CN109074408A - Map loading method and device, electronic equipment and readable storage medium - Google Patents
Map loading method and device, electronic equipment and readable storage medium Download PDFInfo
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- CN109074408A CN109074408A CN201880001292.7A CN201880001292A CN109074408A CN 109074408 A CN109074408 A CN 109074408A CN 201880001292 A CN201880001292 A CN 201880001292A CN 109074408 A CN109074408 A CN 109074408A
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- environment
- period
- map
- lighting information
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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
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3837—Data obtained from a single source
Abstract
The present application relates to the field of computer vision, and in particular, to a method and an apparatus for map loading, an electronic device, and a readable storage medium. The map loading method comprises the following steps: acquiring current image data of an environment; calculating first illumination information corresponding to the environment at present according to the current image data of the environment; determining the current time period of the environment according to the first illumination information; and determining a positioning map to be loaded and loading the positioning map according to the current time period of the environment and the corresponding relation between the time period and the positioning map. The map loading method can accurately select the positioning map under the condition that the current illumination of the environment changes, and improve the success rate and the accuracy rate of positioning the images shot in real time.
Description
Technical field
A kind of loaded this application involves computer vision field more particularly to map method, apparatus, electronic equipment and can
Read storage medium.
Background technique
Intelligent robot or automatic driving vehicle are wanted to complete some simple or sophisticated functions in circumstances not known, just need
It is to be understood that the cartographic information of entire circumstances not known.By the information of acquisition circumstances not known, the map of the circumstances not known is established, so as to
Intelligent robot or automatic driving vehicle positioning.Only successfully build figure, positioning could be robot navigation and others
Function provides safeguard.
Inventor has found that current usually used vision positions immediately and map structuring during studying the prior art
The technology of (VisualSimultaneousLocalizationAndMapping, VSLAM) carries out building figure, still, due to VSLAM
It is image procossing, it is very sensitive to the power of illumination, vulnerable to the influence of illumination, if the current illumination of environment is changed,
Difference between the current illumination of the illumination for making the positioning map currently loaded and the environment is become larger, causes currently to load
Positioning map is unavailable, seriously affects locating effect.
As it can be seen that how to change in ambient lighting, cause in the not available situation of current positioning map, replacement or update
Positioning map corresponding with the current intensity of illumination of the environment improves locating effect, is problem to be solved.
Summary of the invention
How changed in the current illumination of environment the application section Example technical problem to be solved is
In the case of, positioning map can be accurately selected, the success rate and accuracy rate of the framing to captured in real-time are improved.
One embodiment of the application provides a kind of method of map load, comprising: obtains the current picture number of environment
According to；According to the current image data of environment, current corresponding first Lighting information of environment is calculated；According to the first Lighting information, really
Determine environment and is presently in the period；It is presently in the corresponding relationship of period and period and positioning map according to environment, determines to be added
The positioning map of load simultaneously loads positioning map.
One embodiment of the application additionally provides a kind of device of map load, comprising: obtains module, the first determining mould
Block, the second determining module and map loading module；Module is obtained for obtaining the current image data of environment；First determines mould
Block is used for the image data current according to environment, calculates current corresponding first Lighting information of environment；Second determining module is used for
According to the first Lighting information, determine that environment is presently in the period；Map loading module be used for according to environment be presently in the period with
And the corresponding relationship of period and positioning map, it determines positioning map to be loaded and loads positioning map.
The embodiment of the present application also provides a kind of electronic equipment, comprising: at least one processor；And at least one
The memory of processor communication connection；Wherein, memory is stored with the instruction that can be executed by least one processor, the instruction quilt
At least one processor executes, so that the method that at least one processor is able to carry out above-mentioned map load.
The embodiment of the present application also provides a kind of computer readable storage mediums, are stored with computer program, the computer
The method of above-mentioned map load is realized when program is executed by processor.
In terms of existing technologies, it is determined in the application section Example by the first Lighting information that environment is current
The period that the environment is presently in out may thereby determine that out and be presently in period corresponding positioning map with the environment.Due to
Period locating for illumination variation in environment and the environment, there are corresponding relationship, positioning map and periods there is also corresponding relationship, because
And first Lighting information current by environment, it can accurately determine out corresponding with the first current Lighting information of the environment
Positioning map, so that even if can also accurately determine positioning map in the case where the current illumination of the environment changes,
To ensure that the illumination of the positioning map currently loaded and the environment are small in the illumination difference of present period, even without illumination
Difference improves the success rate and accuracy rate of the framing to captured in real-time.
Detailed description of the invention
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element in attached drawing with same reference numbers label are expressed as similar element, remove
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the specific flow chart for the method that map loads in the application first embodiment；
Fig. 2 is the positioning map of constructing environment in the application first embodiment, the positioning map for determining the environment and period
The idiographic flow schematic diagram of the Lighting information and the corresponding relationship of period of corresponding relationship and the determining environment；
Fig. 3 is the specific flow chart for the method that map loads in the application second embodiment；
Fig. 4 is the positioning map and period of the positioning map of constructing environment and the determining environment in the application second embodiment
The idiographic flow schematic diagram of corresponding relationship；
Fig. 5 is the structural schematic diagram for the device that map loads in the application 3rd embodiment；
Fig. 6 is the structural schematic diagram of electronic equipment in the application fourth embodiment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application section Example is further elaborated.It should be appreciated that specific embodiment described herein is only to explain
The application is not used to limit the application.However, it will be understood by those skilled in the art that the application each implementation
In example, in order to make the reader understand this application better, many technical details are proposed.But even if without these technical details
With the various changes and modifications based on following embodiment, the application technical solution claimed also may be implemented.
The first embodiment of the application is related to a kind of method of map load, and the method for map load can be adapted for adopting
With the electronic equipment of VSLAM technology building map, such as automatic driving vehicle, intelligent robot.The method of map load, tool
Body process is as shown in Figure 1:
Step 101: obtaining the current image data of environment.
Specifically, image data of the sensor acquisition environment at current time can be used e.g. to obtain by camera
Image data of the environment at current time includes M images in image data, and M is the integer greater than 1, the bat in multiple images
It takes the photograph content and covers the wider array of region of the environment.For example, it is assumed that environment is outdoor gymnasium, can be shot every 1 meter of distance
The gymnasium gets the image in 5 gymnasium in present period (assuming that a period shoots 5 images), then will shooting
5 gymnasium image as the gymnasium current time image data.It is understood that wide-angle lens can be used
Head, so that the content of shooting for including in the image of shooting is abundant, is not limited with increasing the range of camera shooting in the present embodiment
The type of camera.
In one concrete implementation, before obtaining the current image data of environment, need to construct the environment positioningly
Figure, and determine the positioning map and the corresponding relationship of period of the environment, and determine the Lighting information and pair of period of the environment
It should be related to, specific process is as shown in Figure 2.
Step 2011: in the image data of the day part acquisition environment in N number of period, N is the integer greater than 0.
Specifically, it can be divided into m period by one day, each period includes m period, and m is greater than 1
Integer, wherein N number of period can be continuous N number of period, be also possible to discontinuous N number of period, the present embodiment is with continuous
It is illustrated for N number of period.
In one concrete implementation, the image data of the environment is acquired in the same period in continuous N number of period, N is greater than 0
Integer；Acquire M images of the environment according to pre-determined distance interval respectively within each period, M is the integer greater than 1.
Specifically, no matter environment to be collected is indoor environment or outdoor environment, the intensity of illumination of the environment be with
The variation of time and change.For example, intensity of illumination of the road on daytime is greater than if environment to be collected is the road in park
Intensity of illumination of the road at night.It can be divided into m period by one day, m is the integer greater than 1, for example, m is 2, i.e., will
It is divided within one day two periods, respectively daytime period and the period in the evening；And the ring continuously is acquired in the same period in N number of period
The image data in border, as: the road image data of section and the park during the day for can be continuous 10 days acquisition parks
The image data of road period at night.
The image data that the environment is acquired in the same period in continuous N number of period, improves the positioning of period Yu the environment
The accuracy of corresponding relationship and the accuracy of period and Lighting information corresponding relationship between map.
M images of the environment are acquired according to pre-determined distance interval within each period, for example, if one sport of acquisition
The image data of shop section during the day can acquire the image in the gymnasium every 1 meter, the gymnasium always be obtained and working as
The M images of preceding locating period, the visual angle that M can be shot according to the size and camera in the gymnasium determines, certainly, for structure
The accuracy for the map built can reduce the pre-determined distance of acquisition.
Step 2012: respectively according to the image data that each period collects, the positioning map of constructing environment and determination
The corresponding relationship of the positioning map of period and environment.
Specifically, by VSLAM technology, the environment is constructed positioningly while acquiring the image data of the environment
Figure, and when the positioning map of the environment constructs completion, establish the corresponding relationship of the positioning map and period.For example,
The t1 period acquires the image data in gymnasium, positioning of the positioning map for using VSLAM technology to construct using " t1 " as the building
The mark of map, to establish the corresponding relationship between period and positioning map.It is understood that other can also be used
Mode establish the positioning map of the environment and the corresponding relationship of period, certainly, the period is corresponding with the positioning map of the environment
The form of relationship can be will not enumerate in the present embodiment with other modes.
Step 2013: respectively according to the image data that each period collects, it is respectively right in different periods to calculate environment
The second Lighting information answered.
Specifically, Lighting information can be the brightness value or gray value of the image collected, in the present embodiment
Using brightness value as Lighting information.
In one concrete implementation, the environment is calculated in the treatment process of a period corresponding second Lighting information are as follows:
According to the image data that the same period in N number of period collects, determine that the environment is respectively corresponded in the same period in N number of period
Third Lighting information；Respectively according to the image data that each period collects, determine the environment in the same a period of time in N number of period
The corresponding third Lighting information of section；Environment is calculated in same period corresponding third Lighting information in N number of period
Average value；And using the average value of third Lighting information as environment in corresponding second Lighting information of same period.Wherein, for
The image data that the same period in each period collects is handled as follows: it is respectively right to calculate M images in the period
The average value for the 4th Lighting information answered；And using the average value of the 4th Lighting information as environment a cycle the same period
Corresponding third Lighting information.Corresponding 4th Lighting information of one image is the pixel sum for including according to image and every
The Lighting information of one pixel, which calculates, to be determined.
It will be described in detail below and calculate environment in the process of corresponding second Lighting information of different periods.
With one day for a cycle, and it being divided into m period by one day, the M of each period acquisition environment opens images,
In, the image for including in image data is with sequence Pij mark, and i indicates that number of days, j indicate the serial number of period, and total number of days of acquisition is
N days.The calculating formula such as formula 2.1 of the corresponding 4th Lighting information h0 of so image Pij:
Wherein, f (x, y) is expressed as the Lighting information of each pixel of the image, i.e., the pixel value of each pixel, and B is
Pixel that the image includes sum, δ indicate one level off to zero positive nonzero number, e.g., 0.001, δ is for preventing to ask
The calculated result of logarithm tends to bear infinite situation.By formula 2.1, the corresponding 4th illumination letter of image Pij can be calculated
Breath.
Calculate the average value of M corresponding 4th Lighting informations of image in each period, it may be assumed that
Wherein, hij indicates the environment in the Lighting information of one day j period of serial number i, and as the environment is in a week
The a period corresponding third Lighting information of phase.
The environment is calculated in the average value of corresponding third Lighting information of same period in N number of period, that is,
HjIndicate the environment in corresponding second Lighting information of same period j.
Similarly, according to formula 2.1, formula 2.2 and formula 2.3 can be calculated the environment other day parts respectively
Corresponding second Lighting information.
Step 102: according to the current image data of environment, calculating current corresponding first Lighting information of environment.
One in the specific implementation, the current image data of environment includes M images, calculates separately the current image of the environment
Corresponding 4th Lighting information of each image in data；The environment is determined according to corresponding 4th Lighting information of each image
Current corresponding first Lighting information.
Specifically, the process of corresponding 4th Lighting information of each image in the current image data of the environment is calculated
It is roughly the same with the process of step 2013, i.e., each can be calculated in the current image data of the environment by formula 2.1
Corresponding 4th Lighting information of image, specific calculating process repeat no more.The current image data of the environment will be calculated
In the 4th Lighting information of each image bring formula 2.2 into the environment can be obtained in current corresponding first Lighting information.
Step 103: according to the first Lighting information, determining that the environment is presently in the period.
In one concrete implementation, by the first Lighting information respectively with the environment in corresponding second light of different periods
It is made the difference according to information, the period which is presently in is determined according to difference result.
Specifically, the first Lighting information is done with the environment in corresponding second Lighting information of different periods respectively
Difference, the period that the smallest difference result corresponding period is presently in as the environment.Wherein, the first Lighting information and the ring
Border is as follows in the mode that a period corresponding second Lighting information makes the difference:
HjIt is expressed as the environment second Lighting information corresponding to the j period,Indicate current the first illumination letter of the environment
Breath, selects the smallest j value, that is, can determine that the difference corresponding period.
Step 104: being presently in the corresponding relationship of period and period and positioning map according to the environment, determine to be loaded
Positioning map and load positioning map.
In terms of existing technologies, it is determined in the application section Example by the first Lighting information that environment is current
The period that the environment is presently in out may thereby determine that out and be presently in period corresponding positioning map with the environment.Due to
Period locating for illumination variation in environment and the environment, there are corresponding relationship, positioning map and periods there is also corresponding relationship, because
And first Lighting information current by environment, it can accurately determine out corresponding with the first current Lighting information of the environment
Positioning map, so that even if can also accurately determine positioning map in the case where the current illumination of the environment changes,
To ensure that the illumination of the positioning map currently loaded and the environment are small in the illumination difference of present period, even without illumination
Difference improves the success rate and accuracy rate of the framing to captured in real-time.
The second embodiment of the application is related to a kind of method of map load, second embodiment and first embodiment substantially phase
Together, it is in place of the main distinction, the present embodiment is before obtaining the current image data of environment without being acquired according to different periods
Obtained image data calculates the environment in corresponding second Lighting information of different periods.The present embodiment applies to have light
According in the environment of device, specific process is as shown in Figure 3:
Step 301: obtaining the current image data of environment.
Specifically, the step is roughly the same with the step 101 in first embodiment, is no longer repeated herein.
It should be noted that need to construct the positioning map of the environment before obtaining the current image data of the environment,
And determine the positioning map and the corresponding relationship of period of the environment, specific process is as shown in Figure 4:
Step 4011: in the image data of the day part acquisition environment in N number of period, N is the integer greater than 0.
Step 4012: respectively according to the image data that each period collects, the positioning map of constructing environment and determination
The corresponding relationship of the positioning map of period and environment.
Step 4011 and step 4012 in first embodiment step 2011 and step 2012 it is roughly the same, herein will not
It repeats again.
Step 302: according to the current M of the environment images, the current M of environment-identification opens the illumination apparatus in images.
Specifically, the current image data of the environment includes M images, and M is the integer greater than 1；Using deep learning
Mode, obtain the characteristic point in M images, identify the illumination apparatus in each image.Illumination apparatus includes various patterns
Lamp.
Step 303: calculating illumination apparatus in the current M of the environment images in any image or the illumination apparatus is pre-
If the 5th Lighting information in range, and the 5th illumination in the illumination apparatus of calculating or the illumination apparatus preset range is believed
Breath is as current corresponding first Lighting information of environment.
Specifically, the 5th Lighting information for calculating illumination apparatus in any image in the current M of the environment images, should
The calculation of 5th Lighting information h1 can be with reference formula 2.1, such as:Wherein, W is
Total pixel that illumination apparatus includes in the image, f (x, y) indicate the pixel value of the pixel of illumination apparatus in the image.It can
It, can also be in such a way that other calculate Lighting information with understanding.
Alternatively, calculating the 5th illumination in the current M of the environment images in any image in illumination apparatus preset range
Information, wherein illumination apparatus preset range can be centered on the mass center of illumination apparatus in the image, be half with presetted pixel
The region of diameter is also possible to other regions around illumination apparatus.For example, being with 8 pixels centered on the mass center of fluorescent lamp
The border circular areas of radius is as the fluorescent lamp preset range.Calculate the mode of the 5th Lighting information in illumination apparatus preset range
Roughly the same with the calculation of the 5th Lighting information of above-mentioned illumination apparatus, details are not described herein again.
Step 304: judging whether the 5th Lighting information in illumination apparatus or illumination apparatus preset range is more than default
Otherwise illumination threshold value, executes step 306 if so, thening follow the steps 305.
Specifically, different periods include daytime period and the period in the evening, and presetting illumination threshold value can be according to illumination apparatus
The Lighting information of section and Lighting information determine the period in the evening during the day.If illumination apparatus or illumination apparatus preset range
The 5th interior Lighting information is more than default illumination threshold value, then shows that illumination apparatus is opened, the illumination apparatus or the illumination apparatus
Illumination in preset range is partially bright, brightness value is high, that is, can determine that the environment is currently at the period in the evening, if illumination apparatus or light
It is less than default illumination threshold value according to the 5th Lighting information in device preset range, then shows that illumination apparatus is not opened, illumination dress
Set or the illumination apparatus preset range in illumination it is partially dark, brightness value is low, that is, can determine that the environment is currently at daytime period.
Step 305: determining that the environment is currently at the period in the evening.
Step 306: determining that the environment is currently at daytime period.
Step 307: being presently in the corresponding relationship of period and period and positioning map according to the environment, determine to be loaded
Positioning map and load positioning map.
Compared with prior art, the method for map provided in this embodiment load, in environment-identification current image date
Illumination apparatus, and believed according to the 5th illumination in the 5th Lighting information or illumination apparatus preset range of the illumination apparatus of identification
Breath, judges whether illumination apparatus is opened, so that it is determined that going out the period that the environment is presently in, and then determines current with the environment
Corresponding positioning map, this method only needs to calculate the 5th Lighting information in illumination apparatus or illumination apparatus preset range, meter
It calculates and judgement is simple, processing speed is fast, allows to quickly and accurately determine the positioning map of the environment.
The 3rd embodiment of the application is related to a kind of device 50 of map load, comprising: obtains module 501, first and determines
Module 502, the second determining module 503 and map loading module 504；The device specific structure of map load is as shown in Figure 5:
Module 501 is obtained for obtaining the current image data of environment；First determining module 502 is used for current according to environment
Image data, calculate current corresponding first Lighting information of environment；Second determining module 503 is used to be believed according to the first illumination
Breath, determines that environment is presently in the period；Map loading module 504 is used to be presently in period and period and positioning according to environment
The corresponding relationship of map determines positioning map to be loaded and loads positioning map.
The present embodiment is virtual bench embodiment corresponding with the method for above-mentioned map load, skill in above method embodiment
Art details is still applicable in the present embodiment, and details are not described herein again.
It should be noted that devices discussed above embodiment is only schematical, not to the protection model of the application
Enclose composition limit, in practical applications, those skilled in the art can select according to the actual needs part therein or
Whole modules achieve the purpose of the solution of this embodiment, herein with no restrictions.
The fourth embodiment of the application is related to a kind of electronic equipment, and structure is as shown in Figure 6.It include: at least one processing
Device 601；And the memory 602 with the communication connection of at least one processor 601.Memory 602 is stored with can be by least one
The instruction that processor 601 executes.Instruction is executed by least one processor 601, so that at least one processor 601 is able to carry out
The method of above-mentioned map load.
In the present embodiment, for processor is with central processing unit (Central Processing Unit, CPU), memory
By taking readable and writable memory (Random Access Memory, RAM) as an example.Processor, memory can by bus or its
He connects mode, in Fig. 6 for being connected by bus.Memory as a kind of non-volatile computer readable storage medium storing program for executing,
It can be used for storing non-volatile software program, non-volatile computer executable program and module, in the embodiment of the present application
Positioning map is stored in memory.Processor passes through operation non-volatile software program stored in memory, instruction
And module realizes the method for above-mentioned map load thereby executing the various function application and data processing of equipment.
Memory may include storing program area and storage data area, wherein storing program area can storage program area, extremely
Application program required for a few function；It storage data area can the Save option list etc..In addition, memory may include high speed
Random access memory, can also include nonvolatile memory, a for example, at least disk memory, flush memory device or
Other non-volatile solid state memory parts.In some embodiments, it includes remotely located relative to processor that memory is optional
Memory, these remote memories can pass through network connection to external equipment.The example of above-mentioned network is including but not limited to mutual
Networking, intranet, local area network, mobile radio communication and combinations thereof.
One or more module stores in memory, when being executed by one or more processor, executes above-mentioned
The method that map loads in any means embodiment.
The method that the load of map provided by the embodiment of the present application can be performed in the said goods, has the corresponding function of execution method
Can module and beneficial effect, the not technical detail of detailed description in the present embodiment, reference can be made to provided by the embodiment of the present application
The method of map load.
The 5th embodiment of the application is related to a kind of computer readable storage medium, which is that computer can
Storage medium is read, is stored with computer instruction in the computer readable storage medium, which enables a computer to hold
The method of the load of map involved in row the application first or second embodiment of the method.
That is, it will be understood by those skilled in the art that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, which is stored in a storage medium, including some instructions are to make
It obtains an equipment (can be single-chip microcontroller, chip etc.) or processor (processor) executes side described in each embodiment of the application
The all or part of the steps of method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic or disk etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the various embodiments described above are the specific embodiments of realization the application, and
In practical applications, can to it, various changes can be made in the form and details, without departing from spirit and scope.
Claims (13)
1. a kind of method of map load, wherein include:
Obtain the current image data of environment；
According to the current image data of the environment, current corresponding first Lighting information of the environment is calculated；
According to first Lighting information, determine that the environment is presently in the period；
It is presently in the corresponding relationship of period and period and positioning map according to the environment, determines positioning map to be loaded
And load the positioning map.
2. the method for map load according to claim 1, wherein before obtaining the current image data of environment, institute
The method for stating map load further include:
The image data of the environment is acquired in the day part in N number of period, N is the integer greater than 0；
Respectively according to the image data that each period collects, construct the positioning map of the environment and determine the period with it is described
The corresponding relationship of the positioning map of environment.
3. the method for map load according to claim 2, wherein acquire the environment in the day part in N number of period
Image data specifically includes:
The image data of the environment is acquired in the same period in continuous N number of period；
Acquire M images of the environment according to pre-determined distance interval respectively within each period, M is the integer greater than 1.
4. the method for map load according to claim 3, wherein acquire the environment in the day part in N number of period
After image data, before obtaining the current image data of environment, the method for the map load further include:
Respectively according to the image data that each period collects, the environment is calculated in corresponding second light of different periods
According to information.
5. the method for map load according to claim 4, wherein respectively according to the picture number that each period collects
According to calculating the environment in corresponding second Lighting information of different periods, specifically include:
It is carried out the following processing for the environment in the image data that the same period in N number of period collects:
According to the image data that the same period in N number of period collects, determine that the environment is each in the same period in N number of period
Self-corresponding third Lighting information；
The environment is calculated in the average value of corresponding third Lighting information of same period in N number of period；
And using the average value of third Lighting information as the environment in same period corresponding second Lighting information.
6. the method for map load according to claim 5, wherein collected according to the same period in N number of period
Image data determines that the environment in corresponding third Lighting information of same period in N number of period, specifically includes:
The image data collected respectively to the same period in each period carries out the following processing:
Calculate the average value of M corresponding 4th Lighting informations of described image in the period；
And the period corresponding third illumination using the average value of the 4th Lighting information as the environment in a cycle is believed
Breath；
Wherein, corresponding 4th Lighting information of an image is the pixel sum and each picture for including according to described image
The Lighting information of vegetarian refreshments, which calculates, to be determined.
7. the method for the load of the map according to any one of claim 4 to 6, wherein the current picture number of the environment
According to including M images；
According to the current image data of the environment, current corresponding first Lighting information of the environment is calculated, is specifically included:
Calculate separately corresponding 4th Lighting information of each image in the current image data of the environment；
Current corresponding first Lighting information of the environment is determined according to corresponding 4th Lighting information of each image.
8. the method for map load according to claim 7, wherein according to first Lighting information, determine the ring
Border is presently in the period, specifically includes:
First Lighting information is made the difference with the environment in corresponding second Lighting information of different periods respectively, according to
Difference result determines the period that the environment is presently in.
9. the method for map load according to claim 2 or 3, wherein the current image data of the environment includes M
Image, M are the integer greater than 1；
According to the current image data of the environment, current corresponding first Lighting information of the environment is calculated, is specifically included:
According to the current M of the environment images, the illumination apparatus in the current M of the environment images is identified；
It calculates the illumination apparatus or the illumination apparatus in the current M of the environment images in any image and presets model
Enclose the 5th interior Lighting information, and by the 5th illumination in the illumination apparatus of calculating or the illumination apparatus preset range
Information is as current corresponding first Lighting information of the environment.
10. the method for map load according to claim 9, wherein the different periods include daytime period and evening
Period；
According to first Lighting information, determines that the environment is presently in the period, specifically includes:
Judge whether the 5th Lighting information in the illumination apparatus or the illumination apparatus preset range is more than default illumination
Threshold value, if so, determining that the environment is currently at the period in the evening, otherwise, it determines the environment is currently at daytime period.
11. a kind of device of map load, wherein include: to obtain module, the first determining module, the second determining module and ground
Figure loading module；
The acquisition module is for obtaining the current image data of environment；
First determining module is used for the image data current according to the environment, calculates the environment current corresponding first
Lighting information；
Second determining module is used to determine that the environment is presently in the period according to first Lighting information；
The map loading module is used to be presently in the corresponding relationship of period and period and positioning map according to the environment,
It determines positioning map to be loaded and loads the positioning map.
12. a kind of electronic equipment, wherein include:
At least one processor；And
The memory being connect at least one described processor communication；Wherein,
The memory is stored with the instruction that can be executed by least one described processor, and described instruction is by described at least one
It manages device to execute, so that at least one described processor is able to carry out as the described in any item maps of claim 1~10 load
Method.
13. a kind of computer readable storage medium, is stored with computer program, wherein the computer program is held by processor
The method of the described in any item map loads of claim 1~10 is realized when row.
Applications Claiming Priority (1)
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| PCT/CN2018/095824 WO2020014832A1 (en) | 2018-07-16 | 2018-07-16 | Map loading method and device, electronic apparatus, and readable storage medium |
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| CN109074408B CN109074408B (en) | 2022-04-08 |
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| CN110211027A (en) * | 2019-04-30 | 2019-09-06 | 北京云迹科技有限公司 | Map data processing method and device for robot |
| CN111652934A (en) * | 2020-05-12 | 2020-09-11 | Oppo广东移动通信有限公司 | Positioning method, map construction method, device, equipment and storage medium |
| CN112488007A (en) * | 2020-12-04 | 2021-03-12 | 深圳市优必选科技股份有限公司 | Visual positioning method, device, robot and storage medium |
| CN112697156A (en) * | 2020-12-04 | 2021-04-23 | 深圳市优必选科技股份有限公司 | Map library establishing method, robot, computer device and storage medium |
| WO2022116156A1 (en) * | 2020-12-04 | 2022-06-09 | 深圳市优必选科技股份有限公司 | Visual positioning method, robot, and storage medium |
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| Publication number | Publication date |
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| CN109074408B (en) | 2022-04-08 |
| WO2020014832A1 (en) | 2020-01-23 |
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