CN110544295B - Common edge detection method for adjacent rectangles of indoor map - Google Patents

Common edge detection method for adjacent rectangles of indoor map Download PDF

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CN110544295B
CN110544295B CN201910656982.2A CN201910656982A CN110544295B CN 110544295 B CN110544295 B CN 110544295B CN 201910656982 A CN201910656982 A CN 201910656982A CN 110544295 B CN110544295 B CN 110544295B
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尚建嘎
吴怡洁
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China University of Geosciences
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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

Common edge detection method for adjacent rectangles of indoor map
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;
two rectangles of the adjacent rectangle group are respectively rectangle rectiAnd the rectangle rectjRectangular rectiThe two long sides and the two short sides are respectively: li1、li2、si1And si2Rectangular rectjThe two long sides and the two short sides are respectively: lj1、lj2、sj1And sj2；
If the rectangle rectiOne short side s ofi1And rectangular rectjAt the other short side si2On the same side as (1), then the short side si1Is an alternative common edge; if simultaneous rectangles rectiOne short side s ofi2And rectangular rectjAlso at the other short side si1The same side of (2) is rectangularrectiTwo short sides s ofi1And si2Are all alternative common edges, in this case, the rectangle rectjIs located at the rectangle rectiTwo short sides s ofi1And si2In between, then the short side s is determinedi1And si2Are not all common edges;
if the rectangle rectiOne short side s ofi2And a rectangular rectjAt the other short side si1On the same side as (1), then the short side si2Is an alternative common edge; if simultaneous rectangles rectiOne short side s ofi1And rectangular rectjAlso at the other short side si2On the same side of (1), then the rectangle rectiTwo short sides s ofi2And si1Are all alternative common edges, in this case, the rectangle rectjIs located at the rectangle rectiTwo short sides s ofi1And si2In between, then the short side s is determinedi1And si2Are not all common edges;
if the rectangle rectiOne long side l ofi2And a rectangular rectjOn the other long side li1On the same side as (1), the long side li2Is an alternative common edge; if the rectangle rectiOne short side s ofi1And a long side li2While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi2All the intersection points of the two rectangular rectiLong side l ofi2In the above, the rectangular rect is determinediLong side l ofi2Is a common edge; otherwise, determining the rectangular rectiShort side s ofi1Is a common edge;
if the rectangle rectiOne short side s ofi2And a long side li2While being alternative common edge, the other rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi2All the intersection points of the two rectangular rectiLong side l ofi2In the above, the rectangular rect is determinediLong side l ofi2Is a common edge; otherwise, determining the rectangular rectiShort side s ofi2Is a common edge;
if the rectangle rectiOne long side l ofi1And rectangular rectjOn the other long side li2On the same side as (1), the long side li1Is an alternative common edge; if the rectangle rectiOne short side s ofi1And a long side li1While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi1All the intersection points of the two rectangles are in the rectangle rectiLong side l ofi1In the above, the rectangular rect is determinediLong side l ofi1Is a common edge; otherwise, determining the rectangular rectiShort side s ofi1Is a common edge;
if the rectangle rectiOne short side s ofi2And a long side li1While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi1All the intersection points of the two rectangular rectiLong side l ofi1In the above, the rectangular rect is determinediLong side l ofi1Is a common edge; otherwise, determining the rectangular rectiShort side s ofi2Is a common edge;
similarly, another rectangular rect can be obtainedjThereby obtaining two common edges of the adjacent rectangle group;
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 sequencing 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.
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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, separating or containing exist between adjacent rectangles, and the like, and the 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 groups are respectively rectangle rectiAnd the rectangle rectjRectangular rectiThe two long sides and the two short sides are respectively: li1、li2、si1And si2Rectangular rectjThe two long sides and the two short sides are respectively: lj1、lj2、sj1And sj2(ii) a According to the spatial distribution characteristics of the indoor boundary elements, the common edge tiAnd tjCannot be both long sides because two parallel walls cannot be abutted, and therefore, the common side tiAnd tjAt least one of the edges 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.
To determine the rectangular rectiIf the rectangle rect is taken as an exampleiOne short side s ofi1And rectangular rectjAt the other short side si2On the same side as (1), then the short side si1Is an alternative common edge; if simultaneous rectangles rectiOne short side s ofi2And rectangular rectjAlso at the other short side si1On the same side of (1), then the rectangle rectiTwo short sides s ofi1And si2Are all alternative common edges, in this case, the rectangle rectjIs located at the rectangle rectiTwo short sides s ofi1And si2In between, then the short side s is determinedi1And si2Are not all common edges;
if the rectangle rectiOne short side s ofi2And rectangular rectjAt the other short side si1On the same side as (1), then the short side si2Is an alternative common edge; if simultaneous rectangles rectiOne short side s ofi1And rectangular rectjAlso at the other short side si2On the same side of (1), then the rectangle rectiTwo short sides s ofi2And si1Are all alternative common edges, in this case, the rectangle rectjIs located at the rectangle rectiTwo short sides s ofi1And si2In between, then the short side s is determinedi1And si2Are not all common edges;
if the rectangle rectiOne long side l ofi2And rectangular rectjOn the other long side li1On the same side as (1), the long side li2Is an alternative common edge; if the rectangle rectiOne short side s ofi1And a long side li2While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi2All the intersection points of the two rectangular rectiLong side l ofi2In the above, the rectangular rect is determinediLong side l ofi2Is a common edge; otherwise, determining the rectangular rectiShort side s ofi1Is a common edge;
if the rectangle rectiOne short side s ofi2And a long side li2While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi2All the intersection points of the two rectangular rectiLong side l ofi2In the above, the rectangular rect is determinediLong side l ofi2Is a common edge; otherwise, determining the rectangular rectiShort side s ofi2Is a common edge;
if the rectangle rectiOne long side l ofi1And rectangular rectjOn the other long side li2On the same side as (1), the short sidei1Is an alternative common edge; if the rectangle rectiOne short side s ofi1And a long side li1While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi1All the intersection points of the two rectangular rectiLong side l ofi1In the above, the rectangular rect is determinediLong side l ofi1Is a common edge; otherwise, determining the rectangular rectiShort side s ofi1Is a common edge;
if the rectangle rectiOne short side s ofi2And a long side li1While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi1All the intersection points of the two rectangular rectiLong side l ofi1In the above, the rectangular rect is determinediLong side l ofi1Is a common edge; otherwise, determining the rectangular rectiShort side s ofi2Is a common edge;
similarly, another rectangular rect can be obtainedjThereby obtaining two common edges of the adjacent rectangle group;
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 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 rect isjAnd si1(or s)i2、li1And li2) Are all in si2(or s)i1、li2And li1) One side, then si1(or s)i2、li1And li2) Is rectiThe alternatives above are common. If the short side si1And si2(or the long side li1And li2) While being possibly common, none of the short (or long) edges of the set are common, since then rect is presentjIn the middle of the set of short (or long) edges as shown in fig. 1 (c). After the above-mentioned exclusion, if a case where one short side and one long side may be common (s shown in (a) and (b) of fig. 1) occursi1And li2) If yes, then judge rectjTwo long sides li1And li2The straight line is located with the alternative common long side (shown as l in fig. 1 (a) and (b))i2) Whether the intersection point of (a) is within the line segment of the common long side, if yes, selecting the alternative long side (as shown in fig. 1 (b)) 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 common-edge detection conflict, firstly, detecting the aggregated rectangles, finding a plurality of adjacent rectangle groups with more than two rectangles, randomly selecting the rectangle in one adjacent rectangle group as an initial core, then, performing ascending sequencing on the distances between the rest rectangles and the rectangles in the initial core and the negative intersection area, and then, selecting the first rectangle rect in the sequencing resultiFinding the rect from the rectangle in the initial kernel based on the distance and the negative intersection areaiThe nearest rectangle rectjThus, an adjacent rectangle group can be determined, and then the common edge detection is performed according to the operation of step S2, if the rectangle rect is obtainedjThe common edge is a short edge which is already taken as the common edge of other adjacent rectangles, and the pair of rectangles is in a non-parallel relationship, then the rectangle rect is takenjAnd rectiIs adjusted to be away from the rectangle rectiOne nearest long side, and the rectangle rectiAnd adding the rectangle into the initial core, and continuing to perform the same operation on the rest rectangles until all the rectangles are added into the initial 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 should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

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;
two rectangles of the adjacent rectangle group are respectively rectangle rectiAnd the rectangle rectjRectangular rectiThe two long sides and the two short sides are respectively: li1、li2、si1And si2Rectangular rectjThe two long sides and the two short sides are respectively: lj1、lj2、sj1And sj2；
If the rectangle rectiOne short side s ofi1And rectangular rectjAt the other short side si2On the same side of the base station as the base station,then the short side si1Is an alternative common edge; if simultaneous rectangles rectiOne short side s ofi2And rectangular rectjAlso at the other short side si1On the same side of (1), then the rectangle rectiTwo short sides s ofi1And si2Are all alternative common edges, in this case, the rectangle rectjIs located at the rectangle rectiTwo short sides s ofi1And si2In between, then the short side s is determinedi1And si2Are not all common edges;
if the rectangle rectiOne short side s ofi2And rectangular rectjAt the other short side si1On the same side as (1), then the short side si2Is an alternative common edge; if simultaneous rectangles rectiOne short side s ofi1And rectangular rectjAlso at the other short side si2On the same side of (2), then the rectangle rectiTwo short sides s ofi2And si1Are all alternative common edges, in this case, the rectangle rectjIs located at the rectangle rectiTwo short sides s ofi1And si2In between, then the short side s is determinedi1And si2Are not all common edges;
if the rectangle rectiOne long side l ofi2And rectangular rectjOn the other long side li1On the same side as (1), the long side li2Is an alternative common edge; if the rectangle rectiOne short side s ofi1And a long side li2While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi2All the intersection points of the two rectangular rectiLong side l ofi2In the above, the rectangular rect is determinediLong side l ofi2Is a common edge; otherwise, determining the rectangular rectiShort side s ofi1Is a common edge;
if the rectangle rectiOne short side s ofi2And a long side li2While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If these two areLong side of strip lj1And lj2Extension line and rectangular rect ofiLong side l ofi2All the intersection points of the two rectangular rectiLong side l ofi2In the above, the rectangular rect is determinediLong side l ofi2Is a common edge; otherwise, determining the rectangular rectiShort side s ofi2Is a common edge;
if the rectangle rectiOne long side l ofi1And rectangular rectjOn the other long side li2On the same side as (1), the long side li1Is an alternative common edge; if the rectangle rectiOne short side s ofi1And a long side li1While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides l arej1And lj2Extension line and rectangular rect ofiLong side l ofi1All the intersection points of the two rectangular rectiLong side l ofi1In the above, the rectangular rect is determinediLong side l ofi1Is a common edge; otherwise, determining the rectangular rectiShort side s ofi1Is a common edge;
if the rectangle rectiOne short side s ofi2And a long side li1While being alternative common edge, another rectangle rect is extendedjTwo long sides lj1And lj2If the two long sides lj1And lj2Extension line and rectangular rect ofiLong side l ofi1All the intersection points of the two rectangular rectiLong side l ofi1In the above, the rectangular rect is determinediLong side l ofi1Is a common edge; otherwise, determining the rectangular rectiShort side s ofi2Is a common edge;
similarly, another rectangular rect can be obtainedjThereby obtaining two common edges of the adjacent rectangle group;
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 is used as a common side together with one other side or the short side is not used as 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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