CN105138859A - Three-dimensional panorama roaming path finding method and system - Google Patents
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Abstract
The invention discloses a three-dimensional panorama roaming path finding method and a three-dimensional panorama roaming path finding system and belongs to the technical field of route planning. The method comprises the following steps: acquiring a three-dimensional panorama graph and information related to nodes in the three-dimensional panorama graph; describing a data structure of the information related to the nodes in a JSON (Java Script Object Notation) data conversion format and acquiring an undirected graph; according to the data structure and the undirected graph, establishing an obstacle list and a key node list; setting a starting node and a target node in the nodes of the three-dimensional panorama graph; and calculating a path between the starting node and the target node by using the obstacle list and an A*algorithm combined with the key node list. By utilizing the path finding method, when an obstacle exists between the starting node and the target node, the path is cut into two sections or a plurality of sections to carry out path finding, and ergodic nodes are remarkably reduced, so that the path searching efficiency can be improved.
Description
Technical field
The present invention relates to Path Planning Technique field, in particular to a kind of three-dimensional panorama roaming method for searching and system.
Background technology
At present, three-dimensional panorama roaming (Panorama) technology belonging to the important component part of virtual reality (VirtualReality) has wide market application foreground, has great significance to the construction and development in the fields such as smart city, Intelligent campus, exhibition, tourism, real estate, city planning.When adopting the existing A* as a kind of shortest path first (A-star) algorithm to carry out path navigation and path planning in three-dimensional panorama roaming, because A* algorithm depends on heuristic function, if there is barrier between start node and destination node, then A* algorithm needs to travel through more node, causes route searching efficiency lower and consumption of natural resource.This shows, need in three-dimensional panorama roaming a kind of can by improving A* algorithm and there is barrier between start node and destination node improve route searching efficiency three-dimensional panorama roam method for searching.
Summary of the invention
Given this, the object of the present invention is to provide a kind of three-dimensional panorama to roam method for searching and system, the problem that when utilizing the three-dimensional panorama of existing A* algorithm to roam in exist between start node and destination node barrier to improve, route searching efficiency is lower.
First embodiment of the invention provides a kind of three-dimensional panorama to roam method for searching, comprising: obtain three-dimensional panorama figure and the information relevant to the node in described three-dimensional panorama figure; Describe the data structure of the information relevant to described node with JSON (JavaScriptObjectNotation) data interchange format and obtain non-directed graph; According to described data structure and described non-directed graph, set up barrier list and key node list; Start node and destination node is set in node in described three-dimensional panorama figure; The A* algorithm that utilization combines with described barrier list and described key node list calculates the path between described start node and described destination node.
Second embodiment of the invention provides a kind of three-dimensional panorama to roam Pathfinding system, comprising: acquisition module, for obtaining three-dimensional panorama figure and the information relevant to the node in described three-dimensional panorama figure; Describing module, for describing the data structure of the information relevant to described node with JSON data interchange format and obtaining non-directed graph; Set up module, for according to described data structure and described non-directed graph, set up barrier list and key node list; Setting module, for setting start node and destination node in the node in described three-dimensional panorama figure; Computing module, calculates path between described start node and described destination node for utilizing the A* algorithm combined with described barrier list and described key node list.
The three-dimensional panorama provided in various embodiments of the present invention is roamed in method for searching and system, by describe with JSON data interchange format to the relevant information of acquisition three-dimensional panorama figure interior joint data structure and obtain non-directed graph, and therefore set up barrier list and key node list, utilize when setting start node and destination node in the node after this in three-dimensional panorama figure the A* algorithm combined with set up barrier list and key node list calculate set by start node and destination node between path.Existing A* algorithm is adopted to carry out path navigation and path planning relative in three-dimensional panorama roaming, owing to setting up barrier list and key node list in invention in advance, and on this basis in conjunction with A* algorithm, so is cut in two in path when can there is barrier between start node and destination node or multistage carries out pathfinding, the remarkable node reducing traversal, thus route searching efficiency can be improved.
For making above and other object of the present invention, feature and advantage can become apparent, preferred embodiment cited below particularly, and coordinate institute's accompanying drawings, are described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.Shown in accompanying drawing, above-mentioned and other object of the present invention, Characteristics and advantages will be more clear.Reference numeral identical in whole accompanying drawing indicates identical part.Deliberately do not draw accompanying drawing by physical size equal proportion convergent-divergent, focus on purport of the present invention is shown.
The process flow diagram of the three-dimensional panorama roaming method for searching that Fig. 1 provides for first embodiment of the invention;
The process flow diagram of the concrete pathfinding algorithm in the three-dimensional panorama roaming method for searching that Fig. 2 provides for first embodiment of the invention;
The structural representation of the three-dimensional panorama roaming Pathfinding system that Fig. 3 provides for second embodiment of the invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, carry out clear, complete description to the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Before the description carrying out specific embodiment, first the concise and to the point three-dimensional panorama that describes roams some functions needing in pathfinding to use.When carrying out route searching, need to use the evaluation function represented by following formula (1):
f(m)＝g(m)+h(m)(1)
Wherein, m represents present node, g (m) represents the actual range of start node and present node, and h (m) represents the shortest path (ignoring barrier) of present node m and destination node, and f (m) represents the evaluation function of present node m.
Usually manhatton distance can be adopted to calculate the actual range between present node m and destination node end.Manhatton distance calculates and is represented by following formula (2):
h(m)＝l×(|mx-endx|+|my-endy|)(2)
Wherein, l represents mobile weights, and mx, my, endx, endy represent plane horizontal ordinate and the ordinate of present node m and destination node end respectively.
Distance between two points formula can also be adopted to calculate the actual range between present node m and destination node end.When planimetric coordinates, the distance length formula represented by following formula (3) can be adopted:
Wherein, mx, my, endx, endy represent horizontal ordinate and the ordinate of present node m and destination node end respectively.
When volume coordinate, the distance length formula represented by following formula (4) can be adopted:
Wherein, mx, my, mz, endx, endy, endz represent the three-dimensional coordinate of present node m and destination node end respectively.
In addition, if map is comparatively large, all right choice for use earth 2 range formulas, it comprises the Great-circledistance formula represented by following formula (5) and the Haversine formula represented by following formula (6):
Wherein, R is earth radius, θ
mand θ
endrepresent the latitude of present node m and destination node end respectively,
with
represent the longitude of present node m and destination node end respectively.
The three-dimensional panorama provided in various embodiments of the present invention is roamed in method for searching and system, by describe with JSON data interchange format to the relevant information of acquisition three-dimensional panorama figure interior joint data structure and obtain non-directed graph, and therefore set up barrier list and key node list, utilize when setting start node and destination node in the node after this in three-dimensional panorama figure the A* algorithm combined with set up barrier list and key node list calculate set by start node and destination node between path.Existing A* algorithm is adopted to carry out path navigation and path planning relative in three-dimensional panorama roaming, owing to setting up barrier list and key node list in invention in advance, and on this basis in conjunction with A* algorithm, so is cut in two in path when can there is barrier between start node and destination node or multistage carries out pathfinding, the remarkable node reducing traversal, thus route searching efficiency can be improved.
First embodiment
The process flow diagram of the three-dimensional panorama roaming method for searching that Fig. 1 provides for first embodiment of the invention.Refer to Fig. 1, the three-dimensional panorama roaming method for searching that first embodiment of the invention provides can comprise the following steps S11 to step S15.
In step s 11, three-dimensional panorama figure and the information relevant to the node in described three-dimensional panorama figure is obtained.
Particularly, shooting can be looked around with the picture materials obtaining each node by using camera each node to a scene to carry out 360 °, then generate panorama pinup picture by screening, mating, splice, merge and play up etc., and generate three-dimensional panorama figure based on generated panorama pinup picture.In addition, also should record the information relevant to the node in described three-dimensional panorama figure, wherein relevant to described node information can comprise longitude and latitude coordinate, location name and the relevance etc. with other nodes of described node.
In step s 12, describe the data structure of the information relevant to described node with JSON data interchange format and obtain non-directed graph.
JSON data interchange format is made up of key-value pair (key-value) and array, adopts JSON data interchange format can improve the readability of the information relevant to described node and can reduce complicacy.Non-directed graph can represent node and the limit of each object.Whether described data structure can comprise the unique identification of described node, title, panorama pinup picture path, can rotate freely, rotate freely speed, information prompting frame, latitude, longitude, other nodes etc. of whether being obstacle nodes, whether being key node and can jumping to.Such as, below illustrate with a kind of example data structure of the information relevant to described node of JSON data interchange format description.
It should be noted that in the above-mentioned example data structure provided, do not provide the value of each node, and the key of each node is only shown.
In step s 13, according to described data structure and described non-directed graph, set up barrier list and key node list.
Barrier in the barrier list set up is formed by adjacent obstacle nodes, and the key node in the key node list of setting up is associated with the end obstacle nodes forming described barrier.
In step S14, in the node in described three-dimensional panorama figure, set start node start and destination node end.
When user be desirably in roam in presented three-dimensional panorama figure time, can with oneself hobby two nodes in the node in described three-dimensional panorama figure are set as start node and destination node respectively.
In step S15, the A* algorithm that utilization combines with described barrier list and described key node list calculates the path between described start node start and described destination node end.
Particularly, a kind of particular flow sheet utilizing the A* algorithm to combine with described barrier list and described key node list to calculate the path between described start node and described destination node has been shown in Fig. 2.Hereinafter the A* star algorithm combined with barrier list and key node list is called HRPA* algorithm (HRPA*, High-efficiencyRoutePlanningA*algorithm).Refer to Fig. 2, the path utilizing HRPA* algorithm to calculate between start node and destination node can comprise the following steps S21 to step S34.
In the step s 21, open (OPEN) list of initialization and closedown (CLOSED) list.But OPEN list has allly generated the node also not carrying out assessing for preserving, CLOSED list is for the shortest node set of the distance objective node path length of preserving all evaluated mistakes to current node to be assessed.OPEN list and CLOSED list constantly change before algorithm terminates.The initial list length of OPEN list and CLOSED list is 0.
In step S22, described start node start is added in described OPEN list, perform step S23 afterwards.In step S23, judge in described barrier list, whether to there is the barrier with the line segment intersection limited by described start node start and described destination node end, when judging to draw in described barrier list the first barrier existed with the line segment intersection limited by described start node start and described destination node end, perform step S24, otherwise perform step S31.In a kind of embodiment, describedly judge in described barrier list, whether to there is the barrier with the line segment intersection limited by start node start and described destination node end, can comprise: the multiplication cross product calculating line segment and the line segment limited by start node start and described destination node end limited by the two ends end points of each barrier in described barrier list, if described multiplication cross product is nonzero value, then judge described barrier and the line segment intersection limited by start node start and described destination node end, otherwise judge described barrier not with the line segment intersection limited by described start node start and described destination node end.
In step s 24 which, obtain two ends obstacle nodes temp1 and the temp2 of each described first barrier, wherein the coordinate of temp1 can be designated as temp1_x and temp1_y, and the coordinate of temp2 can be designated as temp2_x and temp2_y, performs step S25 afterwards.
In step s 25, the key node whether existing and be associated with the end obstacle nodes temp1 at these the first barrier two ends and temp2 is searched in described key node list for each described first barrier, if when finding the key node be associated with the end obstacle nodes temp1 at described first barrier two ends and temp2, then perform step S27, otherwise perform step S26.
In step S26, obtain the first adjacent with temp2 with the end obstacle nodes temp1 at described first barrier two ends respectively non-obstacle nodes and the second non-obstacle nodes, and choose a non-obstacle nodes nearest with the distance (utilize in above-mentioned formula (1) and calculate) of described start node start and described both destination node end in described first non-obstacle nodes and the second non-obstacle nodes as transient target node end ', perform step S28 afterwards.
In step s 27, choose a key node nearest with the distance of the obstacle nodes temp1 of this first barrier (utilizing one in above-mentioned formula (2)-(6) to calculate) in described key node as the first key node temp1_key for each described first barrier and choose a key node nearest with the distance (utilizing the middle one in above-mentioned formula (2)-(6) to calculate) of the obstacle nodes temp2 of this first barrier in described key node as the second key node temp2_key, then a key node nearest with the distance (utilize in above-mentioned formula (1) and calculate) of described start node start and described both destination node end in described first key node temp1_key and described second key node temp2_key is chosen as transient target node end ', perform step S28 afterwards.
In step S28, obtain all adjacent nodes of described start node start and described adjacent node added in described OPEN list, performing step S29 afterwards.In step S29, calculate and obtain an adjacent node nearest with the distance (utilizing one in above-mentioned formula (2)-(6) to calculate) of described transient target node end ' in described adjacent node, described start node start is added in described CLOSED list and from described OPEN list, delete described start node start simultaneously, and a described adjacent node is set as new start node start, perform step S30 afterwards.
In step s 30, judge whether described transient target node end ' to be set as described new start node start (namely judging whether present node overlaps with described transient target node end '), if described transient target node end ' is not set to described new start node start, then return and perform step S28, otherwise return execution step S22.
In step S31, obtain all adjacent nodes of described start node start and described adjacent node added in described OPEN list, performing step S32 afterwards.In step s 32, calculate and obtain an adjacent node nearest with the distance (utilizing one in above-mentioned formula (2)-(6) to calculate) of described destination node end in described adjacent node, described start node start is added in described CLOSED list and from described OPEN list, delete described start node start simultaneously, and a described adjacent node is set as new start node, perform step S33 afterwards.In step S33, judge whether described new start node start overlaps with described destination node end, if so, then performs rapid S34, otherwise return execution step S31.In step S34, described destination node end is added in described CLOSED list, and draw the path between set start node and destination node by all nodes in described closedown list.
In embodiments of the present invention, adopt minimum Binary Heap to safeguard OPEN list, therefore can carry out the operations such as insertion node, deletion of node, sequence, taking-up minimum node easily, thus the efficiency of the node in traversal OPEN list can be improved.
In a kind of embodiment, before the path utilizing HRPA* algorithm to calculate between start node start and destination node end, first judge whether set start node start overlaps with destination node end, and only judge set start node start just utilize when not overlapping with destination node end HRPA* algorithm calculate set by start node start and destination node end between path.In addition, after the path between the start node set by being drawn by all nodes in CLOSED list and destination node, OPEN list and CLOSED list can being emptied, using in order to calculating next time.
In the three-dimensional panorama roaming method for searching that the embodiment of the present invention provides, by describe with JSON data interchange format to the relevant information of acquisition three-dimensional panorama figure interior joint data structure and obtain non-directed graph, and therefore set up barrier list and key node list, utilize when setting start node and destination node in the node after this in three-dimensional panorama figure the A* algorithm combined with set up barrier list and key node list and HRPA* algorithm calculate set by start node and destination node between path.Existing A* algorithm is adopted to carry out path navigation and path planning relative in three-dimensional panorama roaming, owing to setting up barrier list and key node list in invention in advance, and use HRPA* algorithm based on this, so is cut in two in path when can there is barrier between start node and destination node or multistage carries out pathfinding, the remarkable node reducing traversal, thus route searching efficiency can be improved.
Second embodiment
The structural representation of the three-dimensional panorama roaming Pathfinding system that Fig. 3 provides for second embodiment of the invention.Refer to Fig. 3, three-dimensional panorama that second embodiment of the invention provides roaming Pathfinding system 200 can comprise acquisition module 210, describing module 220, sets up module 230, setting module 240 and computing module 250.
Acquisition module 210 is for obtaining three-dimensional panorama figure and the information relevant to the node in described three-dimensional panorama figure.
Describing module 220 is for describing the data structure of the information relevant to described node with JSON data interchange format and obtaining non-directed graph.
Set up module 230 for according to described data structure and described non-directed graph, set up barrier list and key node list.
Setting module 240 is for setting start node and destination node in the node in described three-dimensional panorama figure.
Computing module 250 calculates path between described start node and described destination node for utilizing the HPRA* algorithm in the A* algorithm and the embodiment of the present invention that combine with described barrier list and described key node list.
Each module can be by software code realization above, and in addition, above each module can be realized by hardware such as integrated circuit (IC) chip equally.
The present embodiment, to the detailed process of each Implement of Function Module function separately of three-dimensional panorama roaming Pathfinding system 200, refers to the particular content of above-mentioned Fig. 1 to middle description embodiment illustrated in fig. 2, repeats no more herein.
It should be noted that, each embodiment in this instructions all adopts the mode of going forward one by one to describe, and what each embodiment stressed is the difference with other embodiments, between each embodiment identical similar part mutually see.For device class embodiment, due to itself and embodiment of the method basic simlarity, so description is fairly simple, relevant part illustrates see the part of embodiment of the method.
It should be noted that, in this article, term " comprises ", " comprising " or its any other variant are intended to contain comprising of nonexcludability, thus make to comprise the process of a series of key element, method, article or device and not only comprise those key elements, but also comprise other key elements clearly do not listed, or also comprise by the intrinsic key element of this process, method, article or device.When not more restrictions, the key element limited by statement " comprising ... ", and be not precluded within process, method, article or the device comprising described key element and also there is other identical element.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be ROM (read-only memory), disk or CD etc.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. a three-dimensional panorama roaming method for searching, is characterized in that, comprising:
Obtain three-dimensional panorama figure and the information relevant to the node in described three-dimensional panorama figure;
Describe the data structure of the information relevant to described node with JSON data interchange format and obtain non-directed graph;
According to described data structure and described non-directed graph, set up barrier list and key node list;
Start node and destination node is set in node in described three-dimensional panorama figure;
The A star algorithm that utilization combines with described barrier list and described key node list calculates the path between described start node and described destination node.
2. three-dimensional panorama roaming method for searching according to claim 1, it is characterized in that, the A star that described utilization combines with described barrier list and described key node list calculates the path between described start node and described destination node, comprising:
The open list of initialization and closedown list;
Described start node is added in described open list;
Judge in described barrier list, whether to there is the barrier with the line segment intersection limited by described start node and described destination node, when judging to draw in described barrier list the first barrier existed with the line segment intersection limited by described start node and described destination node, search in described key node list the key node whether existing and be associated with the end obstacle nodes at these the first barrier two ends for each described first barrier;
When finding the key node be associated with the end obstacle nodes at described first barrier two ends, one of to choose in the key node found as transient target node;
Obtain all adjacent nodes of described start node and described adjacent node added in described open list, calculate the nearest adjacent node obtained with described transient target node in described adjacent node, described start node is added in described closedown list and from described open list, delete described start node simultaneously, and a described adjacent node is set as new start node, repeat this step until be described new start node by described transient target node sets;
Return and described described start node to be added in described open list.
3. three-dimensional panorama roaming method for searching according to claim 2, it is characterized in that, described method also comprises: when judging to draw in described barrier list the first barrier do not existed with the line segment intersection limited by described start node and described destination node
Obtain all adjacent nodes of described start node and described adjacent node added in described open list, calculate the nearest adjacent node obtained with described destination node in described adjacent node, described start node is added in described closedown list and from described open list, delete described start node simultaneously, and a described adjacent node is set as new start node;
Judge whether described new starting point overlaps with described destination node, if, then described destination node is added in described closedown list, and draw the path between set start node and destination node by all nodes in described closedown list, otherwise return all adjacent nodes of the described start node of described acquisition and described adjacent node added the step of described open list.
4. three-dimensional panorama roaming method for searching according to claim 2, it is characterized in that, described method also comprises: when not finding the key node be associated with the end obstacle nodes at described first barrier two ends,
Obtain the first adjacent with the end obstacle nodes at described first barrier two ends respectively non-obstacle nodes and the second non-obstacle nodes;
To choose in described first non-obstacle nodes and the second non-obstacle nodes with a nearest non-obstacle nodes of described start node and described both destination nodes as described transient target node.
5. three-dimensional panorama according to claim 2 roaming method for searching, is characterized in that, described in one of to choose in the key node found as transient target node, comprising:
To choose in described key node with a nearest key node of one end of this first barrier as the first key node for each described first barrier and to choose in described key node with a nearest key node of the other end of this first barrier as the second key node, and choosing in described first key node and described second key node with a nearest key node of described start node and described both destination nodes as transient target node.
6. three-dimensional panorama according to claim 2 roaming method for searching, is characterized in that, describedly judges whether there is the barrier with the line segment intersection limited by described start node and described destination node in described barrier list, comprising:
Calculate the multiplication cross product of line segment and the line segment limited by described start node and described destination node limited by the two ends end points of each barrier in described barrier list, if described multiplication cross product is nonzero value, then judge described barrier and the line segment intersection to be limited by described start node and described destination node, otherwise judge described barrier not with the line segment intersection limited by described start node and described destination node.
7. three-dimensional panorama roaming method for searching according to claim 2, it is characterized in that, described distance is calculated by manhatton distance formula or distance between two points formula.
8. three-dimensional panorama roaming method for searching according to claim 2, it is characterized in that, the information relevant to described node comprises longitude and latitude coordinate, location name and the relevance with other nodes of described node.
9. three-dimensional panorama roaming method for searching according to claim 8, it is characterized in that, whether described data structure comprises the unique identification of described node, title, panorama pinup picture path, can rotate freely, rotates freely speed, information prompting frame, latitude, longitude, other nodes of whether being obstacle nodes, whether being key node and can jumping to
Barrier in described barrier list is formed by adjacent obstacle nodes, and the key node in described key node list is associated with the end obstacle nodes forming described barrier.
10. a three-dimensional panorama roaming Pathfinding system, is characterized in that, comprising:
Acquisition module, for obtaining three-dimensional panorama figure and the information relevant to the node in described three-dimensional panorama figure;
Describing module, for describing the data structure of the information relevant to described node with JSON data interchange format and obtaining non-directed graph;
Set up module, for according to described data structure and described non-directed graph, set up barrier list and key node list;
Setting module, for setting start node and destination node in the node in described three-dimensional panorama figure;
Computing module, calculates path between described start node and described destination node for utilizing the A star algorithm combined with described barrier list and described key node list.
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| CN113368499B (en) * | 2020-03-09 | 2022-09-06 | 柏项网络科技(上海)有限公司 | Path finding method and device and computer readable storage medium |
| CN113543280A (en) * | 2021-05-27 | 2021-10-22 | 新华三技术有限公司成都分公司 | Neighbor relation discovery method and device, electronic equipment and storage medium |
| CN117234205A (en) * | 2023-09-01 | 2023-12-15 | 上海鲸鱼机器人科技有限公司 | Mobile path planning method, system, equipment and medium for mobile robot |
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