CN104282221A - Method for constructing road network of indoor map - Google Patents
Method for constructing road network of indoor map Download PDFInfo
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- CN104282221A CN104282221A CN201310271809.3A CN201310271809A CN104282221A CN 104282221 A CN104282221 A CN 104282221A CN 201310271809 A CN201310271809 A CN 201310271809A CN 104282221 A CN104282221 A CN 104282221A
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Abstract
An embodiment of the invention provides a method for constructing a road network of an indoor map, which comprises the steps of: describing rooms and functional areas of an indoor environment, describing reference points through map points, and forming a polygonal picture layer of the indoor environment; eliminating channels with widths smaller than a first width threshold in the polygonal picture layer; dividing the polygon for forming communicated triangles in different types, wherein each communicated triangle comprises a corresponding triangular inner sub-chart; combining the communicated triangles which satisfy a first preset condition, and forming a whole road network which comprises indoor road trunks; pairing the indoor road trunks with junction reference points in the map points according to a relationship in the space; and extending the indoor road trunks to the junction reference points, and forming the road network of the indoor map, which corresponds with the polygonal picture layer. The polygon in the polygonal picture layer which corresponds with the indoor environment is divided for forming a plurality of triangles. The indoor road network is automatically constructed. A production efficiency for an indoor map is improved.
Description
Technical field
The present invention relates to electronic map technique, refer to a kind of method building the road network of indoor map especially.
Background technology
According to the important technology that indoor polygon producing basic map indoor map is electronic chart industry.Indoor map is generally by indoor room, and functional area, bears the hinge reference point (POI) of UNICOM's function-such as gate and stairs port, and the common POI-such as formation such as call box and shop.As shown in Figure 1, use polygon (Polygon) to describe indoor room and functional area, use point map (Point) to describe hinge POI and common POI.Therefore, the data in indoor map can be divided into vertex type according to geometric type, polygon type, and these two kinds of data are stored in different polygon layer-Biao respectively.
In the preprocessing process of data, because a variety of causes there will be too narrow impassability path in polygon layer, impassability path can not contribute to the road network of indoor, needs to remove.At present, the provider of indoor map adopts artificial vector quantization to come, to the process of road network, specifically to comprise mostly: indoor polygon base map is imported Map Vectorization system, then manually on indoor polygon base map, describes road network.
There are the following problems for prior art: the requirement of client to the real-time update (freshness) of indoor map is more and more higher, if the indoor environment of reality changes, need to be reflected in the data of indoor map as early as possible, but prior art processes is complicated, fabrication cycle is long, cost is high, cannot realize quick renewal.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of method building the road network of indoor map, for solving in prior art, the technical matters making indoor map is complicated, and fabrication cycle is long, cost is high, cannot realize the defect of the quick renewal to indoor map.
For solving the problems of the technologies described above, embodiments of the invention provide a kind of method building the road network of indoor map, method comprises: adopt polygon to describe room and the functional area of indoor environment, adopts point map to describe reference point, the polygon layer of forming chamber environment; The width removed in described polygon layer is less than the passage of the first width threshold value; Subdivision is carried out to described polygon and forms dissimilar UNICOM's triangle, containing subgraph in corresponding triangle in UNICOM's triangle; The carrying out meeting the first predetermined condition in described UNICOM triangle is merged, and, form the complete road network including indoor road trunk; Include relation according to space between hinge reference point in described indoor road trunk and described reference point to match; Described indoor road trunk is extended to described hinge reference point, until form the road network of the indoor map corresponding with described polygon layer.
In described method, subdivision is carried out to described polygon and forms dissimilar UNICOM's triangle, specifically comprise: for any one triangle, the leg-of-mutton number adjacent according to this triangle, be divided into: UNICOM's triangle, two UNICOM's triangles and three UNICOM's triangles; Wherein: UNICOM's triangle, have a limit as UNICOM limit, adjoin with other triangles, two other limit and barrier adjoin; Outside road enters this UNICOM triangle from described UNICOM limit; Two UNICOM's triangles, have the first UNICOM limit and the second UNICOM limit, and adjoin on limit altogether with other two triangles respectively, another one limit and barrier adjoin; Three UNICOM's triangles, have the first UNICOM limit, the second UNICOM limit and the 3rd UNICOM limit; Adjoin on limit altogether with other three triangles respectively.
In described method, the method generating subgraph in a described leg-of-mutton triangle of UNICOM comprises: calculate a described leg-of-mutton representative point of UNICOM; Calculate the mid point on described leg-of-mutton UNICOM of a UNICOM limit; Connect the mid point on described representative point and described UNICOM limit.
In described method, the method generating subgraph in the described two leg-of-mutton triangles of UNICOM comprises: calculate the mid point on described first UNICOM limit and the second UNICOM limit and be connected, as subgraph in this leg-of-mutton triangle of two UNICOMs.
In described method, the method generating subgraph in the described three leg-of-mutton triangles of UNICOM comprises: the mid point calculating described first UNICOM limit, the second UNICOM limit and the 3rd UNICOM limit, and connects each mid point.
In described method, the carrying out meeting the first predetermined condition is merged, comprising in described UNICOM triangle: when there are multiple three UNICOM's triangles and adjoining each other, by three adjacent UNICOM's merge triangular mesh, form hinge polygon Y; Comprise: step 1, taking out a triangle from depositing the three leg-of-mutton S set of UNICOM, putting into queue Q; Current polygon P is set for empty; Terminate when there is not triangle in described S set; Step 2, when queue Q is not empty, takes out head of the queue triangle T, otherwise forwards step 3 to; When judging the triangle T with triangle T limit altogether in described S set while being three UNICOM's triangles ', T ' is put into queue Q tail of the queue, delete this triangle T from described S set '; Merge polygon P and become described hinge polygon Y with T-shaped; Step 3, calculates the interior some I of described hinge polygon Y; Step 4, in connecting, some I is to the mid point on each limit of described hinge polygon Y, forwards step 1 to.
In described method, the subsequent treatment of carrying out for the polygonal interior subgraph of described hinge comprises: step 1, the hinge reference point of the fixing polygonal interior subgraph of described hinge, judge that the angle through the road on hinge polygon outer boundary is greater than an angle threshold value, then the frontier point on this outer boundary mobile is to reduce this angle; The frontier point that hinge polygon outer boundary formed if move through causes the angle between other line segments of described road excessive, then forward step 2 to; Step 2, fixing described frontier point, generates candidate's hinge reference point at triangle interior, selects candidate's hinge reference point that can reduce angle between line segment also mobile, forms the road network after adjustment.
In described method, described formation indoor road trunk comprises: based on the common limit between described triangle, and the upper point coordinate in limit is consistent, the all road networks generated are merged into a macroreticular, and merging degree is less than 3 line segments, generates LINK, obtain road network backbone network.
In described method, the shape of described LINK is simplified and optimized, comprising: the shortcut calculation using line string, according to certain threshold value, remove the line segment impact of LINK overall shape being less than to LINK threshold value; Wherein, not crossing with polygon, and delete for the degree of LINK end points be 1 too short road.
In described method, the shortcut calculation specifically raster method of described line string, or Douglas-pik that algorithm; Described indoor road trunk being extended to described hinge reference point, comprising: doing hinge with reference to being connected with the vertical line of corresponding described indoor road trunk.
The beneficial effect of technique scheme of the present invention is as follows: carry out subdivision to the polygon in the polygon layer corresponding with indoor environment and form multiple triangle, processes and processes, can automatically build indoor road net to the triangle formed; Improve the efficiency of production indoor map, reduce production cost.
Accompanying drawing explanation
Fig. 1 represents the schematic diagram of polygon layer and POI point map overlay;
Fig. 2 represents a kind of method flow schematic diagram building the road network of indoor map;
Fig. 3 represents the too narrow impassability path schematic diagram in polygon layer;
Fig. 4 represents the schematic diagram be encrypted the polygon in polygon layer and point;
Fig. 5 represents the syntople schematic diagram between subdivision operation Vee formation shape;
The schematic diagram of subgraph in the triangle that Fig. 6 represents generation one UNICOM triangle A1;
The schematic diagram of subgraph in the triangle that Fig. 7 represents generation two UNICOM triangle A2;
The schematic diagram of subgraph in the triangle that Fig. 8 represents generation three UNICOM triangle A3;
Fig. 9 represents the schematic diagram of the road network generated according to the triangle of each type;
Figure 10 represents three adjacent UNICOM triangle A3 merging formation hinge polygons;
Figure 11 represents the schematic diagram of complete road network;
Figure 12 represents the schematic diagram of the frontier point on the polygonal outer boundary of hinge;
Figure 13 represents the schematic diagram of the road network after adjustment;
Figure 14 represents hinge polygon and edge triangles relation schematic diagram;
Figure 15 represents the principle schematic forming indoor road trunk;
Figure 16 represents that generation LINK obtains the schematic diagram of indoor road trunk;
Figure 17 represents the schematic diagram simplifying the shape of LINK and optimize;
Figure 18 represents the schematic diagram that POI is also connected with the vertical line of corresponding road network trunk.
Embodiment
For making the technical problem to be solved in the present invention, technical scheme and advantage clearly, be described in detail below in conjunction with the accompanying drawings and the specific embodiments.
As shown in Figure 1, in polygon layer, for indoor room and functional area, generally use polygon (Polygon) to describe, hinge reference point (POI) and common reference point then use point map (Point) to describe; Therefore, input data and can be divided into vertex type and polygon type according to geometric type.
The embodiment of the present invention provides a kind of method building the road network of indoor map, as shown in Figure 2, comprising:
Step 201, adopts polygon to describe room and the functional area of indoor environment, adopts point map (Point) to describe reference point, the polygon layer of forming chamber environment;
Step 202, the width removed in described polygon layer is less than the passage of the first width threshold value, retains indoor road trunk;
Step 203, carries out subdivision to described polygon and forms dissimilar UNICOM's triangle, containing subgraph in corresponding triangle in UNICOM's triangle;
Step 204, merges the carrying out meeting the first predetermined condition in UNICOM's triangle described in each, and forms the complete road network comprising indoor road trunk;
Step 205, includes relation according to space between the hinge reference point in indoor road trunk and described reference point and matches,
Step 206, extends to described hinge reference point by described indoor road trunk, forms the road network of the indoor map corresponding with described polygon layer.
The technical scheme provided is provided, subdivision is carried out to the polygon in the polygon layer corresponding with indoor environment and forms multiple triangle, the triangle formed is processed and processed, automatically build indoor road net; Improve the efficiency of production indoor map, reduce production cost.
As shown in Figure 3, too narrow impassability road is included in polygon layer, because impassability road can not contribute to the road network of indoor map, therefore need to remove the road being less than the first width threshold value-be such as less than shoulder breadth, and by widening the polygon layer generated for subsequent treatment to each polygon.The object widened removes the road being less than the first width threshold value, in this process, the concrete numerical value of the first width threshold value can be pre-set, if there is error in the polygon layer after widening, such as, when polygon after widening has exceeded the boundary of barrier, manually or automatically again can adjust the polygon in polygon layer.
Therefore, as shown in Figure 3, in polygon layer such as, according to certain threshold value, shoulder breadth, the polygon corresponding to each indoor room generates corresponding buffer zone, obtains multiple polygon widened.
Adopt cap (INTERSECTION) between polygon, calculate the common factor of polygon and the outer boundary polygon B be made up of skin widened, obtain new polygon layer for subsequent treatment.
In an application scenarios, without loss of generality, indoor map comprises N number of indoor room, correspond to N number of polygon widened, and outer boundary polygon B,
As shown in Figure 3, in polygon S and the N widened any one in N, other polygon K carries out cap.
If { S, K} intersect, and calculate that { the union UNION (S, K) of S, K}, adds union UNION (S, K) in N.
After polygon intersection computings all in S and N terminates, if S is crossing with other polygons K, then because both union UNION (S, K) have been added in N, therefore should delete S from N.
In a preferred embodiment, as shown in Figure 4, also comprise after step 201: the density increasing polygon in described polygon layer and point map.
There are some long limits-be called for short long limit in polygon, the road network adopting long limit automatically to build is attractive in appearance not, therefore according to certain length separation, is encrypted polygon and point map.
In an application scenarios, for arbitrary polygon P, according to a fixed step size-such as 2 meters, shape point on encryption polygon, comprise: its length s is calculated to polygonal each limit, calculate encryption step-length s/2, then calculate the position of each pass point on this limit.
In a preferred embodiment, subdivision is carried out to polygon and forms multiple triangle, owing to there being multiple method of polygon being carried out to triangulation in computational geometry, any one concrete triangulation methodology therefore can be adopted to carry out subdivision to polygon.
As shown in Figure 5, after subdivision, several triangles can be obtained, the syntople between record triangle.
In a preferred embodiment, for any one triangle A, the leg-of-mutton number adjacent according to triangle A is divided into: a UNICOM triangle A1, two UNICOM triangle A2 and three UNICOM triangle A3.
As shown in Figure 6, a UNICOM triangle A1, has a limit as UNICOM limit, adjoins with other triangles, and two other limit and barrier adjoin; Outside road enters a UNICOM triangle A1 from described UNICOM limit;
In the triangle generating a UNICOM triangle A1, the method for subgraph comprises:
Calculate the representative point of a UNICOM triangle A1;
Calculate the mid point on the UNICOM limit of a UNICOM triangle A1;
Connect the mid point on described representative point and described UNICOM limit to generate road.
Representative point can be specifically barycenter oftriangle.
As shown in Figure 7, two UNICOM triangle A2, have the first UNICOM limit and the second UNICOM limit, and adjoin on limit altogether with other two triangles respectively, another one limit and barrier adjoin;
In the triangle generating described two UNICOM triangle A2, the method for subgraph comprises:
Calculate the mid point on the first UNICOM limit and the second UNICOM limit and be connected, as subgraph in the triangle of this two UNICOM triangle A2.
As shown in Figure 8, three UNICOM triangle A3, have the first UNICOM limit, the second UNICOM limit and the 3rd UNICOM limit; Adjoin on limit altogether with other three triangles respectively;
In the triangle generating three UNICOM triangle A3, the method for subgraph comprises:
Calculate the mid point on the first UNICOM limit, the second UNICOM limit and the 3rd UNICOM limit, and connect each mid point.
As shown in Figure 9, road network is generated according to the triangle of each type.
In a preferred embodiment, the carrying out meeting the first predetermined condition in UNICOM's triangle is merged (step 204), comprising:
The three UNICOM triangle A3 adjoined each other merge; If there are multiple three UNICOM triangle A3 to adjoin each other, then adjacent multiple three UNICOM triangle A3 are merged, form polygon, because this polygon carries the effect of hinge frontier point in road network, be therefore referred to as hinge polygon.Because the polygonal triangle of composition hinge is three UNICOMs, therefore hinge polygon serves the effect of crossing in road network.
As shown in Figure 10, adjoin each other if there are multiple three UNICOM triangle A3, then merge three adjacent UNICOM triangle A3, form hinge polygon; The step merged comprises:
Step 1, the set of depositing three UNICOM triangle A3 is called S set, takes out three UNICOM triangle A3, put into queue Q from S set; Current, arranging polygon P is NULL; Terminate when there is not triangle in S set; Wherein, if it should be known that two adjacent vertexs of a triangle are the same according to record and mathematical knowledge during triangulation, limit overlaps, then these two adjacent triangles can merge.
Step 2, when queue Q is not empty, takes out the triangle T of head of the queue; Otherwise forward step 3 to;
Judge to be total to the triangle T on limit with triangle T in S set ' be three UNICOM triangle A3, T ' is put into queue Q tail of the queue, from S set, delete triangle T ';
Merge polygon P and triangle T;
Step 3, calculates the interior some I of polygon P;
Step 4, in connecting, some I is to the mid point on each limit of polygon P, forwards step 1 to;
Step 5, circulation step 1 ~ step 4, until the complete road network forming as shown in figure 11.
For making road network more attractive in appearance, in a preferred embodiment, the subsequent treatment of carrying out for subgraph in hinge polygon comprises:
Step a, the hinge reference point of fixing described interior subgraph, if judge, the angle formed through the road of the polygonal outer boundary of hinge is greater than an angle threshold value, then as shown in figure 12, the frontier point on this outer boundary mobile is to reduce this angle; Frontier point refers to, road and described outer boundary through the polygonal outer boundary of hinge intersect formed intersection point.
If moving boundary point causes the angle between other line segments of road excessive, then go to step b;
Step b, fixing described frontier point, generates candidate's hinge reference point at triangle interior, selects candidate's hinge reference point that can reduce angle between line segment also mobile, after having adjusted, forms the road network after adjustment as shown in fig. 13 that.
In an application scenarios, as shown in figure 14, hinge polygon is made up of three UNICOM triangle A3 merging; After merging each three UNICOM triangle A3, the polygonal outer boundary of hinge is also the border of some edge triangles simultaneously, and edge triangles is that some do not belong to hinge polygon, but the triangle adjacent with hinge polygon.
In hinge polygon, with the triangle of outside exist 1 limit or 0 limit adjacent be called inside triangle, wherein, what 0 limit was adjacent is kernel triangle.Usually, in inside triangle, particularly in kernel triangle, the leg-of-mutton internal point of stochastic generation, because leg-of-mutton internal point calculates the knowledge that generation is plane geometry, therefore repeats no more.
In a preferred embodiment, form indoor road trunk (step 204), as shown in figure 15, specifically comprise:
Based on the common limit between triangle, the middle point coordinate on leg-of-mutton limit is consistent, and all road networks generated are merged into a macroreticular, and merging degree is less than 3 line segments, as shown in figure 16, generates LINK, obtains indoor road trunk.For the triangle that limit is adjacent, there is point coordinate in the adjacent side of frontier juncture system altogether the same.
In a preferred embodiment, as shown in figure 17, the shape of described LINK is simplified and is optimized, comprising:
Use the shortcut calculation of line string, according to the removing of certain threshold value, the impact of LINK overall shape is less than to the line segment of LINK threshold value; Wherein, not crossing with polygon, and delete for the degree of LINK end points be 1 too short road.The shortcut calculation specifically raster method of described line string, Douglas-pik that method.
In an application scenarios, after turnpike road network generates, need to carry out certain simplification to its shape, method is as follows:
Use your method of the shortcut calculation-raster method of line string or Douglas-pik, affect little line segment according to certain threshold value-such as 1 meter of removals to LINK overall shape, and not crossing with polygon, the degree of deletion LINK end points is the too short road-namely hang road of 1.
In a preferred embodiment, as shown in figure 17, step 206 specifically comprises: do the vertical line of POI and corresponding indoor road trunk and be connected.
Advantage after employing this programme is: carry out subdivision to the polygon in the polygon layer corresponding with indoor environment and form multiple triangle, processes and processes, can automatically build indoor road net to the triangle formed; Improve the efficiency of production indoor map, reduce cost.
The above is the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from principle of the present invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. build a method for the road network of indoor map, it is characterized in that, method comprises:
Adopt polygon to describe room and the functional area of indoor environment, adopt point map to describe reference point, the polygon layer of forming chamber environment;
The width removed in described polygon layer is less than the passage of the first width threshold value;
Subdivision is carried out to described polygon and forms dissimilar UNICOM's triangle, containing subgraph in corresponding triangle in UNICOM's triangle;
The carrying out meeting the first predetermined condition in described UNICOM triangle is merged, and, form the complete road network including indoor road trunk;
Include relation according to space between hinge reference point in described indoor road trunk and described reference point to match;
Described indoor road trunk is extended to described hinge reference point, until form the road network of the indoor map corresponding with described polygon layer.
2. method according to claim 1, is characterized in that, carries out subdivision and forms dissimilar UNICOM's triangle, specifically comprise described polygon:
For any one triangle, the leg-of-mutton number adjacent according to this triangle, is divided into: UNICOM's triangle, two UNICOM's triangles and three UNICOM's triangles; Wherein:
One UNICOM's triangle, has a limit as UNICOM limit, adjoins with other triangles, and two other limit and barrier adjoin; Outside road enters this UNICOM triangle from described UNICOM limit;
Two UNICOM's triangles, have the first UNICOM limit and the second UNICOM limit, and adjoin on limit altogether with other two triangles respectively, another one limit and barrier adjoin;
Three UNICOM's triangles, have the first UNICOM limit, the second UNICOM limit and the 3rd UNICOM limit; Adjoin on limit altogether with other three triangles respectively.
3. method according to claim 2, is characterized in that, the method generating subgraph in a described leg-of-mutton triangle of UNICOM comprises:
Calculate a described leg-of-mutton representative point of UNICOM;
Calculate the mid point on described leg-of-mutton UNICOM of a UNICOM limit;
Connect the mid point on described representative point and described UNICOM limit.
4. method according to claim 2, is characterized in that, the method generating subgraph in the described two leg-of-mutton triangles of UNICOM comprises:
Calculate the mid point on described first UNICOM limit and the second UNICOM limit and be connected, as subgraph in this leg-of-mutton triangle of two UNICOMs.
5. method according to claim 2, is characterized in that, the method generating subgraph in the described three leg-of-mutton triangles of UNICOM comprises:
Calculate the mid point on described first UNICOM limit, the second UNICOM limit and the 3rd UNICOM limit, and connect each mid point.
6. method according to claim 2, is characterized in that, is merged by the carrying out meeting the first predetermined condition, comprising in described UNICOM triangle:
When there are multiple three UNICOM's triangles and adjoining each other, by three adjacent UNICOM's merge triangular mesh, form hinge polygon Y; Comprise:
Step 1, taking out a triangle from depositing the three leg-of-mutton S set of UNICOM, putting into queue Q; Current polygon P is set for empty; Terminate when there is not triangle in described S set;
Step 2, when queue Q is not empty, takes out head of the queue triangle T, otherwise forwards step 3 to;
When judging the triangle T with triangle T limit altogether in described S set while being three UNICOM's triangles ', T ' is put into queue Q tail of the queue, delete this triangle T from described S set ';
Merge polygon P and become described hinge polygon Y with T-shaped;
Step 3, calculates the interior some I of described hinge polygon Y;
Step 4, in connecting, some I is to the mid point on each limit of described hinge polygon Y, forwards step 1 to.
7. method according to claim 6, is characterized in that, the subsequent treatment of carrying out for the polygonal interior subgraph of described hinge comprises:
Step 1, the hinge reference point of the fixing polygonal interior subgraph of described hinge, judges to be greater than an angle threshold value through the angle of the road on hinge polygon outer boundary, then the frontier point on this outer boundary mobile is to reduce this angle;
The frontier point that hinge polygon outer boundary formed if move through causes the angle between other line segments of described road excessive, then forward step 2 to;
Step 2, fixing described frontier point, generates candidate's hinge reference point at triangle interior, selects candidate's hinge reference point that can reduce angle between line segment also mobile, forms the road network after adjustment.
8. method according to claim 1, is characterized in that, described formation indoor road trunk comprises:
Based on the common limit between described triangle, the upper point coordinate in limit is consistent, all road networks generated are merged into a macroreticular, and merging degree is less than 3 line segments, generates LINK, obtains road network backbone network.
9. method according to claim 8, is characterized in that, simplifies and optimizes, comprising the shape of described LINK:
Use the shortcut calculation of line string, according to certain threshold value, remove the line segment impact of LINK overall shape being less than to LINK threshold value;
Wherein, not crossing with polygon, and delete for the degree of LINK end points be 1 too short road.
10. method according to claim 1, is characterized in that, the shortcut calculation specifically raster method of described line string, or Douglas-pik that algorithm;
Described indoor road trunk being extended to described hinge reference point, comprising: doing hinge with reference to being connected with the vertical line of corresponding described indoor road trunk.
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| CN105352506A (en) * | 2015-09-30 | 2016-02-24 | 百度在线网络技术（北京）有限公司 | Indoor road network planning method and apparatus |
| CN105893703A (en) * | 2016-04-27 | 2016-08-24 | 中国地质大学（武汉） | Polygon-based main road selection method of urban road network |
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