CN101504776B - 3D scene path finding method and apparatus - Google Patents
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Abstract
The invention discloses a path-seeking method for a 3D scene, which comprises: identifying area types of path nodes according to preset type marks, and obtaining similar adjacent area information which is the same with the area types of the path nodes through inquiry of preestablished path-seeking data; identifying whether the path nodes comprise different adjacent areas which are different from the area types of the path nodes according to the preset switch marks, and searching for prestored switching data containing different adjacent area information which is different from the area types of the path nodes if the path nodes comprise the different adjacent areas, and obtaining the different adjacent area information; and performing path seeking according to the similar adjacent area information and the different adjacent area information. The method realizes the search of the different adjacent area information so as to realize mixed use of path-seeking data in the mode of lattices and path-seeking data in the mode of navigation meshes in the 3D scene, thereby reducing the complexity and the data quantity of the path-seeking data and the overall path-seeking computation and the overall path-seeking computing speed when guaranteeing the path-seeking effect simultaneously. The invention simultaneously discloses a path-seeking device for the 3D scene.
Description
Technical field
The present invention relates to three-dimensional (3D) technical field, particularly a kind of method for searching of 3D scene and path-seeking device.
Background technology
Pathfinding is to be implemented in a prerequisite that moves in the 3D scene, pathfinding be actually search in the zone walked in the pathfinding data from certain a bit to path of another point, the pathfinding algorithm is a lot, BFS (Breadth First Search) (BFS for example, Breadth First Search), depth-first search (DFS, Depth First Search), heuristic search algorithm or the like.No matter what algorithm, its basis all is the pathfinding data, and any pathfinding algorithm all is applied on the pathfinding data.
The pathfinding data are divided into two kinds according to its data mode, a kind of be with the plane square grid as area unit, hereinafter to be referred as the grid mode, another kind be with spatial triangle as area unit, be the 3D data, hereinafter referred to as navigation grid mode.We are called a path node each zone, the pathfinding algorithm relies on the relation between the node, searches for the adjacent node of start node, searches for the adjacent node of adjacent node again, until searching terminal node, thereby obtain fullpath from some nodes to another node.
Wherein, the grid mode is the plane grid that the scene landform is cut into several same size, each grid is represented a zone, the zone that can walk makes a distinction with the regional available different marks that can not walk, because the grid zone is regular, so the neighbouring relations between the zones of different can impliedly show by zone number.In route searching, just can obtain this regional neighboring BS information indirectly according to zone number.Editor is simple for the grid mode, for general scene editing machine, need not to make separately the pathfinding data, and the generation pathfinding data that just can imply in editor's scene are usually used in the two-dimensional scene.Fig. 1 is the pathfinding schematic diagram data of grid mode, and as shown in Figure 1, the grid that the oblique line covering is arranged is for can not walk the zone, and other grid is for can walk the zone.
Navigation grid mode is made according to the scene landform by the art designing, forms the 3D pathfinding data with 3d space coordinate and hierarchical relationship by triangle, is suitable for the route searching of 3d space.Because delta-shaped region is irregular, the neighbouring relations between its zone can be numbered by vertex of a triangle, and according to having with on one side, promptly the triangle on two identical numbering summits must impliedly obtain for adjacent leg-of-mutton principle.When route searching, just can obtain this regional neighboring BS information indirectly according to the summit numbering.Though the dirigibility of navigation grid is very high, can make the various zones of walking, its makings is very loaded down with trivial details, needs and scene landform strictness correspondence.Fig. 2 is the pathfinding schematic diagram data of navigation grid mode, and as shown in Figure 2, the zone of having only triangle to form is only can walk the zone.
Present 3D scene scale is increasing, and requires seamless link, and all accessible places, the promptly whole 3D world all in a scene, do not need the switching back and forth in a plurality of scenes that does not stop.For large-scale 3D scene, though the dirigibility of navigation grid mode is very high, has natural spatial level sense, possess the path accurately, the advantage of strong sense of reality, it is very huge that but whole audience scape all adopts navigation grid mode to generate the workload of pathfinding data, make very complexity, later maintenance cost is very high, and for the navigation grid, because it is irregular to walk the zone, and come in every shape, quantity is huge, and it is also quite big that it carries out the required calculated amount of route searching; Simultaneously,, be not easy to revise, make the various elements in scene landform and the scene, the layout of building also want the making of forethought, so also can make the design of 3D scene be subjected to certain restriction to the navigation grid owing to make the complicacy of navigation grid.Though and that the mode that adopts grid generates the pathfinding data is simple and convenient, revise easily, but because grid is the plane of 2 dimensions, there is not stereovision, be difficult for simulating the effect that in 3d space, moves, especially in complicated 3D scene such as indoor grade, be difficult to more show real mobile route, make the sense of reality of whole 3D scene have a greatly reduced quality.
Two kinds of pathfinding data types respectively have relative merits, but go back the implementation method that neither one is used two kinds of pathfinding data with in the 3D scene at present.
Summary of the invention
The embodiment of the invention provides a kind of pathfinding data managing method of 3D scene, can be implemented in pathfinding data and the navigation trellis-type pathfinding data of using grid-like in the 3D scene with.
The embodiment of the invention provides a kind of pathfinding data administrator of 3D scene, can be implemented in pathfinding data and the navigation trellis-type pathfinding data of using grid-like in the 3D scene with.
For achieving the above object, technical scheme of the present invention specifically is achieved in that
A kind of method for searching of 3D scene, this method comprises:
According to the area type of default type identification identification path node, the pathfinding data of setting up in advance by inquiry obtain the similar neighboring BS information identical with the area type of described path node;
Whether contain the foreign peoples adjacent area different according to default switch sign identification path node with the area type of self, if have, then search the switch data that comprises the foreign peoples neighboring BS information different of preserving in advance, obtain described foreign peoples's neighboring BS information with the area type of described path node;
Determine similar adjacent area sign according to described similar neighboring BS information; Determine foreign peoples adjacent area sign according to described foreign peoples's neighboring BS information; Use path search algorithm to carry out route searching according to described similar adjacent area sign and foreign peoples adjacent area sign.
A kind of path-seeking device of 3D scene, this device comprises:
The area information module, according to the area type of default type identification identification path node, the pathfinding data of setting up in advance by inquiry obtain the similar neighboring BS information identical with the area type of described path node;
Whether contain the foreign peoples adjacent area different according to default switch sign identification path node with the area type of self, if have, then search the switch data that comprises the foreign peoples neighboring BS information different of preserving in advance, obtain described foreign peoples's neighboring BS information with the area type of described path node;
Path searcher module links to each other with described area information module, is used for determining similar adjacent area sign according to the described similar neighboring BS information that described area information module provides; Determine foreign peoples adjacent area sign according to described foreign peoples's neighboring BS information; Use path search algorithm to carry out route searching according to described similar adjacent area sign and foreign peoples adjacent area sign.
As seen from the above technical solutions, the method for searching of 3D scene of the present invention and path-seeking device, by the annexation between the zone of preserving in the switch data, realized the search of foreign peoples's neighboring BS information, thereby made the pathfinding data that to use grid mode and navigation grid mode in the 3D scene with.Because the pathfinding data of grid mode are being made and operand during route searching all lacks than the pathfinding data of navigation grid mode, combination by this dual mode, when guaranteeing the pathfinding effect, reduce pathfinding complexity of data and data volume, reduced whole pathfinding operand and operation time.In addition, by such design, the 3D scene can be put building freely as soldered circuit board, and scene design and architectural design have had the clearer and more definite division of labor.Whether the architectural design personnel need not to consider can be with on scene be connected.Switch data has been arranged, necessarily can be connected with other zones in the scene as long as the area connectivity in the switch data is just carried out.
Description of drawings
Fig. 1 is the pathfinding schematic diagram data of grid mode;
Fig. 2 is the pathfinding schematic diagram data of navigation grid mode;
Fig. 3 is the 3D scene method for searching process flow diagram of the embodiment of the invention;
Fig. 4 is the 3D scene path-seeking device concrete structure figure of the embodiment of the invention;
Fig. 5 is the area information module concrete structure synoptic diagram of the embodiment of the invention;
Fig. 6 is the pathfinding Data Management Unit concrete structure synoptic diagram of the embodiment of the invention;
Fig. 7 is the path searcher module concrete structure synoptic diagram of the embodiment of the invention.
Embodiment
For making purpose of the present invention, technical scheme and advantage clearer, below with reference to the accompanying drawing embodiment that develops simultaneously, the present invention is described in more detail.
The present invention saves as switch data with the annexation explicitly between two kinds of dissimilar navigation data zones in advance, and distinguish the zone of grid or navigation grid mode by type identification, whether there is the foreign peoples adjacent area by switch sign indicating area, if exist, then when searching route, except similar neighboring BS information, find foreign peoples's neighboring BS information by switch data, thereby obtain the required whole neighboring BS information of route searching, offer the pathfinding algorithm and finish route searching.
Fig. 3 is the 3D scene method for searching process flow diagram of the embodiment of the invention, and as shown in Figure 3, this flow process comprises:
In general, path search algorithm there is no need to know concrete area type, its care be whether can reach from a path node to another path node, as long as that is to say all adjacent areas of knowing certain zone.Therefore, for path search algorithm, as long as offer the unique identification of all adjacent areas in his certain zone, routing algorithm just can carry out route searching.
The adjacent area unique identification can obtain by neighboring BS information.Can not comprise concrete adjacent area unique identification in the similar neighboring BS information, and just can impliedly determine regional adjacent area unique identification indirectly by the intrinsic attribute information in some zones, zone such as grid-like, the origin coordinates that can comprise the zone, peak width, adjacent area pointer or the like is by these information, according to the square regular nature in grid-like zone, can determine the unique identification of its adjacent area indirectly.And the zone of navigation trellis-type can comprise the triangle point coordinate, adjacent area pointer or the like.But in foreign peoples's neighboring BS information foreign peoples neighboring BS information because the area type difference, can't obtain the unique identification of adjacent area by implicit indirectly mode, therefore need to comprise the annexation between the zone in foreign peoples's neighboring BS information, thereby explicitly represents that the adjacent area in zone is those zones, as the unique identification of certain zone and foreign peoples adjacent area thereof.
Therefore, in the step 303, the concrete grammar that carries out route searching according to similar neighboring BS information and foreign peoples's neighboring BS information can be: determine similar adjacent area sign according to described similar neighboring BS information; Determine foreign peoples adjacent area sign according to described foreign peoples's neighboring BS information; Use path search algorithm to carry out route searching according to described similar adjacent area sign and foreign peoples adjacent area sign.Determine that according to similar neighboring BS information the method for similar adjacent area sign can continue to use existing mature technology, here just repeated no more, determine foreign peoples adjacent area sign by foreign peoples's neighboring BS information, can be directly search in the switch data of preserving in advance described in the step 302 and get final product, the path search algorithm here can use existing free routing searching algorithm realization.
In addition, the default type identification described in the step 301 can be included in the unique identification in zone, for example any one data bit in the unique identification of occupied area.Switch in the step 302 sign can be included in the unique identification in zone too, for example any one data bit different with type identification in the unique identification of occupied area.Certainly, type identification and switch sign also can independently exist.
Concrete area data structure can be as follows:
struct?area{
Unsigned int id; // regional unique identification (ID) can be stipulated most significant digit marked region type (grid/navigation grid) here,
Whether // inferior a high position is used for mark should the zone be the exchange area that contains the foreign peoples adjacent area.
}；
struct?area_rect：public?area{
…}；
struct?area_nav：public?area{
…}；
Zone (area) data structure provides to path search algorithm and uses, and has only an id member variable, and it is used for unique locating area data in the pathfinding data.Path search algorithm can use this data structure and the respective function that provides to obtain its inquisitive information, finally obtains complete path.
Grid area (area_rect) data structure is preserved the area information and the neighboring BS information of grid mode, such as the origin coordinates in zone, and peak width, adjacent area pointer or the like all is put into here so long as calculate relevant member variable with grid.Navigation net region (area_nav) data structure is preserved the area information and the neighboring BS information of navigation grid mode, such as the triangle point coordinate, and adjacent area pointer or the like.
The concrete structure of switch data is as follows:
struct?switch{
String name; // switch name
Unsigned int areal; // area I D1
Unsigned int area2; // area I D2
Bool bLock; // whether pin
}；
Switch (switch) structure is used for preserving foreign peoples's neighboring BS information.When path search algorithm need obtain the neighboring BS information in zone,, just need search switch data and obtain the foreign peoples's neighboring BS information that arrives in this zone if this zone is an exchange area that contains the foreign peoples adjacent area.Wherein the name member variable is to be used for searching switch data switch data is operated the unique identification of usefulness, and areal and area2 are respectively the area I D of two adjacent areas.The switch data explicitly has been preserved the annexation in two zones, by searching switch data, just can find wherein certain regional adjacent area ID.Certainly, can also further comprise the information that whether can pass through between two zones in the switch data, in the bool parameter, block represents can not pass through between two zones, similar door is lockable, and whether logical program can be controlled two zones by dynamic control bool variable and can pass through.
In addition, searching algorithm calls these above-mentioned data and can use corresponding function interface to realize, for example:
class?IMap
{
// search join domain
// parameter: id will look for the regional id of join domain.
// parameter: vecId, all join domains that return.
virtual?void?findConnectAreas(unsigned?int?id，vector<unsigned?int>&vecId)＝0；
The cost that moves between two zones of // acquisition
virtual?double?getCost(unsigned?int?id1，unsigned?int?id2)＝0；
The distance in two zones of // acquisition
virtual?double?getDistance(unsigned?int?id1，unsigned?int?id2)＝0；
}；
IMap is an interface class, and the road uses this type of method function that provides just can finish the route searching task through searching algorithm.The road is through searching algorithm and do not know switch data and the specifically existence of grid area data, navigation area data type, and it only knows that a total area data type is just enough.The implementation of concrete function interface can repeat no more here according to prior art.
In the prior art because of finding similar adjacent area, can not use the pathfinding data of grid mode and navigation grid mode with, otherwise can't search whole neighboring BS information, and among the present invention for the zone that foreign peoples's join domain is arranged, and can carry out route searching thereby can offer the whole neighboring BS information of path search algorithm by searching the unique identification that switch data obtains its foreign peoples's join domain.Therefore, in a complete 3D scene, can mix the pathfinding data of using the grid mode and the pathfinding data of navigating the grid mode; For example the pathfinding data of grid mode are simply efficient, the outdoor area that generally can be used for the 3D scene, sense of reality influence for the path is little, and the pathfinding data of navigation grid mode generally are used for the more rich scene of stereovision, for example in the indoor scene, here indoor might not be a house, can also be the abundant scenes of stereovision such as cave, bridge, thereby guarantees the sense of reality in path in the 3D scene as far as possible.The pathfinding data of mixing two types of uses have reduced pathfinding complexity of data and required pathfinding computing time and calculated amount effectively in the sense of reality that guarantees the 3D scene.
Fig. 4 is the 3D scene path-seeking device concrete structure figure of the embodiment of the invention, and as shown in Figure 4, this device comprises:
Wherein, area information module 401 and path searcher module 402 all can adopt equipment such as computing machine, server, intelligent terminal to realize.These equipment have the general-purpose computations ability, can realize corresponding various function by function corresponding software is installed.
Fig. 5 is the area information module concrete structure synoptic diagram of the embodiment of the invention, and preferably, the area information module comprises:
Grid Data Management Unit 501 is used for the neighboring BS information of management grid mode pathfinding data.
Generally in the scene editing machine, as long as editor stops information on landform, the pathfinding data of the grid mode that final pathfinding is used can be calculated by the scene editing machine, need not special making.
Navigation grid administrative unit 502 is used to manage the neighboring BS information of navigation grid mode pathfinding data.
The data of indoor scene are made with modeling tool in advance by the art designing.The art designing will assemble through the building editing machine with BUILDINGS MODELS and Navigation Network lattice model that modeling tool edits.File that building editing machine editor comes out provides and uses to the scene editing machine.And the data that the modeling tool editor comes out can not directly be used.The building editing machine need provide following function, and these information all are local coordinates, specifically is mapped to the scene coordinate again when going in the scene and gets on when building is put into, and just builds the actual coordinate in scene.Stop that information is the zone position information that building will occupy in the world, these zones can not be walked.We later on just can be multiplexing in good these information of building editing machine inediting for each building, need not to edit in scene the barrier zones of building again.
The data management mode of grid mode and navigation grid mode can repeat no more here with reference to existing mature technology.
Switch data administrative unit 503 is used to manage the switch data that comprises the neighboring BS information different with the area type of described path node.
Switch data has write down the annexation between zone and the zone, and according to the type in zone, annexation can have following two kinds:
1, the annexation between the foreign peoples zone.This switch is to be used for the navigation net region is connected with grid area, by this annexation, we just can find certain regional foreign peoples adjacent area, add similar adjacent area, just obtained should the zone whole adjacent areas, thereby the realizing route search.This annexation can be man-to-man, also can be one-to-many.
2, the annexation between the similar zone.This type of switch is mainly used in the design of door.This switch is man-to-man relation, simplicity of design.In the 3D scene, can realize the logic of door by the Push And Release of gauge tap.Such as, the door of closing is opened or the like.Certainly, this annexation is not necessary.
Pathfinding Data Management Unit 504 links to each other respectively with described grid Data Management Unit 501, navigation grid administrative unit 502 and switch data administrative unit 503, is used for the area type according to default type identification identification path node; By inquiring about described grid Data Management Unit 501 or navigation grid administrative unit 502, obtain the similar neighboring BS information identical with the area type of described path node;
Whether contain the adjacent area different according to default switch sign identification path node with the area type of self, if have, then inquire about the switch data of described switch data administrative unit 503 management, obtain the foreign peoples neighboring BS information different with the area type of described path node.
The pathfinding Data Management Unit is used for management grid Data Management Unit, navigation grid administrative unit and switch data administrative unit.It will make these data unified encapsulation, offering path search algorithm uses, under the management of pathfinding Data Management Unit, hidden the organizational form of internal data, no matter area data be the grid mode or navigation grid mode, what zone offers the outside just notion in a unified zone, specifically be, path search algorithm be ignorant also be to be concerned about.The pathfinding Data Management Unit can also offer some interface functions about region operation commonly used of path search algorithm.Such as, obtain the adjacent area of appointed area, search the adjacent area or the like of the cost minimum of appointed area, these interface functions have been arranged, path search algorithm just can have been finished the task of route searching better.Specific implementations such as relevant interface function, data structure can reference method embodiment, has just repeated no more here.
Fig. 6 is the pathfinding Data Management Unit concrete structure synoptic diagram of the embodiment of the invention, and preferably, described pathfinding Data Management Unit comprises:
Identify recognin unit 601, be used to discern the type identification and the switch sign of path node;
Navigation grid search subelement 603, link to each other with described sign recognin unit 601, the type identification that is used for identifying in described sign recognin unit 601 path node is searched for described navigation grid administrative unit 502 during for the navigation grid, obtains the similar neighboring BS information of path node;
Fig. 7 is the path searcher module concrete structure synoptic diagram of the embodiment of the invention, and preferably, described path searcher module comprises:
Search unit links to each other with described interface unit 702, is used for carrying out route searching according to described similar adjacent area sign and foreign peoples adjacent area sign.
By the above embodiments as seen, the method for searching and the path-seeking device of this 3D scene of the present invention, realized the search of foreign peoples's neighboring BS information by switch data, thereby make the pathfinding data that to use grid mode and navigation grid mode in the 3D scene with, because the pathfinding data of grid mode are being made and operand during route searching all lacks than the pathfinding data of navigation grid mode, combination by this dual mode has reduced whole operand, thereby has saved the integral operation time.In addition, by such design, the 3D scene can be put building freely as soldered circuit board, and scene design and architectural design have had the clearer and more definite division of labor.Whether whether architectural design personnel's burden has reduced a lot, and they only need to be concerned about the design problem of a building, go rationally in the scene and need not consider that this building is put into again, can connect.This unified design of switch has been arranged, gone, thereby realized the seamless link of 3D scene as long as they carry out switch just necessarily can be put in the scene.
Institute is understood that; the above is a better embodiment of the present invention only, and is not intended to limit the scope of the invention, and is within the spirit and principles in the present invention all; any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1. the method for searching of a 3D scene is characterized in that, this method comprises:
According to the area type of default type identification identification path node, the pathfinding data of setting up in advance by inquiry obtain the similar neighboring BS information identical with the area type of described path node;
Whether contain the foreign peoples adjacent area different according to default switch sign identification path node with the area type of self, if have, then search the switch data that comprises the foreign peoples neighboring BS information different of preserving in advance, obtain described foreign peoples's neighboring BS information with the area type of described path node;
Determine similar adjacent area sign according to described similar neighboring BS information; Determine foreign peoples adjacent area sign according to described foreign peoples's neighboring BS information; Use path search algorithm to carry out route searching according to described similar adjacent area sign and foreign peoples adjacent area sign.
2. the method for searching of 3D scene as claimed in claim 1 is characterized in that, described default type identification takies any one data bit in the default unique identification of described path node.
3. the method for searching of 3D scene as claimed in claim 2 is characterized in that, described default switch identifies any one data bit different with described type identification in the default unique identification that takies described path node.
4. as the method for searching of claim 1,2 or 3 described 3D scenes, it is characterized in that described similar neighboring BS information comprises: regional build-in attribute information.
5. as the method for searching of claim 1,2 or 3 described 3D scenes, it is characterized in that described foreign peoples's neighboring BS information comprises: the annexation between the zone.
6. the path-seeking device of a 3D scene is characterized in that, this device comprises:
The area information module, according to the area type of default type identification identification path node, the pathfinding data of setting up in advance by inquiry obtain the similar neighboring BS information identical with the area type of described path node;
Whether contain the foreign peoples adjacent area different according to default switch sign identification path node with the area type of self, if have, then search the switch data that comprises the foreign peoples neighboring BS information different of preserving in advance, obtain described foreign peoples's neighboring BS information with the area type of described path node;
Path searcher module links to each other with described area information module, is used for determining similar adjacent area sign according to the described similar neighboring BS information that described area information module provides; Determine foreign peoples adjacent area sign according to described foreign peoples's neighboring BS information; Use path search algorithm to carry out route searching according to described similar adjacent area sign and foreign peoples adjacent area sign.
7. the path-seeking device of 3D scene as claimed in claim 6 is characterized in that, described area information module comprises:
The grid Data Management Unit is used for the neighboring BS information of management grid mode pathfinding data;
Navigation grid administrative unit is used to manage the neighboring BS information of navigation grid mode pathfinding data;
The switch data administrative unit is used to manage the switch data that comprises the neighboring BS information different with the area type of described path node;
The pathfinding Data Management Unit links to each other respectively with described grid Data Management Unit, navigation grid administrative unit and switch data administrative unit, is used for the area type according to default type identification identification path node; By inquiring about described grid Data Management Unit or navigation grid administrative unit, obtain the similar neighboring BS information identical with the area type of described path node;
Whether contain the adjacent area different according to default switch sign identification path node,, then inquire about the switch data of described switch data administrative unit management, obtain the foreign peoples neighboring BS information different with the area type of described path node if having with the area type of self.
8. the path-seeking device of 3D scene as claimed in claim 7 is characterized in that, described pathfinding Data Management Unit comprises:
Identify the recognin unit, be used to discern the type identification and the switch sign of path node;
Grid search subelement links to each other with described sign recognin unit, when the type identification that is used for identifying in described sign recognin unit path node is grid, searches for described grid Data Management Unit, obtains the similar neighboring BS information of path node;
Navigation grid search subelement links to each other with described sign recognin unit, and the type identification that is used for identifying in described sign recognin unit path node is searched for described navigation grid administrative unit when navigating grid, obtains the similar neighboring BS information of path node;
Switch search subelement links to each other with described sign recognin unit, when the switch that is used for identifying in described sign recognin unit path node is designated exchange area, searches for described switch data administrative unit, obtains foreign peoples's neighboring BS information of path node.
9. as the path-seeking device of the described 3D scene of each claim in the claim 6～8, it is characterized in that described path searcher module comprises:
Interface unit is used for obtaining described similar neighboring BS information and foreign peoples's neighboring BS information from described area information module; Determine similar adjacent area sign according to similar neighboring BS information, determine foreign peoples adjacent area sign according to foreign peoples's neighboring BS information;
Search unit links to each other with described interface unit, is used for carrying out route searching according to described similar adjacent area sign and foreign peoples adjacent area sign.
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| CN103020443A (en) * | 2012-12-08 | 2013-04-03 | 大连创达技术交易市场有限公司 | Method for map training |
| CN103714253B (en) * | 2013-12-27 | 2017-01-04 | 北京像素软件科技股份有限公司 | Method and apparatus based on the dynamic pathfinding of hexagon |
| CN104548597B (en) * | 2014-12-26 | 2018-06-01 | 北京像素软件科技股份有限公司 | The automatic generation method and device of navigation grid |
| CN106600697B (en) * | 2016-12-13 | 2019-10-11 | 东北大学 | A kind of navigation grid cartographic representation towards 3D scene |
| CN106964156B (en) * | 2017-03-24 | 2020-10-27 | 腾讯科技（深圳）有限公司 | Path finding method and device |
| CN109859319A (en) * | 2018-12-14 | 2019-06-07 | 浙江永拓信息科技有限公司 | Environment Visualization editing system |
| CN111013146B (en) * | 2019-12-25 | 2024-02-23 | 北京像素软件科技股份有限公司 | Dynamically modifiable way finding navigation method and device for oversized map |
| CN112386911A (en) * | 2020-12-08 | 2021-02-23 | 网易（杭州）网络有限公司 | Navigation grid generation method and device, nonvolatile storage medium and electronic device |
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| CN101504776A (en) | 2009-08-12 |
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