CN102915669A - Method and device for manufacturing live-action map - Google Patents
Method and device for manufacturing live-action map Download PDFInfo
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Abstract
The invention relates to a method and a device for manufacturing a live-action map. The method comprises the following steps: acquiring a plurality of video images acquired by a plurality of cameras; synthetizing and processing the plurality of video images to form a full-view video image; identifying a target object in the full-view video image and geographic information of the target object; marking the target object to acquire the marked target object; renewedly mapping the marked target object to the full-view video image; and performing map drawing processing on the full-view video image according to the geographic information of the target object and generating the live-action map. The method and the device have the beneficial effects that real-time manufacturing of the live-action map can be realized by a user, and a traditional mode that the live-action map needs to be manufactured by a special team and the user can use the map by only payment or internet is broken through; and by adopting the live-action map manufactured by the method and the device, the live-action map can be used free, and the dependence of internet loading on signals and geographical conditions can also be avoided.
Description
Technical field
The present invention relates to image processing, virtual reality field, relate to more specifically a kind of method for making and device of outdoor scene map.
Background technology
Map is requisite life instrument in people's life and work, along with the prosperity of traffic and the development of tourist industry, experiences in order to obtain better map, and increasing people selects to use the outdoor scene map.The outdoor scene map is a kind of very interesting map roam mode, people can roam on the virtual avenue with 360 degree visual angles, view and admire the street corner scene. the virtual reality that the superior position enquiring ability that electronic chart is had and panorama provide is experienced and is combined, and very large facility is provided will for the usual life of people, trip etc.
Present outdoor scene map mainly is to rely on satellite map, as: google streetscape map, perhaps some professional website team make, as: city etc., general this map all needs to pay or internet services, and map all is to make early stage, geography information that can only display standard, the operations such as the user can not make amendment to it, mark, these problems have all caused inconvenience to user's use.
Summary of the invention
In order to solve the problems of the technologies described above, the invention provides a kind of method for making and device of outdoor scene map, break through in the past the outdoor scene map and need to rely on professional team to make, the user can only pay or the pattern of its map of networking.
In order to achieve the above object, the technical solution used in the present invention is: a kind of method for making of outdoor scene map may further comprise the steps:
Obtain a plurality of video images of a plurality of camera collections;
Described a plurality of video images are synthesized processing form full-view video image;
Identify destination object in the described full-view video image and the geography information of described destination object, and described destination object is marked processing, the destination object after obtaining marking;
Destination object behind the described mark is remapped in the described full-view video image;
According to the geography information of described destination object, described full-view video image is carried out mapping process, generate the outdoor scene map.
Further, described a plurality of video images being synthesized the step of processing the formation full-view video image comprises:
Described a plurality of video images are carried out audio video synchronization;
Described a plurality of video images that will carry out after the audio video synchronization splice the generating panoramic video image in real time.
Further,
Described a plurality of video image is through the video image after the anti-shake processing.
Further, further comprising the steps of:
Preservation also shows described outdoor scene map.
Further, described destination object is marked processing, the step of the destination object after obtaining marking comprises:
Attribute according to described geography information uses different marks that described destination object is carried out classification annotation.
Further, the step that the destination object behind the described mark is remapped in the described full-view video image comprises:
Take described full-view video image as the basis, in conjunction with described geography information, described geography information is mapped on the described full-view video image in real time.
Further, according to the geography information of described destination object, described full-view video image is carried out mapping process, the step that generates the outdoor scene map comprises:
Described destination object and GPS latitude and longitude information are mated;
Mark that will be corresponding with described destination object and corresponding GPS latitude and longitude information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
Further, mark that will be corresponding with described destination object and corresponding GPS latitude and longitude information append to the correspondence position in the described full-view video image, and the step that generates the outdoor scene map comprises:
Input the user under the condition of the user annotation information that comprises traffic information, mark that will be corresponding with described destination object, corresponding GPS latitude and longitude information and described user annotation information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
The present invention also provides a kind of producing device of outdoor scene map, comprising:
Video acquisition module is obtained a plurality of video images of a plurality of camera collections;
The video synthesis module is used for that described a plurality of video images are synthesized processing and forms full-view video image;
The target identification module identifies destination object in the described full-view video image and the geography information of described destination object, and described destination object is marked processing, the destination object after obtaining marking;
The mapping module is remapped to the destination object behind the described mark in the described full-view video image, and according to the geography information of described destination object, described full-view video image is carried out mapping process, and generates the outdoor scene map.
Further, described video synthesis module specifically is used for described a plurality of video images are carried out audio video synchronization, and described a plurality of video images that will carry out after the audio video synchronization splice generating panoramic video in real time.
Further, also comprise for described a plurality of video images being carried out anti-shake processing, avoiding the image blurring anti-shake module of video.
Further, also comprise be used to the map memory module of preserving described outdoor scene map, and the display module that shows described outdoor scene map.
Further, described target identification module specifically is used for using different marks that described destination object is carried out classification annotation according to the attribute of described geography information.
Further, described mapping module specifically is used for described destination object and GPS latitude and longitude information are mated, and be used for will be corresponding with described destination object mark and the corresponding GPS latitude and longitude information correspondence position that appends to described full-view video image, generate the outdoor scene map.
Further, also comprise human-computer interaction module, be used for the user annotation information that user's input comprises traffic information.
Further, described mapping module also is used for inputting under the condition of the user annotation information that comprises traffic information the user, mark that will be corresponding with described destination object, corresponding GPS latitude and longitude information and described user annotation information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
Further, comprise that also described map sharing module comprises for the map sharing module that realizes that the outdoor scene map is shared between the vehicle:
Judging unit is used for judging whether other vehicles have the outdoor scene map;
Transmitting element has at other vehicles under the condition of outdoor scene map, sends the request that the outdoor scene map is shared;
Receiving element is agreed to receive the outdoor scene map that other vehicles send under the shared condition of outdoor scene map at other vehicles.
The invention has the beneficial effects as follows: the present invention can make the user realize the real-time manufacturing of outdoor scene map, has broken through traditional outdoor scene map and need to rely on professional team to make, and the user can only pay or the pattern of its map of networking;
The present invention makes the outdoor scene map except can freely using, the dependence of download to signal and geographical environment of can also avoiding networking;
The outdoor scene map of current surrounding environment is recorded at the setup and use family of display module and map sharing module in real time DIY, is shown to the user, can realize that different vehicle carry out map and share by communication modes such as wlan simultaneously;
The outdoor scene map of making is preserved the map data base that can be used as the user by the map memory module, for later on, also can by the modes such as wlan or bluetooth realize and a plurality of vehicle between shared, with renewal and the expansion of realization map;
In addition, the present invention also is furnished with human-computer interaction module, can be used for the modification of outdoor scene map is replenished and renewal, can make the user obtain the up-to-date information of current route, has greatly promoted user's experience.
Description of drawings
Fig. 1 represents the process flow diagram of the method for making of outdoor scene map of the present invention;
Fig. 2 represents the process flow diagram of the method for making of outdoor scene map of the present invention;
Fig. 3 represents the structured flowchart of the producing device of outdoor scene map of the present invention;
Fig. 4 represents the structured flowchart of the producing device of outdoor scene map of the present invention.
Embodiment
Below in conjunction with accompanying drawing structure of the present invention and principle are elaborated, illustrated embodiment only is used for explaining the present invention, is not to limit protection scope of the present invention with this.
Need to rely on professional team to make in order to break through traditional outdoor scene map, the user can only pay or the pattern of its map of networking, the invention provides a kind of method for making of outdoor scene map, as shown in Figure 1, the method for making of the outdoor scene topic figure in the present embodiment may further comprise the steps:
Obtain a plurality of video images of a plurality of camera collections;
Described a plurality of video images are synthesized processing form full-view video image;
Identify destination object in the described full-view video image and the geography information of described destination object, and described destination object is marked processing, the destination object after obtaining marking;
Destination object behind the described mark is remapped in the described full-view video image;
According to the geography information of described destination object, described full-view video image is carried out mapping process, generate the outdoor scene map.
In the present embodiment, vehicle front, left, the right-hand camera that varying number respectively is installed, quantity and position that camera is installed are to guarantee to collect the video image of vehicle periphery 360 degree.
Installation site and the quantity of concrete camera, to arrange according to the visual angle of concrete camera, such as: if adopt 120 ° of special-purpose wide-angle cameras, minimum will be forwardly, left front and right front respectively install one, guarantees that the scenery of 360 ° of vehicle peripheries can be collected.If the camera visual angle of installing is smaller, then need a plurality of cameras are installed, thus the panoramic view around guaranteeing to obtain.
When needing to make the outdoor scene map, start the camera of vehicle periphery, comprising vehicle body the place ahead, left and right-hand camera, adjust each camera and be in normal duty, namely camera can normally gather current view data.
Because camera is to be installed on the vehicle, the vibrations that engine produces can cause the high-frequency vibration of camera, and vehicle is in motion process, owing to the road reason can produce violent low-frequency vibration, these vibrations all can impact the video of camera collection, produce the fuzzy and float of video etc.So will carry out anti-shake processing to the video image of each camera output, (special processing refers to: the Image post-processing algorithm such as anti-shake processing and image sharpening namely video image to be carried out estimation and special processing, make the image more clear), eliminate because vehicle body vibrations or the mobile video that causes are fuzzy and float, thereby guarantee to obtain the steady and audible video image of each camera collection.
In order to allow the user see the video effect of continuous three-dimensional panorama, can not exist obvious crease and the discontinuous effect of splicing described a plurality of video images need to be synthesized to process and form full-view video image, specifically may further comprise the steps:
(1) described a plurality of video images is carried out audio video synchronization;
Video after the anti-shake processing of each camera is not strict synchronous in time, must carry out audio video synchronization, during audio video synchronization, can set a time threshold according to the frame per second of video, such as: frame per second is 30fps, and then each the road video image in the 33ms is all as synchronous frame.It is fixed that concrete threshold value can be come according to the frame per second that the user selects.
Described a plurality of video images that (2) will carry out after the audio video synchronization splice the generating panoramic video image in real time.
Each road video image synchronously, just can carry out video synthetic, the synthetic ultimate principle of video is mated and correlation analysis each road video image exactly, splice in real time afterwards, generating panoramic video image, this full-view video image video are exactly the basis of carrying out target identification the later stage and making the outdoor scene map.
In the present embodiment, the synthetic ultimate principle of video is specially carries out content analysis in each road video, extracts the similar part of content, synthesizes splicing, thereby forms a secondary continuous outdoor scene map.This principle is identical with the realization principle that the panoramas of panorama camera function realization 360 degree of general camera are taken pictures.
In the present embodiment, identify in the geography information step of destination object in the described full-view video image and described destination object, be specially by professional Target Recognition Algorithms the destination object in the full-view video image is identified, and extract the geography information of described destination object.
Described Target Recognition Algorithms can be pattern-recognition or textual scan, can certainly be other Target Recognition Algorithms, as long as can identify the destination object in the full-view video image.
Described destination object is mainly street in the full-view video image, crossing, traffic lights, buildings etc.
In the present embodiment, described destination object is marked processing, the step of the destination object after obtaining marking specifically comprises: the attribute according to described geography information uses different marks that described destination object is carried out classification annotation.
Described mark can be sign flag, also can be word marking, for also using phonetic symbol to mark destination object such as necessary informations such as red lights.Can certainly for other mark patterns, give unnecessary details no longer one by one at this.
In the present embodiment, the step that the destination object behind the described mark is remapped in the described full-view video image comprises:
Take described full-view video image as the basis, in conjunction with described geography information, described geography information is mapped on the described full-view video image in real time.
In the present embodiment, according to the geography information of described destination object, described full-view video image is carried out mapping process, the step that generates the outdoor scene map comprises:
Described destination object and GPS latitude and longitude information are mated;
Mark that will be corresponding with described destination object and corresponding GPS latitude and longitude information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
As shown in Figure 2, for the user can experience more fresh accurately outdoor scene map, the method for making of outdoor scene map of the present invention is further comprising the steps of:
Need to be under the condition that the outdoor scene map is made amendment the user, the user inputs user annotation information.
Described user annotation information can comprise the information such as traffic lights damage, traffic congestion is serious.
Accordingly, mark that will be corresponding with described destination object and corresponding GPS latitude and longitude information append to the correspondence position in the described full-view video image, and the step that generates the outdoor scene map comprises:
Input the user under the condition of the user annotation information that comprises traffic information, mark that will be corresponding with described destination object, corresponding GPS latitude and longitude information and described user annotation information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
Understand in order to allow the user that geography information is on every side had more fully, traffic route is had more accurately judge, the method for making of outdoor scene map of the present invention is further comprising the steps of:
Preservation also shows described outdoor scene map.
Drawn outdoor scene map can directly be sent to display device, and the outdoor scene map of vehicle periphery is provided in real time for the user, allows the user that geography information is on every side had more fully and understands, and traffic route is had more accurately judge.
Drawn outdoor scene map is stored, with the map data base of this outdoor scene map as user oneself, for later on.
For renewal and the expansion that realizes user's map data base, the user can detect other vehicles by communication modes such as WLAN or bluetooths and whether have the outdoor scene map function, have at other vehicles under the condition of outdoor scene map function, send the request that the outdoor scene map is shared by communication modes such as WLAN or bluetooths to other vehicles, and under the condition that other vehicles permission outdoor scene maps are shared, receive the outdoor scene map that other vehicles send, realize that the outdoor scene map is shared, the renewal of the map data base of completing user and expansion.
As shown in Figure 3, the present invention also provides a kind of producing device of outdoor scene map, comprising:
Video acquisition module is obtained a plurality of video images of a plurality of camera collections;
The video synthesis module is used for that described a plurality of video images are synthesized processing and forms full-view video image;
The target identification module identifies destination object in the described full-view video image and the geography information of described destination object, and described destination object is marked processing, the destination object after obtaining marking;
The mapping module is remapped to the destination object behind the described mark in the described full-view video image, and according to the geography information of described destination object, described full-view video image is carried out mapping process, and generates the outdoor scene map.
Described video acquisition module is mainly used in obtaining a plurality of video images of a plurality of camera collections of vehicle front, left, right-hand installation, and quantity and position that camera is installed will guarantee that described video acquisition module can obtain the video image of vehicle periphery 360 degree.
Installation site and the quantity of concrete camera, to arrange according to the visual angle of concrete camera, such as: if adopt 120 ° of special-purpose wide-angle cameras, minimum will be forwardly, left front and right front respectively install one, guarantees that the scenery of 360 ° of vehicle peripheries can be collected.If the camera visual angle of installing is smaller, then need a plurality of cameras are installed, thus the panoramic view around guaranteeing to obtain.
When needing to make the outdoor scene map, start the camera of vehicle periphery, comprising vehicle body the place ahead, left and right-hand camera, adjust each camera and be in normal duty, namely camera can normally gather current view data.
Because camera is to be installed on the vehicle, the vibrations that engine produces can cause the high-frequency vibration of camera, and vehicle is in motion process, owing to the road reason can produce violent low-frequency vibration, these vibrations all can impact the video of camera collection, produce the fuzzy and float of video etc.In order to solve the problems of the technologies described above, the producing device of outdoor scene map of the present invention also comprises for described a plurality of video images being carried out anti-shake processing, avoiding the image blurring anti-shake module of video.
The anti-shake module of described video is used for the video image of each camera output is carried out anti-shake processing, (special processing refers to: the Image post-processing algorithm such as anti-shake processing and image sharpening namely video image to be carried out estimation and special processing, make the image more clear), eliminate because vehicle body vibrations or the mobile video that causes are fuzzy and float, thereby guarantee to obtain the steady and audible video image of each camera collection.
In order to allow the user see the video effect of continuous three-dimensional panorama, can not exist obvious crease and the discontinuous effect of splicing described a plurality of video images need to be synthesized to process and form full-view video image, described video synthesis module specifically is used for described a plurality of video images are carried out audio video synchronization, and described a plurality of video images that will carry out after the audio video synchronization splice generating panoramic video in real time.
Video after the anti-shake processing of each camera is not strict synchronous in time, must carry out audio video synchronization, during audio video synchronization, can set a time threshold according to the frame per second of video, such as: frame per second is 30fps, and then each the road video image in the 33ms is all as synchronous frame.It is fixed that concrete threshold value can be come according to the frame per second that the user selects.
Each road video image synchronously, just can carry out video synthetic, the synthetic ultimate principle of video is mated and correlation analysis each road video image exactly, splice in real time afterwards, generating panoramic video image, this full-view video image video are exactly the basis of carrying out target identification the later stage and making the outdoor scene map.
In the present embodiment, the synthetic ultimate principle of video is specially carries out content analysis in each road video, extracts the similar part of content, synthesizes splicing, thereby forms a secondary continuous outdoor scene map.This principle is identical with the realization principle that the panoramas of panorama camera function realization 360 degree of general camera are taken pictures.
Described target identification module specifically is used for by professional Target Recognition Algorithms the destination object of full-view video image being identified, and extracts the geography information of described destination object.
Described Target Recognition Algorithms can be pattern-recognition or textual scan, can certainly be other Target Recognition Algorithms, as long as can identify the destination object in the full-view video image.
Described destination object is mainly street in the full-view video image, crossing, traffic lights, buildings etc.
Described target identification module specifically is used for using different marks that described destination object is carried out classification annotation according to the attribute of described geography information.
Described mark can be sign flag, also can be word marking, for also using phonetic symbol to mark destination object such as necessary informations such as red lights.Can certainly for other mark patterns, give unnecessary details no longer one by one at this.
Described mapping module specifically is used for described destination object and GPS latitude and longitude information are mated, and be used for will be corresponding with described destination object mark and the corresponding GPS latitude and longitude information correspondence position that appends to described full-view video image, generate the outdoor scene map.
As shown in Figure 4, for the user can experience more fresh accurately outdoor scene map, the producing device of outdoor scene map of the present invention also comprises human-computer interaction module, is used for the user annotation information that user's input comprises traffic information.
Described user annotation information can comprise the information such as traffic lights damage, traffic congestion is serious.
Accordingly, described mapping module also is used for inputting under the condition of the user annotation information that comprises traffic information the user, mark that will be corresponding with described destination object, corresponding GPS latitude and longitude information and described user annotation information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
Understand in order to allow the user that geography information is on every side had more fully, traffic route there is more accurately judgement, the producing device of outdoor scene map of the present invention also comprises be used to the map memory module of preserving described outdoor scene map, and the display module that shows described outdoor scene map.
Drawn outdoor scene map can directly be sent to display module, and the outdoor scene map of vehicle periphery is provided in real time for the user, allows the user that geography information is on every side had more fully and understands, and traffic route is had more accurately judge.
Drawn outdoor scene map is sent to the map memory module stores, with the map data base of this outdoor scene map as user oneself, for later on.
For renewal and the expansion that realizes user's map data base, the producing device of outdoor scene map of the present invention comprises that also described map sharing module comprises for the map sharing module that realizes that the outdoor scene map is shared between the vehicle:
Judging unit is used for judging whether other vehicles have the outdoor scene map;
Transmitting element has at other vehicles under the condition of outdoor scene map, sends the request that the outdoor scene map is shared;
Receiving element is agreed to receive the outdoor scene map that other vehicles send under the shared condition of outdoor scene map at other vehicles.
Described judging unit can detect other vehicles by communication modes such as WLAN or bluetooths and whether have the outdoor scene map function.
Described transmitting element has at other vehicles under the condition of outdoor scene map function, sends the request that the outdoor scene map is shared by communication modes such as WLAN or bluetooths to other vehicles.
Described receiving element allows to receive the outdoor scene map that other vehicles send under the shared condition of outdoor scene map at other vehicles, realizes that the outdoor scene map is shared, the renewal of the map data base of completing user and expansion.
In the present embodiment, described display module and the described human-computer interaction module structure that becomes one, during specific implementation, the user can browse the outdoor scene map by the display screen on the vehicle, and the operation of inputting user annotation information.
In the present embodiment, described video just progressive die piece, the anti-shake module of described video, described video synthesis module, described target identification module, described mapping module, described map memory module, described map sharing module is integrated in the CPU (central processing unit).
The above is preferred embodiment of the present invention, should be pointed out that to those skilled in the art, under the prerequisite that does not break away from principle of the present invention, can also make some improvements and modifications, and these improvements and modifications also should be considered as protection domain of the present invention.
Claims (17)
1. the method for making of an outdoor scene map is characterized in that, may further comprise the steps:
Obtain a plurality of video images of a plurality of camera collections;
Described a plurality of video images are synthesized processing form full-view video image;
Identify destination object in the described full-view video image and the geography information of described destination object, and described destination object is marked processing, the destination object after obtaining marking;
Destination object behind the described mark is remapped in the described full-view video image;
According to the geography information of described destination object, described full-view video image is carried out mapping process, generate the outdoor scene map.
2. the method for making of outdoor scene map according to claim 1 is characterized in that, described a plurality of video images is synthesized the step of processing the formation full-view video image comprise:
Described a plurality of video images are carried out audio video synchronization;
Described a plurality of video images that will carry out after the audio video synchronization splice the generating panoramic video image in real time.
3. the method for making of outdoor scene map according to claim 1 is characterized in that,
Described a plurality of video image is through the video image after the anti-shake processing.
4. the method for making of outdoor scene map according to claim 1 is characterized in that, and is further comprising the steps of:
Preservation also shows described outdoor scene map.
5. the method for making of outdoor scene map according to claim 1 is characterized in that, described destination object is marked processing, and the step of the destination object after obtaining marking comprises:
Attribute according to described geography information uses different marks that described destination object is carried out classification annotation.
6. the method for making of outdoor scene map according to claim 1 is characterized in that, the step that the destination object behind the described mark is remapped in the described full-view video image comprises:
Take described full-view video image as the basis, in conjunction with described geography information, described geography information is mapped on the described full-view video image in real time.
7. the method for making of outdoor scene map according to claim 1 is characterized in that, according to the geography information of described destination object, described full-view video image is carried out mapping process, and the step that generates the outdoor scene map comprises:
Described destination object and GPS latitude and longitude information are mated;
Mark that will be corresponding with described destination object and corresponding GPS latitude and longitude information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
8. the method for making of outdoor scene map according to claim 7 is characterized in that, mark that will be corresponding with described destination object and corresponding GPS latitude and longitude information append to the correspondence position in the described full-view video image, and the step that generates the outdoor scene map comprises:
Input the user under the condition of the user annotation information that comprises traffic information, mark that will be corresponding with described destination object, corresponding GPS latitude and longitude information and described user annotation information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
9. the producing device of an outdoor scene map is characterized in that, comprising:
Video acquisition module is obtained a plurality of video images of a plurality of camera collections;
The video synthesis module is used for that described a plurality of video images are synthesized processing and forms full-view video image;
The target identification module identifies destination object in the described full-view video image and the geography information of described destination object, and described destination object is marked processing, the destination object after obtaining marking;
The mapping module is remapped to the destination object behind the described mark in the described full-view video image, and according to the geography information of described destination object, described full-view video image is carried out mapping process, and generates the outdoor scene map.
10. the producing device of outdoor scene map according to claim 9, it is characterized in that, described video synthesis module specifically is used for described a plurality of video images are carried out audio video synchronization, and described a plurality of video images that will carry out after the audio video synchronization splice generating panoramic video in real time.
11. the producing device of outdoor scene map according to claim 9 is characterized in that, also comprises for described a plurality of video images being carried out anti-shake processing, avoiding the image blurring anti-shake module of video.
12. the producing device of outdoor scene map according to claim 9 is characterized in that, also comprises be used to the map memory module of preserving described outdoor scene map, and the display module that shows described outdoor scene map.
13. the producing device of outdoor scene map according to claim 9 is characterized in that, described target identification module specifically is used for using different marks that described destination object is carried out classification annotation according to the attribute of described geography information.
14. the producing device of outdoor scene map according to claim 9, it is characterized in that, described mapping module specifically is used for described destination object and GPS latitude and longitude information are mated, and be used for will be corresponding with described destination object mark and the corresponding GPS latitude and longitude information correspondence position that appends to described full-view video image, generate the outdoor scene map.
15. the producing device of outdoor scene map according to claim 14 is characterized in that, also comprises human-computer interaction module, is used for the user annotation information that user's input comprises traffic information.
16. the producing device of outdoor scene map according to claim 15, it is characterized in that, described mapping module also is used for inputting under the condition of the user annotation information that comprises traffic information the user, mark that will be corresponding with described destination object, corresponding GPS latitude and longitude information and described user annotation information append to the correspondence position in the described full-view video image, generate the outdoor scene map.
17. the producing device of outdoor scene map according to claim 9 is characterized in that, comprises that also described map sharing module comprises for the map sharing module that realizes that the outdoor scene map is shared between the vehicle:
Judging unit is used for judging whether other vehicles have the outdoor scene map;
Transmitting element has at other vehicles under the condition of outdoor scene map, sends the request that the outdoor scene map is shared;
Receiving element is agreed to receive the outdoor scene map that other vehicles send under the shared condition of outdoor scene map at other vehicles.
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| PCT/CN2013/077112 WO2013170797A1 (en) | 2012-10-17 | 2013-06-09 | Method and device for producing real-view map |
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