CN109029488A - Navigating electronic map generating method, equipment and storage medium - Google Patents
Navigating electronic map generating method, equipment and storage medium Download PDFInfo
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- CN109029488A CN109029488A CN201810714747.1A CN201810714747A CN109029488A CN 109029488 A CN109029488 A CN 109029488A CN 201810714747 A CN201810714747 A CN 201810714747A CN 109029488 A CN109029488 A CN 109029488A
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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
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3635—Guidance using 3D or perspective road maps
- G01C21/3638—Guidance using 3D or perspective road maps including 3D objects and buildings
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Abstract
The embodiment of the present invention provides a kind of navigating electronic map generating method, equipment and storage medium, this method comprises: according to the corresponding real world images of constant mark object, establish constant mark object model, the constant mark object model includes semantic information, and semantic information is used to explain the real meaning of the constant mark object；Based on semantic information, semantic real model is constructed, which includes the mapping relations of semantic information Yu constant mark object model；According to semantic real model, Navigation Data Model is constructed, which is used to semantic information being interpreted as the data model that navigation application uses；According to Navigation Data Model, map of navigation electronic is generated.By constructing the semantic real model based on image perception to constant mark object, combined with Navigation Data Model, therefore, which can be perceived by computer vision, data plane support be provided for AR navigation, so as to effectively support the AR in AI epoch to navigate.
Description
Technical field
The present embodiments relate to Internet technology more particularly to a kind of navigating electronic map generating method, equipment and deposit
Storage media.
Background technique
In the epoch of internet information explosion, artificial intelligence (Artificial Intelligence, referred to as: AI) is met the tendency of
And give birth to, theory and technology is increasingly mature, and application field also constantly expands, for example, field of traffic, etc..
Traditional map of navigation electronic input with global positioning system (Global Positioning System, referred to as:
GPS) based on signal, and GPS signal only has changing coordinates, and information content is less, can not effectively support the augmented reality in AI epoch
(Augmented Reality, referred to as: AR) navigation.
Summary of the invention
The embodiment of the present invention provides a kind of navigating electronic map generating method, equipment and storage medium, effectively to support AI
The AR in epoch navigates.
In a first aspect, the embodiment of the present invention provides a kind of navigating electronic map generating method, comprising:
According to the corresponding real world images of constant mark object, constant mark object model, the constant mark object model packet are established
Semantic information is included, institute's semantic information is used to explain the real meaning of the constant mark object；
Based on institute's semantic information, construct semantic real model, the semanteme real model include institute's semantic information with
The mapping relations of the constant mark object model；
According to the semantic real model, Navigation Data Model is constructed, the Navigation Data Model is used for the semanteme
Information interpretation is the data model that navigation application uses；
According to the Navigation Data Model, map of navigation electronic is generated.
It is described according to the corresponding real world images of constant mark object in a kind of possible design, establish constant mark object mould
Type, comprising:
Multiple real world images that different angle is corresponded to according to the constant mark object establish at least one described constant mark
Object model.
In a kind of possible design, the constant mark object model further include: texture information and location information；Wherein,
The texture information is used to indicate that the texel information of corresponding real world images, the location information to include the corresponding reality of shooting
Coordinate information when image where camera.
In a kind of possible design, the location information is stored in a manner of image masks, and/or, the texture
Information is stored with pre-set image format, and the pre-set image format includes that following picture format is any one or more of:
Tiff, BMP, JPG and PNG.
In a kind of possible design, the mapping relations of institute's semantic information and the constant mark object model are one-to-one
Mapping relations, alternatively, the mapping relations of institute's semantic information and the constant mark object model are one-to-many mapping relations.
In a kind of possible design, the constant mark object model is stored in constant mark object model library, the semanteme
Real model is stored in semantic real model library.
It is described also to be wrapped after generating map of navigation electronic according to the Navigation Data Model in a kind of possible design
It includes:
During being navigated using the map of navigation electronic, the target reality figure of Present navigation shooting is obtained
Picture includes target constant mark object in the target real world images；
If it is determined that being stored with the corresponding target constant mark object model of the target constant mark object, then according to the mesh
It marks constant mark object model and the map of navigation electronic generates navigation routine.
It is described raw according to the target constant mark object model and the map of navigation electronic in a kind of possible design
After navigation routine, further includes: showing the navigation routine to the target real world images.
In a kind of possible design, after the target real world images for obtaining Present navigation shooting, further includes: if really
The fixed not stored target constant mark object model, then establish the target constant mark object mould according to the target real world images
Type, and adapt to update the map of navigation electronic.
In a kind of possible design, after the target real world images for obtaining Present navigation shooting, further includes: corresponding
The position of the target real world images, if the corresponding constant mark object of stored constant mark object model is not present in the mesh
It marks in real world images, then deletes stored constant mark object model, and adapt to update the map of navigation electronic.
Second aspect, the embodiment of the present invention provide a kind of map of navigation electronic generating means, comprising:
First model construction module, for establishing constant mark object model according to the corresponding real world images of constant mark object,
The constant mark object model includes semantic information, and institute's semantic information is used to explain the real meaning of the constant mark object；
Second model construction module constructs semantic real model, the semantic real mould for being based on institute's semantic information
Type includes the mapping relations of institute's semantic information Yu the constant mark object model；
Third model construction module, for constructing Navigation Data Model, the navigation number according to the semantic real model
It is used to institute's semantic information being interpreted as the data model that navigation application uses according to model；
Map generation module, for generating map of navigation electronic according to the Navigation Data Model.
The third aspect, the embodiment of the present invention provide a kind of electronic equipment, comprising: processor and memory；
The memory stores computer executed instructions；
The processor executes the computer executed instructions of the memory storage, so that the processor executes such as first
The described in any item navigating electronic map generating methods of aspect.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, the computer-readable storage medium
It is stored with computer executed instructions in matter, appoints when the computer executed instructions are executed by processor for realizing such as first aspect
Navigating electronic map generating method described in one.
Navigating electronic map generating method, equipment and storage medium provided in an embodiment of the present invention, according to constant mark object
Corresponding real world images establish constant mark object model, which includes semantic information, and semantic information is for solving
Release the real meaning of the constant mark object；Based on semantic information, semantic real model is constructed, which includes language
The mapping relations of adopted information and constant mark object model；According to semantic real model, Navigation Data Model, the navigation data are constructed
Model is used to semantic information being interpreted as the data model that navigation application uses；According to Navigation Data Model, navigation through electronic is generated
Map.Since map of navigation electronic is generated based on the metastable constant mark object of society, by constant mark
Object constructs the semantic real model based on image perception, combines with Navigation Data Model, therefore, which can quilt
Computer vision perception provides data plane support for AR navigation, so as to effectively support the AR in AI epoch to navigate.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to do one simply to introduce, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the flow diagram for the navigating electronic map generating method that one embodiment of the invention provides；
Fig. 2 is the exemplary diagram for the texture information that constant mark object model includes in one embodiment of the invention；
Fig. 3 is the exemplary diagram for the texture information that constant mark object model includes in one embodiment of the invention；
Fig. 4 is constant mark object location exposure mask schematic diagram in one embodiment of the invention；
Fig. 5 be another embodiment of the present invention provides navigating electronic map generating method flow diagram；
Fig. 6 is the structural schematic diagram for the map of navigation electronic generating means that one embodiment of the invention provides；
Fig. 7 is the structural schematic diagram for the electronic equipment that one embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
In the AI epoch, image will become new interactive mode.For the interactive mode characteristic, image is more suitable for from existing
Real society arrives the exchange way of people to machine again.And in view of the input of existing map of navigation electronic is based on GPS signal, and GPS
Signal only has changing coordinates, and without the perception to external image, information content is less, therefore, it is impossible to effectively support the AR in AI epoch
Navigation.
Based on above-mentioned, the embodiment of the present invention provides a kind of navigating electronic map generating method, equipment and storage medium, passes through
Semantic real model based on image perception is constructed to constant mark object, is combined with Navigation Data Model, generation can be calculated
The map of navigation electronic of machine visual perception provides data plane support for AR navigation, so as to effectively support the AR in AI epoch to lead
Boat.
Fig. 1 is the flow diagram for the navigating electronic map generating method that one embodiment of the invention provides.The present invention is implemented
Example provides a kind of navigating electronic map generating method, and the executing subject of the navigating electronic map generating method can be navigation through electronic
Map creation device.The map of navigation electronic generating means can be realized by way of software and/or hardware, wherein hardware
For example, processor, software are, for example, computer program instructions or application program etc..The map of navigation electronic generating means can be with
For an independent electronic equipment, alternatively, the map of navigation electronic generating means can integrate in the electronic device.Wherein, electronics
Equipment is, for example, the equipment such as mobile unit, computer or server.It illustrates in the present embodiment by computer of executing subject
Explanation.
Specifically, server includes but is not limited to the server group of single network server, multiple network servers composition
Or the cloud consisting of a large number of computers or network servers based on cloud computing.Wherein, cloud computing is one kind of distributed computing,
A super virtual computer being made of the computer of a group loose couplings.
As shown in Figure 1, the navigating electronic map generating method the following steps are included:
S101, according to the corresponding real world images of constant mark object, establish constant mark object model.
Wherein, constant mark object model includes semantic information, and the semantic information is for explaining that the reality of constant mark object contains
Justice.The point of interest (Point of Interest, referred to as: POI) and the relevant solid marker of navigation that can be each queried all have
There is its semantic information, such as the traffic mark at some crossing.Constant mark object model proves the presence of an entity in reality, this reality
Body is described as a semantic information.
In practical applications, it is contemplated that the concrete application scene of map of navigation electronic, constant mark object may include but not
It is limited to the relatively-stationary markers such as building, traffic sign, road sign, mailbox, the bus station in roadside.For real world images,
It is to be understood that the constant mark object for all angles that vehicle can take in the process of moving.Therefore, the embodiment of the present invention
The number of real world images is not limited.But it should be noted that real world images with constant mark object model be it is corresponding, under different angle
Real world images, corresponding constant mark object model is also different.
For example, there is a traffic mark board at crossing, the corresponding semantic information of the traffic mark board is " no left turn ".It is expert at
When sailing to the crossing, the traffic mark board under the one or more different perspectivess that can be taken is configured to constant mark object mould
Type, these constant mark object models prove that crossing is there are such a traffic mark board in real world, and semantic information is " to prohibit
Only turn left ".
Therefore, optionally, which may include: that multiple real world images of different angle are corresponded to according to constant mark object,
Establish at least one constant mark object model.
S102, it is based on semantic information, constructs semantic real model.
Wherein, which includes the mapping relations of semantic information Yu constant mark object model.
Since a constant mark object may correspond to one or more constant mark object models, and this multiple constant mark object
The semantic information of model be it is identical, therefore, be based on semantic information, multiple constant mark object model is linked together, structure
At semantic real model.
Optionally, semantic information and the mapping relations of constant mark object model are one-to-one mapping relations, alternatively, semantic
Information and the mapping relations of constant mark object model are one-to-many mapping relations.Still taking the above example as an example, building " forbids a left side
Turn " mapping relations of this semantic information and multiple constant mark object models.
S103, according to semantic real model, construct Navigation Data Model.
Wherein, which is used to semantic information being interpreted as the data model that navigation application uses.
Semantic information in semantic real model that S102 is constructed is interpreted as being navigated using i.e. structure by the step
Build Navigation Data Model.Illustratively, it is only embodiment in the real world that semantic information, which is the traffic sign of " no left turn ",
It needs to describe approach axis thus in Navigation Data Model to forbid exiting from left direction, not advised when providing user's navigation Service
Draw the route to turn left herein.
S104, according to Navigation Data Model, generate map of navigation electronic.
Specifically, building map of navigation electronic can be modeled by implicit knowledge on the basis of Navigation Data Model.Wherein,
Implicit knowledge refers to the knowledge not being expressed contained in action, can relative dominance knowledge understood.
It turns out that the positioning accuracy of the map of navigation electronic can achieve sub-meter grade, and traditional map of navigation electronic
Positioning accuracy only can reach meter level, therefore, compare the relevant technologies, map of navigation electronic generated of the embodiment of the present invention determines
Position precision is greatly improved.
Navigating electronic map generating method provided in an embodiment of the present invention, according to the corresponding real world images of constant mark object,
Constant mark object model is established, which includes semantic information, and semantic information is for explaining the constant mark
The real meaning of object；Based on semantic information, semantic real model is constructed, which includes semantic information and fixed mark
Know the mapping relations of object model；According to semantic real model, Navigation Data Model is constructed, which is used for will be semantic
Information interpretation is the data model that navigation application uses；According to Navigation Data Model, map of navigation electronic is generated.Due to navigation electricity
Sub- map is generated based on the metastable constant mark object of society, by being based on image sense to the building of constant mark object
The semantic real model known, combines with Navigation Data Model, and therefore, which can be perceived by computer vision,
Data plane support is provided for AR navigation, so as to effectively support the AR in AI epoch to navigate.
On the basis of the above embodiments, constant mark object model can also include: texture information and location information.Its
In, texture information is used to indicate the texel information of corresponding real world images.Illustratively, Fig. 2 and Fig. 3 shows two fixations
The texture information that marker model includes.Texture information and the one-to-one coordinate mask information of its texture pixel, record are each
The opposite or absolute coordinate information of texel position.It is onesize with the real world images of constant mark object similar to creation one
Image, the image space coordinate of each image space coordinate and constant mark object of image is completely the same.This is recorded at the pixel of needs
Coordinate (X, Y, Z) of a characteristic point under true three-dimensional space.It also will be understood that being to establish image space coordinate (l, r), with three-dimensional
A kind of method of the mapping relations of space coordinate (X, Y, Z).
Location information includes coordinate information when shooting corresponding real world images where camera.Location information and texture information
Position corresponds, and corresponding position stores true geographic coordinate information (X, Y, Z).The geographic coordinate information can be for relatively
Manage coordinate information or absolute geographic coordinate information.
Optionally, location information can be stored in a manner of image masks.As shown in figure 4, showing a constant mark object
Position exposure mask example.In addition, texture information can be stored with pre-set image format.The pre-set image format may include with
Lower picture format is any one or more of: the lossless compressions picture format such as Tiff, BMP, JPG and PNG.
In some embodiments, above-mentioned constant mark object model is stored in constant mark object model library, and semantic real model is deposited
It is stored in semantic real model library, constant mark object model is distinguished and is stored with semantic real model, with easy-to-look-up, raising is looked into
Look for efficiency.
The specific generation of map of navigation electronic is described in detail in above-described embodiment, how next explains using navigation electricity
Sub- map, and how the map of navigation electronic is updated.
One, the concrete application of map of navigation electronic
Fig. 5 be another embodiment of the present invention provides navigating electronic map generating method flow diagram.Such as Fig. 5 institute
Show, on the basis of process shown in Fig. 1, can also include:
S501, during being navigated using map of navigation electronic, obtain Present navigation shooting target reality figure
Picture.
I.e. in navigation procedure, captured in real-time obtains target real world images.Include the fixed mark of target in the target real world images
Know object.
S502, if it is determined that being stored with the corresponding target constant mark object model of target constant mark object, then according to target
Constant mark object model and map of navigation electronic generate navigation routine.
It is associated with since map of navigation electronic exists with constant mark object model, and target constant mark object model is and navigation
There are one or more of associated constant mark object models for electronic map, therefore, can be according to target constant mark object model
And map of navigation electronic generates navigation routine, and the navigation of route is carried out for active user.
It should be noted that constant mark object model is used to position in navigation, in production for detecting；Semantic reality mould
Block, to inquire, is used to model in production in navigation.
In driving process, when by a constant mark object, it is even higher sub-meter grade can be accurately located to.Pass through fixation
The target real world images shot when marker and navigation can be reversed the real world images for establishing three-dimensional space and Present navigation shooting
Mapping relations.
Further, to promote user's navigation experience, raw according to target constant mark object model and map of navigation electronic
It can also include: to show navigation routine to target real world images after navigation routine.
Two, the update of map of navigation electronic
It is appreciated that corresponding map of navigation electronic needs after increasing newly in reality or reducing a certain solid marker
It is updated, therefore, distinguishes above-mentioned two situations below and be illustrated.
1, when solid marker newly-increased in reality
During being navigated using map of navigation electronic, the target real world images of Present navigation shooting are obtained, it should
It include target constant mark object in target real world images.If it is determined that not stored target constant mark object model, then existing according to target
Real image establishes target constant mark object model, and adapts to update map of navigation electronic.Specific renewal process can refer to above-mentioned
The process of map of navigation electronic is generated, details are not described herein again.
2, when reduction solid marker in reality
During being navigated using map of navigation electronic, the target real world images of Present navigation shooting are obtained, it should
It include target constant mark object in target real world images.The position of corresponding target real world images, if stored constant mark object
The corresponding constant mark object of model is not present in target real world images, then deletes stored constant mark object model, and fit
The map of navigation electronic should be updated.Similarly, specific renewal process can refer to the process of above-mentioned generation map of navigation electronic, this
Place repeats no more.
For example, finding the traffic sign not so that constant mark object is the traffic sign of " no left turn " as an example
In the presence of, then prove that its corresponding semantic real model is also not present, no left turn herein in corresponding map of navigation electronic
Rule is also in requisition for cancellation.
Fig. 6 is the structural schematic diagram for the map of navigation electronic generating means that one embodiment of the invention provides.The present invention is implemented
Example provides a kind of map of navigation electronic generating means, which can pass through software and/or hardware
Mode is realized, wherein hardware is, for example, processor or electronic equipment, and software is, for example, computer program instructions or application program
Deng.The map of navigation electronic generating means can be an independent electronic equipment, alternatively, the map of navigation electronic generating means can
To integrate in the electronic device.Wherein, electronic equipment is, for example, the equipment such as computer or server.To execute master in the present embodiment
Body is illustrated for server.
Specifically, server includes but is not limited to the server group of single network server, multiple network servers composition
Or the cloud consisting of a large number of computers or network servers based on cloud computing.Wherein, cloud computing is one kind of distributed computing,
A super virtual computer being made of the computer of a group loose couplings.
As shown in fig. 6, the map of navigation electronic generating means 60 include: the first model construction module 61, the second model structure
Model block 62, third model construction module 63 and map generation module 64.Wherein,
First model construction module 61, for establishing constant mark object according to the corresponding real world images of constant mark object
Model.Constant mark object model includes semantic information.Semantic information is used to explain the real meaning of constant mark object.
Second model construction module 62 constructs semantic real model for being based on institute's semantic information.Semanteme reality
Model includes the mapping relations of semantic information Yu constant mark object model.
The third model construction module 63, for constructing Navigation Data Model according to semantic real model.Navigation data mould
Type is used to semantic information being interpreted as the data model that navigation application uses.
The map generation module 64, for generating map of navigation electronic according to Navigation Data Model.
Map of navigation electronic generating means provided in this embodiment can be used for executing above-mentioned method as shown in Figure 1 and implement
Example, implementation is similar with technical effect, and details are not described herein again for the present embodiment.
Optionally, the first model construction module 61 can be specifically used for: correspond to the multiple of different angle according to constant mark object
Real world images establish at least one constant mark object model.
On the basis of the above embodiments, constant mark object model can also include: texture information and location information.Its
In, texture information is used to indicate the texel information of corresponding real world images.Location information includes shooting corresponding real world images
When camera where coordinate information.
Further, location information can be stored in a manner of image masks.
And/or texture information can be stored with pre-set image format.Pre-set image format may include following image
Format is any one or more of: Tiff, BMP, JPG and PNG etc..
In some embodiments, the mapping relations of semantic information and constant mark object model can close for one-to-one mapping
System, alternatively, semantic information and the mapping relations of constant mark object model can be one-to-many mapping relations.
Optionally, constant mark object model is stored in constant mark object model library, and semantic real model is stored in semantic existing
The difference storage of the two is realized in real mould library.
In a kind of implementation, which can also include processing module (not shown).It should
Processing module, for obtaining the target reality figure of Present navigation shooting during being navigated using map of navigation electronic
Picture includes target constant mark object in the target real world images；If it is determined that being stored with the corresponding target of target constant mark object
Constant mark object model then generates navigation routine according to target constant mark object model and map of navigation electronic.
Further, processing module according to target constant mark object model and map of navigation electronic generate navigation routine it
Afterwards, it is also used to: navigation routine is shown to target real world images.
In another implementation, processing module is also used to after the target real world images for obtaining Present navigation shooting:
If it is determined that not stored target constant mark object model, then establish target constant mark object model according to target real world images, and fit
Map of navigation electronic should be updated.
In another implementation, processing module is also used to after the target real world images for obtaining Present navigation shooting:
The position of corresponding target real world images, if the corresponding constant mark object of stored constant mark object model is not present in the mesh
It marks in real world images, then deletes stored constant mark object model, and adapt to update map of navigation electronic.
Fig. 7 is the structural schematic diagram for the electronic equipment that one embodiment of the invention provides.As shown in fig. 7, the electronic equipment 70
It include: processor 71 and memory 72.
Memory 72 stores computer executed instructions.
Processor 71 executes the computer executed instructions that memory 72 stores, and leads as described above so that processor 71 executes
Navigate electronic map generating method.
The specific implementation process of processor 71 can be found in above method embodiment, and it is similar that the realization principle and technical effect are similar,
Details are not described herein again for the present embodiment.
Optionally, which further includes communication component 73.Wherein, processor 71, memory 72 and communication unit
Part 73 can be connected by bus 74.Electronic equipment 70 passes through communication component 73 and extraneous progress communication interaction.
The embodiment of the present invention also provides a kind of computer readable storage medium, stores in the computer readable storage medium
There are computer executed instructions, when the computer executed instructions are executed by processor for realizing navigation through electronic as described above
Drawing generating method.
In the above-described embodiment, it should be understood that disclosed device and method, it can be real by another way
It is existing.For example, apparatus embodiments described above are merely indicative, for example, the division of the module, only one kind are patrolled
Function division is collected, there may be another division manner in actual implementation, such as multiple modules may be combined or can be integrated into
Another system, or some features can be ignored or not executed.Another point, shown or discussed mutual coupling or
Direct-coupling or communication connection can be through some interfaces, and the indirect coupling or communication connection of device or module can be electricity
Property, mechanical or other forms.
The module as illustrated by the separation member may or may not be physically separated, aobvious as module
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of the modules therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
It, can also be in addition, each functional module in each embodiment of the present invention can integrate in one processing unit
It is that modules physically exist alone, can also be integrated in one unit with two or more modules.Above-mentioned module at
Unit both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated module realized in the form of software function module, can store and computer-readable deposit at one
In storage media.Above-mentioned software function module is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) or processor (English: processor) execute this Shen
Please each embodiment the method part steps.
It should be understood that above-mentioned processor can be central processing unit (English: Central Processing Unit, letter
Claim: CPU), can also be other general processors, digital signal processor (English: Digital Signal Processor,
Referred to as: DSP), specific integrated circuit (English: Application Specific Integrated Circuit, referred to as:
ASIC) etc..General processor can be microprocessor or the processor is also possible to any conventional processor etc..In conjunction with hair
The step of bright disclosed method, can be embodied directly in hardware processor and execute completion, or with hardware in processor and soft
Part block combiner executes completion.
Memory may include high speed RAM memory, it is also possible to and it further include non-volatile memories NVM, for example, at least one
Magnetic disk storage can also be USB flash disk, mobile hard disk, read-only memory, disk or CD etc..
Bus can be industry standard architecture (Industry Standard Architecture, ISA) bus, outer
Portion's apparatus interconnection (Peripheral Component, PCI) bus or extended industry-standard architecture (Extended
Industry Standard Architecture, EISA) bus etc..Bus can be divided into address bus, data/address bus, control
Bus etc..For convenient for indicating, the bus in illustrations does not limit only a bus or a type of bus.
Above-mentioned storage medium can be by any kind of volatibility or non-volatile memory device or their combination
It realizes, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable
Read-only memory (EPROM), programmable read only memory (PROM), read-only memory (ROM), magnetic memory, flash memory,
Disk or CD.Storage medium can be any usable medium that general or specialized computer can access.
A kind of illustrative storage medium is coupled to processor, believes to enable a processor to read from the storage medium
Breath, and information can be written to the storage medium.Certainly, storage medium is also possible to the component part of processor.It processor and deposits
Storage media can be located at specific integrated circuit (Application Specific Integrated Circuits, referred to as:
ASIC in).Certainly, pocessor and storage media can also be used as discrete assembly and be present in terminal or server.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (13)
1. a kind of navigating electronic map generating method characterized by comprising
According to the corresponding real world images of constant mark object, constant mark object model is established, the constant mark object model includes language
Adopted information, institute's semantic information are used to explain the real meaning of the constant mark object；
Based on institute's semantic information, construct semantic real model, the semanteme real model include institute's semantic information with it is described
The mapping relations of constant mark object model；
According to the semantic real model, Navigation Data Model is constructed, the Navigation Data Model is used for institute's semantic information
It is interpreted as the data model that navigation application uses；
According to the Navigation Data Model, map of navigation electronic is generated.
2. building the method according to claim 1, wherein described according to the corresponding real world images of constant mark object
Vertical constant mark object model, comprising:
Multiple real world images that different angle is corresponded to according to the constant mark object establish at least one described constant mark object mould
Type.
3. method according to claim 1 or 2, which is characterized in that the constant mark object model further include: texture information
And location information；Wherein, the texture information is used to indicate the texel information of corresponding real world images, the location information
Coordinate information when including shooting corresponding real world images where camera.
4. according to the method described in claim 3, it is characterized in that, the location information is stored in a manner of image masks,
And/or the texture information is stored with pre-set image format, the pre-set image format includes in following picture format
It is any one or more: Tiff, BMP, JPG and PNG.
5. the method according to claim 1, wherein institute's semantic information and the constant mark object model reflect
Penetrating relationship is one-to-one mapping relations, alternatively, the mapping relations of institute's semantic information and the constant mark object model are one
To more mapping relations.
6. the method according to claim 1, wherein the constant mark object model is stored in constant mark object mould
Type library, the semanteme real model are stored in semantic real model library.
7. the method according to claim 1, wherein described according to the Navigation Data Model, generation navigation electricity
After sub- map, further includes:
During being navigated using the map of navigation electronic, the target real world images of Present navigation shooting, institute are obtained
It states in target real world images comprising target constant mark object；
If it is determined that be stored with the corresponding target constant mark object model of the target constant mark object, then it is solid according to the target
Determine marker model and the map of navigation electronic generates navigation routine.
8. the method according to the description of claim 7 is characterized in that described according to the target constant mark object model and described
Map of navigation electronic generates after navigation routine, further includes:
The navigation routine is shown to the target real world images.
9. the method according to the description of claim 7 is characterized in that it is described obtain Present navigation shooting target real world images it
Afterwards, further includes:
If it is determined that the not stored target constant mark object model, then establish the target according to the target real world images and fix
Marker model, and adapt to update the map of navigation electronic.
10. the method according to the description of claim 7 is characterized in that the target real world images for obtaining Present navigation shooting
Later, further includes:
The position of the corresponding target real world images, if the corresponding constant mark object of stored constant mark object model is not present
In the target real world images, then stored constant mark object model is deleted, and adapts to update the map of navigation electronic.
11. a kind of map of navigation electronic generating means characterized by comprising
First model construction module, it is described for establishing constant mark object model according to the corresponding real world images of constant mark object
Constant mark object model includes semantic information, and institute's semantic information is used to explain the real meaning of the constant mark object；
Second model construction module constructs semantic real model, the semanteme real model packet for being based on institute's semantic information
Include the mapping relations of institute's semantic information Yu the constant mark object model；
Third model construction module, for constructing Navigation Data Model, the navigation data mould according to the semantic real model
Type is used to institute's semantic information being interpreted as the data model that navigation application uses；
Map generation module, for generating map of navigation electronic according to the Navigation Data Model.
12. a kind of electronic equipment characterized by comprising processor and memory；
The memory stores computer executed instructions；
The processor executes the computer executed instructions of the memory storage, so that the processor executes such as claim
1 to 10 described in any item navigating electronic map generating methods.
13. a kind of computer readable storage medium, which is characterized in that be stored with computer in the computer readable storage medium
It executes instruction, for realizing as described in any one of claim 1 to 10 when the computer executed instructions are executed by processor
Navigating electronic map generating method.
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