CN107845122B - Method and device for determining planar information of building - Google Patents
Method and device for determining planar information of building Download PDFInfo
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- CN107845122B CN107845122B CN201710806154.3A CN201710806154A CN107845122B CN 107845122 B CN107845122 B CN 107845122B CN 201710806154 A CN201710806154 A CN 201710806154A CN 107845122 B CN107845122 B CN 107845122B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
Abstract
The invention aims to provide a method and a device for determining planar information of a building. Determining a building which is set on a map by a user to acquire planar information; and determining the planar information of the building according to a building picture set acquired by the user when the user walks around the building for a circle and the bypassing track of the user, wherein the parameters of the building picture comprise a focal length and a direction angle. Compared with the prior art, the invention introduces a common user to acquire the data of the planar information of the building, and determines the planar information of the building through the detour track of the user and the picture parameters acquired by surrounding the building, thereby obviously and effectively improving the acquisition efficiency and simultaneously reducing the acquisition cost.
Description
Technical Field
The invention relates to the technical field of maps, in particular to a technology for determining planar information of a building.
Background
In the field of maps at present, face information of buildings is determined through manual acquisition modes of matching of map interior workers and field workers. Drawing the plane geometric shape of the building by the map business and the interior staff according to the satellite map, verifying whether the blocks of the building are matched by the field collection staff through various detection equipment in field, and modifying the plane geometric shape of the building when the deviation and the error exist between the blocks of the building and the interior staff drawing.
The whole acquisition process needs field personnel to verify, so that the acquisition efficiency is low and the cost is high.
Disclosure of Invention
The invention aims to provide a method and a device for determining planar information of a building, a computer device, a computer readable storage medium and a computer program product.
According to an aspect of the present invention, a method of determining area information of a building is provided, wherein the method comprises:
determining a building which is set on a map by a user to acquire planar information;
and determining the planar information of the building according to a building picture set acquired by the user when the user walks around the building for a circle and the bypassing track of the user, wherein the parameters of the building picture comprise a focal length and a direction angle.
According to an aspect of the present invention, there is also provided an apparatus for determining area information of a building, wherein the apparatus includes:
means for determining a building on a map for which a user has set to perform facet information collection;
and the device is used for determining the planar information of the building according to a building picture set acquired by the user for one circle around the building and the bypassing track of the user, wherein the parameters of the building picture comprise a focal length and a direction angle.
According to an aspect of the present invention, there is also provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a method of determining facet information of a building according to an aspect of the present invention.
According to an aspect of the invention, a computer-readable storage medium is also provided, on which a computer program is stored, wherein the computer program, when executed by a processor, implements a method of determining facet information of a building according to an aspect of the invention.
According to an aspect of the present invention, there is also provided a computer program product which, when executed by a computer device, implements a method of determining facet information for a building according to an aspect of the present invention.
Compared with the prior art, the invention introduces a common user to acquire the data of the planar information of the building, and determines the planar information of the building through the detour track of the user and the picture parameters acquired by surrounding the building, thereby obviously and effectively improving the acquisition efficiency and simultaneously reducing the acquisition cost.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
FIG. 1 illustrates a block diagram of an exemplary computer system/server 12 suitable for use in implementing embodiments of the present invention;
FIG. 2 illustrates a flow diagram of a method of determining facet information for a building, according to one embodiment of the present invention;
3(a), 3(b) and 3(c) show schematic diagrams of determining facet information of a building according to one example of the invention;
fig. 4 shows a schematic diagram of an apparatus for determining area information of a building according to another embodiment of the present invention.
The same or similar reference numbers in the drawings identify the same or similar elements.
Detailed Description
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations as a sequential process, many of the operations can be performed in parallel, concurrently, or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
The term "computer device" in this context refers to an intelligent electronic device that can perform predetermined processes such as numerical calculation and/or logic calculation by executing predetermined programs or instructions, and may include a processor and a memory, wherein the predetermined processes are performed by the processor executing program instructions prestored in the memory, or the predetermined processes are performed by hardware such as ASIC, FPGA, DSP, or a combination thereof. Computer devices include, but are not limited to, servers, Personal Computers (PCs), laptops, tablets, smart phones, and the like.
The computer devices include, for example, user devices and network devices. Wherein the user equipment includes but is not limited to Personal Computers (PCs), notebook computers, mobile terminals, etc., and the mobile terminals include but is not limited to smart phones, PDAs, etc.; the network device includes, but is not limited to, a single network server, a server group consisting of a plurality of network servers, or a Cloud Computing (Cloud Computing) based Cloud consisting of a large number of computers or network servers, wherein Cloud Computing is one of distributed Computing, a super virtual computer consisting of a collection of loosely coupled computers. Wherein the computer device can be operated alone to implement the invention, or can be accessed to a network and implement the invention through interoperation with other computer devices in the network. The network in which the computer device is located includes, but is not limited to, the internet, a wide area network, a metropolitan area network, a local area network, a VPN network, and the like.
It should be noted that the user equipment, the network device, the network, etc. are only examples, and other existing or future computer devices or networks may also be included in the scope of the present invention, and are included by reference.
The methodologies discussed hereinafter, some of which are illustrated by flow diagrams, may be implemented by hardware, software, firmware, middleware, microcode, hardware description languages, or any combination thereof. When implemented in software, firmware, middleware or microcode, the program code or code segments to perform the necessary tasks may be stored in a machine or computer readable medium such as a storage medium. The processor(s) may perform the necessary tasks.
Specific structural and functional details disclosed herein are merely representative and are provided for purposes of describing example embodiments of the present invention. The present invention may, however, be embodied in many alternate forms and should not be construed as limited to only the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element may be termed a second element, and, similarly, a second element may be termed a first element, without departing from the scope of example embodiments. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative implementations, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
The present invention is described in further detail below with reference to the attached drawing figures.
FIG. 1 illustrates a block diagram of an exemplary computer system/server 12 suitable for use in implementing embodiments of the present invention. The computer system/server 12 shown in FIG. 1 is only one example and should not be taken to limit the scope of use or the functionality of embodiments of the present invention.
As shown in FIG. 1, computer system/server 12 is in the form of a general purpose computing device. The components of computer system/server 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
Computer system/server 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer system/server 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The computer system/server 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 1, and commonly referred to as a "hard drive"). Although not shown in FIG. 1, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The computer system/server 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with the computer system/server 12, and/or with any devices (e.g., network card, modem, etc.) that enable the computer system/server 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Also, the computer system/server 12 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet) via the network adapter 20. As shown, network adapter 20 communicates with the other modules of computer system/server 12 via bus 18. It should be understood that although not shown in FIG. 1, other hardware and/or software modules may be used in conjunction with computer system/server 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, to name a few.
The processing unit 16 executes various functional applications and data processing by running programs stored in the memory 28.
For example, the memory 28 stores a computer program for executing the functions and processes of the present invention, and the processing unit 16 executes the computer program, so that the present invention recognizes the intention of an incoming call on the network side.
The specific function/step of the present invention for determining the area information of the building will be described in detail below.
Fig. 2 shows a method flow diagram according to an embodiment of the invention, which particularly shows a process of determining facet information of a building.
Typically, the present invention is implemented by a network device. However, those skilled in the art will appreciate that the present invention can be practiced with any computer device having the requisite computing capabilities for the present invention.
As shown in fig. 2, in step S1, the network device determines a building that the user sets on the map for planar information collection; in step S2, the network device determines planar information of the building according to a set of building pictures acquired by the user while the user walks around the building for one circle and a walking track of the user, where parameters of the building pictures include a focal length and a direction angle.
The user collects basic data required by the invention for determining the planar information of the building through the user end, wherein the basic data comprises, for example, a building picture set collected by the user for one circle around the building, parameters of each picture and a detour track of the user. These basic data are further used by the computer device of the invention to determine the areal information of the building.
For example, when the present invention is implemented at the network side, the user side uploads the collected basic data to the network side, so that the network side can determine the plane information for the relevant building. Alternatively, if the user device where the user terminal is located has enough computing power, the user device/user terminal may determine the planar information for the relevant building according to the collected basic data, and then upload the determined planar information to the network terminal/map, so as to update the planar information of the relevant building in the map.
Planar information means here a two-dimensional block contour of a building, i.e. a planar geometry.
Specifically, in step S1, the network device determines a building that the user sets on the map for the planar information collection.
Here, the building where the user performs the planar information collection may be:
1) existing buildings on the map.
For the existing buildings on the map, the user can directly select one building from the existing buildings to acquire the planar information.
These existing buildings may have an initial facet information, such as that determined from a satellite map. Alternatively, the existing building may be a point on a map, and does not have any area information.
2) The user adds a new building on the map.
The user can also collect the planar information of the building on the map. At this point, the user may set the location of the newly added building on the map, as determined directly by the user's GPS location.
In order to ensure that the building where the user performs the planar information collection is in fact present and/or the user is actually located at the building, the network device may also perform authenticity verification on the building.
The authenticity verification mode at least comprises the following modes:
1) the user is located.
By locating the user's GPS, the network device can ensure that the user is indeed at the building where the user requested to collect data, thereby ensuring that the collected data that the user subsequently uploads is also around the building.
2) And identifying the site picture of the building.
The network device may require the user to upload the live pictures of the building, that is, the user may submit the live pictures only by shooting, but not submit the pictures of the building from the photo album. Or, a certain requirement is set for the scene picture of the building, for example, the name of the building can be seen, and picture parameters need to include photographing coordinates, direction angle information and the like. These picture parameters may be stored encrypted in the picture information. In this manner, the network device can ensure that the building is truly present and positionally accurate.
In step S2, the network device determines the planar information of the building according to the set of building pictures collected by the user for one round of the building and the user' S detour trajectory, where the parameters of the building pictures include the focal length and the direction angle.
Here, a user takes a plurality of building pictures by taking a week around a building to obtain a set of building pictures, and the obtained building picture is sufficient to determine the face information of the building. Wherein each picture contains two parameters: focal length and azimuth angle.
For example, the user side is provided with a "sweep floor" button, and the user clicks the button to align the camera with the building and winds the camera for one circle, so as to obtain the picture set of the building. The user end records the focal length and the direction angle of each picture when the picture is taken. In this case, the picture capturing frequency is set relatively higher, for example, 3S once, to ensure that enough building pictures can be obtained as much as possible.
In addition, the user side can record the detour track of the user, such as continuous GPS track points generated when the user detours a building for a circle, and the continuous track points form the detour track of the user.
Accordingly, the network device can determine the actual planar information of the building according to the focal length and the direction angle of each picture in the building picture set and the detour track of the user.
After acquiring the collected data uploaded by the user side, the network device can also judge whether the collected data is enough to determine the planar information of the building according to the track point change in the detour track and the direction angle change of each picture.
Because the acquisition frequency of the building pictures is not guaranteed to obtain accurate building related information, the network device judges whether the data acquired by the user can comprehensively and accurately calculate the planar information of the building by checking the change of the GPS track point of the user and the change of the direction angle of the pictures, for example, setting a corresponding threshold value for the direction angle change angle of each picture according to different areas of the building. Therefore, data collected by a high-quality user can be guaranteed to be adopted, and error information provided by a malicious user can be avoided.
According to an example of the present invention, with reference to fig. 3(a), 3(b) and 3(c), a user selects, for example, a golden building on a map for face information acquisition, and takes a scene picture as shown in fig. 3(a) for authenticity verification of the building, the scene picture parameters are as shown in fig. 3(b), and then the user "sweeps the building" to obtain a picture set of the golden building, so that the network device determines, according to the detour trajectory of the user and the focal distance and direction angle of each picture, face information of the golden building as shown in fig. 3 (c).
In addition, in order to avoid the same building from being repeatedly collected by a plurality of users, once the planar information of the building can be accurately calculated according to the collected data of a certain user, the building is marked as collected on a map, so that the user is guided to collect other buildings which are not collected yet.
Fig. 4 shows a schematic diagram of an apparatus according to an embodiment of the invention, which particularly shows an apparatus for determining areal information of a building.
As shown in fig. 4, the facet determining apparatus 400 is disposed in a network device, and further includes an object determining apparatus 401 and a facet determining apparatus 402.
The target determination device 401 determines a building which is set on a map by a user for planar information acquisition; the planar determining device 402 determines planar information of the building according to a building picture set acquired by the user moving around the building for one circle and a moving track of the user, wherein parameters of the building picture include a focal length and a direction angle.
Planar information means here a two-dimensional block contour of a building, i.e. a planar geometry.
Specifically, the object determination device 401 determines a building set by the user on the map for planar information acquisition.
Here, the building where the user performs the planar information collection may be:
1) existing buildings on the map.
For the existing buildings on the map, the user can directly select one building from the existing buildings to acquire the planar information.
These existing buildings may have an initial facet information, such as that determined from a satellite map. Alternatively, the existing building may be a point on a map, and does not have any planar information.
2) The user adds a new building on the map.
The user can also collect the planar information of the building on the map. At this point, the user may set the location of the newly added building on the map, as determined directly by the GPS location of the user.
In order to ensure that the building where the user performs the planar information collection is actually present and/or that the user is actually located at the building, the target determination device 401 may also perform authenticity verification on the building.
The authenticity verification mode at least comprises the following modes:
1) the user is located.
By locating the user's GPS, the target determination device 401 ensures that the user is actually at the building that the user requested to collect data, thereby ensuring that the collected data that the user subsequently uploaded is also around the building.
2) And identifying the site picture of the building.
The object determination device 401 may request the user to upload the live pictures of the building, that is, the user may only submit the live pictures by shooting, but not submit the pictures of the building from the photo album. Or, a certain requirement is set for the scene picture of the building, for example, the name of the building can be seen, and picture parameters need to include photographing coordinates, direction angle information and the like. These picture parameters may be stored encrypted in the picture information. In this manner, the target determining apparatus 401 can ensure that the building is truly present and accurate in location.
Then, the planar determining device 402 determines planar information of the building according to a building picture set acquired by the user for one circle around the building and the detour track of the user, wherein the parameters of the building picture include a focal length and a direction angle.
Here, a user takes a plurality of building pictures by taking a week around a building to obtain a set of building pictures, and the obtained building picture is sufficient to determine the face information of the building. Wherein each picture contains two parameters: focal length and azimuth angle.
For example, the user side is provided with a "sweep floor" button, and the user clicks the button to align the camera with the building and winds the camera for one circle, so as to obtain the picture set of the building. The user end records the focal length and the direction angle of each picture when the picture is taken. In this case, the picture capturing frequency is set relatively higher, for example, 3S once, to ensure that enough building pictures can be obtained as much as possible.
In addition, the user side can record the detour track of the user, such as continuous GPS track points generated when the user detours a building for a circle, and the continuous track points form the detour track of the user.
Accordingly, the planar determining means 402 can determine the actual planar information of the building according to the focal length and direction angle of each picture in the building picture set and the user's detour trajectory.
After acquiring the collected data uploaded by the user side, the planar determining apparatus 402 or another apparatus (not shown) in the determining apparatus 400 may further determine whether the collected data is sufficient to determine the planar information of the building according to the track point change in the detour track and the direction angle change of each picture.
Since the frequency of acquiring the building pictures is not guaranteed to obtain accurate building related information, the planar determining device 402 determines whether the data acquired by the user can comprehensively and accurately calculate the planar information of the building by checking the GPS track point change of the user and the direction angle change of the pictures, for example, setting a corresponding threshold value for the direction angle change angle of each picture according to different areas of the building. Therefore, data collected by a high-quality user can be guaranteed to be adopted, and error information provided by a malicious user can be avoided.
According to an example of the present invention, with reference to fig. 3(a), 3(b) and 3(c), a user selects, for example, a golden building on a map for face information acquisition, and takes a scene picture as shown in fig. 3(a) for authenticity verification of the building, the scene picture parameters are as shown in fig. 3(b), and then the user "sweeps the building" to obtain a picture set of the golden building, so that the network device determines, according to the detour trajectory of the user and the focal distance and direction angle of each picture, face information of the golden building as shown in fig. 3 (c).
In addition, in order to avoid the same building from being repeatedly collected by a plurality of users, once the planar information of the building can be accurately calculated according to the collected data of a certain user, the building is marked as collected on a map, so that the user is guided to collect other buildings which are not collected yet.
It should be noted that the present invention may be implemented in software and/or in a combination of software and hardware, for example, as an Application Specific Integrated Circuit (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to implement the steps or functions described above. Also, the software programs (including associated data structures) of the present invention can be stored in a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. Further, some of the steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, parts of the invention may be applied as a computer program product, e.g. computer program instructions, which, when executed by a computer, may invoke or provide the method and/or solution according to the invention by operation of the computer. Program instructions which invoke the methods of the present invention may be stored on a fixed or removable recording medium and/or transmitted via a data stream on a broadcast or other signal-bearing medium and/or stored within a working memory of a computer device operating in accordance with the program instructions. An embodiment according to the invention herein comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform a method and/or solution according to embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is obvious that the word "comprising" does not exclude other elements or steps, and the singular does not exclude the plural. A plurality of units or means recited in the system claims may also be implemented by one unit or means in software or hardware. The terms first, second, etc. are used to denote names, but not any particular order.
Claims (10)
1. A method of determining facet information for a building, wherein the method comprises:
determining a building which is set on a map by a user and used for acquiring planar information, and verifying authenticity of the building, wherein the planar information is a two-dimensional block outline of the building, and the authenticity verification mode comprises positioning the user and identifying a scene picture of the building;
determining the planar information of the building according to a building picture set acquired by the user when the user walks around the building for a circle and the bypassing track of the user, wherein the parameters of the building picture comprise a focal length and a direction angle;
the method further comprises the following steps:
judging whether the collected data of the user is enough to determine the planar information of the building or not according to the track point change in the bypassing track of the user and the direction angle change of the building picture, if so, marking the building on a map, wherein the mark is used for representing that the building is the building with the collected planar information.
2. The method of claim 1, wherein the building for areal information collection is selected by the user from existing buildings on a map.
3. The method of claim 2, wherein the existing building has initial facet information determined from a satellite map.
4. The method of claim 1, wherein the building for which the facet information collection is performed is a building added to a map by the user.
5. An apparatus for determining area information of a building, wherein the apparatus comprises:
the device is used for determining a building set by a user on a map for acquiring planar information, and performing authenticity verification on the building, wherein the planar information is a two-dimensional block outline of the building, and the authenticity verification mode comprises positioning the user and identifying a field picture of the building;
the device is used for determining the face information of the building according to a building picture set acquired by the user when the user walks around the building for a circle and the bypassing track of the user, wherein the parameters of the building picture comprise a focal length and a direction angle;
the apparatus is further configured to:
judging whether the collected data of the user is enough to determine the planar information of the building or not according to the track point change in the bypassing track of the user and the direction angle change of the building picture, if so, marking the building on a map, wherein the mark is used for representing that the building is the building with the collected planar information.
6. The apparatus of claim 5, wherein the building for areal information collection is selected by the user from existing buildings on a map.
7. The apparatus of claim 6, wherein the existing building has initial facet information determined from a satellite map.
8. The apparatus of claim 5, wherein the building for which the planar information collection is performed is a building added on a map by the user.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 4 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 4.
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| CN201710806154.3A CN107845122B (en) | 2017-09-08 | 2017-09-08 | Method and device for determining planar information of building |
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