CN110120075B - Method and apparatus for processing information - Google Patents
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- CN110120075B CN110120075B CN201910415145.0A CN201910415145A CN110120075B CN 110120075 B CN110120075 B CN 110120075B CN 201910415145 A CN201910415145 A CN 201910415145A CN 110120075 B CN110120075 B CN 110120075B
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Abstract
The embodiment of the disclosure discloses a method and a device for processing information. One embodiment of the method comprises: acquiring a point data set, wherein the point data comprises a three-dimensional coordinate and laser reflection intensity; determining at least one point data sub-set from the point data sets based on the three-dimensional coordinates and the laser reflection intensity of the point data in the point data sets; for a point data subset of the at least one point data subset, performing the following traffic sign recognition steps: determining a minimum bounding box of the object described by the point data subset; and identifying whether the object described by the point data sub-set is a traffic signboard or not based on the point data contained in the minimum bounding box and the point data sub-set. This embodiment enables the identification of the traffic sign.
Description
Technical Field
The disclosed embodiments relate to the field of computer technologies, and in particular, to a method and an apparatus for processing information.
Background
Electronic maps play an irreplaceable role today in the high development of computer technology and information science. For example, a high-precision map is one of key technologies for implementing an automatic driving technology. In practice, a laser radar or the like may be used as a sensor for data acquisition, thereby obtaining point cloud data for generating a high-precision map. In order to obtain a high-precision map, it is necessary to acquire information of a traffic signboard, which is one of important components in the high-precision map.
Disclosure of Invention
The embodiment of the disclosure provides a method and a device for processing information.
In a first aspect, an embodiment of the present disclosure provides a method for processing information, where the method includes: acquiring a point data set, wherein the point data comprises a three-dimensional coordinate and laser reflection intensity; determining at least one point data subset from the point data set based on the three-dimensional coordinates and laser reflection intensity of the point data in the point data set; for a point data sub-set of the at least one point data sub-set, performing the following traffic sign recognition steps: determining a minimum bounding box of the object described by the point data subset; and identifying whether the object described by the point data sub-set is a traffic signboard or not based on the point data contained in the minimum bounding box and the point data sub-set.
In some embodiments, the above method further comprises: and extracting the point data sub-set of which the described object is the traffic signboard in the at least one point data sub-set.
In some embodiments, the determining at least one point data subset from the point data sets based on the three-dimensional coordinates and the laser reflection intensity of the point data in the point data sets includes: selecting point data with the laser reflection intensity lower than a preset intensity threshold value from the point data set to form a first point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the first point data subset to obtain a second point data subset; and dividing the point data of the second point data sub-set to obtain the at least one point data sub-set.
In some embodiments, the determining at least one point data subset from the point data sets based on the three-dimensional coordinates and the laser reflection intensity of the point data in the point data sets includes: selecting point data with the laser reflection intensity higher than or equal to a preset intensity threshold value from the point data set to form a third point data subset; forming a fourth point data subset using the point data in the point data set except for the point data included in the third point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the fourth point data subset to obtain a fifth point data subset; and respectively dividing the point data in the third point data subset and the fifth point data subset to obtain at least one point data subset.
In some embodiments, the identifying whether the object described by the point data sub-set is a traffic signboard based on the minimum bounding box and the point data included in the point data sub-set includes: in response to determining that the point data contained by the minimum bounding box and the point data subset is consistent with at least one of the following operations, determining that the object described by the point data subset is a traffic sign: determining that the length, the width and the height of the minimum bounding box meet a first preset condition; determining that the filling rate of a sphere corresponding to point data in the minimum bounding box meets a second preset condition, wherein the sphere corresponding to the point data is a sphere which takes the three-dimensional coordinate of the point data as the center and takes a preset radius as the radius, and the preset radius is determined based on the number of point data in the minimum bounding box and the volume of the minimum bounding box; determining that the filling rate of a sphere corresponding to the point data in the minimum bounding box after the sphere rotates for a preset angle along the preset direction of the preset rotating shaft in the minimum bounding box meets a third preset condition; determining that an object which is outside the minimum bounding box and is fitted by at least one point data in a preset direction of the minimum bounding box has a connection relation with the minimum bounding box; and determining that an included angle between a normal vector of the space plane fitted by the point data subset and an acquisition track is larger than a preset angle threshold, wherein the acquisition track is a motion track of the acquisition equipment when the point data set is acquired.
In some embodiments, the first preset condition includes: the aspect ratio of the minimum bounding box is less than or equal to a first preset value, the length-height ratio is less than or equal to a second preset value, and the width-height ratio is less than or equal to a third preset value.
In some embodiments, the second preset condition includes: and the filling rate of the sphere corresponding to the point data in the minimum bounding box is greater than or equal to a preset filling rate threshold value.
In some embodiments, the third preset condition includes: and after the rotation is carried out by a preset angle based on the preset direction of the preset rotating shaft, the ratio of the filling rate of the sphere corresponding to the point data contained in the minimum bounding box to the initial filling rate is smaller than a preset threshold value, wherein the initial filling rate is the filling rate of the sphere corresponding to the point data contained in the minimum bounding box when the minimum bounding box is not rotated.
In a second aspect, an embodiment of the present disclosure provides an apparatus for processing information, the apparatus including: an acquisition unit configured to acquire a point data set, wherein the point data includes three-dimensional coordinates and laser reflection intensity; a determination unit configured to determine at least one point data subset from the point data set based on three-dimensional coordinates and laser reflection intensity of point data in the point data set; an execution unit configured to execute a traffic signboard identifying step for a point data sub-set of the at least one point data sub-set, wherein the execution unit includes: a determination module configured to determine a minimum bounding box for an object described by the point data subset; and the identification module is configured to identify whether the object described by the point data sub-set is the traffic signboard or not based on the minimum bounding box and the point data contained by the point data sub-set.
In some embodiments, the above apparatus further comprises: an extracting unit configured to extract a point data sub-set in which the described object is a traffic signboard, from the at least one point data sub-set.
In some embodiments, the determining unit is further configured to: selecting point data with the laser reflection intensity lower than a preset intensity threshold value from the point data set to form a first point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the first point data subset to obtain a second point data subset; and dividing the point data of the second point data sub-set to obtain the at least one point data sub-set.
In some embodiments, the determining unit is further configured to: selecting point data with the laser reflection intensity higher than or equal to a preset intensity threshold value from the point data set to form a third point data subset; forming a fourth point data subset using the point data in the point data set except for the point data included in the third point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the fourth point data subset to obtain a fifth point data subset; and respectively dividing the point data in the third point data subset and the fifth point data subset to obtain at least one point data subset.
In some embodiments, the identification module is further configured to: in response to determining that the point data contained by the minimum bounding box and the point data subset is consistent with at least one of the following operations, determining that the object described by the point data subset is a traffic sign: determining that the length, the width and the height of the minimum bounding box meet a first preset condition; determining that the filling rate of a sphere corresponding to point data in the minimum bounding box meets a second preset condition, wherein the sphere corresponding to the point data is a sphere which takes the three-dimensional coordinate of the point data as the center and takes a preset radius as the radius, and the preset radius is determined based on the number of point data in the minimum bounding box and the volume of the minimum bounding box; determining that the filling rate of a sphere corresponding to the point data in the minimum bounding box after the sphere rotates for a preset angle along the preset direction of the preset rotating shaft in the minimum bounding box meets a third preset condition; determining that an object which is outside the minimum bounding box and is fitted by at least one point data in a preset direction of the minimum bounding box has a connection relation with the minimum bounding box; and determining that an included angle between a normal vector of the space plane fitted by the point data subset and an acquisition track is larger than a preset angle threshold, wherein the acquisition track is a motion track of the acquisition equipment when the point data set is acquired.
In some embodiments, the first preset condition includes: the aspect ratio of the minimum bounding box is less than or equal to a first preset value, the length-height ratio is less than or equal to a second preset value, and the width-height ratio is less than or equal to a third preset value.
In some embodiments, the second preset condition includes: and the filling rate of the sphere corresponding to the point data in the minimum bounding box is greater than or equal to a preset filling rate threshold value.
In some embodiments, the third preset condition includes: and after the rotation is carried out by a preset angle based on the preset direction of the preset rotating shaft, the ratio of the filling rate of the sphere corresponding to the point data contained in the minimum bounding box to the initial filling rate is smaller than a preset threshold value, wherein the initial filling rate is the filling rate of the sphere corresponding to the point data contained in the minimum bounding box when the minimum bounding box is not rotated.
In a third aspect, an embodiment of the present disclosure provides an apparatus, including: one or more processors; a storage device, on which one or more programs are stored, which, when executed by the one or more processors, cause the one or more processors to implement the method as described in any implementation manner of the first aspect.
In a fourth aspect, the disclosed embodiments provide a computer-readable medium on which a computer program is stored, wherein the computer program, when executed by a processor, implements the method as described in any implementation manner of the first aspect.
The method and the device for processing information provided by the embodiment of the disclosure determine at least one point data sub-set from the point data sets based on the three-dimensional coordinates and the laser reflection intensity of the point data in the acquired point data sets. For each of the at least one point-data sub-set, performing the following traffic sign recognition steps: firstly, determining the minimum bounding box of the object described by the point data subset; then, based on the minimum bounding box and the point data contained in the point data sub-set, it is identified whether the object described by the point data sub-set is a traffic signboard. Therefore, the point data describing the traffic signboard is recognized from the acquired point data set, and the traffic signboard is recognized.
Drawings
Other features, objects and advantages of the disclosure will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is an exemplary system architecture diagram in which one embodiment of the present disclosure may be applied;
FIG. 2 is a flow diagram for one embodiment of a method for processing information, according to the present disclosure;
FIG. 3a is an exemplary illustration of minimum bounding box rotation in one example;
FIG. 3b is a diagram illustrating an example where the filling rate of the sphere corresponding to the point data after the rotation of the minimum bounding box in the minimum bounding box satisfies a third preset condition;
FIG. 3c is a diagram illustrating an example where the filling rate of the sphere corresponding to the point data after the rotation of the minimum bounding box in the minimum bounding box does not satisfy a third preset condition;
FIG. 4 is a schematic diagram of one application scenario of a method for processing information according to the present disclosure;
FIG. 5 is a flow diagram of yet another embodiment of a method for processing information according to the present disclosure;
FIG. 6 is a schematic block diagram illustrating one embodiment of an apparatus for processing information according to the present disclosure;
FIG. 7 is a schematic block diagram of a computer system suitable for use in implementing an electronic device of an embodiment of the present disclosure.
Detailed Description
The present disclosure is described in further detail below with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that, in the present disclosure, the embodiments and features of the embodiments may be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 illustrates an exemplary system architecture 100 of a method for processing information or an apparatus for processing information to which embodiments of the present disclosure may be applied.
As shown in fig. 1, the system architecture 100 may include terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 serves as a medium for providing communication links between the terminal devices 101, 102, 103 and the server 105. Network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The user may use the terminal devices 101, 102, 103 to interact with the server 105 via the network 104 to receive or send messages or the like. Various communication client applications, such as an electronic map application, an electronic mapping application, a web browser application, a shopping application, a search application, an instant messaging tool, a mailbox client, social platform software, etc., may be installed on the terminal devices 101, 102, 103.
The terminal apparatuses 101, 102, and 103 may be hardware or software. When the terminal devices 101, 102, 103 are hardware, they may be various electronic devices with data processing functions, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like. When the terminal apparatuses 101, 102, 103 are software, they can be installed in the electronic apparatuses listed above. It may be implemented as multiple pieces of software or software modules (e.g., to provide distributed services) or as a single piece of software or software module. And is not particularly limited herein.
The server 105 may be a server providing various services, such as a background server processing the acquired point data set. The background server can obtain the point data set to perform various analysis processes, so as to identify the traffic signboard.
The server 105 may be hardware or software. When the server 105 is hardware, it may be implemented as a distributed server cluster composed of a plurality of servers, or may be implemented as a single server. When the server 105 is software, it may be implemented as multiple pieces of software or software modules (e.g., to provide distributed services), or as a single piece of software or software module. And is not particularly limited herein.
It should be understood that the number of terminal devices, networks, and servers in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
It should be noted that the method for processing information provided by the embodiment of the present disclosure may be executed by the terminal devices 101, 102, and 103, or may be executed by the server 105. Accordingly, the means for processing information may be provided in the terminal devices 101, 102, 103, or in the server 105.
With continued reference to FIG. 2, a flow 200 of one embodiment of a method for processing information in accordance with the present disclosure is shown. The method for processing information comprises the following steps:
In the present embodiment, an execution subject of the method for processing information (e.g., the terminal devices 101, 102, 103 or the server 105 shown in fig. 1) may acquire a point data set from a data acquisition device (e.g., a laser radar, a three-dimensional laser scanner, or the like) for acquiring the point data set by a wired connection manner or a wireless connection manner. In practice, a data acquisition device mounted on an acquisition vehicle may acquire point cloud data, i.e. a point data set, of a road. Here, the dot data in the above dot data set may include three-dimensional coordinates and laser reflection intensity. In general, the three-dimensional coordinates of the point data may include information on the X-axis, Y-axis, and Z-axis. Here, the laser reflection intensity may refer to a ratio of laser reflection energy to laser emission energy.
In this embodiment, the execution body may determine at least one dot data subset from the dot data set based on the three-dimensional coordinates and the laser reflection intensity of each dot data in the dot data set. Here, a part of the point data in the point data set may be included in the point data sub-set. In practice, point data can be selected from the point data set to form a point data subset according to actual requirements and set point data selection conditions.
In some optional implementations of this embodiment, step 202 may specifically proceed as follows:
firstly, selecting point data with the laser reflection intensity lower than a preset intensity threshold value from the point data set to form a first point data subset.
In this implementation, the execution body may store a preset intensity threshold in advance. In this way, the execution body may select point data, from the point data set, for which the laser reflection intensity is lower than the preset intensity threshold value, to constitute a first point data subset. In practice, when a certain point data is the point data collected on the back of the traffic signboard, the laser reflection intensity of the point data may not be higher than the laser reflection intensity of the point data corresponding to other objects. In addition, the reflection intensity of the laser light due to the dot data is also affected by various factors such as atmospheric attenuation and the incidence angle of the laser light. Therefore, it is necessary to determine whether dot data in which the laser reflection intensity is lower than a preset intensity threshold is used to describe the traffic signboard.
And then, removing the point data of which the Z-axis coordinate is smaller than a preset value in the first point data subset to obtain a second point data subset.
In this implementation, the execution subject may remove point data in the first point data subset, in which the Z-axis coordinate is smaller than the preset value, to obtain the second point data subset. Generally, the traffic signboard is installed at a certain height from the ground. Therefore, a part of the dot data which is not used for describing the traffic signboard can be filtered out in a mode of removing the dot data of which the Z-axis coordinate is smaller than the preset value. Thereby reducing the amount of point data that needs to be processed and improving processing efficiency.
And finally, dividing the point data of the second point data sub-set to obtain at least one point data sub-set.
In this implementation, the execution body may divide the point data of the second point data sub-set to obtain at least one point data sub-set. For example, the execution subject may perform a cluster analysis, for example, a euclidean distance-based cluster analysis, on the point data in the second point data subset, respectively, to obtain at least one point data subset. Through the implementation mode, the execution main body can obtain the first point data subset from the point data set according to the laser reflection intensity of the point data, and remove the point data of which the Z-axis coordinate is smaller than the preset value in the first point data subset, so that the identification accuracy of the traffic signboard is improved.
In some optional implementations of this embodiment, step 202 may further specifically be performed as follows:
firstly, selecting point data with the laser reflection intensity higher than or equal to a preset intensity threshold value from the point data set to form a third point data subset.
In this implementation, the execution body may store a preset intensity threshold in advance, so that the execution body may select point data with a laser reflection intensity higher than or equal to the intensity threshold from the point data set to form a third point data subset. In practice, traffic signs may provide road guidance information for drivers and pedestrians. For driving safety, the traffic signboard is usually painted with a material with high reflectivity, and the reflectivity value needs to reach the specified value of the national safety production standard. Theoretically, the higher the reflectivity of an object, the higher the laser reflection intensity value of its corresponding dot data. Therefore, in the point data set, the laser reflection intensity of the point data corresponding to the general traffic signboard is higher than the laser reflection intensity of the point data corresponding to the other object. Since the intensity of the laser reflection of the point data in the third point data subset is higher than the preset intensity threshold, the point data in the third point data subset is more likely to be used for describing the traffic signboard.
Next, a fourth point data subset is composed using point data in the point data set other than the point data included in the third point data subset.
In this implementation, the execution agent may compose a fourth point data subset using point data in the point data set other than the point data included in the third point data subset. Here, the intensity of the laser reflection of the dot data in the fourth subset of data is lower than the above-described intensity threshold. In practice, when a certain point data is the point data collected on the back of the traffic signboard, the laser reflection intensity of the point data may not be higher than the laser reflection intensity of the point data corresponding to other objects. In addition, the reflection intensity of the laser light due to the dot data is also affected by various factors such as atmospheric attenuation and the incidence angle of the laser light. Therefore, it is also necessary to determine whether the point data in the fourth point data set is used to describe the traffic signboard.
And then, removing the point data of which the Z-axis coordinate is smaller than a preset value in the fourth point data subset to obtain a fifth point data subset.
In this implementation manner, the execution subject may remove the point data in the fourth point data subset, in which the Z-axis coordinate is smaller than the preset value, so as to obtain a fifth point data subset. Here, the Z-axis coordinate of the dot data may be used to represent the height information. Generally, the traffic signboard is installed at a certain height from the ground. Therefore, a part of the dot data which is not used for describing the traffic signboard can be filtered out in a mode of removing the dot data of which the Z-axis coordinate is smaller than the preset value. Thereby reducing the amount of point data that needs to be processed and improving processing efficiency.
And finally, respectively dividing the point data in the third point data subset and the fifth point data subset to obtain at least one point data subset.
In this implementation, the execution body may divide the point data in the third point data subset and the fifth point data subset, respectively, to obtain at least one point data subset. For example, the executing entity may perform a cluster analysis, for example, a euclidean distance-based cluster analysis, on the point data in the third point data subset and the fifth point data subset, respectively, to obtain at least one point data subset. Through the implementation mode, the execution main body can obtain the third point data subset and the fourth point data subset from the point data set according to the laser reflection intensity of the point data, and remove the point data of which the Z-axis coordinate is smaller than the preset value in the fourth point data subset, so that the data processing amount is reduced, and the data processing efficiency is improved.
In this embodiment, the executing agent may execute the following traffic signboard identifying steps 2031 to 2032 for each of the at least one point data sub-set obtained in step 202.
In this embodiment, the execution body may determine the smallest bounding box of the object described by the point data subset in various ways. For example, the executing agent may calculate a minimum bounding box of the object described by the point data subset based on a Principal Component Analysis (PCA) method.
In this embodiment, the executing agent may identify whether the object described by the point data sub-set is a traffic signboard based on the minimum bounding box determined in step 2031 and the point data contained in the point data sub-set.
In some optional implementations of this embodiment, step 2032 may be specifically performed as follows: in response to determining that the point data contained by the minimum bounding box and the point data subset meet at least one of the following operations, determining that the object described by the point data subset is a traffic sign.
In this implementation, the executive may determine whether the point data subset and the minimum bounding box determined in step 2031 conform to at least one of the following operations. If yes, determining that the object described by the point data subset is a traffic signboard. It is to be understood that compliance with at least one of the following operations may mean compliance with one, two, more or all of the following operations. In the case of no conflict, which operation or operations need to be met may be combined according to actual needs, and is not limited herein. Here, the operation includes:
one) determining that the length, width and height of the minimum bounding box meet a first preset condition.
In this implementation, the execution body may store a first preset condition in advance, and determine whether the minimum bounding box satisfies the first preset condition. In practice, the first preset condition may be determined according to the length, width and height of the traffic signboard actually used on the current road.
In some optional implementations, the first preset condition may include that the aspect ratio of the minimum bounding box is less than or equal to a first preset value, the aspect ratio is less than or equal to a second preset value, and the aspect ratio is less than or equal to a third preset value. Here, the first preset value, the second preset value, and the third preset value may be set according to the length, width, and height of the traffic signboard actually used on the current road.
And II) determining that the filling rate of the sphere corresponding to the point data in the minimum bounding box meets a second preset condition.
In this implementation manner, the execution body may store a second preset condition in advance, and determine whether a filling rate of a sphere corresponding to the point data in the minimum bounding box satisfies the second preset condition. The second preset condition can be set according to actual needs. Here, the sphere corresponding to the point data may be a sphere centered on the three-dimensional coordinates of the point data and having a preset radius as a radius. Wherein the preset radius may be determined based on the number of point data in the minimum bounding box and the volume of the minimum bounding box. For example, a point data may be approximated as a sphere in space centered on the three-dimensional coordinates of the point data, and the radius of the sphere may be approximated as an inverse of the point cloud density of the minimum bounding box. Here, the point cloud density may be used to describe the density of the point data within the minimum bounding box, and in practice, the point cloud density may be determined based on the number of point data in the minimum bounding box and the volume of the minimum bounding box, for example, the point cloud density may be expressed by the ratio of the number of point data in the minimum bounding box to the volume of the minimum bounding box.
As an example, the filling rate in the minimum bounding box may be a ratio of the sum of volumes of spheres corresponding to the point data contained in the minimum bounding box to the volume of the minimum bounding box. That is to say that the first and second electrodes,
wherein r represents the minimumFill rate in bounding box; v. ofiThe volume of a sphere corresponding to the ith point data is represented, i is more than or equal to 0 and less than or equal to n, and n is the number of the point data contained in the minimum bounding box; v represents the volume of the minimum bounding box.
In some optional implementations, the second preset condition may be that a filling rate of a sphere corresponding to the point data in the minimum bounding box is greater than or equal to a preset filling rate threshold. Here, the filling rate threshold may be set according to actual needs.
And thirdly) determining that the filling rate of the sphere corresponding to the point data in the minimum bounding box after the rotation of the minimum bounding box by the preset angle along the preset direction of the preset rotating shaft meets a third preset condition.
In this implementation manner, a third preset condition may be stored in the execution main body in advance, and it is determined whether the filling rate of the sphere corresponding to the point data in the minimum bounding box satisfies the third preset condition after the execution main body rotates by a preset angle along a preset direction of the preset rotation axis. As an example, the preset rotation axis may refer to an axis parallel to the Z-axis direction and passing through the center of the minimum bounding volume. The preset direction may be a clockwise direction or a counterclockwise direction. The preset angle may be at least one angle defined in advance.
In some optional implementations, the third preset condition may include that a ratio of a filling rate of a sphere in the minimum bounding box corresponding to point data included in the minimum bounding box after the rotation by the preset angle based on the preset direction of the preset rotation axis to the initial filling rate is smaller than a preset threshold. And the initial filling rate is the filling rate of the sphere corresponding to the point data contained in the minimum bounding box when the minimum bounding box is not rotated.
As an example, as shown in FIG. 3a, assume that the initial angle of the minimum bounding box 301 is θ0Initial fill ratio of r0. For each rotation angle θ clockwise for an axis parallel to the Z-axis and passing through the center of the minimum bounding volume 301iThe filling rate r of the dot data contained in the minimum bounding box 301 at that angle is calculatedi. If for all thetaiIts corresponding filling rate riAre all much smaller than the initial angle, i.e. ri/r0If < Δ, it is determined that a third preset condition (as shown in fig. 3 b) is satisfied; otherwise, it is determined that the third preset condition is not satisfied (as shown in fig. 3 c). Here, Δ is a set threshold value.
And fourthly) determining that the object which is outside the minimum bounding box and is fitted with the at least one point data in the preset direction of the minimum bounding box has a connection relation with the minimum bounding box.
In this implementation, the execution subject may determine whether there is a connection relationship between an object, which is outside the minimum bounding box and is fitted with at least one point data in a preset direction of the minimum bounding box, and the minimum bounding box. Here, the preset direction may be a vertical direction or a horizontal direction. In a practical application scenario, when the traffic signboard is installed, it is usually required to be supported by other objects (e.g., a rod, a bridge, etc.), and therefore, it may be determined whether an object described by the point data subset corresponding to the minimum bounding box is the traffic signboard by determining whether a connection relationship exists between the object, which is outside the minimum bounding box and is fitted by at least one point data along the preset direction of the minimum bounding box, and the minimum bounding box.
And fifthly) determining that the included angle between the normal vector of the space plane fitted by the point data subset and the acquisition track is larger than a preset angle threshold.
In this implementation manner, the execution main body may first fit a spatial plane according to the point data subset, and then, the execution main body may determine whether an included angle between a normal vector of the fitted spatial plane and the acquisition trajectory is greater than a preset angle threshold. When the acquisition track is an acquisition point data set, the motion track of the equipment is acquired. In practice, the motion trajectory of the collection device may refer to a trajectory along which a collection vehicle on which the collection device is mounted travels when the collection device collects data.
With continued reference to fig. 4, fig. 4 is a schematic diagram of an application scenario of the method for processing information according to the present embodiment. In the application scenario of fig. 4, the electronic device 401 first obtains a point data set from the data acquisition device 402, where the point data includes three-dimensional coordinates and laser reflection intensity. Thereafter, the electronic device 401 determines at least one point data subset from the point data sets based on the three-dimensional coordinates of the point data in the point data sets and the laser reflection intensity. Then, for each of the at least one point data sub-set, the following traffic sign recognition steps are performed: determining a minimum bounding box of the object described by the point data subset; and identifying whether the object described by the point data sub-set is a traffic signboard or not based on the point data contained in the minimum bounding box and the point data sub-set.
The method provided by the embodiment of the disclosure identifies the point data describing the traffic signboard from the acquired point data set, thereby realizing the identification of the traffic signboard.
With further reference to FIG. 5, a flow 500 of yet another embodiment of a method for processing information is shown. The flow 500 of the method for processing information includes the steps of:
In this embodiment, step 501 is similar to step 201 of the embodiment shown in fig. 2, and is not described here again.
In this embodiment, step 502 is similar to step 202 of the embodiment shown in fig. 2, and is not described herein again.
In this embodiment, the executing agent may execute the following traffic signboard recognition steps 5031 to 5032 for each point data sub-set in the at least one point data sub-set obtained in step 502.
In this embodiment, step 5031 is similar to step 2031 in the embodiment shown in fig. 2, and is not described here again.
In this embodiment, step 5032 is similar to step 2032 in the embodiment shown in fig. 2, and is not described again here.
In this embodiment, the executing body may extract the point data sub-set in which the described object is the traffic signboard in the at least one point data sub-set, so as to perform subsequent processing.
As can be seen from fig. 5, compared to the embodiment corresponding to fig. 2, the flow 500 of the method for processing information in the present embodiment highlights the extraction of the point data subset in which the depicted object is a traffic signboard, of the at least one point data subset. Therefore, the scheme described in the embodiment can identify and extract the point data describing the traffic signboard from the acquired point data set, so that the identification and extraction of the traffic signboard are realized.
With further reference to fig. 6, as an implementation of the methods shown in the above figures, the present disclosure provides an embodiment of an apparatus for processing information, which corresponds to the method embodiment shown in fig. 2, and which is particularly applicable in various electronic devices.
As shown in fig. 6, the apparatus 600 for processing information of the present embodiment includes: an acquisition unit 601, a determination unit 602, and an execution unit 603. Wherein the obtaining unit 601 is configured to obtain a point data set, wherein the point data includes three-dimensional coordinates and laser reflection intensity; the determining unit 602 is configured to determine at least one point data subset from the point data sets based on the three-dimensional coordinates and laser reflection intensity of the point data in the point data sets; the execution unit 603 is configured to perform a traffic signboard identifying step for a point data sub-set of the at least one point data sub-set, wherein the execution unit 603 comprises: a determining module 6031 configured to determine a minimum bounding box of the object described by the point data subset; an identifying module 6032 configured to identify whether the object described by the point data subset is a traffic signboard based on the minimum bounding box and the point data contained by the point data subset.
In this embodiment, specific processes of the obtaining unit 601, the determining unit 602, and the executing unit 603 of the apparatus 600 for processing information and technical effects brought by the specific processes can refer to related descriptions of step 201, step 202, and step 203 in the corresponding embodiment of fig. 2, which are not described herein again.
In some optional implementations of this embodiment, the apparatus 600 further includes: an extracting unit (not shown in the figure) configured to extract a point data sub-set in which the described object is a traffic signboard, from among the at least one point data sub-set.
In some optional implementations of the present embodiment, the determining unit 602 is further configured to: selecting point data with the laser reflection intensity lower than a preset intensity threshold value from the point data set to form a first point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the first point data subset to obtain a second point data subset; and dividing the point data of the second point data sub-set to obtain the at least one point data sub-set.
In some optional implementations of the present embodiment, the determining unit 602 is further configured to: selecting point data with the laser reflection intensity higher than or equal to a preset intensity threshold value from the point data set to form a third point data subset; forming a fourth point data subset using the point data in the point data set except for the point data included in the third point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the fourth point data subset to obtain a fifth point data subset; and respectively dividing the point data in the third point data subset and the fifth point data subset to obtain at least one point data subset.
In some optional implementations of this embodiment, the identifying module 6032 is further configured to: in response to determining that the point data contained by the minimum bounding box and the point data subset is consistent with at least one of the following operations, determining that the object described by the point data subset is a traffic sign: determining that the length, the width and the height of the minimum bounding box meet a first preset condition; determining that the filling rate of a sphere corresponding to point data in the minimum bounding box meets a second preset condition, wherein the sphere corresponding to the point data is a sphere which takes the three-dimensional coordinate of the point data as the center and takes a preset radius as the radius, and the preset radius is determined based on the number of point data in the minimum bounding box and the volume of the minimum bounding box; determining that the filling rate of a sphere corresponding to the point data in the minimum bounding box after the sphere rotates for a preset angle along the preset direction of the preset rotating shaft in the minimum bounding box meets a third preset condition; determining that an object which is outside the minimum bounding box and is fitted by at least one point data in a preset direction of the minimum bounding box has a connection relation with the minimum bounding box; and determining that an included angle between a normal vector of the space plane fitted by the point data subset and an acquisition track is larger than a preset angle threshold, wherein the acquisition track is a motion track of the acquisition equipment when the point data set is acquired.
In some optional implementations of the embodiment, the first preset condition includes: the aspect ratio of the minimum bounding box is less than or equal to a first preset value, the length-height ratio is less than or equal to a second preset value, and the width-height ratio is less than or equal to a third preset value.
In some optional implementations of the embodiment, the second preset condition includes: and the filling rate of the sphere corresponding to the point data in the minimum bounding box is greater than or equal to a preset filling rate threshold value.
In some optional implementations of this embodiment, the third preset condition includes: and after the rotation is carried out by a preset angle based on the preset direction of the preset rotating shaft, the ratio of the filling rate of the sphere corresponding to the point data contained in the minimum bounding box to the initial filling rate is smaller than a preset threshold value, wherein the initial filling rate is the filling rate of the sphere corresponding to the point data contained in the minimum bounding box when the minimum bounding box is not rotated.
Referring now to fig. 7, a schematic diagram of an electronic device (e.g., the server or terminal device of fig. 1) 700 suitable for use in implementing embodiments of the present disclosure is shown. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 7, electronic device 700 may include a processing means (e.g., central processing unit, graphics processor, etc.) 701 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from storage 708 into a Random Access Memory (RAM) 703. In the RAM703, various programs and data necessary for the operation of the electronic apparatus 700 are also stored. The processing device 701, the ROM 702, and the RAM703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Generally, the following devices may be connected to the I/O interface 705: input devices 706 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 707 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 708 including, for example, magnetic tape, hard disk, etc.; and a communication device 709. The communication means 709 may allow the electronic device 700 to communicate wirelessly or by wire with other devices to exchange data. While fig. 7 illustrates an electronic device 700 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 7 may represent one device or may represent multiple devices as desired.
In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communication means 709, or may be installed from the storage means 708, or may be installed from the ROM 702. The computer program, when executed by the processing device 701, performs the above-described functions defined in the methods of embodiments of the present disclosure.
It should be noted that the computer readable medium described in the embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In embodiments of the present disclosure, however, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring a point data set, wherein the point data comprises a three-dimensional coordinate and laser reflection intensity; determining at least one point data subset from the point data set based on the three-dimensional coordinates and laser reflection intensity of the point data in the point data set; for a point data sub-set of the at least one point data sub-set, performing the following traffic sign recognition steps: determining a minimum bounding box of the object described by the point data subset; and identifying whether the object described by the point data sub-set is a traffic signboard or not based on the point data contained in the minimum bounding box and the point data sub-set.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. The described units may also be provided in a processor, and may be described as: a processor includes an acquisition unit, a determination unit, and an execution unit. Where the names of these units do not in some cases constitute a limitation on the unit itself, for example, an acquisition unit may also be described as a "unit that acquires a point data set".
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (16)
1. A method for processing information, comprising:
acquiring a point data set, wherein the point data comprises a three-dimensional coordinate and laser reflection intensity;
determining at least one point data subset from the point data sets based on the three-dimensional coordinates and laser reflection intensity of the point data in the point data sets, comprising: selecting point data with the laser reflection intensity lower than a preset intensity threshold value from the point data set to form a first point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the first point data subset to obtain a second point data subset; dividing the point data of the second point data sub-set to obtain at least one point data sub-set;
for a point data subset of the at least one point data subset, performing the following traffic sign recognition steps: determining a minimum bounding box of the object described by the point data subset; and identifying whether the object described by the point data sub-set is a traffic signboard or not based on the point data contained in the minimum bounding box and the point data sub-set.
2. The method of claim 1, wherein the method further comprises:
and extracting the point data sub-set of which the described object is the traffic signboard from the at least one point data sub-set.
3. The method of claim 1, wherein said determining at least one point-data subset from said point-data sets based on three-dimensional coordinates and laser reflection intensity of point data in said point-data sets comprises:
selecting point data with the laser reflection intensity higher than or equal to a preset intensity threshold value from the point data set to form a third point data subset;
composing a fourth point data subset using point data in the point data set other than the point data contained in the third point data subset;
removing the point data of which the Z-axis coordinate is smaller than a preset value in the fourth point data subset to obtain a fifth point data subset;
and respectively dividing the point data in the third point data subset and the fifth point data subset to obtain at least one point data subset.
4. The method of claim 1, wherein identifying whether the object described by the point data subset is a traffic sign based on the minimum bounding box and the point data contained by the point data subset comprises:
in response to determining that the point data contained by the minimum bounding box and the point data subset is consistent with at least one of the following operations, determining that the object described by the point data subset is a traffic sign:
determining that the length, the width and the height of the minimum bounding box meet a first preset condition;
determining that the filling rate of a sphere corresponding to point data in the minimum bounding box meets a second preset condition, wherein the sphere corresponding to the point data is a sphere which takes the three-dimensional coordinate of the point data as the center and takes a preset radius as the radius, and the preset radius is determined based on the number of point data in the minimum bounding box and the volume of the minimum bounding box;
determining that the filling rate of a sphere corresponding to the point data in the minimum bounding box after the sphere rotates for a preset angle along the preset direction of the preset rotating shaft in the minimum bounding box meets a third preset condition;
determining that an object which is outside the minimum bounding box and is fitted by at least one point data in a preset direction of the minimum bounding box has a connection relation with the minimum bounding box;
and determining that an included angle between a normal vector of the space plane fitted by the point data subset and an acquisition track is larger than a preset angle threshold, wherein the acquisition track is a motion track of the acquisition equipment when the point data set is acquired.
5. The method of claim 4, wherein the first preset condition comprises:
the aspect ratio of the minimum bounding box is smaller than or equal to a first preset value, the length-height ratio is smaller than or equal to a second preset value, and the width-height ratio is smaller than or equal to a third preset value.
6. The method of claim 4, wherein the second preset condition comprises:
and the filling rate of the sphere corresponding to the point data in the minimum bounding box is greater than or equal to a preset filling rate threshold value.
7. The method of claim 4, wherein the third preset condition comprises:
and after the rotation is carried out by a preset angle based on the preset direction of the preset rotating shaft, the ratio of the filling rate of the sphere corresponding to the point data contained in the minimum bounding box to the initial filling rate is smaller than a preset threshold value, wherein the initial filling rate is the filling rate of the sphere corresponding to the point data contained in the minimum bounding box when the minimum bounding box is not rotated.
8. An apparatus for processing information, comprising:
an acquisition unit configured to acquire a point data set, wherein the point data includes three-dimensional coordinates and laser reflection intensity;
a determination unit configured to determine at least one point data subset from the point data sets based on three-dimensional coordinates and laser reflection intensity of point data in the point data sets;
an execution unit configured to execute a traffic signboard identifying step for a point data sub-set of the at least one point data sub-set, wherein the execution unit comprises: a determination module configured to determine a minimum bounding box for an object described by the point data subset; an identification module configured to identify whether an object described by the point data sub-set is a traffic signboard based on the minimum bounding box and the point data contained in the point data sub-set;
wherein the determination unit is further configured to: selecting point data with the laser reflection intensity lower than a preset intensity threshold value from the point data set to form a first point data subset; removing the point data of which the Z-axis coordinate is smaller than a preset value in the first point data subset to obtain a second point data subset; and dividing the point data of the second point data sub-set to obtain the at least one point data sub-set.
9. The apparatus of claim 8, wherein the apparatus further comprises:
an extraction unit configured to extract a point data sub-set in which the described object is a traffic signboard, from among the at least one point data sub-set.
10. The apparatus of claim 8, wherein the determination unit is further configured to:
selecting point data with the laser reflection intensity higher than or equal to a preset intensity threshold value from the point data set to form a third point data subset;
composing a fourth point data subset using point data in the point data set other than the point data contained in the third point data subset;
removing the point data of which the Z-axis coordinate is smaller than a preset value in the fourth point data subset to obtain a fifth point data subset;
and respectively dividing the point data in the third point data subset and the fifth point data subset to obtain at least one point data subset.
11. The apparatus of claim 8, wherein the identification module is further configured to:
in response to determining that the point data contained by the minimum bounding box and the point data subset is consistent with at least one of the following operations, determining that the object described by the point data subset is a traffic sign:
determining that the length, the width and the height of the minimum bounding box meet a first preset condition;
determining that the filling rate of a sphere corresponding to point data in the minimum bounding box meets a second preset condition, wherein the sphere corresponding to the point data is a sphere which takes the three-dimensional coordinate of the point data as the center and takes a preset radius as the radius, and the preset radius is determined based on the number of point data in the minimum bounding box and the volume of the minimum bounding box;
determining that the filling rate of a sphere corresponding to the point data in the minimum bounding box after the sphere rotates for a preset angle along the preset direction of the preset rotating shaft in the minimum bounding box meets a third preset condition;
determining that an object which is outside the minimum bounding box and is fitted by at least one point data in a preset direction of the minimum bounding box has a connection relation with the minimum bounding box;
and determining that an included angle between a normal vector of the space plane fitted by the point data subset and an acquisition track is larger than a preset angle threshold, wherein the acquisition track is a motion track of the acquisition equipment when the point data set is acquired.
12. The apparatus of claim 11, wherein the first preset condition comprises:
the aspect ratio of the minimum bounding box is smaller than or equal to a first preset value, the length-height ratio is smaller than or equal to a second preset value, and the width-height ratio is smaller than or equal to a third preset value.
13. The apparatus of claim 11, wherein the second preset condition comprises:
and the filling rate of the sphere corresponding to the point data in the minimum bounding box is greater than or equal to a preset filling rate threshold value.
14. The apparatus of claim 11, wherein the third preset condition comprises:
and after the rotation is carried out by a preset angle based on the preset direction of the preset rotating shaft, the ratio of the filling rate of the sphere corresponding to the point data contained in the minimum bounding box to the initial filling rate is smaller than a preset threshold value, wherein the initial filling rate is the filling rate of the sphere corresponding to the point data contained in the minimum bounding box when the minimum bounding box is not rotated.
15. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
16. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-7.
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