CN108205566A - A kind of method and device being managed based on track to cloud, navigation equipment - Google Patents
A kind of method and device being managed based on track to cloud, navigation equipment Download PDFInfo
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- CN108205566A CN108205566A CN201611179671.4A CN201611179671A CN108205566A CN 108205566 A CN108205566 A CN 108205566A CN 201611179671 A CN201611179671 A CN 201611179671A CN 108205566 A CN108205566 A CN 108205566A
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- cloud
- point
- tracing point
- timestamp information
- tracing
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
Abstract
The present invention discloses a kind of method and device being managed based on track to cloud, navigation equipment.This method includes：Obtain the trail file of acquisition generation and point cloud file；Wherein trail file includes the timestamp information information of tracing point；And its point cloud file includes the timestamp information of point cloud；According to the timestamp information of the timestamp information of tracing point and point cloud, establish the correspondence between point cloud and tracing point, and after carrying out duplicate removal processing and dividing processing to corresponding cloud of two neighboring tracing point, described cloud file is associated storage and management according to the tracing point.The present invention can calculate a cloud and track relationship, and a cloud position is quickly navigated to according to track, the coordinate position that can be seen in real time by cloud, the framing management of a cloud is carried out according to GPS track, it realizes the quick positioning of point cloud and pulls in real time, ensure the integrality of the information of same tile point cloud and track simultaneously, reduce management cost, improve production efficiency.
Description
Technical field
The present invention relates to cloud more particularly to the method and device being managed based on track to cloud, navigation equipments.
Background technology
Point cloud is a kind of data acquisition system, is that object space distribution and target surface characteristic are expressed under the same space referential
Magnanimity point set, most start be applied to machinery field.It is also more and more with the decline of equipment cost and the raising of precision
Ground be applied to other field, such as electronic map field can be used for make streetscape.
Point cloud is different according to the mode of acquisition, it includes attribute information it is also different.Such as laser measures what principle obtained
Point cloud, including three-dimensional coordinate (XYZ) and laser reflection intensity (Itensity)；The point cloud that principle obtains, packet are measured according to photography
Include three-dimensional coordinate (XYZ) and colouring information (RGB)；It is measured with reference to laser and photography measures principle and obtains a cloud, sat including three-dimensional
Mark (XYZ), laser reflection intensity (Itensity) and colouring information (RGB).
It is mainly measured at present applied to the point cloud of electronic map field using laser and photography measures principle to obtain a cloud,
Such as laser equipment and photographic equipment are fixed on roof, it walks in the street to obtain streetscape by vehicle.
However in electronic map field, since the data volume of cloud is too big, the quick positioning of position can not be realized.In addition,
During cloud point data acquire, cloud point fragmented storage, track data is stored separately and manages with cloud point.Therefore, it is impossible to root
Strong point cloud sees true geographical coordinate, and since the mass data of cloud is without quick elements of a fix position.
As described above, track data and point cloud separate management, therefore high-precision cloud of track real time inspection cannot be passed through
File.The inventor of the present application discovered that point cloud and track data have contact in itself, but still cannot rail be inquired according to cloud at present
Mark, production and management for data bring difficulty.
Invention content
In view of this, the embodiment of the present invention provides a kind of method and device being managed based on track to cloud, can
Cloud file is associated storage and management according to tracing point, ensures that user can quickly access relevant cloud text at any time
Part.
Wherein, the method that should be managed based on track to cloud is included：
Obtain the trail file of acquisition generation and point cloud file；Wherein trail file includes the timestamp information of tracing point
Information；And its point cloud file includes the timestamp information of point cloud；
According to the timestamp information of tracing point and the timestamp information of point cloud, the corresponding pass between point cloud and tracing point is established
System, and after carrying out duplicate removal processing and dividing processing to corresponding cloud of two neighboring tracing point, by described cloud file according to institute
It states tracing point and is associated storage and management.
Optionally, it is described to be established between point cloud and track according to the timestamp information of tracing point and the timestamp information of point cloud
Correspondence include：
Tracing point and point cloud are ranked up according to the timestamp information of the timestamp information of tracing point and point cloud, establish phase
The correspondence of adjacent corresponding cloud of two tracing points and a tracing point in two neighboring tracing point, and for the last one
Tracing point and the last one point cloud, according to the timestamp information of tracing point and point cloud timestamp information establish single tracing point and
Correspondence between a single point cloud；And/or
By described two neighboring corresponding cloud of tracing point with timestamp information in the two neighboring tracing point it is first one
The point cloud file of the timestamp information name of a tracing point is stored.
Optionally, the timestamp information according to tracing point and put cloud timestamp information establish point cloud and tracing point it
Between correspondence include：
The coordinate system of trail file is converted into the projection identical with point cloud and coordinate system；
Corresponding cloud file of tracing point is determined with the genesis sequence of point cloud according to the traveling of track sequence；
Tracing point and point cloud are ranked up according to the timestamp information of the timestamp information of cloud and tracing point, established
The correspondence of two neighboring corresponding cloud of tracing point and a tracing point in two neighboring tracing point, and for last
A tracing point and the last one point cloud, believe according to the timestamp of the timestamp information of the last one tracing point and the last one point cloud
Breath establishes the correspondence between single tracing point and a single point cloud.
Optionally, it is established between point cloud and tracing point according to the timestamp information of the timestamp information of tracing point and point cloud
Correspondence further includes：
Corresponding cloud of two neighboring tracing point is subjected to space comparison；
Incorporate the lap of the corresponding cloud into the two neighboring tracing point posterior rail of timestamp information
Corresponding cloud of mark point；
The lap of cloud is cut, it is first with timestamp information in the two neighboring tracing point to cut away
Corresponding cloud of tracing point neutralize and corresponding cloud of the posterior tracing point of timestamp information in the two neighboring tracing point
Lap.
Correspondingly, the present invention provides a kind of device being managed based on track to cloud, including：
Acquisition module, for obtaining the trail file of acquisition generation and point cloud file；Wherein trail file includes track
The timestamp information information of point；And its point cloud file includes the timestamp information of point cloud；
Relating module for the timestamp information according to tracing point and the timestamp information of point cloud, establishes point cloud and track
Correspondence between point, and duplicate removal processing and dividing processing are carried out to corresponding cloud of two neighboring tracing point；
Memory module, for described cloud file to be associated storage and management according to the tracing point.
Optionally, the relating module include associative cell, for the timestamp information according to tracing point and point cloud when
Between stamp information tracing point and point cloud are ranked up, establish in corresponding cloud of two neighboring tracing point and two neighboring tracing point
The correspondence of one tracing point, and for the last one tracing point and the last one point cloud, according to the timestamp of tracing point
The timestamp information of information and point cloud establishes the correspondence between single tracing point and a single point cloud；And/or
The memory module is additionally operable to described two neighboring corresponding cloud of tracing point in the two neighboring tracing point
The point cloud file of the timestamp information name of a first tracing point of timestamp information is stored.
Optionally, the relating module further includes：
Converting unit, for the coordinate system of trail file to be converted to the projection identical with cloud point and coordinate system；
Point cloud document determining unit determines that tracing point is corresponding for the traveling sequence according to track with the genesis sequence of point cloud
Point cloud file.
Optionally, the relating module further includes：
Comparing unit, for corresponding cloud of two neighboring tracing point to be carried out space comparison；；
Duplicate removal unit, for incorporating the lap of the corresponding cloud into two neighboring tracing point timestamp
Corresponding cloud of the posterior tracing point of information；
Cutter unit, for the lap for putting cloud to be cut, with cut away in the two neighboring tracing point
Corresponding cloud of the first tracing point of timestamp information neutralizes and the posterior rail of timestamp information in the two neighboring tracing point
The lap of mark corresponding cloud of point.
Correspondingly, the present invention provides a kind of navigation equipments, which is characterized in that is provided with using described based on track pair
The point cloud file of storage corresponding with tracing point that the device that point cloud is managed is handled.
Correspondingly, it the present invention provides a kind of Cloud Server, is provided with：
The device being managed based on track to cloud；And/or
The point of storage corresponding with tracing point handled using the device being managed based on track to cloud
Cloud file.
The present invention can calculate a cloud and track relationship, and a cloud position is quickly navigated to according to track, pass through
The coordinate position that can see in real time of point cloud, the framing management of a cloud is carried out according to GPS track, realizes the quick positioning of point cloud and real
When pull, while ensure the integrality of the information of same tile point cloud and track, reduce management cost, improve production efficiency.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and forms the part of the present invention, this hair
Bright illustrative embodiments and their description do not constitute improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the method schematic diagram provided in an embodiment of the present invention being managed based on track to cloud；
Fig. 2A and Fig. 2 B be before point cloud duplicate removal of the embodiment of the present invention respectively and point cloud duplicate removal after schematic diagram；
Fig. 3 is the tracing point to after cloud file and trail file processing and point cloud file provided in an embodiment of the present invention
Between correspondence schematic diagram；
Fig. 4 is the flow diagram provided in an embodiment of the present invention being managed based on track to cloud；
Fig. 5 is the schematic device provided in an embodiment of the present invention being managed based on track to cloud；
Fig. 6 is the composition schematic diagram of navigation equipment provided in an embodiment of the present invention.
Reference sign
505 acquisition module, 510 relating module
515 memory module, 520 associative cell
The 525 cloud document determining units of converting unit 530
535 comparing unit, 540 duplicate removal unit
545 cutter unit, 605 data module
610 user interactive module, 615 search module
620 navigation module, 625 entertainment modules
630 communication module, 600 interest drives operating system
Specific embodiment
Some vocabulary has such as been used to censure specific components in specification and claim.Those skilled in the art should
It is understood that hardware manufacturer may call same component with different nouns.This specification and claims are not with name
The difference of title is used as the mode for distinguishing component, but is used as the criterion of differentiation with the difference of component functionally.Such as logical
The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit
In "." substantially " refer in receivable error range, those skilled in the art can be described within a certain error range solution
Technical problem basically reaches the technique effect.Specification subsequent descriptions are to implement the better embodiment of the present invention, so described
Description is for the purpose of illustrating the rule of the present invention, is not limited to the scope of the present invention.Protection scope of the present invention
When subject to appended claims institute defender.
An embodiment of the present invention provides a kind of method being managed based on track to cloud, as shown in Figure 1, this method packet
It includes：
Step 105, trail file and point cloud file are obtained；Wherein trail file includes tracing point, and each tracing point contains
Having time stabs information, such as GPS time stamp information；In addition, point cloud file includes point cloud, point cloud also contains timestamp information, example
As GPS time stabs information；
Step 110, point cloud and rail are established according to the timestamp information of the timestamp information of each tracing point and each point cloud
Correspondence between mark.Described cloud file is associated storage and management according to the tracing point, ensures that user can be with
Relevant cloud file is quickly accessed at any time, quickly establishes true real model.
Under normal circumstances, that cloud and trail file only carried out segmentation is corresponding, thus can not according to the point-to-point cloud in track into
Row retrieval.By the way that tracing point is mapped with point cloud in the present embodiment, it is achieved thereby that according to the corresponding point of track point retrieval
Cloud.
During correspondence is established, optionally, coordinate system conversion is carried out to trail file, by the seat of trail file
Mark system is converted to the identical projection of a cloud and coordinate system, such as the trail file under WGS84 is switched to Gauss three under WGS84 ellipsoids
Spend projection coordinate's system.
Furthermore, it is possible to according to the traveling of track sequence and the genesis sequence of point cloud, the corresponding point of each tracing point is obtained
Cloud file so as to establish each tracing point and put the correspondence between cloud, can be completed according to tracing point Access Points cloud
Function.
Optionally, can also the timestamp information of next tracing point be obtained according to the timestamp information of current trace points,
And and then next corresponding cloud of tracing point is obtained according to the timestamp information, so as to ensure to manage upper cloud and track model
The consistency enclosed, and ensure the symmetrical of information in subsequent data operation.It is alternatively possible to establish current trace points and current track
Correspondence between point corresponding part of corresponding cloud and next tracing point.It is processed as, can cause each track pair
The point cloud answered sequentially is overlapped, and is more convenient for managing.
It optionally, can due to there is overlapping between corresponding cloud of corresponding cloud of current trace points and next tracing point
To carry out deduplication operation to it, such as incorporate lap into next tracing point corresponding cloud, and in current trace points
The part of overlapping is cut in corresponding cloud.Fig. 2A shows a case that point cloud overlapping before duplicate removal, it can be seen that two
Point cloud lap 20 all exists in two clouds.Fig. 2 B show two clouds after duplicate removal, and the data of the two are not handed over
It is folded.
After correspondence of the tracing point with point cloud is calculated, corresponding cloud of each tracing point can be formed row point
Cloud file is stored.It is alternatively possible to storage is named according to the timestamp information of tracing point, consequently facilitating according to track
The timestamp information of point retrieves corresponding cloud file.
Fig. 3 shows a kind of trail file with putting the correspondence of cloud file, to use technical solution provided by the invention
Later, correspondence of the tracing point with putting cloud file.As can be seen that the trail file of one section of track corresponds to multiple cloud files,
Such as trail file correspond to a point cloud 1, point cloud 2 ..., the point cloud such as point cloud n+1, the corresponding point of each tracing point can not be retrieved
Cloud only obtains the correspondence of trail file and point cloud file.After using technical solution provided by the invention, Ke Yitong
The timestamp information of tracing point, such as the GPSTime fields of tracing point are crossed, obtains the point cloud file of entitled GPSTIME, it is corresponding
Point cloud location information.The present invention by each tracing point, such as tracing point 1, tracing point 2, tracing point 3 ..., tracing point n+1,
Matching relationship is established with corresponding cloud file, is the correspondence between point-to-point.
Fig. 4 shows the flow chart that the embodiment of the present invention is managed a cloud based on track.As shown in figure 4, based on
Some point cloud files and trail file determine corresponding cloud of each tracing point, and corresponding cloud is stabbed information using GPS time
File designation, storage track point and corresponding cloud file are carried out, so as to store existing pass between tracing point and point cloud
System can realize and stab information using GPS time to retrieve corresponding cloud of tracing point.3 tracing points and 3 are shown in Fig. 4
Point cloud, point cloud 1 and point cloud 2 correspond to tracing point 1, and point cloud 2 and point cloud 3 correspond to tracing point 2, and point cloud 3 corresponds to track
Point 3.Those skilled in the art can also realize by other means, such as point cloud 1 corresponds to tracing point 1, point cloud 1 and point cloud
2 correspond to tracing point 2, and point cloud 2 and point cloud 3 correspond to tracing point 3.Alternatively it is also possible to using one-to-one mode, such as point
Cloud 1 corresponds to tracing point 1, and point cloud 2 corresponds to tracing point 2, and point cloud 3 corresponds to tracing point 3.
For the technical solution that the present invention will be described in detail, it is exemplified below.
Existing trail file includes tracing point A, B, C, and existing cloud file includes a1, b1, c1, point cloud text
Part a1 includes point cloud a11, and point cloud file b1 includes point cloud b11, and point cloud file c1 includes point cloud c11.The following table shows tracing points
With the correspondence of cloud.
Correspondence between 1 tracing point of table and point cloud
| Tracing point | Point cloud file | Point cloud |
| A | a1 | a11 |
| B | b1 | b11 |
| C | c1 | c11 |
Where it is assumed that adjacent point cloud data deposits overlapping, such as the data of a11 Chong Die with b11 1/2, b11 Chong Die with c11
1/2 data.
There is tracing point A GPS time to stab information 1444984810, and there is tracing point B GPS time to stab information
There is GPS time to stab information 1444984823 by 1444984815, tracing point B, and there is point cloud a11 GPS time to stab information
There is GPS time to stab information 1444984815 by 1444984810, point cloud b11, and there is point cloud c11 GPS time to stab information
1444984823。
In order to improve the granularity of correspondence, by above-mentioned for the corresponding cloud point of tracing point, can realize for track
Point retrieval cloud point.
Data under different coordinate systems can be shown in a window, if two file coordinate systems are inconsistent, nothing
Method Overlapping display.It, can be first to trail file before the correspondence of tracing point and cloud point is established as preferred embodiment
Coordinate conversion is carried out, trail file is converted into WGS84 ellipsoids with three degree of coordinates with projection of Gauss and projection.
Trail file includes a tracing point, can be sorted according to traveling sequence to tracing point；Cloud point also has genesis sequence,
So as to by comparing the timestamp information of cloud point and the timestamp information of tracing point, find cloud point corresponding with tracing point,
So as to establish the relationship of tracing point and cloud point, can breakout point be retrieved by tracing point.
Since cloud point data volume is very big, and there is overlapping, it, can when tracing point is corresponded to two adjacent cloud points
To carry out duplicate removal.Such as tracing point A can correspond to cloud point a11 and cloud point b11, tracing point B can correspond to cloud point b11 and cloud
Point c11.
As above the data of cloud point a11 and cloud point b11 overlapping half are hypothesized, cloud point b11 and cloud point c11 are overlapped half
Data.In order to reduce data the space occupied, the data of overlapping can be cut, such as the number that will be overlapped in cloud point a11
According to being cut, only retain the data of cloud point b11, so as to form cloud point file corresponding with tracing point A.Similarly, by cloud point
The data being overlapped in b11 are cut, and only retain the data of cloud point c11, so as to form cloud point file corresponding with tracing point B.
For the ease of retrieval, the cloud point file regenerated can stab information to name using the GPS time of tracing point, example
The title of cloud point file such as corresponding with tracing point A can be 1444984810, the title of cloud point file corresponding with tracing point B
Can be 1444984815.Therefore, during retrieval, the timestamp information of tracing point itself can be used to be retrieved,
It is easy to navigate to corresponding with the tracing point cloud file, so as to obtain a data for cloud file.
Correspondingly, an embodiment of the present invention provides a kind of device being managed based on track to cloud, as shown in figure 5,
Including acquisition module 505, relating module 510, memory module 515.Optionally, it establishes module and further includes associative cell 520, conversion
Unit 525, point cloud document determining unit 530, comparing unit 535, duplicate removal unit 540, cutter unit 545.Acquisition module 505,
It can be used for obtaining trail file and point cloud file；Wherein trail file includes tracing point, and tracing point contains timestamp
Information；Its point cloud file includes the timestamp information of point cloud；Relating module 510 can be used for the timestamp according to tracing point
The timestamp information of information and point cloud establishes the correspondence between point cloud and tracing point；Memory module 515 can be by a cloud text
Part is associated storage and management according to tracing point.
Specifically, establishing module will can believe with adjacent corresponding cloud of two tracing points and timestamp in sequence
It ceases first tracing point and establishes correspondence.
As optional embodiment, associative cell 520 can be according to the timestamp of the timestamp information and point cloud of tracing point
Information is ranked up tracing point and point cloud, establishes corresponding cloud of two neighboring tracing point and one in two neighboring tracing point
The correspondence of tracing point for the last one tracing point and cloud point, establishes single tracing point and puts the correspondence between cloud.
As optional embodiment, converting unit 525 can be used for being converted to the coordinate system of trail file and cloud point phase
Same projection and coordinate system.Point cloud document determining unit 530 can determine that the traveling sequence of track and the generation generation of point cloud are suitable
Sequence determines corresponding cloud file of tracing point.Comparing module 535, for corresponding cloud of two neighboring tracing point to be carried out space
It compares；Deduplication module 540, for incorporating the lap of the corresponding cloud into two neighboring tracing point timestamp
Corresponding cloud of the posterior tracing point of information；Cutting module 530, for being used to cut the lap for putting cloud, to cut
It slices off in corresponding with the tracing point that timestamp information in two neighboring tracing point is first cloud neutralization and two neighboring tracing point
The lap of timestamp information corresponding cloud of posterior tracing point.
Based on the various embodiments described above, the embodiment of the present invention additionally provides a kind of navigation equipment, as shown in fig. 6, the navigation is set
It is standby to include：Data module 605, user interactive module 610, search module 615, navigation module 620, entertainment modules 625, communication mould
Block 630 and vehicle-mounted interest drive operating system 600, wherein：
Data module 605, for storing and updating being managed based on track to a cloud described in any of the above-described embodiment
The point cloud file of storage corresponding with tracing point that handles of device；User interactive module 610, for receiving, analyzing user
It instructs and exports the result after performing user instruction；Search module 615, for performing search operation according to user instruction and exporting
Search result；Navigation module 620, for providing two-dimensional/three-dimensional path planning and navigation to the user according to obtained navigation instruction
Service；Entertainment modules 625, for providing game, music and other audio-visual entertainment selections；Communication module 630 updates for obtaining
Map datum, dynamic information, one-to-one or group voice/video communication；Vehicle-mounted interest drives operating system 600, is used for
Running environment and support are provided for above-mentioned each module.
Further, in an alternative embodiment, above-mentioned user interactive module 610 includes：Information entry module is (in figure not
Show), intelligent sound interactive module (not shown), analysis module (not shown), display module (not shown).
Information entry module, for receiving the instruction that user is manually entered by touch screen or button；Intelligent sound interactive module, for connecing
The result for receive user speech instruction, carrying out voice wake-up and voice control and user speech instruction is performed for voice output；
Analysis module carries out speech recognition, lexical analysis and instruction conversion, and for notifying corresponding mould for being instructed to user speech
The user speech instruction that block execution identifies；Wherein, expression of the user speech instruction for any one sentence pattern of arbitrary languages；
Display module, for showing the search result of search module offer, the guidance path of navigation module offer, data module provide
The dynamic information that map datum and communication module provide, using the side of voice, two-dimensional/three-dimensional diagram, and/or word
Formula is shown.
It should be noted that since the automatic testing method and device in map datum described in aforementioned any embodiment have
There is above-mentioned technique effect, therefore, employ the automatic testing method and device of map datum described in aforementioned any embodiment
Hybrid navigation system should also have corresponding technique effect, and specific implementation process is similar to the above embodiments, not repeat hereby.
It should be pointed out that it should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, dress
It puts or computer program product.Therefore, the present invention can be used complete hardware embodiment, complete software embodiment or with reference to software
With the form of the embodiment of hardware aspect.Wherein include computer in one or more moreover, the present invention can be used and can use journey
Implement in the computer-usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) of sequence code
Computer program product form.
Several specific embodiments of the present invention have shown and described in above description, but as previously described, it should be understood that the present invention
Be not limited to form disclosed herein, be not to be taken as the exclusion to other embodiment, and available for various other combinations,
Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in the scope of the invention is set forth herein
It is modified.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be in this hair
In the protection domain of bright appended claims.
Claims (10)
- A kind of 1. method being managed based on track to cloud, which is characterized in that including：Obtain the trail file of acquisition generation and point cloud file；Wherein trail file includes the timestamp information letter of tracing point Breath；And its point cloud file includes the timestamp information of point cloud；According to the timestamp information of tracing point and the timestamp information of point cloud, the correspondence between point cloud and tracing point is established, And after carrying out duplicate removal processing and dividing processing to corresponding cloud of two neighboring tracing point, by described cloud file according to the rail Mark point carries out associated storage and management.
- 2. the method according to claim 1 being managed based on track to cloud, which is characterized in that described according to track The timestamp information of point and the correspondence put between the timestamp information foundation point cloud of cloud and track include：Tracing point and point cloud are ranked up according to the timestamp information of the timestamp information of tracing point and point cloud, establish adjacent two The correspondence of a corresponding cloud of tracing point and a tracing point in two neighboring tracing point, and for the last one track Point and the last one point cloud, single tracing point and single is established according to the timestamp information of the timestamp information of tracing point and point cloud Correspondence between point cloud；And/orBy described two neighboring corresponding cloud of tracing point with a first rail of timestamp information in the two neighboring tracing point The point cloud file of the timestamp information name of mark point is stored.
- 3. the method according to claim 1 or 2 being managed based on track to cloud, which is characterized in that the basis The timestamp information of tracing point and the correspondence put between the timestamp information foundation point cloud of cloud and tracing point include：The coordinate system of trail file is converted into the projection identical with point cloud and coordinate system；Corresponding cloud file of tracing point is determined with the genesis sequence of point cloud according to the traveling of track sequence；Tracing point and point cloud are ranked up according to the timestamp information of the timestamp information of cloud and tracing point, established adjacent The correspondence of corresponding cloud of two tracing points and a tracing point in two neighboring tracing point, and for the last one rail Mark point and the last one point cloud, build according to the timestamp information of the last one tracing point and the last one timestamp information for putting cloud Vertical correspondence between single tracing point and a single point cloud.
- 4. the method according to claim 3 being managed based on track to cloud, which is characterized in that according to tracing point Timestamp information and the correspondence put between the timestamp information foundation point cloud of cloud and tracing point further include：Corresponding cloud of two neighboring tracing point is subjected to space comparison；Incorporate the lap of the corresponding cloud into the two neighboring tracing point posterior tracing point of timestamp information Corresponding cloud；The lap of cloud is cut, to cut away the rail first with timestamp information in the two neighboring tracing point Corresponding cloud of mark point neutralizes the weight with corresponding cloud of the posterior tracing point of timestamp information in the two neighboring tracing point Folded part.
- 5. a kind of device being managed based on track to cloud, which is characterized in that including：Acquisition module, for obtaining the trail file of acquisition generation and point cloud file；Wherein trail file includes tracing point Timestamp information information；And its point cloud file includes the timestamp information of point cloud；Relating module, for the timestamp information according to tracing point and the timestamp information of point cloud, establish point cloud and tracing point it Between correspondence, and duplicate removal processing and dividing processing are carried out to corresponding cloud of two neighboring tracing point；Memory module, for described cloud file to be associated storage and management according to the tracing point.
- 6. the device according to claim 5 being managed based on track to cloud, which is characterized in that the relating module Including associative cell, tracing point and point cloud are arranged for the timestamp information of the timestamp information according to tracing point and point cloud Sequence establishes the correspondence of corresponding cloud of two neighboring tracing point and a tracing point in two neighboring tracing point, and needle To the last one tracing point and the last one point cloud, established according to the timestamp information of the timestamp information of tracing point and point cloud single Correspondence between a tracing point and a single point cloud；And/orThe memory module was additionally operable to described two neighboring corresponding cloud of tracing point with the time in the two neighboring tracing point The point cloud file of the timestamp information name of a first tracing point of stamp information is stored.
- 7. the device according to claim 5 or 6 being managed based on track to cloud, which is characterized in that the association Module further includes：Converting unit, for the coordinate system of trail file to be converted to the projection identical with cloud point and coordinate system；Point cloud document determining unit determines the corresponding point of tracing point for the traveling sequence according to track and the genesis sequence for putting cloud Cloud file.
- 8. the device being managed according to claim 5-7 any one of them based on track to cloud, which is characterized in that described Relating module further includes：Comparing unit, for corresponding cloud of two neighboring tracing point to be carried out space comparison；；Duplicate removal unit, for incorporating the lap of the corresponding cloud into two neighboring tracing point timestamp information Posterior corresponding cloud of tracing point；Cutter unit, for the lap for putting cloud to be cut, to cut away and the time in the two neighboring tracing point The first corresponding cloud of tracing point of information is stabbed to neutralize and the posterior tracing point of timestamp information in the two neighboring tracing point The lap of corresponding cloud.
- 9. a kind of navigation equipment, which is characterized in that including：Data module carries out pipe based on track according to claim 5-8 any one for being stored with to use to cloud The point cloud file for the storage corresponding with tracing point that the device of reason is handled；User interactive module, for receiving, analyzing user instruction and export the result after performing user instruction；Search module, for performing search operation according to user instruction and exporting search result；Navigation module, for providing two-dimensional/three-dimensional path planning and navigation Service to the user according to obtained navigation instruction；Entertainment modules, for providing game, music and other audio-visual entertainment selections；Communication module, for obtaining newer map datum, dynamic information, the communication of one-to-one or group voice/video；Vehicle-mounted interest drives operating system, for providing running environment and support for above-mentioned each module.
- 10. navigation equipment according to claim 9, which is characterized in that the user interactive module includes：Information entry module, for receiving the instruction that user is manually entered by touch screen or button；Intelligent sound interactive module, for receiving user speech instruction, carrying out voice wake-up and voice control and for voice Output performs the result of the user speech instruction；Analysis module carries out speech recognition, lexical analysis and instruction conversion, and for notifying for being instructed to the user speech The user speech instruction that corresponding module execution identifies；Wherein, the user speech instruction is any one of arbitrary languages The expression of kind sentence pattern；Display module, for showing the search result of described search module offer, the guidance path of the navigation module offer, institute The map datum of data module offer and the dynamic information of communication module offer are stated, using voice, two dimension/tri- Dimension diagram, and/or the mode of word are shown.
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