CN108205566B - Method and device for managing point cloud based on track and navigation equipment - Google Patents
Method and device for managing point cloud based on track and navigation equipment Download PDFInfo
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- CN108205566B CN108205566B CN201611179671.4A CN201611179671A CN108205566B CN 108205566 B CN108205566 B CN 108205566B CN 201611179671 A CN201611179671 A CN 201611179671A CN 108205566 B CN108205566 B CN 108205566B
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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 invention discloses a method and a device for managing point cloud based on a track and navigation equipment. The method comprises the following steps: acquiring a track file and a point cloud file which are generated by collection; the track file comprises timestamp information of track points; and wherein the point cloud file includes timestamp information of the point cloud; and establishing a corresponding relation between the point clouds and the track points according to the timestamp information of the track points and the timestamp information of the point clouds, performing duplicate removal processing and segmentation processing on the point clouds corresponding to the two adjacent track points, and performing associated storage and management on the point cloud files according to the track points. The invention can calculate the relation between the point cloud and the track, quickly position the point cloud position according to the track, perform framing management on the point cloud through the coordinate position which can be seen in real time by the point cloud and the GPS track, realize quick positioning and real-time pulling of the point cloud, simultaneously ensure the integrity of the information of the point cloud and the track in the same tile, reduce the management cost and improve the production efficiency.
Description
Technical Field
The invention relates to point clouds, in particular to a method and a device for managing the point clouds based on tracks and navigation equipment.
Background
The point cloud is a data set, is a massive point set for expressing target space distribution and target surface characteristics under the same spatial reference system, and is initially applied to the mechanical field. With the reduction of equipment cost and the improvement of precision, the method is also increasingly applied to other fields, such as the field of electronic maps, which can be used for making street views.
The point cloud contains different attribute information according to different acquisition modes. For example, the point cloud obtained by the laser measurement principle comprises three-dimensional coordinates (XYZ) and laser reflection intensity (Itensity); the point cloud obtained according to the photogrammetric principle comprises three-dimensional coordinates (XYZ) and color information (RGB); and combining the laser measurement and the photographic measurement principle to obtain a point cloud comprising three-dimensional coordinates (XYZ), laser reflection intensity (Itensity) and color information (RGB).
The existing point clouds applied to the field of electronic maps mainly adopt the laser measurement and the photography measurement principle to obtain the point clouds, for example, a laser device and a photography device are fixed on the roof of a vehicle, and a vehicle passes through the street to obtain street views.
However, in the field of electronic maps, the data volume of point clouds is too large, so that the rapid positioning of the position cannot be realized. In addition, in the process of cloud point data acquisition, the cloud points are stored in a segmented mode, and the track data and the cloud points are stored and managed separately. Therefore, the true geographic coordinates cannot be seen from the point cloud, and the coordinate locations are not quickly located due to the massive data of the point cloud.
As described above, the trajectory data and the point cloud are separately managed, and thus a highly accurate point cloud file cannot be viewed in real time through the trajectory. The inventor finds that the point cloud and the track data are in connection, but at present, the track cannot be inquired according to the point cloud, and difficulty is brought to production and management of the data.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for managing point cloud based on a track, which can perform associated storage and management on a point cloud file according to a track point, and ensure that a user can quickly access a related point cloud file at any time.
The track-based method for managing the point cloud comprises the following steps:
acquiring a track file and a point cloud file which are generated by collection; the track file comprises timestamp information of track points; and wherein the point cloud file includes timestamp information of the point cloud;
And establishing a corresponding relation between the point clouds and the track points according to the timestamp information of the track points and the timestamp information of the point clouds, performing duplicate removal processing and segmentation processing on the point clouds corresponding to the two adjacent track points, and performing associated storage and management on the point cloud files according to the track points.
Optionally, the establishing of the correspondence between the point cloud and the track according to the timestamp information of the track point and the timestamp information of the point cloud includes:
sequencing the track points and the point clouds according to the timestamp information of the track points and the timestamp information of the point clouds, establishing a corresponding relation between the point clouds corresponding to two adjacent track points and one track point of the two adjacent track points, and establishing a corresponding relation between a single track point and the single point cloud according to the timestamp information of the track point and the timestamp information of the point clouds aiming at the last track point and the last point cloud; and/or
And storing the point clouds corresponding to the two adjacent track points by using a point cloud file named by the timestamp information of one track point with the timestamp information prior to that of the two adjacent track points.
Optionally, the establishing of the corresponding relationship between the point cloud and the track point according to the timestamp information of the track point and the timestamp information of the point cloud includes:
Converting the coordinate system of the track file into a projection and coordinate system which are the same as the point cloud;
determining a point cloud file corresponding to the track point according to the driving sequence of the track and the generation sequence of the point cloud;
the track points and the point clouds are sorted according to the timestamp information of the point clouds and the timestamp information of the track points, the corresponding relation between the point clouds corresponding to the two adjacent track points and one track point of the two adjacent track points is established, and the corresponding relation between a single track point and the single point cloud is established according to the timestamp information of the last track point and the timestamp information of the last point cloud aiming at the last track point and the last point cloud.
Optionally, establishing a corresponding relationship between the point cloud and the track point according to the timestamp information of the track point and the timestamp information of the point cloud further includes:
carrying out spatial comparison on point clouds corresponding to two adjacent track points;
assigning the overlapping part of the corresponding point cloud to the point cloud corresponding to the track point with the timestamp information behind in the two adjacent track points;
and cutting the overlapped part of the point clouds to cut off the overlapped part of the point clouds corresponding to the track point with the timestamp information in front of the two adjacent track points and the point clouds corresponding to the track point with the timestamp information in back of the two adjacent track points.
Correspondingly, the invention provides a device for managing point cloud based on track, which comprises:
the acquisition module is used for acquiring the track file and the point cloud file generated by acquisition; the track file comprises timestamp information of track points; and wherein the point cloud file includes timestamp information of the point cloud;
the association module is used for establishing a corresponding relation between the point clouds and the track points according to the timestamp information of the track points and the timestamp information of the point clouds, and performing duplicate removal processing and segmentation processing on the point clouds corresponding to two adjacent track points;
and the storage module is used for performing associated storage and management on the point cloud file according to the track points.
Optionally, the association module includes an association unit, configured to sort the track points and the point clouds according to timestamp information of the track points and timestamp information of the point clouds, establish a correspondence between a point cloud corresponding to two adjacent track points and one of the two adjacent track points, and establish a correspondence between a single track point and a single point cloud according to timestamp information of the track point and timestamp information of the point cloud for the last track point and the last point cloud; and/or
The storage module is also used for storing the point clouds corresponding to the two adjacent track points by a point cloud file named by the timestamp information of one track point with the timestamp information prior to that of the two adjacent track points.
Optionally, the associating module further includes:
the conversion unit is used for converting the coordinate system of the track file into a projection and a coordinate system which are the same as the cloud point;
and the point cloud file determining unit is used for determining the point cloud files corresponding to the track points according to the driving sequence of the tracks and the generation sequence of the point clouds.
Optionally, the associating module further includes:
the comparison unit is used for carrying out spatial comparison on the point clouds corresponding to the two adjacent track points; (ii) a
The duplication removing unit is used for dividing the overlapping part of the corresponding point cloud into the point cloud corresponding to the track point with the timestamp information behind in the two adjacent track points;
and the cutting unit is used for cutting the overlapped part of the point clouds so as to cut off the overlapped part of the point clouds corresponding to the track point corresponding to the timestamp information in the two adjacent track points and the point clouds corresponding to the track point corresponding to the timestamp information in the two adjacent track points.
Correspondingly, the invention provides navigation equipment which is characterized in that a point cloud file which is processed by the device for managing the point cloud based on the track and is stored corresponding to the track point is arranged.
Correspondingly, the invention provides a cloud server, which is provided with:
the device for managing the point cloud based on the track; and/or the presence of a gas in the gas,
and the point cloud file which is obtained by processing the point cloud management device based on the track and is stored corresponding to the track point is adopted.
The invention can calculate the relation between the point cloud and the track, quickly position the point cloud position according to the track, perform framing management on the point cloud through the coordinate position which can be seen in real time by the point cloud and the GPS track, realize quick positioning and real-time pulling of the point cloud, simultaneously ensure the integrity of the information of the point cloud and the track in the same tile, reduce the management cost and improve the production efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic diagram of a method for managing a point cloud based on a track according to an embodiment of the present invention;
FIGS. 2A and 2B are schematic diagrams of a point cloud before and after deduplication, respectively, according to an embodiment of the invention;
fig. 3 is a schematic diagram of a correspondence between a point cloud file and a track point cloud file after processing the point cloud file and the track file according to the embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating track-based management of point clouds according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of an apparatus for managing point clouds based on tracks according to an embodiment of the present invention;
fig. 6 is a schematic composition diagram of a navigation device according to an embodiment of the present invention.
Description of the reference numerals
505 acquisition module 510 association module
515 storage module 520 association unit
525 converting unit 530 point cloud file determining unit
535 alignment unit 540 deduplication unit
545 cutting unit 605 data module
610 user interaction module 615 search module
620 navigation module 625 entertainment module
630 communication module 600 fun driving operating system
Detailed Description
As used in the specification and in the claims, certain terms are used to refer to particular components. As one skilled in the art will appreciate, manufacturers may refer to a component by different names. This specification and claims do not intend to distinguish between components that differ in name but not function. In the following description and in the claims, the terms "include" and "comprise" are used in an open-ended fashion, and thus should be interpreted to mean "include, but not limited to. "substantially" means within an acceptable error range, and a person skilled in the art can solve the technical problem within a certain error range to substantially achieve the technical effect. The following description is of the preferred embodiment for carrying out the invention, and is made for the purpose of illustrating the general principles of the invention and not for the purpose of limiting the scope of the invention. The scope of the present invention is defined by the appended claims.
The embodiment of the invention provides a method for managing point clouds based on tracks, which comprises the following steps of:
105, acquiring a track file and a point cloud file; the track file comprises track points, and each track point contains timestamp information, such as GPS timestamp information; in addition, the point cloud file includes a point cloud, which also contains timestamp information, such as GPS timestamp information;
and 110, establishing a corresponding relation between the point clouds and the track according to the timestamp information of each track point and the timestamp information of each point cloud. And performing associated storage and management on the point cloud file according to the track points, so that a user can quickly access the associated point cloud file at any time, and a real reality model is quickly established.
Generally, only the point cloud and the track file are segmented and associated, and therefore the point cloud cannot be searched according to the track point. In the embodiment, the track points and the point clouds are corresponding, so that the corresponding point clouds are retrieved according to the track points.
In the process of establishing the corresponding relationship, optionally, a coordinate system of the track file is converted, and the coordinate system of the track file is converted into a projection and a coordinate system which are the same as the point cloud, for example, the track file under WGS84 is converted into a gaussian three-dimensional projection coordinate system under WGS84 ellipsoid.
In addition, a point cloud file corresponding to each track point can be obtained according to the driving sequence of the track and the generation sequence of the point cloud, so that the corresponding relation between each track point and the point cloud can be established, and the function of searching the point cloud according to the track points can be completed.
Optionally, the timestamp information of the next track point can be obtained according to the timestamp information of the current track point, and the point cloud corresponding to the next track point is further obtained according to the timestamp information, so that consistency of the point cloud and the track range in management is guaranteed, and symmetry of information in subsequent data operation is guaranteed. Optionally, a corresponding relationship between the point cloud corresponding to the current track point and the point piece corresponding to the next track point may be established. By the processing, the point clouds corresponding to each track can be overlapped in sequence, and management is facilitated.
Optionally, since there is an overlap between the point cloud corresponding to the current track point and the point cloud corresponding to the next track point, a deduplication operation may be performed on the point cloud corresponding to the current track point, for example, the overlapping portion is classified into the point cloud corresponding to the next track point, and the overlapping portion is cut in the point cloud corresponding to the current track point. Fig. 2A shows the case of the point cloud overlap before deduplication, and it can be seen that two point cloud overlap portions 20 exist in both point clouds. Fig. 2B shows the two point clouds after deduplication, with no overlap of the data.
After the corresponding relationship between the track points and the point clouds is calculated, the point clouds corresponding to each track point can be formed into a point cloud file for storage. Optionally, naming storage can be performed according to the timestamp information of the track points, so that the corresponding point cloud file can be conveniently retrieved according to the timestamp information of the track points.
Fig. 3 shows a corresponding relationship between a track file and a point cloud file, so that after the technical scheme provided by the invention is adopted, the track point and the point cloud file correspond to each other. It can be seen that a track file of a section of track corresponds to a plurality of point cloud files, for example, the track file corresponds to point clouds such as point cloud 1, point clouds 2 and … …, and point cloud n +1, and the point cloud corresponding to each track point cannot be retrieved, but only the corresponding relationship between the track file and the point cloud file is obtained. After the technical scheme provided by the invention is adopted, the point cloud file named GPSTIME and the corresponding point cloud position information can be obtained through the timestamp information of the track points, such as the GPSTIME field of the track points. According to the invention, each track point, such as track point 1, track point 2, track points 3 and … …, and track point n +1, and the corresponding point cloud file are matched, and the matching relationship is the point-to-point correspondence.
FIG. 4 shows a flow diagram for managing a point cloud based on a trajectory according to an embodiment of the invention. As shown in fig. 4, based on the existing point cloud file and track file, the point cloud corresponding to each track point is determined, the corresponding point cloud is named by using GPS timestamp information, and the track points and the corresponding point cloud file are stored, so that the relationship between the track points and the point cloud is stored, and the point cloud corresponding to the track points can be retrieved by using the GPS timestamp information. Fig. 4 shows 3 track points and 3 point clouds, point cloud 1 and point cloud 2 corresponding to track point 1, point cloud 2 and point cloud 3 corresponding to track point 2, and point cloud 3 corresponding to track point 3. Those skilled in the art can also realize this in other ways, for example, point cloud 1 corresponds to track point 1, point cloud 1 and point cloud 2 correspond to track point 2, and point cloud 2 and point cloud 3 correspond to track point 3. Alternatively, a one-to-one correspondence may be used, for example, point cloud 1 corresponds to track point 1, point cloud 2 corresponds to track point 2, and point cloud 3 corresponds to track point 3.
In order to explain the technical solution of the present invention in detail, the following examples are given.
The existing track file comprises track points A, B, C, and the existing point cloud file comprises a1, b1 and c1, wherein the point cloud file a1 comprises a point cloud a11, the point cloud file b1 comprises a point cloud b11, and the point cloud file c1 comprises a point cloud c 11. The following table shows the correspondence of the track points to the point cloud.
TABLE 1 correspondence between trajectory points and point clouds
| Tracing point | Point cloud file | Point cloud |
| A | a1 | a11 |
| B | b1 | b11 |
| C | c1 | c11 |
It is assumed that the adjacent point cloud data overlap, for example, data of 1/2 overlapping a11 and b11 and data of 1/2 overlapping b11 and c 11.
Track point a has GPS timestamp information 1444984810, track point B has GPS timestamp information 1444984815, track point B has GPS timestamp information 1444984823, point cloud a11 has GPS timestamp information 1444984810, point cloud B11 has GPS timestamp information 1444984815, and point cloud c11 has GPS timestamp information 1444984823.
In order to improve the granularity of the corresponding relationship, the cloud points can be searched for the track points through the cloud points corresponding to the track points.
Data under different coordinate systems can be displayed in one window, and if the two file coordinate systems are inconsistent, the data cannot be displayed in a superposed manner. As a preferred embodiment, before the corresponding relationship between the track points and the cloud points is established, the coordinate transformation may be performed on the track file, and the track file may be transformed into the coordinates and the projection of the WGS84 ellipsoid with the gaussian three-degree band projection.
The track file comprises track points, and the track points can be sequenced according to the driving sequence; the cloud points also have a generation sequence, so that the cloud points corresponding to the track points can be found by comparing the time stamp information of the cloud points with the time stamp information of the track points, the relation between the track points and the cloud points is established, and the cloud points can be searched out through the track points.
Since the cloud point data volume is very large and there is overlap, deduplication can be performed when a track point is mapped to two adjacent cloud points. For example, trace point a may correspond to cloud point a11 and cloud point B11, and trace point B may correspond to cloud point B11 and cloud point c 11.
It has been assumed as above that cloud point a11 and cloud point b11 overlap half as much data and that cloud point b11 and cloud point c11 overlap half as much data. In order to reduce the space occupied by the data, the overlapped data may be cut, for example, the data overlapped in cloud point a11 is cut, and only the data of cloud point b11 is retained, so as to form a cloud point file corresponding to track point a. Similarly, the data overlapped in the cloud point B11 is cut, and only the data of the cloud point c11 is reserved, so that a cloud point file corresponding to the track point B is formed.
For convenience of retrieval, the regenerated cloud point file may be named using GPS timestamp information of the track point, for example, the name of the cloud point file corresponding to track point a may be 1444984810, and the name of the cloud point file corresponding to track point B may be 1444984815. Therefore, in the retrieval process, the timestamp information of the track points can be used for retrieval, and the point cloud file corresponding to the track points can be easily positioned, so that the data of the point cloud file can be obtained.
Accordingly, an embodiment of the present invention provides an apparatus for managing a point cloud based on a track, as shown in fig. 5, including an obtaining module 505, an associating module 510, and a storing module 515. Optionally, the creating module further comprises an associating unit 520, a converting unit 525, a point cloud file determining unit 530, a comparing unit 535, a deduplication unit 540, and a cutting unit 545. An obtaining module 505, configured to obtain a track file and a point cloud file; the track file comprises track points, and the track points contain timestamp information; the point cloud file comprises time stamp information of the point cloud; the association module 510 may be configured to establish a correspondence between the point cloud and the trace point according to the timestamp information of the trace point and the timestamp information of the point cloud; the storage module 515 may perform associated storage and management on the point cloud file according to the track points.
Specifically, the establishing module may establish a correspondence between the point cloud corresponding to the two adjacent track points and the track point prior to the timestamp information in sequence.
As an alternative embodiment, the association unit 520 may sort the track points and the point clouds according to the timestamp information of the track points and the timestamp information of the point clouds, establish a corresponding relationship between the point clouds corresponding to two adjacent track points and one of the two adjacent track points, and establish a corresponding relationship between a single track point and the point clouds for the last track point and the cloud point.
As an alternative embodiment, the conversion unit 525 may be used to convert the coordinate system of the track file into the same projection and coordinate system as the cloud point. The point cloud file determining unit 530 may determine a point cloud file corresponding to the trajectory point according to a driving order of the trajectory and a generation order of the point clouds. A comparison module 535, configured to perform spatial comparison on point clouds corresponding to two adjacent track points; a duplicate removal module 540, configured to assign the overlapping portion of the corresponding point cloud to the point cloud corresponding to the track point with the timestamp information in the two adjacent track points; and the cutting module 530 is configured to cut the overlapped part of the point clouds to cut off the point clouds corresponding to the track points with the timestamp information in front of the two adjacent track points and the overlapped part of the point clouds corresponding to the track points with the timestamp information in back of the two adjacent track points.
Based on the foregoing embodiments, an embodiment of the present invention further provides a navigation apparatus, as shown in fig. 6, where the navigation apparatus includes: a data module 605, a user interaction module 610, a search module 615, a navigation module 620, an entertainment module 625, a communication module 630, and a vehicle drive-fun operating system 600, wherein:
a data module 605, configured to store and update a point cloud file stored in correspondence with a track point, where the point cloud file is obtained by processing the point cloud management device based on a track according to any of the embodiments; a user interaction module 610, configured to receive and analyze a user instruction and output a result after the user instruction is executed; a search module 615, configured to perform a search operation according to a user instruction and output a search result; the navigation module 620 is configured to provide two-dimensional/three-dimensional path planning and navigation services for the user according to the obtained navigation instruction; an entertainment module 625 for providing games, music, and other audio-visual entertainment items; a communication module 630, configured to obtain updated map data, dynamic traffic information, and one-to-one or group voice/video communication; and the vehicle-mounted driving interest operating system 600 is used for providing an operating environment and support for the modules.
Further, in an optional embodiment, the user interaction module 610 includes: the system comprises an information entry module (not shown in the figure), an intelligent voice interaction module (not shown in the figure), an analysis module (not shown in the figure) and a display module (not shown in the figure). The information entry module is used for receiving an instruction manually input by a user through a touch screen or a key; the intelligent voice interaction module is used for receiving a user voice instruction, performing voice awakening and voice control and outputting a result of executing the user voice instruction in a voice mode; the analysis module is used for carrying out voice recognition, semantic analysis and instruction conversion on the user voice instruction and informing the corresponding module to execute the recognized user voice instruction; wherein, the user voice command is the expression of any sentence pattern in any language; and the display module is used for displaying the search result provided by the search module, the navigation path provided by the navigation module, the map data provided by the data module and the dynamic traffic information provided by the communication module, and displaying the dynamic traffic information in a voice, two-dimensional/three-dimensional graphic representation and/or text mode.
It should be noted that, since the method and the apparatus for automatically detecting map data according to any of the foregoing embodiments have the above technical effects, a hybrid navigation system using the method and the apparatus for automatically detecting map data according to any of the foregoing embodiments should also have corresponding technical effects, and the specific implementation process thereof is similar to that in the foregoing embodiments and is not repeated here.
It should be noted that those skilled in the art will appreciate that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
While the foregoing specification illustrates and describes several particular embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive of other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as described herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A method for managing point clouds based on trajectories, comprising:
Acquiring a track file and a point cloud file which are generated by collection; the track file comprises timestamp information of track points; and wherein the point cloud file includes timestamp information of the point cloud;
according to the timestamp information of the track points and the timestamp information of the point clouds, the corresponding relation between the point clouds and the track points is established, the point clouds corresponding to two adjacent track points are subjected to duplication removal processing and segmentation processing, the point cloud files are subjected to associated storage and management according to the track points, wherein the point cloud files corresponding to each track point are obtained according to the driving sequence of the tracks and the generation sequence of the point clouds, and therefore the corresponding relation between each track point and the point clouds is established.
2. The method for managing point clouds based on tracks according to claim 1, wherein the establishing of the corresponding relationship between the point clouds and the tracks according to the timestamp information of the track points and the timestamp information of the point clouds comprises:
sequencing the track points and the point clouds according to the timestamp information of the track points and the timestamp information of the point clouds, establishing a corresponding relation between the point clouds corresponding to two adjacent track points and one track point of the two adjacent track points, and establishing a corresponding relation between a single track point and the single point cloud according to the timestamp information of the track point and the timestamp information of the point clouds aiming at the last track point and the last point cloud; and/or
And storing the point clouds corresponding to the two adjacent track points by using a point cloud file named by the timestamp information of one track point with the timestamp information prior to that of the two adjacent track points.
3. The method for managing point clouds based on tracks according to claim 1 or 2, wherein the establishing of the corresponding relationship between the point clouds and the track points according to the timestamp information of the track points and the timestamp information of the point clouds comprises:
converting the coordinate system of the track file into a projection and coordinate system which are the same as the point cloud;
determining a point cloud file corresponding to the track point according to the driving sequence of the track and the generation sequence of the point cloud;
the track points and the point clouds are sorted according to the timestamp information of the point clouds and the timestamp information of the track points, the corresponding relation between the point clouds corresponding to the two adjacent track points and one track point of the two adjacent track points is established, and the corresponding relation between a single track point and the single point cloud is established according to the timestamp information of the last track point and the timestamp information of the last point cloud aiming at the last track point and the last point cloud.
4. The method of claim 3, wherein establishing a correspondence between the point cloud and the track point based on the timestamp information of the track point and the timestamp information of the point cloud further comprises:
Carrying out spatial comparison on point clouds corresponding to two adjacent track points;
assigning the overlapping part of the corresponding point cloud to the point cloud corresponding to the track point with the timestamp information behind in the two adjacent track points;
and cutting the overlapped part of the point clouds to cut off the overlapped part of the point clouds corresponding to the track point with the timestamp information in front of the two adjacent track points and the point clouds corresponding to the track point with the timestamp information in back of the two adjacent track points.
5. An apparatus for managing a point cloud based on a trajectory, comprising:
the acquisition module is used for acquiring the track file and the point cloud file generated by acquisition; the track file comprises timestamp information of track points; and wherein the point cloud file includes timestamp information of the point cloud;
the association module is used for establishing a corresponding relation between the point clouds and the track points according to the timestamp information of the track points and the timestamp information of the point clouds, and performing duplicate removal processing and segmentation processing on the point clouds corresponding to two adjacent track points; obtaining a point cloud file corresponding to each track point according to the driving sequence of the track and the generation sequence of the point cloud, and accordingly establishing a corresponding relation between each track point and the point cloud;
And the storage module is used for performing associated storage and management on the point cloud file according to the track points.
6. The device for managing point clouds based on tracks according to claim 5, wherein the association module comprises an association unit, which is used for sequencing the track points and the point clouds according to the timestamp information of the track points and the timestamp information of the point clouds, establishing the corresponding relation between the point clouds corresponding to two adjacent track points and one of the two adjacent track points, and establishing the corresponding relation between a single track point and a single point cloud according to the timestamp information of the track point and the timestamp information of the point clouds for the last track point and the last point cloud; and/or
The storage module is also used for storing the point clouds corresponding to the two adjacent track points by a point cloud file named by the timestamp information of one track point with the timestamp information prior to that of the two adjacent track points.
7. The apparatus for managing point clouds according to claim 5 or 6, wherein the correlation module further comprises:
the conversion unit is used for converting the coordinate system of the track file into a projection and a coordinate system which are the same as the cloud point;
And the point cloud file determining unit is used for determining the point cloud files corresponding to the track points according to the driving sequence of the tracks and the generation sequence of the point clouds.
8. The apparatus for managing point clouds according to claim 5 or 6, wherein the correlation module further comprises:
the comparison unit is used for carrying out spatial comparison on the point clouds corresponding to the two adjacent track points;
the duplication removing unit is used for dividing the overlapping part of the corresponding point cloud into the point cloud corresponding to the track point with the timestamp information behind in the two adjacent track points;
and the cutting unit is used for cutting the overlapped part of the point clouds so as to cut off the overlapped part of the point clouds corresponding to the track point corresponding to the timestamp information in the two adjacent track points and the point clouds corresponding to the track point corresponding to the timestamp information in the two adjacent track points.
9. A navigation device, comprising:
the data module is used for storing a point cloud file which is obtained by processing the point cloud management device based on the track according to any one of claims 5 to 8 and is stored corresponding to the track points;
the user interaction module is used for receiving and analyzing the user instruction and outputting a result after the user instruction is executed;
The search module is used for executing search operation according to the user instruction and outputting a search result;
the navigation module is used for providing two-dimensional/three-dimensional path planning and navigation service for the user according to the obtained navigation instruction;
the entertainment module is used for providing games, music and other video entertainment items;
the communication module is used for acquiring updated map data, dynamic traffic information and one-to-one or group voice/video communication;
and the vehicle-mounted interesting driving operation system is used for providing operating environment and support for the modules.
10. The navigation device of claim 9, wherein the user interaction module comprises:
the information entry module is used for receiving an instruction manually input by a user through a touch screen or a key;
the intelligent voice interaction module is used for receiving a user voice instruction, performing voice awakening and voice control and outputting a result of executing the user voice instruction in a voice mode;
the analysis module is used for carrying out voice recognition, semantic analysis and instruction conversion on the user voice instruction and informing the corresponding module to execute the recognized user voice instruction; wherein, the user voice command is the expression of any sentence pattern in any language;
And the display module is used for displaying the search result provided by the search module, and the navigation path provided by the navigation module, the map data provided by the data module and the dynamic traffic information provided by the communication module are displayed in a voice, two-dimensional/three-dimensional graphic and/or text mode.
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| CN109186608B (en) * | 2018-09-27 | 2021-10-15 | 大连理工大学 | Repositioning-oriented sparse three-dimensional point cloud map generation method |
| CN109685898B (en) * | 2018-12-25 | 2023-07-04 | 广州文远知行科技有限公司 | Layering method and device of point cloud data, computer equipment and storage medium |
| CN110174115B (en) * | 2019-06-05 | 2021-03-16 | 武汉中海庭数据技术有限公司 | Method and device for automatically generating high-precision positioning map based on perception data |
| CN110634104B (en) * | 2019-09-05 | 2022-11-18 | 北京智行者科技股份有限公司 | Multi-map splicing method and device |
| WO2022016311A1 (en) * | 2020-07-20 | 2022-01-27 | 深圳元戎启行科技有限公司 | Point cloud-based three-dimensional reconstruction method and apparatus, and computer device |
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