CN110544295A - common edge detection method for adjacent rectangles of indoor map - Google Patents
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Abstract
the invention discloses a common edge detection method for adjacent rectangles of an indoor map. In an indoor mapping process using a plan image as a data source, topological conflicts such as overlapping and separating between adjacent indoor boundary element rectangles can occur, and a key step for correcting the topological conflicts is to determine the common edges between the adjacent rectangles. The invention can judge the adjacent common edges between two rectangles according to the topological relation between each edge of the adjacent rectangles, and process the adjacent common edges between a plurality of clustered rectangles to detect conflicts. The co-edge relationship detected by the invention can be used for determining the target vertex of subsequent adjacent rectangular topology repair. The invention has the beneficial effects that: support and help are provided for improving indoor mapping and modeling efficiency.
Description
Technical Field
the invention relates to the technical field of indoor mapping and modeling, in particular to a common-edge detection method for adjacent rectangles of an indoor map.
background
In recent years, indoor positioning technology and indoor location service have been rapidly developed, and demands for basic data such as indoor maps and space models have also been rapidly developed. Architectural floor plan images are a very popular type of data source in indoor mapping and modeling production. Compared with mapping and modeling methods such as laser point cloud, the plane map is a data source which is easier to acquire and process. However, in the current indoor mapping and modeling production, the indoor mapping and modeling using the plane image as the data source requires professional mapping personnel to extract vector space elements such as walls, rooms, doors and windows from the plane image, the process is very complicated, the efficiency is low, and the large-scale indoor space data production is difficult to support.
indoor mapping and modeling automation based on a plane graph image firstly needs to extract geometric and semantic information of the plane graph image, and the process can generate topological conflicts between adjacent elements, such as overlapping or separating. The existing two-dimensional geometric topological restoration method mainly faces outdoor topographic elements or building outlines and the like, and is not designed aiming at indoor element restoration requirements. The topological restoration between indoor adjacent elements requires to obtain regular shape, for example, two mutually perpendicular walls should keep the L shape of the adjacent position of the walls after the topological restoration. Furthermore, the indoor boundary adjacent elements are generally regular rectangles, and the topology restoration result should keep the regularity of the shape, that is, more topological constraint relations need to be satisfied between the common edges of the adjacent rectangles. Therefore, determining the common edges between the adjacent rectangles is the basis for realizing topology restoration, and a method capable of judging the common edges of the adjacent rectangles needs to be provided for various distribution forms and spatial relationships between the adjacent rectangles.
disclosure of Invention
In order to solve the problems, the invention provides a common edge detection method for adjacent rectangles of an indoor map, which can accurately determine the common edge between the adjacent rectangles with two types of topology conflicts of superposition or phase separation and determine a repair target for subsequent common edge topology repair.
a common edge detection method for adjacent rectangles of an indoor map mainly comprises the following steps:
S1: the method comprises the following steps of performing bidirectional extension along the long edge of any rectangle in the indoor map, and if the rectangle is intersected with other rectangles, forming an adjacent rectangle group by every two intersected rectangles; namely, the adjacent rectangle group is formed by the any one rectangle and rectangles of which the extension lines of other rectangles in the indoor map intersect with the any one rectangle; the extension length of the long side is a preset threshold value;
S2: obtaining the common edge of the adjacent rectangles according to the spatial relationship of each edge of the adjacent rectangle group;
the two rectangles of the adjacent rectangle group are respectively a rectangle recti and a rectangle rectj, and the two long sides and the two short sides of the rectangle recti are respectively: li1, li2, si1 and si2, the two long sides and the two short sides of the rectangle rectj are respectively: lj1, lj2, sj1, and sj 2;
if one short side si1 of the rectangle recti and the rectangle rectj are located on the same side of the other short side si2, the short side si1 is an alternative common side; if one short side si2 and the rectangle rectj of the rectangle recti are also positioned on the same side of the other short side si1, both the two short sides si1 and si2 of the rectangle recti are alternative common sides, and at this time, the rectangle rectj is positioned between the two short sides si1 and si2 of the rectangle recti, and it is determined that neither the short sides si1 nor si2 are common sides;
if one short side si2 of the rectangle recti and the rectangle rectj are located on the same side of the other short side si1, the short side si2 is an alternative common side; if one short side si1 and the rectangle rectj of the rectangle recti are also positioned on the same side of the other short side si2, both the two short sides si2 and si1 of the rectangle recti are alternative common sides, and at this time, the rectangle rectj is positioned between the two short sides si1 and si2 of the rectangle recti, and it is determined that neither the short sides si1 nor si2 are common sides;
If one long side li2 of the rectangle recti and the rectangle rectj are located on the same side of the other long side li1, the long side li2 is an alternative common side; if one short side si1 and one long side li2 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li2 of the rectangle recti fall on the long side li2 of the rectangle recti, determining that the long side li2 of the rectangle recti is a common side; otherwise, determining the short side si1 of the rectangle recti as a common side;
If one short side si2 and one long side li2 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li2 of the rectangle recti fall on the long side li2 of the rectangle recti, determining that the long side li2 of the rectangle recti is a common side; otherwise, determining the short side si2 of the rectangle recti as a common side;
if one long side li1 of the rectangle recti and the rectangle rectj are located on the same side of the other long side li2, the long side li1 is an alternative common side; if one short side si1 and one long side li1 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li1 of the rectangle recti fall on the long side li1 of the rectangle recti, determining that the long side li1 of the rectangle recti is a common side; otherwise, determining the short side si1 of the rectangle recti as a common side;
If one short side si2 and one long side li1 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li1 of the rectangle recti fall on the long side li1 of the rectangle recti, determining that the long side li1 of the rectangle recti is a common side; otherwise, determining the short side si2 of the rectangle recti as a common side;
Similarly, the common edge of another rectangle retj can be obtained, so that two common edges of the adjacent rectangle group are obtained;
s3: when the common edges are determined according to the steps S1-S2, if the common edge detection conflict occurs, the following steps are carried out:
(1) randomly selecting one of the rectangles to be added into the initial core according to a plurality of adjacent rectangle groups with common edge detection conflicts;
(2) Calculating the distance and the negative intersection area between other rectangles in the plurality of adjacent rectangle groups and the initial kernel, and sorting the other rectangles according to the distance and the negative intersection area in an ascending order;
(3) selecting the first rectangle in the sorting result as the next rectangle added into the initial core, and carrying out common edge detection on the rectangles in the initial core according to the steps S1-S2; at the moment, only two rectangles are arranged in the initial kernel, and a common edge without detection conflict is obtained;
(4) Calculating the distance and the negative intersection area between the rest rectangles in the other rectangles and the initial kernel by adopting the methods in the steps (2) to (3), and sequencing the other rectangles according to the distance and the negative intersection area in an ascending order; taking the first-order rectangle in the sorting result as the next rectangle added into the initial core, and carrying out common-edge detection on the rectangles in the initial core according to the steps S1-S2; if the common edge without detection conflict is obtained, the common edge is the determined final common edge; if the obtained common edge still has the detection conflict, and the long edges between the two adjacent rectangles are not parallel, taking the long edges as the final common edge; the initial kernel is always taken as a whole;
(5) performing common edge detection on all adjacent rectangle groups with common edge detection conflicts according to the methods in the steps (1) to (4) to obtain final common edges without detection conflicts;
S4: according to the method of steps S1-S3, all adjacent rectangle groups of the indoor map are processed to obtain the final common edge of all adjacent rectangles.
Further, there may be topological conflicts between the adjoining rectangles, including stacking and separating.
Further, the adjacent rectangles can present a T-shaped, L-shaped or I-shaped two-dimensional distribution relationship.
further, at least one of the common edges is a short edge.
further, the adjoining rectangles may exhibit a T-shaped or L-shaped relationship.
further, at least one of the common edges is a short edge.
further, one of the short sides of the rectangle can be common at most only once, i.e. the short side is common with one of the other sides or the short side is not common.
Further, the detection of the collision on the common side means that the detected pairs of adjacent rectangles have the same short side as the common side.
the technical scheme provided by the invention has the beneficial effects that: support and help are provided for improving the data extraction efficiency.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a flow chart of a method for detecting common edges of indoor map adjacent rectangles in an embodiment of the invention;
FIG. 2 is a diagram illustrating the adjacency type and the topology conflict type of the adjacency rectangle in the embodiment of the present invention;
FIG. 3 is a diagram illustrating the collision detection processing of the co-edges of adjacent rectangles according to an embodiment of the present invention.
Detailed Description
for a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
the input of the embodiment is a detection result of rectangles in a floor range, the adjacency relation is unknown, topological conflicts such as overlapping, phase separation or inclusion may exist between adjacent rectangles, and a common-edge detection method of adjacent rectangles of an indoor map as shown in fig. 1 is provided, and the specific steps are as follows:
s1: the method comprises the following steps of performing bidirectional extension along the long edge of any rectangle in the indoor map, and if the rectangle is intersected with other rectangles, forming an adjacent rectangle group by every two intersected rectangles; namely, the adjacent rectangle group is formed by the any one rectangle and rectangles of which the extension lines of other rectangles in the indoor map intersect with the any one rectangle; the extension length of the long side is a preset threshold value; the rectangle is used for representing strip-shaped elements such as walls or doors and windows on an indoor plane view.
In order to detect adjacent rectangles having a gap therebetween, the rectangles are extended along the long side of one rectangle, and if two extended rectangles intersect, the two intersecting rectangles are considered to be adjacent to each other. From historical data and experience, the extension distance in the plan view image may be set to a distance corresponding to 15 pixels.
S2: s2: obtaining the common edge of the adjacent rectangle group according to the spatial relationship of each edge of the adjacent rectangle group; the number of the common edges is two, wherein at least one common edge is a short edge. The two short sides of the rectangle can only be treated as common sides at most once.
As shown in fig. 2, the two rectangles of the adjacent rectangle group are a rectangle rect and a rectangle rectj, respectively, and the two long sides and the two short sides of the rectangle rect are: li1, li2, si1 and si2, the two long sides and the two short sides of the rectangle rectj are respectively: lj1, lj2, sj1, and sj 2; according to the spatial distribution characteristics of indoor boundary elements, the common edges ti and tj cannot be long edges, and because two parallel walls cannot be adjacent to each other, at least one of the common edges ti and tj is a short edge; a short side can be made common at most once, while a long side can be made common one or more times. When the common edges are detected, alternative adjacent edges are determined firstly, and then the common edges are further screened in possible adjacent edges.
Taking the determination of the common side of the rectangular rect as an example, if one short side si1 of the rectangular rect and the rectangular rectj are located on the same side of the other short side si2, the short side si1 is an alternative common side; if one short side si2 and the rectangle rectj of the rectangle recti are also positioned on the same side of the other short side si1, both the two short sides si1 and si2 of the rectangle recti are alternative common sides, and at this time, the rectangle rectj is positioned between the two short sides si1 and si2 of the rectangle recti, and it is determined that neither the short sides si1 nor si2 are common sides;
if one short side si2 of the rectangle recti and the rectangle rectj are located on the same side of the other short side si1, the short side si2 is an alternative common side; if one short side si1 and the rectangle rectj of the rectangle recti are also positioned on the same side of the other short side si2, both the two short sides si2 and si1 of the rectangle recti are alternative common sides, and at this time, the rectangle rectj is positioned between the two short sides si1 and si2 of the rectangle recti, and it is determined that neither the short sides si1 nor si2 are common sides;
if one long side li2 of the rectangle recti and the rectangle rectj are located on the same side of the other long side li1, the long side li2 is an alternative common side; if one short side si1 and one long side li2 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li2 of the rectangle recti fall on the long side li2 of the rectangle recti, determining that the long side li2 of the rectangle recti is a common side; otherwise, determining the short side si1 of the rectangle recti as a common side;
if one short side si2 and one long side li2 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li2 of the rectangle recti fall on the long side li2 of the rectangle recti, determining that the long side li2 of the rectangle recti is a common side; otherwise, determining the short side si2 of the rectangle recti as a common side;
If one long side li1 of the rectangle recti and the rectangle rectj are located on the same side of the other long side li2, the short side li1 is an alternative common side; if one short side si1 and one long side li1 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li1 of the rectangle recti fall on the long side li1 of the rectangle recti, determining that the long side li1 of the rectangle recti is a common side; otherwise, determining the short side si1 of the rectangle recti as a common side;
if one short side si2 and one long side li1 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li1 of the rectangle recti fall on the long side li1 of the rectangle recti, determining that the long side li1 of the rectangle recti is a common side; otherwise, determining the short side si2 of the rectangle recti as a common side;
Similarly, the common edge of another rectangle retj can be obtained, so that two common edges of the adjacent rectangle group are obtained;
Referring to fig. 2, fig. 2 shows the adjacency type and the topology conflict type of the adjacent rectangles in the embodiment of the present invention, where the adjacent rectangles may have a T-type, L-type or I-type two-dimensional distribution relationship, that is, the adjacent types of T-type, L-type or I-type may appear. In this embodiment, L-type and T-type adjacency types are listed, as shown in fig. 2, the adjacency type shown in (a) in fig. 2 is L-type, and the topology conflict type is stacking; the adjacency type shown in (b) in fig. 2 is T-type, and the topology conflict type is phase-separation; the adjacency type shown in fig. 2 (c) is T-type, and the topology conflict type is overlay; when both rectj and si1 (or si2, li1, and li2) are on the side of si2 (or si1, li2, and li1), then si1 (or si2, li1, and li2) is an alternative common edge on recti. If the short sides si1 and si2 (or the long sides li1 and li2) are both possibly common, then neither of the set of short sides (or long sides) are common, since rectj is now located in the middle of the set of short sides (or long sides) as shown in fig. 1 (c). After the above exclusion, if a situation that one short side and one long side may be the common side (e.g., si1 and li2 shown in (a) and (b) of fig. 1) occurs, it is determined whether the intersection point of the straight line where the two long sides li1 and li2 of retj are located and the alternative common long side (e.g., li2 shown in (a) and (b) of fig. 1) is located in the line segment of the common long side, and if so, the alternative long side (e.g., shown in (b) of fig. 1) is selected as the common side; otherwise, the alternative short side (as shown in fig. 1 (a)) is selected as the common side.
s3: when determining the common edges according to steps S1-S2, a common edge detection conflict may occur at the boundary connection of the multi-branch as shown in (a) in fig. 2, the short edges of the three adjacent rectangles may be detected as two-by-two common edges, and a common edge detection conflict may occur, and the processing method for the common edge detection conflict is as follows:
(1) Randomly selecting one of the rectangles to be added into the initial core according to a plurality of adjacent rectangle groups with common edge detection conflicts;
(2) Calculating the distance and the negative intersection area between other rectangles in the plurality of adjacent rectangle groups and the initial kernel, and sorting the other rectangles according to the distance and the negative intersection area in an ascending order;
(3) selecting the first rectangle in the sorting result as the next rectangle added into the initial core, and carrying out common edge detection on the rectangles in the initial core according to the steps S1-S2; at the moment, only two rectangles are arranged in the initial kernel, and a common edge without detection conflict is obtained;
(4) Calculating the distance and the negative intersection area between the rest rectangles in the other rectangles and the initial kernel by adopting the methods in the steps (2) to (3), and sequencing the other rectangles according to the distance and the negative intersection area in an ascending order; taking the first-order rectangle in the sorting result as the next rectangle added into the initial core, and carrying out common-edge detection on the rectangles in the initial core according to the steps S1-S2; if the common edge without detection conflict is obtained, the common edge is the determined final common edge; if the obtained common edge still has the detection conflict, and the long edges between the two adjacent rectangles are not parallel, taking the long edges as the final common edge; the initial kernel is always taken as a whole;
(5) performing common edge detection on all adjacent rectangle groups with common edge detection conflicts according to the methods in the steps (1) to (4) to obtain final common edges without detection conflicts;
calculating the proximity of other rectangles and all rectangles in the initial kernel, namely calculating the distance and intersection area between the other rectangles and the rectangles in the initial kernel, selecting the closest rectangle as one rectangle in the adjacent rectangle group, and performing common edge detection according to the method, if the common edge detection result has an occupied short edge and two rectangles in the adjacent rectangle group are not parallel, adjusting the occupied short edge to a long edge which is closest to the newly added rectangle on the rectangle corresponding to the occupied short edge, and performing repair in subsequent topology repair according to the common edge relationship, so as to obtain the repair result shown in (b) in fig. 3 through repairing the common edge detection conflict shown in (a) in fig. 2.
When adjacent rectangles have a T-shaped or L-shaped relationship, one short side of the rectangle is determined as a common side of a plurality of other rectangles, but when the short side is taken as the common side, only one adjacent rectangle group can be arranged on two sides of the rectangle. In order to process the situation of the co-edge detection conflict, firstly detecting the clustered rectangles, finding a plurality of adjacent rectangle groups of more than two rectangles, randomly selecting the rectangle in one adjacent rectangle group as an initial core, then sequencing the distances and negative intersection areas of the remaining other rectangles to the rectangles in the initial core in an ascending order, then selecting the first rectangle recti in the sequencing result, finding a rectangle rectj closest to the rectangle recti in the initial core according to the distances and the negative intersection areas, thereby determining one adjacent rectangle group, then carrying out co-edge detection according to the operation of the step S2, if the obtained rectangle rectj has a short side which is already taken as the co-edge of the other adjacent rectangles and the pair of rectangles are in a non-parallel relation, adjusting the co-edge of the rectangle rectj and the recti to be a long side closest to the rectangle recti, and adding the rectangle recti into the initial core, the same operation continues to be performed on the remaining rectangles until all rectangles have been added to the original core.
s4: according to the method of steps S1-S3, all adjacent rectangle groups of the indoor map are processed to obtain the final common edge of all adjacent rectangles.
The invention has the beneficial effects that: support and help are provided for improving the data extraction efficiency.
the above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (6)
1. a common edge detection method for adjacent rectangles of an indoor map is characterized in that: the method comprises the following steps:
s1: the method comprises the following steps of performing bidirectional extension along the long edge of any rectangle in the indoor map, and if the rectangle is intersected with other rectangles, forming an adjacent rectangle group by every two intersected rectangles; namely, the adjacent rectangle group is formed by the any one rectangle and rectangles of which the extension lines of other rectangles in the indoor map intersect with the any one rectangle; the extension length of the long side is a preset threshold value;
s2: obtaining the common edge of the adjacent rectangle group according to the spatial relationship of each edge of the adjacent rectangle group;
The two rectangles of the adjacent rectangle group are respectively a rectangle recti and a rectangle rectj, and the two long sides and the two short sides of the rectangle recti are respectively: li1, li2, si1 and si2, the two long sides and the two short sides of the rectangle rectj are respectively: lj1, lj2, sj1, and sj 2;
If one short side si1 of the rectangle recti and the rectangle rectj are located on the same side of the other short side si2, the short side si1 is an alternative common side; if one short side si2 and the rectangle rectj of the rectangle recti are also positioned on the same side of the other short side si1, both the two short sides si1 and si2 of the rectangle recti are alternative common sides, and at this time, the rectangle rectj is positioned between the two short sides si1 and si2 of the rectangle recti, and it is determined that neither the short sides si1 nor si2 are common sides;
if one short side si2 of the rectangle recti and the rectangle rectj are located on the same side of the other short side si1, the short side si2 is an alternative common side; if one short side si1 and the rectangle rectj of the rectangle recti are also positioned on the same side of the other short side si2, both the two short sides si2 and si1 of the rectangle recti are alternative common sides, and at this time, the rectangle rectj is positioned between the two short sides si1 and si2 of the rectangle recti, and it is determined that neither the short sides si1 nor si2 are common sides;
if one long side li2 of the rectangle recti and the rectangle rectj are located on the same side of the other long side li1, the long side li2 is an alternative common side; if one short side si1 and one long side li2 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li2 of the rectangle recti fall on the long side li2 of the rectangle recti, determining that the long side li2 of the rectangle recti is a common side; otherwise, determining the short side si1 of the rectangle recti as a common side;
if one short side si2 and one long side li2 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li2 of the rectangle recti fall on the long side li2 of the rectangle recti, determining that the long side li2 of the rectangle recti is a common side; otherwise, determining the short side si2 of the rectangle recti as a common side;
if one long side li1 of the rectangle recti and the rectangle rectj are located on the same side of the other long side li2, the long side li1 is an alternative common side; if one short side si1 and one long side li1 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li1 of the rectangle recti fall on the long side li1 of the rectangle recti, determining that the long side li1 of the rectangle recti is a common side; otherwise, determining the short side si1 of the rectangle recti as a common side;
if one short side si2 and one long side li1 of the rectangle recti are alternative common sides at the same time, extending two long sides lj1 and lj2 of the other rectangle rectj, and if the intersection points of the extension lines of the two long sides lj1 and lj2 and the long side li1 of the rectangle recti fall on the long side li1 of the rectangle recti, determining that the long side li1 of the rectangle recti is a common side; otherwise, determining the short side si2 of the rectangle recti as a common side;
similarly, the common edge of another rectangle retj can be obtained, so that two common edges of the adjacent rectangle group are obtained;
s3: when the common edges are determined according to the steps S1-S2, if the common edge detection conflict occurs, the following steps are carried out:
(1) randomly selecting one of the rectangles to be added into the initial core according to a plurality of adjacent rectangle groups with common edge detection conflicts;
(2) Calculating the distance and the negative intersection area between other rectangles in the plurality of adjacent rectangle groups and the initial kernel, and sorting the other rectangles according to the distance and the negative intersection area in an ascending order;
(3) selecting the first rectangle in the sorting result as the next rectangle added into the initial core, and carrying out common edge detection on the rectangles in the initial core according to the steps S1-S2; at the moment, only two rectangles are arranged in the initial kernel, and a common edge without detection conflict is obtained;
(4) Calculating the distance and the negative intersection area between the rest rectangles in the other rectangles and the initial kernel by adopting the methods in the steps (2) to (3), and sequencing the other rectangles according to the distance and the negative intersection area in an ascending order; taking the first-order rectangle in the sorting result as the next rectangle added into the initial core, and carrying out common-edge detection on the rectangles in the initial core according to the steps S1-S2; if the common edge without detection conflict is obtained, the common edge is the determined final common edge; if the obtained common edge still has the detection conflict, and the long edges between the two adjacent rectangles are not parallel, taking the long edges as the final common edge; the initial kernel is always taken as a whole;
(5) performing common edge detection on all adjacent rectangle groups with common edge detection conflicts according to the methods in the steps (1) to (4) to obtain final common edges without detection conflicts;
S4: according to the method of steps S1-S3, all adjacent rectangle groups of the indoor map are processed to obtain the final common edge of all adjacent rectangles.
2. The method for detecting the common edge of the adjacent rectangles of the indoor map as claimed in claim 1, wherein: topological conflicts exist between the adjacent rectangles, and the topological conflicts comprise overlapping and separating.
3. The method for detecting the common edge of the adjacent rectangles of the indoor map as claimed in claim 1, wherein: the adjacent rectangle group can present T-shaped, L-shaped or I-shaped two-dimensional distribution relation.
4. the method for detecting the common edge of the adjacent rectangles of the indoor map as claimed in claim 1, wherein: at least one of the common edges is a short edge.
5. The method for detecting the common edge of the adjacent rectangles of the indoor map as claimed in claim 1, wherein: at most, one short side of the rectangle can only be used as a common side once, that is, the short side and one other side are used together as a common side or the short side is not a common side.
6. The method for detecting the common edge of the adjacent rectangles of the indoor map as claimed in claim 1, wherein: the common edge detection conflict means that the detected plurality of adjacent rectangle groups have the same short edge as the common edge.
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