CN1299220C - Automatic splicing method for digital road map - Google Patents
Automatic splicing method for digital road map Download PDFInfo
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- CN1299220C CN1299220C CNB2004100183066A CN200410018306A CN1299220C CN 1299220 C CN1299220 C CN 1299220C CN B2004100183066 A CNB2004100183066 A CN B2004100183066A CN 200410018306 A CN200410018306 A CN 200410018306A CN 1299220 C CN1299220 C CN 1299220C
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Abstract
The present invention relates to an automatic splicing method of digital road maps. The coordinate transformation relation of two digital road maps to be spliced is obtained by the calculation of coordinates of a crossing center point; the coordinate transformation relation is used for registering the two maps to be spliced to one coordinate system, and the coincidence part is calculated so as to find coincident crossing vector pairs and road vector pairs in the maps and determine the topology relation between the crossing vectors and the road vectors; coincident roads are spliced to a new road vector; coincident road crossings are merged into a new road crossing vector; the newly generated road vectors and the road crossing vectors are added to a newly built digital road map; the non-coincident road vectors and non-coincident road crossing vectors are directly added to the newly built digital road map; the digital road maps are automatically spliced. The present invention has simple operation steps, enhances the splicing precision and speed of the digital road maps and reduces the dependence to the performance of a computer hardware system.
Description
Technical field
The present invention relates to a kind of digital road map method for automatically split-jointing, be used for the self-navigation of transit equipment.Belonging to advanced makes and automatic field.
Background technology
Digital road map has extremely important position in application such as intelligent transportation, vehicle mounted guidance, vehicle location and city planning.At present being manufactured with of digital road map is by to the scanning of paper map greatly, so with the computing machine digitized processing to obtain digital road map.Yet, be subjected to the restriction of scanner size, adopt scanning paper map to obtain digital road map and just relate to the splicing problem of map inevitably.The joining method of digital road map has two kinds: the one, and manual splicing, this method is determined the correspondence position relation of figure to be spliced by operating personnel's judgement, its joining quality is grasped by operating personnel's experience control fully, and human factor is very big, and this is a main error sources.The 2nd, automatic splicing, its advantage is a large amount of raisings of splicing precision and speed.
The digital road map most critical of splicing automatically partly is the topological connection relation between the digital road on two figure to be spliced.Therefore, the registration of two maps to be spliced and the core of determining that digital road topological connection relation is a conceptual design above them.Traditional joining method is that scanning earlier obtains raster pattern raster pattern is spliced, and then spliced raster pattern is carried out digital road vectorized process.The disadvantage of this class joining method is: because spliced raster pattern is very big, therefore on processing time, processing speed and the employed calculator memory capacity of digital road vector quantization, be subjected to the constraint of computer hardware performance very big, also can increase the space complexity and the time complexity of digital road vector quantization algorithm simultaneously.(R.Kasturi，et.al，“A?System?for?Interpretation?of?Line?Drawings”，IEEE?Trans.PAMI，Vol12，No.10，Oct.1990，pp978-992.)
Summary of the invention
The objective of the invention is at the deficiencies in the prior art, propose a kind of new digital road map method for automatically split-jointing, solve the problem of splicing precision, speed and the dependence of computer hardware performance.
For realizing such purpose, in the technical scheme of the present invention, utilize the three-point fix technology of two dimensional surface, obtain the coordinate transform relation of two digital road maps to be spliced by coordinate Calculation to crossing central point in the digital road map, changes in coordinates that use obtains relation with two width of cloth map registration to be spliced in the same coordinate system and calculate their intersection, it is right to find out the crossing vector that overlaps in the map, road vectors to and establish the topological relation of crossing vector and road vectors, the road that overlaps is spliced into a new road vectors, the road cross that overlaps is merged into a new road cross vector, and newly-generated road vectors and newly-generated road cross vector added in the newly-built digital road map, non-coincidence road vectors and non-coincidence road cross vector are directly added in the newly-built digital road map, finish the automatic splicing of digital road map.
The present invention mainly comprises following concrete steps:
1. the registration of map.
The present invention utilizes the three-point fix technology of two dimensional surface, at first in the coincidence zone of two digital road maps to be spliced, choose three pairs of not crossings of the road on same straight line, the road cross centre coordinate of utilization least square method normalized, three pairs of road cross centre coordinates are set up system of equations, thereby the registration problems of map is abstracted into the geometric model of asking coordinate transform on known plane.Separate this system of equations and obtain the coordinate corresponding conversion relation of the digital road map that two width of cloth need splice.Size according to this coordinate transformation relation and figure to be spliced is divided into three parts by height with stitching image, handles line by line from left to right, reads map content to be spliced respectively and is transformed into the coincidence zone of determining map to be spliced in the new coordinate system simultaneously.
2. the road of determining to need to connect is to reaching their topological relation.
According to the position of two digital road maps to be spliced in the same coordinate system is united and their coincidence regional extent, adopt the breadth First algorithm to find out all and be positioned at road cross vector and the road vectors that overlaps the position along the search of digit track road network.Coordinate according to the road cross vector is right with the road cross vector that the road cross vector that overlaps is paired into the needs merging.Deflection according to the coordinate of road vectors and this road vectors is right with the road that the road vectors that overlaps is paired into the needs splicing.Establish the topological relation of road cross vector and road vectors according to the road vectors that the crossing vector is connected.
3. the right splicing of road.
Road for the needs splicing is right, there are following three kinds of situations in its splicing: when (1) overlaps fully when two road, a road vectors wherein is connected in corresponding two road cross vectors as new road vectors and with it, deletes an other road vectors; (2) when two road partially overlap, delete the road segment segment that overlaps on the road, and will remain road segment segment and be connected on the other road vectors as a new road vectors, at last newly-generated road vectors is connected in corresponding two road cross vectors; (3) when two road do not overlap fully, this two road vector directly is connected to a new road vectors, the new road vectors after will connecting again is connected in corresponding two road cross vectors.Successively to all roads to do above splicing up to all roads to till all having spliced.
4. the right merging of road cross.
A newly-built road cross vector is as the road cross after merging.Road cross is judged successively to all roads that connected, if belong to the road that merged to this road is added in this newly-built road cross vector the newly-generated road vectors of correspondence; If do not belong to the road that merged to this road is directly added in this newly-built road cross vector.Be the parameter in road cross vector assignment successively.To all road cross to do above merging up to all road cross to till all having merged.At last newly-generated road cross vector and newly-generated road vectors are added in the newly-built digital road map, finish the automatic splicing of digital road map.
Utilize joining method of the present invention to realize the splicing of digital road map, the simplified operation step improves splicing precision and speed, reduces the dependence to the computer hardware system performance.
Description of drawings
Fig. 1 is digital road map A to be spliced in the embodiment of the invention.
Fig. 2 is digital road map B to be spliced in the embodiment of the invention.
Fig. 3 is for adopting the spliced digital road map C of the inventive method.
Among Fig. 1, Fig. 2, Fig. 3: the road cross in the circle that a, b, c identified is the monumented point that is used to splice.
Fig. 4 is 8 kinds of image relativenesses of the image to be spliced that adopts in the inventive method.
Wherein: D
xRepresent the relativeness on the two sub-picture x directions, D
yRepresent the relativeness on the two sub-picture y directions.
Fig. 5 is two width of cloth image relativenesses to be spliced in the embodiment of the invention.
Wherein: W
aThe width of presentation video A, H
aThe height of presentation video A, W
bThe width of presentation video B, H
bThe height of presentation video B, D
xRepresent the relativeness on the two sub-picture x directions, D
yRepresent the relativeness on the two sub-picture y directions.
Fig. 6 is for calculating the synoptic diagram of site of road and deflection.
Among Fig. 6, a is the road cross central point, three roads that a1, a2, a3 identify road cross respectively and connected.
Fig. 7 merges synoptic diagram for road.
Among Fig. 7, A and B represent the road that two needs merge respectively.A, b, b ', c, c ', d identify the point on the road respectively, and wherein b, b ' and c, c ' are the same some positions on the section of two road respectively on the road.
Embodiment
In order to understand technical scheme of the present invention better, be described in further detail below in conjunction with embodiment and accompanying drawing.
1. the registration of map.
Fig. 1 Fig. 2 is respectively two width of cloth digital road map A and B to be spliced in the embodiment of the invention.
The present invention utilizes the three-point fix technology of two dimensional surface, at first in the coincidence zone of two digital road maps to be spliced, choose three pairs not the crossing of the road on same straight line (a, the b in the accompanying drawing 1,2, c points), the crossing centre coordinate of the road cross vector of utilization least square method normalized, three pairs of road cross centre coordinates are set up system of equations, thereby the registration problems of map is abstracted into the geometric model of asking coordinate transform on known plane.Separate this system of equations and obtain the coordinate corresponding conversion relation of the digital road map that two width of cloth need splice:
Analyze the coordinate relation of two width of cloth images, by size, the position of two width of cloth images, its corresponding relation has 8 kinds of situations, as shown in Figure 4.According to D
xAnd D
ySign and the size relationship of figure A to be spliced and figure B, by height stitching image is divided into figure A is only arranged, existing figure A has figure B again and three parts of figure B only arranged, and these three parts are handled (as Fig. 5) respectively from left to right line by line.If the A figure upper left corner is initial point (0,0), divide following three steps: if figure A part is only arranged, promptly y ∈ " 0, D
y" read [0,0] → " W of figure A
a, D
y" partly it is transformed in the new coordinate system; If existing figure A has figure B again, i.e. y ∈ (D
y, H
a), then with D
xFor reading the 0 of figure A, D earlier in the boundary
y → D
x, H
aThe part is transformed into it in new coordinate system, reads [0,0] → " W of figure B then
b, H
a-D
y" part is transformed into it in new coordinate system, should the zone be to overlap the zone with tense marker; If figure B part is only arranged, i.e. y ∈ H
a, D
y+ H
b reads the 0 of figure B, H
a-D
y → W
b, H
b partly and with it is transformed in the new coordinate system.
Above three steps are carried out in circulation, overlap the zone up to all being transformed into two maps to be spliced in the same coordinate system and marking.All the other seven kinds of image corresponding relations also are that root carries out accordingly, and just its by stages and content change to some extent.
2. the road of determining to need to connect is to reaching their topological relation.
According to the position of two digital road maps to be spliced in the same coordinate system is united and their coincidence regional extent, call breadth First algorithm (BFS) and find out road cross vector and the road vectors that all are positioned at the coincidence position along the search of digit track road network.(c) (c), the road cross vector that overlaps is paired into needs the road cross vector that merges right for a, b at the road corresponding crossing in accompanying drawing 2 for a, b to find out road cross in the accompanying drawing 1 according to the coordinate of road cross vector.Find out every road that road cross a is connected in the accompanying drawing 1 (as the a1 in the accompanying drawing 6, a2, a3) road corresponding in accompanying drawing 2 according to the coordinate of road vectors and the deflection of this road vectors (formula 2), the road vectors that overlaps is paired into needs the road of merging right.
Establish the topological relation of road cross vector and road vectors according to the annexation of crossing and road.
3. the right splicing of road.
Road for the needs splicing is right, there are following three kinds of situations (as accompanying drawing 7) in its splicing: when (1) overlaps fully when two road, promptly put a, b, b ' coincidence, some c, c ', d coincidence, a road vectors (abcd) wherein is connected in corresponding two road cross vectors as new road vectors and with it, deletes an other road vectors (b ' c ' d); (2) when two road partially overlap, promptly put b, b ' and overlap, put c, c ' coincidence, delete the road segment segment that overlaps on the road (b ' c '), and will remain road segment segment (c ' d) and be connected to an other road vectors (abc) and go up as a new road vectors (abcc ' d), at last newly-generated road vectors is connected in corresponding two road cross vectors; (3) when two road do not overlap fully, promptly put a, b, b ', d, c, c ' do not overlap, this two road vector directly is connected to a new road vectors (a, b, b ', c, c ', d), and the new road vectors after will connecting again is connected in corresponding two road cross vectors.Its rudimentary algorithm is as follows:
(1), begins scanning and judge that this point is whether also on road B from end points a to road A.
(2) mark first both to have belonged to the point that road A also belongs to road B be b and b '.
(3) to road B beginning to delete to the last one and both belonged to the some c ' that road A also belongs to road B from b '.
(4) linking-up road point c and road point c '.
(5) in the road corresponding crossing that spliced road (abcd) is added.
Successively to all roads to do above splicing up to all roads to till all having spliced.
4. the right merging of road cross.
(a, b is c) as the road cross after merging for newly-built road cross vector in accompanying drawing 3.Road cross is judged successively to all roads (as the a1 in the accompanying drawing 6, a2, a3) that connected, if belong to the road that merged to this road is added in this newly-built road cross vector the newly-generated road vectors of correspondence; If do not belong to the road that merged to this road is directly added in this newly-built road cross vector.To all road cross to do above merging up to all road cross to till all having merged.At last newly-generated road cross vector and newly-generated road vectors are added in the newly-built digital road map, finish the automatic splicing of digital road map.
Claims (1)
1, a kind of digital road map method for automatically split-jointing is characterized in that comprising following concrete steps:
1) registration of map: at first in the coincidence zone of two maps to be spliced, choose three pairs of not road cross on same straight line, the utilization least square method is calculated the crossing centre coordinate, three pairs of road cross centre coordinates are set up the coordinate transformation relation that system of equations is determined two numerical maps, according to coordinate transformation relation and map size to be spliced map to be spliced is transformed in the new coordinate system, determines the coincidence zone of map to be spliced simultaneously;
2) definite road that need connect is to reaching the topological relation of crossing vector and road vectors: according to the position of two digital road maps to be spliced in new coordinate system and coincidence zone, adopt the breadth First algorithm to find out all and be positioned at crossing vector and the road vectors that overlaps the zone, it is right according to the crossing phasor coordinate crossing vector that overlaps to be paired into need merging crossing vector, according to road vectors coordinate and road vectors deflection the road vectors that overlaps being paired into needs the splicing road right, establishes the topological relation of crossing vector and road vectors according to the road that the crossing connected;
3) the right splicing of road: the road to the needs splicing is handled dividing three kinds of situations: when (1) overlaps fully when two road, wherein a road vectors as new road vectors and be connected in corresponding two crossing vectors, is deleted an other road vectors; (2) when two road partially overlap, delete the road segment segment that overlaps on the road, the residue road segment segment is linked on the other road vectors as a new road vectors, newly-generated road vectors is connected in corresponding two crossing vectors; (3) when two road do not overlap fully, this two road vector directly is connected to a new road vectors, new road vectors is connected in corresponding two crossing vectors; Successively to all roads to do above splicing up to all roads to till all having spliced;
4) the right merging of road cross: a newly-built crossing vector is as the road cross after merging, road cross is judged successively to all roads that connected, as belong to the road that merged to then this road being added in the newly-built above-mentioned crossing vector the new road vectors of correspondence, as not belonging to the road that merged to then this road directly being added in the newly-built above-mentioned crossing vector; To all road cross to do above merging up to all road cross to till all having merged, at last newly-generated road cross vector and newly-generated road vectors are added in the newly-built digital road map, finish the automatic splicing of digital road map.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100183066A CN1299220C (en) | 2004-05-13 | 2004-05-13 | Automatic splicing method for digital road map |
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| CNB2004100183066A CN1299220C (en) | 2004-05-13 | 2004-05-13 | Automatic splicing method for digital road map |
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| CN1299220C true CN1299220C (en) | 2007-02-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101630463B (en) * | 2009-07-30 | 2010-12-01 | 上海交通大学 | Method for automatic vectorization of road network digital raster map |
| DE102016205436A1 (en) * | 2015-11-25 | 2017-06-01 | Volkswagen Aktiengesellschaft | Method and system for creating a digital map |
| CN107838926B (en) * | 2017-10-18 | 2020-11-17 | 歌尔科技有限公司 | Automatic pick-up robot |
| CN109993813B (en) * | 2017-12-29 | 2023-06-27 | 长城汽车股份有限公司 | Method, device, vehicle and readable storage medium for creating map |
| CN108711356B (en) * | 2018-02-08 | 2020-07-07 | 中国人民解放军61540部队 | Geographic target and symbol graph registration method in vector geographic PDF map making |
| CN109192054B (en) * | 2018-07-27 | 2020-04-28 | 阿里巴巴集团控股有限公司 | Data processing method and device for map region merging |
| CN114526753B (en) * | 2022-04-24 | 2022-07-15 | 深圳依时货拉拉科技有限公司 | Cross-road intersection rule association method and device, computer equipment and readable storage medium |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1190480A (en) * | 1994-11-04 | 1998-08-12 | 洛克系德·马丁有限公司 | Apparatus and method for constructing mosaic of data |
| CN1356668A (en) * | 2001-12-30 | 2002-07-03 | 上海交通大学 | Rolling ball method for automatically generating digital road map |
| JP2003135073A (en) * | 2001-11-02 | 2003-05-13 | Inst Of Physical & Chemical Res | NEW SPLICING VARIANT OF MAP KINASE p38alpha |
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2004
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1190480A (en) * | 1994-11-04 | 1998-08-12 | 洛克系德·马丁有限公司 | Apparatus and method for constructing mosaic of data |
| JP2003135073A (en) * | 2001-11-02 | 2003-05-13 | Inst Of Physical & Chemical Res | NEW SPLICING VARIANT OF MAP KINASE p38alpha |
| CN1356668A (en) * | 2001-12-30 | 2002-07-03 | 上海交通大学 | Rolling ball method for automatically generating digital road map |
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