to the plane structure diagram of the parking lot, first position information of each parking space in the parking lot is obtained.
The plane structure diagram may be a structure diagram of a CAD image format, a structure diagram of a jpg image format, or a structure diagram of another image format.
Specifically, a plan structure diagram of the parking lot can be obtained, and the area where each parking space is located is obtained in the plan structure diagram, so that the first position information of each parking space can be determined according to the area where the parking space is located in the plan structure diagram.
In one embodiment of the present disclosure, the area where the parking space is located in the planar structure diagram may be obtained through any one of the following three implementation manners.
In a first implementation manner, when the above-mentioned plan structure diagram is obtained, the area where each parking space is located may be marked in the plan structure diagram, so that the above-mentioned plan structure diagram is obtained, and each area marked in the plan structure diagram may be determined as the area where each parking space is located.
In a second implementation manner, the size of the parking space in the plane structure diagram can be obtained, and according to the size, the area matched with the size in the plane structure diagram can be detected, and the detected area is the area where the parking space is located.
In a third implementation manner, the parking space can be used as an identification object, and the object identification can be performed on the planar structure diagram to obtain an identified area as the area where the parking space is located.
When the first position information is determined according to the area where the parking space is located in the planar structure diagram, the position information of the area center of the area where the parking space is located in the planar structure diagram can be determined as the first position information. In addition, any other position in the area where the parking space is located may be determined as the first position information.
Step S102: and determining second position information representing the relative position between each parking space and the road according to the information of the road in the planar structure diagram and the first position information of each parking space.
Specifically, according to the above-mentioned planar structure diagram, the information of the road in the parking lot can be obtained, and the road information can include the position information of the road, so that according to the road information and the first position information of the parking space, the relative position relationship between the road and the parking space can be known, and further the second position information representing the relative position can be determined.
In one embodiment of the present disclosure, the above-described second location information may be determined by either of the following two implementations.
In a first implementation, referring to steps S203-S204 of the embodiment shown in fig. 2a, a target road closest to the parking space is determined, and location information of an intersection point of the target line and the target road is determined as the second location information.
In a second implementation manner, after the target road is determined, a parallel line that passes through the position indicated by the first position information and is parallel to the target road may be determined, a road direction or a direction opposite to the road direction may be determined as a position point selection direction, a target position point may be selected on the parallel line according to the first position information and the position point selection direction, and the position information of the target position point may be determined as the second position information, where the direction in which the first position information indicates the position to the target position point is the position point selection direction.
Step S103: and obtaining the pose of each parking space according to the first position information and the second position information of each parking space.
Specifically, the second position information characterizes a relative position between the parking space and the road, and since the orientation of the parking space is generally a direction in which the parking space is vertically directed to a road route closest to the parking space, after the second position information is obtained, the orientation of the parking space can be determined according to the relative position between the parking space and the road and the relationship between the orientation of the parking space and the road, which are characterized by the second position information, so that the pose of the parking space can be determined according to the orientation of the parking space and the position information of the parking space.
The specific implementation manner of obtaining the parking space pose according to the first position information and the second position information may be referred to the following embodiments, which are not described in detail herein.
Step S104: and generating a parking lot map based on the parking space numbers of the parking spaces and the pose of the parking spaces recorded in the planar structure diagram.
Specifically, the first position information and the second position information are obtained based on the plane structure diagram, and it is seen that the first position information and the second position information are position information in the plane structure diagram, and the pose of the parking space is obtained according to the first position information and the second position information of the parking space, so that the pose of the parking space is the pose of the parking space in the plane structure diagram. In view of this, when generating the parking lot map, the conversion relationship between the plane structure map and the parking lot map, that is, the conversion relationship between the coordinate system where the plane structure map is located and the coordinate system where the parking lot map is located, may be calibrated in advance, so that after the pose of each parking lot in the plane structure map is obtained, the pose of the parking lot may be converted to the coordinate system where the parking lot map is located according to the conversion relationship, thereby generating the parking lot map according to the parking lot numbers of each parking lot and the pose of each parking lot after conversion.
The generation of the parking lot map according to the parking space numbers and the pose of each parking space can be realized based on the existing map generation technology, and the detailed description is omitted here.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generating a map of a parking lot, the first position information is obtained according to a planar structure diagram of the parking lot, the second position information is determined according to the information of the road and the first position information in the planar structure diagram, the pose of the parking space is obtained according to the first position information and the second position information of the parking space, and the parking space number of each parking space and the pose of each parking space recorded in the planar structure diagram are based, so that the map of the parking lot can be generated. When the scheme provided by the embodiment of the disclosure is applied to generate the map of the parking lot, manual participation is not needed, so that the map generation efficiency can be improved, and the labor cost for generating the map is reduced.
In addition, for an indoor parking lot, a GPS signal may be weaker, and the effect of positioning objects such as drivers and pedestrians in a parking lot map by using the GPS may be poorer.
In one embodiment of the disclosure, in a map positioning process, a parking lot map including information of a parking space number may be stored in a terminal device used by an object, and when the position of the object is positioned in the parking lot map, the terminal device used by the object may obtain the number of the parking space in which the object is positioned or the number of the parking space close to the terminal device, so that the position of the parking space in which the obtained number is found in the parking lot map, and the position of the object is determined according to the position.
In the process that the terminal equipment obtains the parking space number, the terminal equipment can obtain the parking space number input by the object, can also obtain the image of the parking space acquired by the object through the image acquisition equipment carried in the terminal equipment, and carries out OCR (optical character recognition) on the obtained image to obtain the identified parking space number.
In determining the second location information, the second location information may be determined by steps S203 to S204 in the embodiment shown in fig. 2a below, in addition to the manner mentioned in step S102.
In one embodiment of the present disclosure, referring to fig. 2a, a flow chart of a second method for generating a map of a parking lot is provided, and in this embodiment, the method includes the following steps S201 to S206.
Step S201: and obtaining the regional center of the region where each parking space is located in the plane structure diagram of the parking lot.
After determining the area in which the parking space is located in the plan view structure, the area center of the area in which the parking space is located can be determined using the prior art, which will not be described in detail herein.
Step S202: and determining the position information of the area center corresponding to each parking space as the first position information of each parking space.
Specifically, after the area center is obtained, the position of the pixel point corresponding to the area center in the plane structure diagram may be determined as the first position information of the parking space.
In addition, a planar coordinate system may be constructed from a planar structure diagram, and coordinates of the region center in the planar coordinate system may be obtained as the first position information.
Step S203: and determining a target road nearest to the parking space according to the road information of the road in the planar structure diagram and the first position information of the parking space.
Specifically, since the parking spaces are generally built on both sides of the straight road section, each straight road section in the planar structure diagram can be determined based on the road information of the road in the planar structure diagram, so that, among the determined each straight road section, the straight road section having the shortest distance between the positions indicated by the first position information can be determined as the above-mentioned target road.
Step S204: and determining an intersection point of the target line and the target road, and determining the position information of the intersection point as second position information.
Wherein the target line is: a line passing through the center of the area and perpendicular to the target road.
Specifically, after the target road is determined, a target line passing through the center of the area where the parking space is located and perpendicular to the target road may be determined, and then an intersection point of the target line and the target road may be determined, and the position information of the intersection point may be determined as the second position information.
Referring to fig. 2b, fig. 2b is a partial plan view, in fig. 2b, a midpoint P1 of a parking space is a region center of a parking space region, and a midpoint P2 of a road region is an intersection of the target line and the target road.
A specific implementation manner of determining the position information of the intersection point as the second position information may refer to the step S202, which is not described herein.
Step S205: and obtaining the pose of each parking space according to the first position information and the second position information of each parking space.
Step S206: and generating a parking lot map based on the parking space numbers of the parking spaces and the pose of the parking spaces recorded in the planar structure diagram.
Steps S205 and S206 are the same as steps S103 and S104, respectively, and will not be described again here.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generate a parking lot map, the direction of a parking space is generally perpendicular to the target road, the target line is a line passing through the center of the area and perpendicular to the target road, and is parallel to the direction of the parking space, in addition, the target line also passes through the center of the area where the parking space is located, the position information of the intersection point of the target line and the target road is determined as the second position information, and the position information of the intersection point can accurately represent the relative position between the parking space and the road, so that the accuracy of generating the parking lot map can be improved by using the first position information and the more accurate second position information of each parking space.
A specific implementation of obtaining the pose of the parking space is described below.
In one embodiment of the present disclosure, the pose of the parking space may be obtained through the following steps one to three.
Step one: and determining the direction information of the parking space according to the first position information and the second position information of the parking space.
Specifically, a preset direction corresponding to the direction information to be determined may be preset. After the first position information and the second position information are obtained, determining direction information corresponding to the preset direction of the parking space according to the first position information and the second position information.
When the above-mentioned preset direction is set, one or more directions may be set. For example, the direction of the parking space may be set as the preset direction. For another example, the depth direction of the parking space may be one preset direction, and the width direction of the parking space may be another preset direction.
Referring to fig. 2c, in the plan view structure shown in fig. 2c, a direction k1 is a depth direction of the parking space, and a direction k2 is a width direction of the parking space.
The absolute implementation of determining the direction information of the parking space based on the first position information and the second position information may be referred to in the following embodiments, which will not be described in detail herein.
Step two: and obtaining the rotation parameters of the parking space in the plane structure diagram according to the direction information.
Specifically, the above rotation parameters may be obtained by either of the following two implementations.
In a first implementation manner, the direction of the parking space can be determined according to the direction information of the parking space, an included angle between the direction of the parking space and a coordinate axis in a coordinate system where the plane structure diagram is located is calculated, and a rotation parameter of the parking space in the plane structure diagram is determined according to the included angle.
According to the included angle between the orientation of the parking space and the coordinate axis, the rotation parameter can be determined by using the existing parameter calculation technology.
In a second implementation, the rotation parameters of the parking space may be determined according to the following expression:
wherein R is w0 Representing rotation parameters dir 1 Representing a first direction vector, dir 2 Representing a second direction vector.
In the above formula, dir 1 Dir 2 Is 2*1, and a rotation parameter of 3*3 can be obtained according to the above expression.
According to the scheme, according to the expression, the rotation parameters of the parking space can be accurately calculated according to the first direction vector and the second direction vector, so that the pose of the parking space can be accurately obtained, and the accuracy of generating the map of the parking lot can be improved.
In one embodiment of the present disclosure, in the above expression for determining the rotation parameter, the first direction vector and the second direction vector are both normalized vectors.
Step three: and according to the first position information of the parking space, obtaining translation parameters of the parking space in the plane structure diagram, and obtaining the pose of the parking space comprising the rotation parameters and the translation parameters.
Specifically, the first position information of the parking space can reflect the translation process of the parking space in the translation structure diagram, and the translation parameter of the parking space can be obtained according to the translation process reflected by the first position information of the parking space, so that after the rotation parameter and the translation parameter are obtained, the pose of the parking space comprising the rotation parameter and the translation parameter is obtained.
For example, when the translation parameter is obtained, if the first position information of the parking space is expressed as (m, n) in the form of coordinates, it is stated that the parking space is translated in the x-axis direction and translated in the y-axis direction with respect to the origin of coordinates by m, and the translation parameter of the parking space in the plane structure diagram can be determined as
From the above, when the scheme provided by the embodiment of the disclosure is applied to generating the parking lot map, the direction information of the parking lot is determined according to the first position information and the second position information, and the direction information of the parking lot is determined, so that the rotation parameter of the parking lot in the plane structure diagram can be accurately obtained according to the direction information, the translation parameter of the parking lot in the plane structure diagram can be accurately obtained according to the first position information of the parking lot, and the pose of the parking lot can be obtained accurately based on the accurate rotation parameter and the translation parameter, so that the parking lot map is generated based on the pose of the accurate parking lot, and the accuracy of generating the parking lot map can be improved.
The implementation of determining the direction information will be described below taking the depth direction of the parking space as one preset direction and the width direction of the parking space as another preset direction as an example. Because of the transformation relationship between the direction vectors in different directions, if the preset direction is the direction of the parking space or other directions, the direction vector of the parking space in the preset direction can be calculated according to the transformation relationship between the determined direction vector and the direction vector in different directions obtained in advance after the direction vector in the depth and width directions of the parking space is determined.
In one embodiment of the disclosure, a first direction vector of the parking space in the depth direction of the parking space may be determined according to the first position information and the second position information, and a second direction vector perpendicular to the second direction vector and in the width direction of the parking space may be determined according to the first direction vector, so as to obtain direction information including the first direction vector and the second direction vector.
As can be seen from the above description of step S102, the second location information may be obtained in a plurality of implementations, and the second location information obtained in different implementations is different. Specific implementations of determining the first direction vector and the second direction vector are described below for two cases of the second position information, respectively.
In the first case, the second position information may be position information of an intersection point of the target line and the target road. In this case, since the direction in which the intersection points to the center of the area is the parking space depth direction, the vector which is the first direction vector and which points to the center of the area from the intersection points can be calculated based on the first position information and the second position information.
For example, the first position information and the second position information may be represented in the form of two-dimensional coordinates, in which case, for each coordinate axis, the coordinates of the coordinate axis in the first position information may be subtracted from the coordinates of the coordinate axis in the second position information, to obtain a subtracted result as a vector parameter corresponding to the coordinate axis in the first direction vector.
In one embodiment of the present disclosure, in determining the above-described first direction vector, the first direction vector of the parking space in the depth direction of the parking space may be determined according to the following expression:
wherein dir 1 Representing a first direction vector, (x) 1 ，y 1 ) Coordinates of first position information representing a parking space corresponding to the first position information in the plane structure diagram (x) 2 ，y 2 ) And the second position information representing the corresponding coordinates of the parking space in the plane structure diagram.
For example, if the first position information corresponds to coordinates (3, 4) in the planar structure diagram and the second position information corresponds to coordinates (1, 1) in the planar structure diagram, the first direction vector can be obtained as the expression
In the scheme, by using the expression, the first direction vector can be accurately obtained according to the first position information and the second position information, and then the parking lot map is generated by using the accurate first direction vector, so that the accuracy of generating the parking lot map can be improved.
After the first direction vector is determined, a second direction vector may be calculated from the first direction vector according to a transformation relationship between the direction vectors in the depth and width directions.
In one embodiment of the present disclosure, the second direction vector of the parking space in the parking space width direction may be determined according to the following expression:
Wherein dir 2 Representing a second direction vector, dir 1 Representing a first direction vector.
In this scheme, the above expression can reflect the relationship between two direction vectors perpendicular to the corresponding direction, so, under the condition of obtaining the first direction vector, the second direction vector can be accurately determined according to the above expression, and then the parking lot map is generated by using the more accurate second direction vector, so that the accuracy of generating the parking lot map can be improved.
In the second case, the second position information may be a point on a straight line that passes through the position indicated by the first position information and is parallel to the target road, and at this time, the straight line is parallel to the width direction of the parking space, and a direction vector in which the position indicated by the first position information points to the position indicated by the second position information may be calculated, where the calculated direction vector is the second direction vector of the parking space in the width direction. After the second direction vector is obtained, the first direction vector in the depth direction may be calculated from the second direction vector in accordance with the conversion relationship between the direction vectors in the depth and width directions.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generate a parking lot map, the second position information characterizes the relative position between the parking space and the road, and according to the first position information and the second position information of the parking space, the first direction vector of the parking space in the depth direction of the parking space can be accurately determined based on the relative position between the parking space and the road, and then the second direction vector can be accurately determined according to the first direction vector, so that the parking lot map is generated according to the more accurate first direction vector and the second direction vector, and the accuracy of generating the parking lot map can be improved.
Corresponding to the above-mentioned parking lot map generation method, the embodiment of the disclosure also provides a schematic structural diagram of the parking lot map generation device.
In one embodiment of the present disclosure, referring to fig. 3, there is provided a schematic structural diagram of a first parking lot map generating apparatus, where in this embodiment, the apparatus includes:
an information obtaining module 301, configured to obtain first position information of each parking space in the parking lot according to a planar structure diagram of the parking lot;
the information determining module 302 is configured to determine second location information that characterizes a relative location between each parking space and the road according to the information of the road in the planar structure diagram and the first location information of each parking space;
a pose obtaining module 303, configured to obtain a pose of each parking space according to the first position information and the second position information of each parking space;
the map generation module 304 is configured to generate a parking lot map based on the parking space numbers of the parking spaces and the pose of each parking space recorded in the plan structure diagram.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generating a map of a parking lot, the first position information is obtained according to a planar structure diagram of the parking lot, the second position information is determined according to the information of the road and the first position information in the planar structure diagram, the pose of the parking space is obtained according to the first position information and the second position information of the parking space, and the parking space number of each parking space and the pose of each parking space recorded in the planar structure diagram are based, so that the map of the parking lot can be generated. When the scheme provided by the embodiment of the disclosure is applied to generate the map of the parking lot, manual participation is not needed, so that the map generation efficiency can be improved, and the labor cost for generating the map is reduced.
In one embodiment of the present disclosure, referring to fig. 4, there is provided a schematic structural diagram of a second parking lot map generating apparatus, where the apparatus includes:
an information obtaining module 401, configured to obtain first position information of each parking space in the parking lot according to a planar structure diagram of the parking lot;
an information determining module 402, configured to determine second location information that characterizes a relative location between each parking space and the road according to the information of the road in the planar structure diagram and the first location information of each parking space;
an information determining sub-module 403, configured to determine direction information of the parking space according to the first location information and the second location information of the parking space;
a first obtaining sub-module 404, configured to obtain, according to the direction information, a rotation parameter of the parking space in the plane structure diagram;
the second obtaining submodule 405 is configured to obtain a translation parameter of the parking space in the plane structure diagram according to the first position information of the parking space, and obtain a pose of the parking space including the rotation parameter and the translation parameter.
The map generation module 406 is configured to generate a parking lot map based on the parking space numbers of the parking spaces and the pose of each parking space recorded in the plan structure diagram.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generate a parking lot map, the direction of a parking space is generally perpendicular to the target road, the target line is a line passing through the center of the area and perpendicular to the target road, and is parallel to the direction of the parking space, in addition, the target line also passes through the center of the area where the parking space is located, the position information of the intersection point of the target line and the target road is determined as the second position information, and the position information of the intersection point can accurately represent the relative position between the parking space and the road, so that the accuracy of generating the parking lot map can be improved by using the first position information and the more accurate second position information of each parking space.
In one embodiment of the present disclosure, referring to fig. 5, there is provided a schematic structural diagram of a third parking lot map generating apparatus, where the apparatus includes:
an information obtaining module 501, configured to obtain first position information of each parking space in a parking lot according to a planar structure diagram of the parking lot;
the information determining module 502 is configured to determine second location information that characterizes a relative location between each parking space and the road according to the information of the road in the planar structure diagram and the first location information of each parking space;
A vector determining unit 503, configured to determine a first direction vector of the parking space in a depth direction of the parking space according to the first position information and the second position information of the parking space;
an information obtaining unit 504, configured to determine, according to the first direction vector, a second direction vector perpendicular to the first direction vector and in a width direction of the parking space, and obtain direction information including the first direction vector and the second direction vector.
A first obtaining sub-module 505, configured to obtain, according to the direction information, a rotation parameter of the parking space in the plane structure diagram;
and the second obtaining sub-module 506 is configured to obtain, according to the first position information of the parking space, a translation parameter of the parking space in the plane structure diagram, and obtain a pose of the parking space including the rotation parameter and the translation parameter.
And a map generation module 507, configured to generate a parking lot map based on the parking space numbers of the parking spaces and the pose of each parking space recorded in the plan structure diagram.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generate a parking lot map, the second position information characterizes the relative position between the parking space and the road, and according to the first position information and the second position information of the parking space, the first direction vector of the parking space in the depth direction of the parking space can be accurately determined based on the relative position between the parking space and the road, and then the second direction vector can be accurately determined according to the first direction vector, so that the parking lot map is generated according to the more accurate first direction vector and the second direction vector, and the accuracy of generating the parking lot map can be improved.
In one embodiment of the present disclosure, the vector determining unit 503 is specifically configured to:
determining a first direction vector of the parking space in the depth direction of the parking space according to the following expression:
wherein the dir 1 Representing the first direction vector, (x) 1 ，y 1 ) Coordinates (x) representing the first position information of the parking space corresponding to the plane structure diagram 2 ，y 2 ) And representing the corresponding coordinates of the second position information of the parking space in the plane structure diagram.
In the scheme, by using the expression, the first direction vector can be accurately obtained according to the first position information and the second position information, and then the parking lot map is generated by using the accurate first direction vector, so that the accuracy of generating the parking lot map can be improved.
In one embodiment of the present disclosure, the information obtaining unit 504 is specifically configured to:
determining a second direction vector of the parking space in the parking space width direction according to the following expression:
wherein the dir 2 Representing the second direction vector, the dir 1 Representing the first direction vector.
In this scheme, the above expression can reflect the relationship between two direction vectors perpendicular to the corresponding direction, so, under the condition of obtaining the first direction vector, the second direction vector can be accurately determined according to the above expression, and then the parking lot map is generated by using the more accurate second direction vector, so that the accuracy of generating the parking lot map can be improved.
In one embodiment of the disclosure, the first obtaining sub-module 505 is specifically configured to:
determining a rotation parameter of the parking space according to the following expression:
wherein the R is w0 Representing the rotation parameter, the dir 1 Representing the first direction vector, the dir 2 Representing the second direction vector.
According to the scheme, according to the expression, the rotation parameters of the parking space can be accurately calculated according to the first direction vector and the second direction vector, so that the pose of the parking space can be accurately obtained, and the accuracy of generating the map of the parking lot can be improved.
In one embodiment of the present disclosure, the information obtaining module 301 is specifically configured to:
obtaining the regional center of the region where each parking space is located in the plane structure diagram of the parking lot;
determining the position information of the center of the area corresponding to each parking space as first position information of each parking space;
the information determining module 302 is specifically configured to:
second position information characterizing the relative position between each parking space and the road is determined in the following manner:
determining a target road nearest to the parking space according to the road information of the road in the plane structure diagram and the first position information of the parking space;
Determining an intersection point of a target line and the target road, and determining position information of the intersection point as the second position information, wherein the target line is: a line passing through the center of the area and perpendicular to the target road.
From the above, when the scheme provided by the embodiment of the disclosure is applied to generate a parking lot map, the direction of a parking space is generally perpendicular to the target road, the target line is a line passing through the center of the area and perpendicular to the target road, and is parallel to the direction of the parking space, in addition, the target line also passes through the center of the area where the parking space is located, the position information of the intersection point of the target line and the target road is determined as the second position information, and the position information of the intersection point can accurately represent the relative position between the parking space and the road, so that the accuracy of generating the parking lot map can be improved by using the first position information and the more accurate second position information of each parking space.
According to embodiments of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.
In one embodiment of the present disclosure, there is provided an electronic device including:
At least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any one of the parking lot map generation methods of the foregoing method embodiments.
In one embodiment of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform any of the aforementioned method embodiments is provided.
In one embodiment of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method of any of the foregoing method embodiments of parking lot map generation.
Fig. 6 illustrates a schematic block diagram of an example electronic device 600 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 6, the apparatus 600 includes a computing unit 601 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 602 or a computer program loaded from a storage unit 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the device 600 may also be stored. The computing unit 601, ROM 602, and RAM 603 are connected to each other by a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Various components in the device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, mouse, etc.; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the device 600 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The computing unit 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of computing unit 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the respective methods and processes described above, for example, a parking lot map generation method. For example, in some embodiments, the parking lot map generation method may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the parking lot map generation method described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the parking lot map generation method by any other suitable means (e.g. by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.
The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps recited in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the disclosed aspects are achieved, and are not limited herein.
The above detailed description should not be taken as limiting the scope of the present disclosure. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present disclosure are intended to be included within the scope of the present disclosure.
Claims (16)
1. A parking lot map generation method, comprising:
obtaining first position information of each parking space in a parking lot according to a plane structure diagram of the parking lot, wherein the first position information is position information determined according to an area where the parking space is located in the plane structure diagram;
determining second position information representing the relative position between each parking space and each road according to the information of the road in the plane structure diagram and the first position information of each parking space, wherein the second position information is determined based on the position information of a target road nearest to the parking space, and the target road is determined based on the road information of the road in the plane structure diagram and the first position information of the parking space;
According to the first position information and the second position information of each parking space, the pose of each parking space is obtained;
and generating a parking lot map based on the parking space numbers of the parking spaces and the pose of each parking space recorded in the plane structure diagram.
2. The method of claim 1, wherein the obtaining the pose of each parking space based on the first and second position information of each parking space comprises:
the pose of each parking space is obtained in the following way:
determining the direction information of the parking space according to the first position information and the second position information of the parking space;
according to the direction information, obtaining the rotation parameters of the parking space in the plane structure diagram;
and obtaining translation parameters of the parking space in the plane structure diagram according to the first position information of the parking space, and obtaining the pose of the parking space comprising the rotation parameters and the translation parameters.
3. The method of claim 2, wherein the determining the direction information of the parking space based on the first location information and the second location information of the parking space comprises:
determining a first direction vector of the parking space in the depth direction of the parking space according to the first position information and the second position information of the parking space;
And determining a second direction vector which is perpendicular to the first direction vector and is in the width direction of the parking space according to the first direction vector, and obtaining direction information comprising the first direction vector and the second direction vector.
4. A method according to claim 3, wherein said determining a first direction vector of the parking space in the depth direction of the parking space based on the first position information and the second position information of the parking space comprises:
determining a first direction vector of the parking space in the depth direction of the parking space according to the following expression:
wherein the dir 1 Representing the first direction vector, (x) 1 ，y 1 ) Coordinates (x) representing the first position information of the parking space corresponding to the plane structure diagram 2 ，y 2 ) And representing the corresponding coordinates of the second position information of the parking space in the plane structure diagram.
5. A method according to claim 3, wherein said determining a second direction vector perpendicular to said first direction vector and in a parking space width direction from said first direction vector comprises:
determining a second direction vector of the parking space in the parking space width direction according to the following expression:
wherein the dir 2 Representing the second direction vector, the dir 1 Representing the first direction vector.
6. A method according to claim 3, wherein said obtaining rotation parameters of the parking space in the plan view structure from the direction information comprises:
determining a rotation parameter of the parking space according to the following expression:
wherein the R is w0 Representing the rotation parameter, the dir 1 Representing the first direction vector, the dir 2 Representing the second direction vector.
7. The method according to any one of claims 1-6, wherein the obtaining the first location information of each parking space in the parking lot according to the planar structure diagram of the parking lot includes:
obtaining the regional center of the region where each parking space is located in the plane structure diagram of the parking lot;
determining the position information of the center of the area corresponding to each parking space as first position information of each parking space;
the determining, according to the information of the road in the planar structure diagram and the first position information of each parking space, second position information representing the relative position between each parking space and the road includes:
second position information characterizing the relative position between each parking space and the road is determined in the following manner:
determining a target road nearest to the parking space according to the road information of the road in the plane structure diagram and the first position information of the parking space;
Determining an intersection point of a target line and the target road, and determining position information of the intersection point as the second position information, wherein the target line is: a line passing through the center of the area and perpendicular to the target road.
8. A parking lot map generation apparatus comprising:
the information acquisition module is used for acquiring first position information of each parking space in the parking lot according to a plane structure diagram of the parking lot, wherein the first position information is position information determined according to an area where the parking space is located in the plane structure diagram;
the information determining module is used for determining second position information representing the relative position between each parking space and each road according to the information of the road in the plane structure diagram and the first position information of each parking space, wherein the second position information is determined based on the position information of a target road nearest to the parking space, and the target road is determined based on the road information of the road in the plane structure diagram and the first position information of the parking space;
the pose obtaining module is used for obtaining the pose of each parking space according to the first position information and the second position information of each parking space;
and the map generation module is used for generating a parking lot map based on the parking space numbers of the parking spaces and the pose of each parking space recorded in the plane structure diagram.
9. The apparatus of claim 8, wherein the pose acquisition module comprises:
the information determination submodule is used for determining the direction information of the parking space according to the first position information and the second position information of the parking space;
the first obtaining submodule is used for obtaining rotation parameters of the parking space in the plane structure diagram according to the direction information;
and the second obtaining submodule is used for obtaining translation parameters of the parking space in the plane structure diagram according to the first position information of the parking space, and obtaining the pose of the parking space comprising the rotation parameters and the translation parameters.
10. The apparatus of claim 9, wherein the information determination submodule comprises:
the vector determining unit is used for determining a first direction vector of the parking space in the depth direction of the parking space according to the first position information and the second position information of the parking space;
and the information obtaining unit is used for determining a second direction vector which is perpendicular to the first direction vector and is in the width direction of the parking space according to the first direction vector, and obtaining direction information comprising the first direction vector and the second direction vector.
11. The apparatus of claim 10, wherein the vector determination unit is specifically configured to:
Determining a first direction vector of the parking space in the depth direction of the parking space according to the following expression:
wherein the dir 1 Representing the first direction vector, (x) 1 ，y 1 ) Coordinates (x) representing the first position information of the parking space corresponding to the plane structure diagram 2 ，y 2 ) And representing the corresponding coordinates of the second position information of the parking space in the plane structure diagram.
12. The apparatus according to claim 10, wherein the information obtaining unit is specifically configured to:
determining a second direction vector of the parking space in the parking space width direction according to the following expression:
wherein the dir 2 Representing the second direction vector, the dir 1 Representing the first direction vector.
13. The apparatus of claim 10, wherein the first obtaining sub-module is specifically configured to:
determining a rotation parameter of the parking space according to the following expression:
wherein the R is w0 Representing the rotation parameter, the dir 1 Representing the first direction vector, the dir 2 Representing the second direction vector.
14. The apparatus according to any one of claims 8-13, wherein the information obtaining module is specifically configured to:
obtaining the regional center of the region where each parking space is located in the plane structure diagram of the parking lot;
Determining the position information of the center of the area corresponding to each parking space as first position information of each parking space;
the information determining module is specifically configured to:
second position information characterizing the relative position between each parking space and the road is determined in the following manner:
determining a target road nearest to the parking space according to the road information of the road in the plane structure diagram and the first position information of the parking space;
determining an intersection point of a target line and the target road, and determining position information of the intersection point as the second position information, wherein the target line is: a line passing through the center of the area and perpendicular to the target road.
15. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-7.
16. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the method of any one of claims 1-7.
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