CN111895972A - High-precision map tunnel portal shape generation method, device and medium - Google Patents
High-precision map tunnel portal shape generation method, device and medium Download PDFInfo
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- CN111895972A CN111895972A CN202010529005.9A CN202010529005A CN111895972A CN 111895972 A CN111895972 A CN 111895972A CN 202010529005 A CN202010529005 A CN 202010529005A CN 111895972 A CN111895972 A CN 111895972A
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- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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Abstract
The invention discloses a method, a device and a medium for generating a tunnel portal shape of a high-precision map, belonging to the technical field of high-precision maps, wherein the method comprises the following steps: determining tunnel portal point cloud according to a pre-selected area to which a bottom corner point of a tunnel portal belongs; determining a tunnel portal top shape point according to a plurality of horizontal segmentation points on a horizontal reference line segment and a tunnel portal point cloud, wherein the horizontal reference line segment is determined according to a line segment between bottom corner points of the tunnel portal; determining shape points on two sides of a tunnel portal according to a plurality of longitudinal segmentation points on a longitudinal reference line segment and a tunnel portal point cloud, wherein the longitudinal reference line segment is determined according to a pre-selected line segment between a tunnel portal highest point and a starting point, and the starting point is a projection point vertically projected onto a horizontal reference line segment through the tunnel portal highest point; and determining the shape of the tunnel portal according to the top shape point and the two side shape points. The application of the invention reduces the difficulty of the tunnel portal shape determining process and improves the operation speed of the tunnel portal shape determination.
Description
Technical Field
The application relates to the technical field of high-precision maps, in particular to a method, a device and a medium for generating a tunnel portal shape of a high-precision map.
Background
The high-precision map is an electronic map with higher precision and more data dimensions, and provides geographical position information with higher precision in the aspects of automatic driving, lane positioning and the like. In the process of drawing the high-precision map, target information needs to be collected, point cloud information of a target is obtained, the target point cloud is processed, and finally the shape of the target is determined.
The tunnel portal includes a tunnel portal, a bridge opening portal, and the like tunnel building portal. In the high-precision map making process, due to the fact that the shape of a tunnel portal is irregular, manual drawing is needed in a point cloud free view. In the manual drawing process, technicians draw shape points along the edge position of the tunnel portal to finally form a curve point string of the tunnel portal shape. By adopting the manual drawing method, technicians are easily interfered by error point clouds, the operation difficulty is high, the operation speed is low, manually selected tunnel portal shape points are unevenly distributed, the finally drawn tunnel portal shape has larger difference with the actual tunnel portal shape, and the precision is not high.
Disclosure of Invention
Aiming at the technical problems in the prior art, the application provides a method, a device and a medium for generating a tunnel portal shape of a high-precision map.
In one aspect of the present application, a method for generating a high-precision map tunnel portal shape is provided, which includes: determining tunnel portal point cloud according to a pre-selected area to which a bottom corner point of a tunnel portal belongs; determining tunnel portal top shape points according to a plurality of horizontal segmentation points and tunnel portal point clouds on a horizontal reference line segment, wherein the horizontal reference line segment is determined according to line segments between bottom corner points of the tunnel portal; determining shape points on two sides of a tunnel portal according to a plurality of longitudinal segmentation points on a longitudinal reference line segment and a tunnel portal point cloud, wherein the longitudinal reference line segment is determined according to a pre-selected line segment between a tunnel portal highest point and a starting point, and the starting point is a projection point vertically projected onto a horizontal reference line segment through the tunnel portal highest point; and determining the shape of the tunnel portal according to the top shape point and the two side shape points.
In another aspect of the present application, there is provided a high-precision map tunnel portal shape generating apparatus including: a module for determining tunnel portal point cloud according to a pre-selected region to which a bottom corner point of a tunnel portal belongs; a module for determining a tunnel portal top shape point according to a plurality of horizontal segmentation points on a horizontal reference line segment and a tunnel portal point cloud, the horizontal reference line segment being determined according to a line segment between bottom corner points of the tunnel portal; the tunnel portal image processing device comprises a module for determining shape points on two sides of a tunnel portal according to a plurality of longitudinal segmentation points on a longitudinal reference line segment and a tunnel portal point cloud, wherein the longitudinal reference line segment is determined according to a line segment between a preselected highest point of the tunnel portal and a starting point, and the starting point is a projection point vertically projected onto a horizontal reference line segment through the highest point of the tunnel portal; and a module for determining the tunnel portal shape from the top shape point and the two side shape points.
In another aspect of the present application, a computer-readable storage medium is provided, which stores computer instructions, wherein the computer instructions are operated to execute the high-precision map tunnel portal shape generating method in the first aspect.
The beneficial effect that this application technical scheme can reach is: when the technical scheme is applied, tunnel portal point cloud is determined according to the area to which the bottom corner point of the tunnel portal belongs, so that the influence of error point cloud can be eliminated, and the accuracy of tunnel portal shape generation is improved; and moreover, a plurality of tunnel portal shape points are determined in the tunnel portal point cloud, so that the tunnel portal shape generated in the high-precision map can reflect the shape characteristics of the real tunnel portal, the error is reduced, and the accuracy of the tunnel portal shape is improved.
Drawings
FIG. 1 is a schematic flow chart diagram illustrating an embodiment of a method for generating a tunnel portal shape according to the present application;
FIG. 2 is a schematic view of an embodiment of a region of a tunnel portal according to the present application;
FIG. 3 is a schematic diagram illustrating one embodiment of keypoint locations in the present application;
FIG. 4 is a schematic diagram illustrating one embodiment of a keypoint determination process of the present application;
FIG. 5 is a partially schematic illustration of one embodiment of a process for determining top shape points in conjunction with dichotomy in the present application;
fig. 6 is a schematic diagram of an embodiment of a high-precision map tunnel portal shape generating apparatus according to the present application.
Detailed Description
The following detailed description of the preferred embodiments of the present application, taken in conjunction with the accompanying drawings, will provide those skilled in the art with a better understanding of the advantages and features of the present application, and will make the scope of the present application more clear and definite.
It should be noted that the terms "first," "second," "third," and the like in the claims, in the description and in the claims, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
Fig. 1 is a flow chart illustrating a specific embodiment of the method for generating a tunnel portal shape according to the present application.
In the embodiment shown in fig. 1, the high-precision map tunnel portal shape generating method of the present application includes a process S101, a process S102, a process S103, and a process S104.
S101 shown in fig. 1 is a process of determining a tunnel portal point cloud according to a pre-selected area to which a bottom corner point of a tunnel portal belongs.
In a specific embodiment of the present application, the area to which the bottom corner point of the tunnel portal belongs may be a stereo trimming area including a preselected bottom corner point on the left side of the tunnel portal and a preselected bottom corner point on the right side of the tunnel portal.
In this specific embodiment, preferably, the left bottom corner point and the right bottom corner point of the tunnel portal may be determined in a point cloud free view in a manual selection manner, and then the stereo trimming area is determined according to the selected left bottom corner point and the selected right bottom corner point of the tunnel portal. The three-dimensional cutting area comprises a selected tunnel portal left bottom corner point and a selected tunnel portal right bottom corner point, and can comprise most point cloud points in a point cloud free view. Preferably, the stereo cropping zone can include the point cloud points near the tunnel portal in the point cloud free view, so that in the process of generating the tunnel portal shape, the influence of error point cloud is eliminated, and meanwhile, the accuracy of tunnel portal shape generation is ensured. In the specific process of determining the three-dimensional clipping area, the shape of the three-dimensional clipping area may be determined according to the point cloud distribution in the actual point cloud free view, for example, the three-dimensional clipping area may be determined as a rectangular solid or a cylinder.
In a specific embodiment of the present application, the process S101 may be to traverse the point cloud of the point cloud free view in the area where the bottom corner point of the tunnel portal belongs, and intercept the traversed point set as the tunnel portal point cloud.
Fig. 2 shows a specific embodiment of the region to which the bottom corner point of the tunnel portal belongs according to the present application.
In order to facilitate understanding of the technical solution of the present application, an embodiment in which a region to which a bottom corner point of a tunnel portal belongs is a rectangular parallelepiped will be described with reference to fig. 2.
In this embodiment, the points 201 and 202 are the left bottom corner point and the right bottom corner point of the preselected tunnel portal, respectively. On a horizontal plane, a bottom corner point 201 on the left side of the tunnel portal and a bottom corner point 202 on the right side of the tunnel portal extend to the front side and the rear side for a certain distance respectively to obtain a point 203, a point 205, a point 204 and a point 206. In the specific embodiment of the present application, the distances extending to the front side and the rear side may be equal or unequal.
In this embodiment, points 203, 205, 204, and 206 are the four vertices of a rectangle, respectively. The point 203, the point 205, the point 204, and the point 206 are extended upward by a distance to obtain a point 207, a point 209, a point 208, and a point 210, respectively, and a rectangular solid trimming area is obtained with the point 203, the point 204, the point 205, the point 206, the point 207, the point 208, the point 209, and the point 210 as vertexes.
In the present embodiment, the shape of the region to which the bottom corner point of the tunnel portal belongs includes, but is not limited to, polyhedron, cylinder, semi-cylinder, etc. The size of the area to which the bottom corner point of the tunnel portal belongs can be set according to the shape of the actual tunnel portal, so that the tunnel portal shape calculated by the high-precision map tunnel portal shape generation method in the specific embodiment of the application can be more fit with the actual shape of the tunnel portal.
In the embodiment shown in fig. 2, an example of the process of traversing the point cloud in the point cloud free view is as follows:
first, a point is arbitrarily selected on six surfaces of the rectangular parallelepiped region, and each is described as
Taking the normal vectors of six surfaces of the rectangular region pointing to the outside of the rectangular region, and recording the normal vectors as
At any point in the rectangular parallelepiped region
The vector calculation formula is satisfied: (
-
)
<0,
。
And secondly, substituting all point cloud points in the point cloud free view into the formula through computing equipment to obtain a point cloud set meeting the formula, and obtaining the tunnel portal point cloud in the region to which the bottom corner point of the tunnel portal belongs.
In the specific implementation manner of the application, the area to which the bottom corner point of the tunnel portal belongs is selected, and the point cloud of the point cloud free view in the area to which the bottom corner point of the tunnel portal belongs is traversed, so that the point cloud near the tunnel portal in the point cloud free view is ensured to fall in the area to which the bottom corner point of the tunnel portal belongs, and some point cloud points with large deviation are eliminated, so that the influence of interference points can be eliminated in the subsequent process of determining the shape of the tunnel portal, the error in generating the shape of the tunnel portal in a high-precision map is reduced, and the accuracy of the obtained shape of the tunnel portal is improved.
In an embodiment of the present application, S102 shown in fig. 1 is a process of determining a tunnel portal top shape point according to a plurality of horizontal segmentation points and a tunnel portal point cloud on a horizontal reference line segment, where the horizontal reference line segment is a line segment between a bottom corner point on the left side of the tunnel portal and a bottom corner point on the right side of the tunnel portal, and the plurality of horizontal segmentation points may be segmentation points of the horizontal reference line segment.
FIG. 3 is a schematic diagram of one embodiment of the location of keypoints in the present application. FIG. 4 is a schematic diagram of one embodiment of a keypoint determination process in the present application. The "key points" and "key point positions" herein refer to a plurality of relatively critical points required in determining the shape points of the tunnel portal and the positions of the relatively critical points in some embodiments of the present application.
When the description is made in conjunction with fig. 3 or the elements in fig. 3, the elements shown in fig. 3 are only a specific example of the relevant elements in the present application, and the relevant elements in the present application may not be limited to the form shown in fig. 3.
A specific embodiment of the key point determination process in the present application is described below with reference to fig. 3 and 4.
In one embodiment of the keypoint determination process shown in fig. 4, the keypoint determination process comprises process S401, process S402, process S403.
S401 is a process of translating the starting point to the left on the horizontal reference line segment by a predetermined distance to obtain a first keypoint.
In this embodiment, the process S401 of translating the start point to the left on the horizontal reference line segment by a predetermined distance to obtain the first keypoint may further include the following processes:
taking a vertical projection point of the highest point of a preselected tunnel portal on a horizontal reference line segment as a starting point, wherein the horizontal reference line segment is a line segment between a bottom corner point on the left side of the preselected tunnel portal and a bottom corner point on the right side of the preselected tunnel portal; and
and translating the starting point on the horizontal reference line segment to the left by a preset distance to obtain a first key point.
In one example of the present application, the highest point of the tunnel portal may be the point 310 shown in fig. 3, the starting point may be the point 302 shown in fig. 3, the bottom corner point on the left side of the tunnel portal may be the point 201 shown in fig. 3, the bottom corner point on the right side of the tunnel portal may be the point 202 shown in fig. 3, and the first key point may be the point 309 shown in fig. 3.
In the embodiment shown in fig. 4, the location of the first keypoint may be an optional point on the horizontal reference line segment. Preferably, the first keypoint 309 may be one of the plurality of bisectors on the horizontal reference line segment that is closest to the bottom corner point 201 on the left side of the tunnel portal.
In the embodiment shown in fig. 4, S402 is a process of determining a second keypoint from the first keypoint, the tunnel portal point cloud, and the longitudinal reference line segment. And determining a longitudinal reference line segment according to a line segment between the highest point and the starting point of the preselected tunnel portal. And determining a first shape point according to the determined first key point and the intercepted tunnel portal point cloud, and determining a vertical projection point of the first shape point on the longitudinal reference line segment as a second key point.
In a preferred example of the present application, when determining the longitudinal reference line segment, a highest point proximity point is selected near a highest point of a preselected tunnel portal, and a line segment between the highest point proximity point and a starting point is taken as the longitudinal reference line segment.
In one example of the present application, the highest point-in-proximity point may be the point 307 shown in fig. 3, the first shape point may be the point 308 shown in fig. 3, the second key point may be the point 306 shown in fig. 3, and the longitudinal reference line segment may be a line segment between the starting point 302 and the highest point-in-proximity point 307 shown in fig. 3.
In an example of the present application, the step S402 of determining the second key point according to the first key point, the tunnel portal point cloud, and the longitudinal reference line segment may be implemented by the following specific steps:
first, in this example, the highest point-in-proximity point 307 is obtained by hitting the tunnel portal point cloud upward from the start point 302. Preferably, the process of obtaining the highest point near point 307 by hitting the tunnel portal point cloud upward from the starting point 302 includes:
first, a sheet-like bottom surface is constructed around the starting point 302, wherein the bottom surface has a shape including, but not limited to, a circle, a square, a triangle, etc., and the sheet-like bottom surface is located in a horizontal plane of the starting point. And secondly, according to the constructed sheet bottom surface, upwards extending along the vertical direction to obtain an extending body, wherein the extending body extends to a region beyond the bottom corner point of the selected tunnel portal so as to ensure that the extending body contains a point cloud point in intercepted tunnel portal point cloud. Thirdly, after the extension body is successfully constructed, because the extension body vertically exceeds the region to which the bottom corner point of the selected tunnel portal belongs, a plurality of cloud points in the tunnel portal point cloud exist in the extension body, and one of the cloud points is selected as a highest point proximity point. For example, the point cloud point 307 closest to the starting point 302 may be selected as the highest point proximity point.
Next, in this example, after the highest point-near point is confirmed, a line segment between the highest point-near point 307 and the starting point 302 is taken as a longitudinal reference line segment.
Again, in this example, the process of determining the first shape point 308 may be similar to the process of determining the highest point proximity point, except that a sheet-shaped bottom surface is constructed around the first key point 309, and an extension body is constructed upwards according to the constructed sheet-shaped bottom surface, wherein the extension body is to extend to a region beyond the selected bottom corner point of the tunnel portal, so as to ensure that the extension body includes a plurality of cloud points in the cloud point of the tunnel portal, and one of the cloud points is selected as the first shape point. For example, the point cloud point 308 closest to the first keypoint 309 may be selected as the first shape point.
Again, in this example, the projected point 306 vertically projected from the first shape point 308 to the longitudinal reference line segment is taken as the second keypoint.
In the embodiment shown in fig. 4, S403 is a process of determining a third key point according to the second key point, the tunnel portal point cloud, and the horizontal reference line segment. Preferably, the second shape point is determined according to the second key point and the tunnel portal point cloud, and the vertical projection point of the second shape point on the horizontal reference line segment is determined as the third key point.
In an example of the present application, the step S403 of determining a third key point according to the second key point, the tunnel portal point cloud, and the horizontal reference line segment may be implemented by the following specific steps:
firstly, a second shape point is determined, the process is similar to the process of determining a highest point near point, and the difference is that a sheet-shaped bottom surface is built around the second key point 306, an extending body is built rightwards according to the built sheet-shaped bottom surface, wherein the extending body is extended to a region beyond the selected tunnel entrance bottom corner point, the extending body is ensured to contain a plurality of cloud points in the tunnel entrance point cloud, and one cloud point is selected from the plurality of cloud points to be used as a first shape point. For example, the point cloud point 305 closest to the second keypoint 306 may be selected as the second shape point.
Next, a projected point 304 obtained by vertically projecting the second shape point onto the horizontal reference line segment is determined as a third key point.
In the embodiment shown in fig. 4, S404 is a process of determining the division points of the line segment between the first key point and the third key point as a plurality of horizontal division points.
In the embodiment shown in fig. 4, S405 is a process of determining the division points of the line segment between the start point and the second key point as a plurality of longitudinal division points.
In the specific implementation manner of the application, through the determination of the first key point, the second key point and the third key point, the range is limited for the position of the subsequent impact line, so that when the tunnel portal shape point is determined through the impact line, the rapid and effective process can be carried out, unnecessary operation processes are not carried out, and meanwhile, it is ensured that the tunnel portal point cloud corresponding to the impact line segment is not omitted, thereby ensuring that the actual tunnel portal shape can be comprehensively expressed through the tunnel portal shape point obtained through the impact line segment, and further improving the accuracy of generating the tunnel portal shape in the high-precision map.
In one embodiment of the present application, the plurality of horizontal division points may be division points on a line segment between the first key point and the third key point. In one example of this embodiment, the plurality of horizontal division points may include points of bisection of n of the line segment between the first key point and the third key point, n being a natural number not less than 2.
Preferably, the value of n can be selected according to the requirement of the shape accuracy of the specific tunnel portal. The larger the value of n is, the more the upward impact line segments are, the more corresponding top shape points are obtained, and the more accurate the shape of the finally obtained tunnel portal is. Meanwhile, the plurality of horizontal segmentation points are equally divided into equal division points including the line segment between the first key point and the third key point, so that the plurality of upward impact line segments are uniformly distributed, the obtained top shape points are uniformly distributed, and the obtained tunnel portal shape is more accurate and closer to the real tunnel portal shape.
One embodiment of the high-precision map tunnel portal shape generating method includes respectively extending a certain distance from a starting point 302 to the front side and the rear side of a horizontal reference line segment to a point 301 and a point 303 to obtain a first impact line segment.
The initial point is used as the midpoint, the basic tunnel portal structure can be met, the position and the angle of the first impact line segment are set, the obtained tunnel portal shape point is ensured to be in accordance with the actual tunnel portal shape in the process of determining the tunnel portal shape point according to the impact line segment, larger deviation cannot occur, and meanwhile, the working speed in the tunnel portal shape point confirmation process is improved.
In a specific embodiment of the present application, the process S102 of determining the tunnel portal top shape point according to the plurality of horizontal segmentation points and the tunnel portal point cloud on the horizontal reference line segment may be implemented as follows: translating the first impact line segment to a plurality of horizontal segmentation points on a horizontal reference line segment to obtain a plurality of corresponding upward impact line segments; and determining corresponding top shape points according to the upward impact line segments and the tunnel portal point cloud.
In an actual scene, the shape of the tunnel portal is mostly a bilateral symmetry structure, and the point clouds of the tunnel portal are mostly distributed on the front side and the rear side of the starting point. Therefore, in the embodiment of the present application, by setting the first impact line segment to extend from the starting point to the front side and the rear side of the horizontal reference line segment, it can be ensured that the obtained tunnel portal shape point conforms to the actual tunnel portal shape in the process of determining the top shape point according to the multiple upward impact line segments, no large deviation occurs, and the working speed of the tunnel portal shape point determination process is increased.
In this embodiment, the larger the number of horizontal dividing points is, the more upward impact line segments are, the more corresponding top shape points are obtained, and the more accurate the tunnel portal shape is finally obtained.
Preferably, the first impact line segment is located in the same horizontal plane as the horizontal reference line segment and is perpendicular to the horizontal reference line segment, and the first impact line segment takes the starting point as the midpoint. Through setting the position and the angle of the first impact line segment, the obtained top shape point can be ensured to better conform to the actual tunnel portal shape in the process of determining the tunnel portal shape point according to a plurality of upward impact line segments, the occurrence deviation is ensured to be smaller, and meanwhile, the working speed in the tunnel portal shape point confirmation process is improved.
In an embodiment of the present application, the process S102 of determining the tunnel portal top shape point according to the plurality of horizontal segmentation points on the horizontal reference line segment and the tunnel portal point cloud may be implemented by combining a dichotomy.
FIG. 5 is a partially schematic illustration of one particular embodiment of a process for determining top shape points in conjunction with dichotomy in the present application.
In one example of this embodiment, the line segment between points 301 and 303 represents the first impact line segment, and the starting point 302 is the midpoint of the first impact line segment. In this example, a sheet-shaped bottom surface is constructed around the midpoint 302 of the first impact line segment, the sheet-shaped bottom surface is extended to exceed the region to which the selected bottom corner point of the tunnel portal belongs along the upward impact direction of the first impact line segment to obtain an extension, if the number of points of the tunnel portal point cloud located in the extension is greater than a set threshold, the impact of the point cloud is successful, otherwise, the impact of the point cloud is failed.
In one example of this embodiment, a square bottom surface is constructed around the midpoint 302 of the first impact line segment, and the square region is extended to obtain a cuboid-shaped extension according to the upward impact direction of the first impact line segment, in combination with the cuboid region shown in fig. 2, wherein the front view projection of the cuboid-shaped extension is a rectangle formed by a point 501, a point 502, a point 503 and a point 504, as shown in fig. 5. At this time, the number of points of the tunnel entrance point cloud contained in the cuboid-shaped extension body is judged, and if the number of points is larger than a set threshold value, the point cloud is successfully impacted on the two points of the first impact line segment. The set threshold for judging the number of point clouds can be set according to the accuracy requirement of tunnel portal shape generation in a specific high-accuracy map, for example, the set threshold can take a value of 3.
If the point cloud is successfully impacted at the dichotomy point, calculating whether the length of the first impact line meets the dichotomy tolerance condition, and if the length of the first impact line meets the dichotomy tolerance condition, recording the point closest to the dichotomy point of the first impact line in the point cloud points in the cuboid extension body as the corresponding shape point of the tunnel portal corresponding to the first impact line; and if the dichotomy tolerance condition is not met or the impact fails, calculating the next dichotomy point of the first impact line by dichotomy, and repeating the processing procedure on the dichotomy points.
In one example of this embodiment, as shown in FIG. 5, in calculating the next point of bisection by bisection, the midpoint of the first impact line segment is set as one end point of the new impact line segment, and the midpoint of the new impact line segment is recalculated as the next point of bisection. For example, if the impact succeeds but the tolerance condition is not satisfied, the midpoint 302 of the first impact line segment is set as the right endpoint, the line segment between the points 301 and 302 is a new impact line segment, and the midpoint of the line segment between the points 301 and 302 is taken as the next dichotomy point; if the impact fails, the midpoint 302 of the first impact line segment is set as the left endpoint, the line segment between the points 302 and 303 is the new first impact line segment, and the midpoint of the line segment between the points 302 and 303 is taken as the next dichotomous point.
Determining tunnel portal top shape points according to the upward impact segments and the intercepted tunnel portal point cloud, enabling each upward impact segment to correspond to one tunnel portal top shape point, and finally determining all tunnel portal top shape points.
In this specific embodiment, by combining the bisection method in the high-precision map tunnel portal shape generating method of the present application, through a process of repeatedly striking a tunnel portal point cloud on each upward striking segment of a plurality of upward striking segments obtained according to a first striking segment, a finally determined top shape point can be made closer to an actual tunnel portal shape, and the precision of generating the tunnel portal shape by using the high-precision map is improved.
S103 shown in fig. 1 is a process of determining shape points on both sides of the tunnel portal according to a plurality of longitudinal division points on a longitudinal reference line segment and the tunnel portal point cloud, where the longitudinal reference line segment is determined according to a line segment between a preselected highest point of the tunnel portal and a starting point, the starting point is a projection point vertically projected onto a horizontal reference line segment through the highest point of the tunnel portal, and the plurality of longitudinal division points may be division points of the longitudinal reference line segment.
In a preferred embodiment of the present application, the longitudinal reference line segment may be a segment between a highest point neighboring point near a highest point of the tunnel portal and the starting point, which is selected in advance.
In one embodiment of the present application, the plurality of longitudinal division points may be division points on a line segment between the start point and the second key point. In one example of this embodiment, the plurality of longitudinal division points may include m bisector points of a line segment between the start point and the second key point, m being a natural number not less than 2.
Preferably, the value of m can be selected according to the requirement of the shape precision of a specific tunnel portal. The larger the value of m is, the more the left and right impact line segments are, the more corresponding shape points on two sides are obtained, and the more accurate the shape of the finally obtained tunnel portal is. Meanwhile, the plurality of longitudinal segmentation points are equally divided into equal division points of the line segments between the starting point and the second key point, so that the left and right impact line segments are uniformly distributed, the obtained shape points on the two sides are uniformly distributed, and the obtained tunnel portal shape is more accurate and closer to the real tunnel portal shape.
In a specific embodiment of the present application, the process S103 of determining shape points on two sides of the tunnel portal according to the plurality of longitudinal segmentation points on the longitudinal reference line segment and the tunnel portal point cloud may be implemented as follows: translating the first impact line segment to a plurality of longitudinal segmentation points on a longitudinal reference line segment to obtain a plurality of corresponding left and right impact line segments; and determining corresponding shape points on two sides according to the left and right impact line segments and the tunnel portal point cloud.
In an actual scene, the shape of the tunnel portal is mostly a bilateral symmetry structure, and the point clouds of the tunnel portal are mostly distributed on the front side and the rear side of the starting point. Therefore, in the embodiment of the present application, by setting the first impact line segment to extend from the starting point to the front side and the rear side of the horizontal reference line segment, it can be ensured that the obtained tunnel portal shape point conforms to the actual tunnel portal shape in the process of determining the shape points on the two sides according to the left and right impact line segments, no large deviation occurs, and the working speed of the tunnel portal shape point determination process is increased.
In this embodiment, the greater the number of the longitudinal dividing points, the more the left and right impact line segments are, the more corresponding two-side shape points are obtained, and the more the tunnel portal shape is obtained finally.
Preferably, the first impact line segment is located in the same horizontal plane as the horizontal reference line segment and is perpendicular to the horizontal reference line segment, and the first impact line segment takes the starting point as the midpoint. Through the setting to the position and the angle of first striking segment, can guarantee to strike the in-process that the line segment confirmed the tunnel portal shape point according to controlling many, the both sides shape point that obtains accords with actual tunnel portal shape more, and the deviation of guaranteeing to appear is littleer, improves the operating speed of tunnel portal shape point confirmation process simultaneously more.
In a specific embodiment of the present application, the process S103 of determining shape points on two sides of the tunnel portal according to the plurality of longitudinal division points on the longitudinal reference line segment and the tunnel portal point cloud may be implemented by combining a bisection method. The specific implementation process is similar to the above specific embodiment of determining the top shape point by combining the dichotomy, and is not described herein again.
In this specific embodiment, by combining the bisection method in the high-precision map tunnel portal shape generating method of the present application, through a process of repeatedly striking a tunnel portal point cloud on each of left and right striking segments of a plurality of left and right striking segments obtained according to a first striking segment, it is possible to make the finally determined shape points on both sides closer to the actual tunnel portal shape, and improve the precision of generating the tunnel portal shape by the high-precision map.
S104 shown in fig. 1 is a process of determining the tunnel portal shape according to the top shape point and the two side shape points.
Preferably, in the process S104 of determining the tunnel portal shape, the tunnel portal shape may be obtained by fitting using the top shape point and the two side shape points.
In an example of the application, sorting is performed according to the size of abscissa axis components or ordinate axis components of the top shape point of the tunnel portal and the shape points on two sides of the tunnel portal, so that a shape point string of the tunnel portal is obtained, and the computing equipment fits the shape point string through a predetermined function, so that the shape of the high-precision map tunnel portal is obtained.
In the specific implementation manner of the application, by adopting the high-precision map tunnel portal generation method, in the high-precision map tunnel portal shape generation process, by cutting the point cloud in the point cloud free view by using the selected region to which the bottom corner point of the tunnel portal belongs, the interference point cloud points in the point cloud free view can be eliminated, so that the high-quality high-precision map tunnel portal shape is ensured to be finally formed.
In the specific implementation manner of the application, the finally obtained tunnel portal shape point can accurately reflect the shape of the real tunnel portal by determining the positions of the plurality of key points, the plurality of upward impact segments and the plurality of left and right impact segments.
In the specific implementation manner of the application, a plurality of upward impact line segments and a plurality of left and right impact line segments are uniformly distributed, so that the obtained tunnel portal shape points are also uniformly distributed, and the precision of the fitted tunnel portal shape is higher.
In a specific embodiment of the application, the high-precision map tunnel portal shape generating method can customize the number of the top shape points and the two side shape points of the tunnel portal according to specific tunnel portal precision requirements, on one hand, the application universality can be improved, on the other hand, the problem of large drawing quality difference caused by different operators due to different personal habits can be avoided, and the finally obtained high-precision map tunnel portal shape is close to the real tunnel portal shape.
Fig. 6 shows an embodiment of the high-precision map tunnel portal shape generating apparatus according to the present invention.
In this embodiment, the high-precision map tunnel portal shape generating means may include: module 601, module 602, module 603, and module 604.
In this embodiment, the module 601 is a module for determining a tunnel portal point cloud according to a region to which a bottom corner point of a preselected tunnel portal belongs.
In a specific embodiment of the present application, the area to which the bottom corner point of the tunnel portal belongs may be a stereo trimming area including a preselected bottom corner point on the left side of the tunnel portal and a preselected bottom corner point on the right side of the tunnel portal.
In one example of this embodiment, the shape of the region to which the bottom corner point of the tunnel portal belongs includes, but is not limited to, a polyhedron, a cylinder, a semi-cylinder, and the like. The size of the three-dimensional cropping zone can be set according to the shape of the actual tunnel portal, so that the tunnel portal shape calculated by the high-precision map tunnel portal shape generation method in the specific embodiment of the application can be more fit with the actual shape of the tunnel portal.
By selecting the area to which the bottom corner point of the tunnel portal belongs and traversing the point cloud of the point cloud free view in the area to which the bottom corner point of the tunnel portal belongs, the point cloud near the tunnel portal in the point cloud free view can be ensured to fall in the area to which the bottom corner point of the tunnel portal belongs, and some point cloud points with large deviation are eliminated, so that the influence of interference points can be eliminated in the subsequent process of determining the shape of the tunnel portal, the error when the shape of the tunnel portal is generated in a high-precision map is reduced, and the accuracy of the obtained shape of the tunnel portal is improved.
In this embodiment, the module 602 is a module for determining a tunnel portal top shape point according to a plurality of horizontal division points on a horizontal reference line segment and a tunnel portal point cloud, where the horizontal reference line segment is a line segment between a bottom corner point on the left side of the tunnel portal and a bottom corner point on the right side of the tunnel portal, and the plurality of horizontal division points may be division points of the horizontal reference line segment.
In an embodiment of this embodiment, the larger the number of horizontal dividing points is, the more line segments are impacted upwards, the more corresponding top shape points are obtained, and the more precise the tunnel portal shape is obtained.
In this embodiment, the module 603 is a module for determining shape points at two sides of the tunnel portal according to a plurality of longitudinal division points and a tunnel portal point cloud on a longitudinal reference line segment, the longitudinal reference line segment is a line segment between a pre-selected proximity point near the highest point of the tunnel portal and a starting point, the starting point is a projection point vertically projected onto a horizontal reference line segment through the highest point of the tunnel portal, and the plurality of longitudinal division points may be division points of the longitudinal reference line segment.
In an embodiment of this specific embodiment, the greater the number of the longitudinal dividing points, the more the left and right impact line segments are, the more corresponding two-side shape points are obtained, and the more the tunnel portal shape is obtained finally.
In this particular embodiment, module 604 is a module for determining a tunnel portal shape from the top shape point and the two side shape points.
Preferably, the module 604 may fit the tunnel portal shape by using the top shape point and the two side shape points.
In one embodiment of the present application, the modules 601, 602, 603, and 604 of the high-precision tunnel portal shape generating apparatus of the present application may be directly in hardware, in a software module executed by a processor, or in a combination of both.
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium.
The Processor may be a Central Processing Unit (CPU), other general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), other Programmable logic devices, discrete Gate or transistor logic, discrete hardware components, or any combination thereof. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.
In a specific embodiment of the present application, a computer-readable storage medium stores computer instructions which are operated to execute the high-precision map tunnel portal generation method described in any one of the embodiments.
In one embodiment of the present application, a computer device includes a processor and a memory, the memory storing computer instructions, wherein: the processor operates the computer instructions to perform the high precision map tunnel portal shape generation method described in any of the embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and all equivalent structural changes made by using the contents of the specification and the drawings, which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.
Claims (10)
1. A high-precision map tunnel portal shape generation method is characterized by comprising the following steps:
determining tunnel portal point cloud according to a pre-selected area to which a bottom corner point of a tunnel portal belongs;
determining tunnel portal top shape points according to a plurality of horizontal segmentation points on a horizontal reference line segment and the tunnel portal point cloud, wherein the horizontal reference line segment is determined according to a line segment between bottom corner points of the tunnel portal;
determining shape points on two sides of a tunnel portal according to a plurality of longitudinal segmentation points on a longitudinal reference line segment and the tunnel portal point cloud, wherein the longitudinal reference line segment is determined according to a line segment between a preselected tunnel portal highest point and a starting point, and the starting point is a projection point vertically projected onto the horizontal reference line segment through the tunnel portal highest point; and
and determining the shape of the tunnel portal according to the top shape point and the two side shape points.
2. The method for generating a tunnel portal shape according to claim 1, further comprising:
translating the starting point on the horizontal reference line segment to the left by a preset distance to obtain a first key point;
determining a second key point according to the first key point, the tunnel portal point cloud and the longitudinal reference line segment;
determining a third key point according to the second key point, the tunnel portal point cloud and the horizontal reference line segment;
determining division points of a line segment between the first key point and the third key point as the plurality of horizontal division points; and
determining segmentation points of a line segment between the starting point and the second key point as the plurality of longitudinal segmentation points.
3. The method for generating a tunnel portal shape according to claim 1, further comprising:
expanding from the starting point to the two sides of the horizontal reference line segment to obtain a first impact line segment;
wherein the process of determining the tunnel portal top shape point according to the plurality of horizontal segmentation points on the horizontal reference line segment and the tunnel portal point cloud further comprises:
translating the first impact line segment to each of the plurality of horizontal segmentation points to obtain a plurality of corresponding upward impact line segments; and
and determining the corresponding top shape point according to the upward impact line segments and the tunnel portal point cloud.
4. The method for generating a tunnel portal shape according to claim 1, further comprising:
expanding from the starting point to the two sides of the horizontal reference line segment to obtain a first impact line segment;
the process of determining shape points on two sides of the tunnel portal according to the plurality of longitudinal segmentation points on the longitudinal reference line segment and the tunnel portal point cloud further comprises the following steps:
translating the first impact line segment to each of the plurality of longitudinal segmentation points to obtain a plurality of corresponding left and right impact line segments; and
and determining corresponding shape points on the two sides according to the left and right impact line segments and the tunnel portal point cloud.
5. The method of claim 2, wherein the determining a second keypoint from the first keypoint, the tunnel portal point cloud, and the vertical fiducial segment further comprises:
determining a first shape point according to the first key point and the tunnel portal point cloud; and
and determining the vertical projection point of the first shape point on the longitudinal reference line segment as the second key point.
6. The method of claim 2, wherein the determining a third key point from the second key point, the tunnel portal point cloud, and the horizontal reference line segment further comprises:
determining a second shape point according to the second key point and the tunnel portal point cloud; and
and determining a vertical projection point of the second shape point on the horizontal reference line segment as the third key point.
7. The high-precision map tunnel portal shape generation method according to claim 2, wherein the plurality of horizontal division points include points of bisection n of a line segment between the first key point and the third key point, the n being a natural number not less than 2.
8. The high-precision map tunnel portal shape generation method according to claim 2, wherein the plurality of vertical division points include m-equally divided points of a segment between the start point and the second key point, the m being a natural number not less than 2.
9. A high-precision map tunnel portal shape generation device is characterized by comprising:
a module for determining tunnel portal point cloud according to a pre-selected region to which a bottom corner point of a tunnel portal belongs;
means for determining a tunnel portal top shape point from the plurality of horizontal segmentation points on a horizontal fiducial line segment and the tunnel portal point cloud, the horizontal fiducial line segment being determined from line segments between bottom corner points of the tunnel portal;
a module for determining shape points at two sides of a tunnel portal according to a plurality of longitudinal segmentation points on a longitudinal reference line segment and the tunnel portal point cloud, wherein the longitudinal reference line segment is determined according to a line segment between a preselected highest point of the tunnel portal and a starting point, and the starting point is a projection point vertically projected to the horizontal reference line segment through the highest point of the tunnel portal; and
and determining the shape of the tunnel portal according to the top shape point and the two side shape points.
10. A computer-readable storage medium storing computer instructions, wherein the computer instructions are operative to perform the high precision map tunnel portal shape generating method of any one of claims 1 to 8.
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