CN113256756B - Map data display method, device, equipment and storage medium - Google Patents
Map data display method, device, equipment and storage medium Download PDFInfo
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Abstract
A map data display method, a map data display device, a map data display apparatus and a storage medium are provided, wherein the map data display method comprises: acquiring point cloud data of a road and lane line data of the road identified based on the point cloud data; projecting the point cloud data of the road and the lane line data to a preset plane to obtain road point cloud plane data and lane line plane data; and superposing and displaying the road point cloud plane data and the lane line plane data in a screen. By adopting the scheme, the lane line can be corrected manually and quickly, and the operating efficiency of the lane line is improved.
Description
Technical Field
The embodiment of the specification relates to the technical field of electronic map generation, in particular to a map data display method, a map data display device, map data display equipment and a storage medium.
Background
The high-precision map can help the automobile to sense complex road surface information such as gradient, curvature, course and the like in advance, and has strong application requirements in scenes such as safe driving and automatic driving of a driver by combining intelligent path planning. Compared with the common map, the high-precision map needs to express the detail information of the road, such as lane lines, lane center lines, lane attribute changes and the like when expressing the road.
At present, a high-precision map is mainly manufactured by collecting laser point clouds of a road environment collected by a vehicle with high precision, for example, lane lines can be automatically identified from the laser point clouds according to reflectivity, and because certain deviation exists in automatic identification, the lane lines obtained by general automatic identification still need to be manually corrected by combining the laser point clouds, and how to combine the lane lines and the laser point clouds together, so that the problem that the manual work needs to be solved can be quickly completed for correcting the lane lines.
Disclosure of Invention
In view of this, embodiments of the present disclosure provide a map data display method, apparatus, device and storage medium, which enable a lane line to be corrected manually and quickly, and improve the operation efficiency of the lane line.
An embodiment of the present specification provides a map data display method, including:
acquiring point cloud data of a road and lane line data of the road identified based on the point cloud data;
projecting the point cloud data of the road and the lane line data to a preset plane to obtain road point cloud plane data and lane line plane data;
and superposing and displaying the road point cloud plane data and the lane line plane data in a screen.
Optionally, the preset plane is a road surface of the road, and the method further includes:
and acquiring point cloud data of the road surface and point cloud data higher than the road surface from the point cloud data of the road to be used as point cloud data needing projection.
Optionally, the displaying the point cloud plane data and the lane line plane data in a superimposed manner on a screen specifically includes:
drawing point cloud plane data of the road surface in a screen by using a preset first color;
drawing the point cloud plane data higher than the road surface in a screen by using a preset second color;
and drawing the lane line plane data in a screen by using a preset third color.
Optionally, after the drawing the lane line plane data, the method further includes: and storing the drawn lane line plane data as two-dimensional data of the high-precision map.
Optionally, the road surface is xy plane coordinates, and the projecting the lane line data to a preset plane to obtain lane line plane data includes: and setting the z value of the lane line data to be 0 to obtain lane line plane data.
Optionally, the method further comprises:
acquiring elevation data recorded by corresponding slicing units in point cloud slices perpendicular to the road surface in the high-precision map;
and restoring to obtain the three-dimensional road data of the high-precision map based on the two-dimensional data of the high-precision map and the elevation data recorded by the corresponding slicing unit.
Optionally, the three-dimensional data of the high-precision map is obtained by restoring based on the two-dimensional data of the high-precision map and the elevation data recorded by the corresponding slicing unit, and the three-dimensional data of the high-precision map includes at least one of:
traversing the drawn lane line plane data, acquiring elevation data recorded by a slicing unit corresponding to the drawn lane line plane data, and assigning the elevation data to dimension data in the direction perpendicular to the road surface corresponding to the lane line plane data to obtain corresponding lane line three-dimensional data;
and identifying and obtaining the guard railing, the road edge or the construction boundary data of the road surface based on the two-dimensional data of the high-precision map, obtaining the elevation data recorded by the slicing unit corresponding to the guard railing, the road edge or the construction boundary data of the road surface, assigning the obtained elevation data to the guard railing, the road edge or the construction boundary data of the plane where the elevation data is located and the dimension data in the vertical direction of the road surface, and obtaining the corresponding three-dimensional data of the guard railing, the road edge or the construction boundary.
An embodiment of the present specification further provides a map data display device, including:
the acquisition unit is suitable for acquiring point cloud data of a road and lane line data of the road identified and obtained based on the point cloud data;
the projection unit is suitable for projecting the point cloud data of the road and the lane line data to a preset plane to obtain road point cloud plane data and lane line plane data;
and the drawing unit is suitable for superposing and displaying the road point cloud plane data and the lane line plane data in a screen.
The present specification further provides an electronic device, including a memory and a processor, where the memory stores computer instructions executable on the processor, and the processor executes the computer instructions to perform the steps of the method according to any one of the foregoing embodiments.
The present specification also provides a computer readable storage medium, on which computer instructions are stored, the computer instructions when executed perform the steps of the method according to any one of the foregoing embodiments.
By adopting the map data display method of the embodiment of the specification, the point cloud data of the road and the lane line data of the road identified based on the point cloud data are obtained, the point cloud data of the road and the lane line data are projected to a preset plane to obtain the point cloud plane data of the road and the lane line plane data, and the point cloud plane data of the road and the lane line plane data are displayed in a screen in an overlapping manner. Therefore, the acquired data of the three-dimensional environment can be reduced to the data of the two-dimensional environment to be displayed, so that an operator can directly operate in the two-dimensional environment to correct lane line data, the tedious work that the operator checks at multiple visual angles in the three-dimensional environment can be reduced, the operation difficulty is reduced, the operation efficiency of a lane line in a map can be improved, and the quality of manual operation can be improved to a certain extent along with the reduction of the operation difficulty.
Further, point cloud data of the road surface and point cloud data higher than the road surface are obtained from the point cloud data and are used as point cloud data needing projection, characteristics of the road are fully considered, generated road plane data are more complete, and therefore the operation quality of a road lane line can be improved.
Furthermore, the point cloud plane data of the road surface is drawn in a screen by a preset first color, the point cloud plane data higher than the road surface is drawn in the screen by a preset second color, and the lane line plane data is drawn in the screen by a preset third color, so that the map data can be displayed by different colors, the operation judgment is more convenient, and the operation quality and the operation efficiency can be further improved.
Furthermore, the lane line plane data is obtained by setting the z value of the lane line data to 0, the data generation process fully utilizes the relationship between the lane lines and the lane road surfaces in the actual physical environment, complex projection transformation or complex operation is not needed, and the method is simple and easy to implement.
Furthermore, the drawn lane line data is obtained by superposing the road point cloud plane data and the lane line plane data, and the road point cloud plane data and the lane line plane data are obtained by point cloud data based on roads, so that the drawn lane line data has higher precision, and is stored as two-dimensional data of a high-precision map for generating the high-precision map, and acquired map data resources can be more fully utilized.
Furthermore, the elevation data recorded by the corresponding slicing unit in the point cloud slice of the high-precision map perpendicular to the road surface is obtained, and the three-dimensional data of the high-precision map is obtained through reduction based on the two-dimensional data of the high-precision map and the elevation data recorded by the corresponding slicing unit, so that the generated high-precision map can meet the requirements of more application scenes.
Drawings
FIG. 1 is a flow chart of a map data display method in an embodiment of the present specification;
fig. 2 to 4 are schematic diagrams illustrating scenes of a map data display method in an embodiment of the present specification;
FIG. 5 is a schematic structural diagram of a map data display device in an embodiment of the present disclosure;
fig. 6 shows a schematic structural diagram of an electronic device in an embodiment of the present specification.
Detailed Description
As described in the background art, how to combine the lane line and the laser point cloud together in the high-precision map making process at present is a problem to be solved, so that the lane line can be quickly corrected manually.
In view of the above problems, an embodiment of the present specification discloses a map data display method, which can reduce the dimension of acquired data of a three-dimensional environment into data of a two-dimensional environment for display, thereby reducing the tedious work of an operator viewing the three-dimensional environment from multiple viewing angles, and reducing the operation difficulty, so as to improve the operation efficiency of a high-precision map lane line, and along with the reduction of the operation difficulty, improve the quality of manual operation to a certain extent.
In order to make those skilled in the art better understand and implement the embodiments of the present disclosure, a detailed description is given below of a method for generating a high-precision map road lane line used in the embodiments of the present disclosure with reference to the accompanying drawings and specific application scenarios.
Referring to the flowchart of the map data display method shown in fig. 1, in this embodiment of the present description, the following steps may be specifically adopted to perform map data display:
s11, point cloud data of a road and lane line data of the road identified and obtained based on the point cloud data are obtained.
The point cloud is a massive point set which expresses the target space distribution and the target surface characteristics under the same space reference system, the point cloud data is the data of the space sampling points of the real object surface, and the three-dimensional object surface can be reconstructed by utilizing the point cloud data.
In particular implementations, the point cloud data may be collected in a variety of ways, such as by a lidar, a stereo Camera, a Time-of-Flight Camera (Time-of-Flight Camera), and so forth. The point cloud obtained according to the laser measurement principle may include three-dimensional coordinates (XYZ) and laser reflection Intensity (Intensity) information. The point cloud obtained according to the photogrammetry principle may include three-dimensional coordinates (XYZ) and color information (RGB). And combining laser measurement and photogrammetry principles to obtain a point cloud comprising three-dimensional coordinates (XYZ), laser reflection Intensity (Intensity) and color information (RGB). Attributes of the point cloud may include: spatial resolution, point location accuracy, surface normal vectors, and the like. After the spatial coordinates of each sampling Point on the surface of the object are obtained, a set of points is obtained, which is called Point Cloud.
In one embodiment of the specification, point cloud data of a road is collected along the road by a road collection vehicle provided with a laser radar. The laser radar continuously scans the surrounding environment in the vehicle advancing process, collects the reflected laser information, and the computer can convert the laser information into a 3D space model according to the time difference of the laser reflected from the surfaces of different objects far away and near, so as to draw the road and the environment objects such as buildings, trees and the like on the two sides of the road. For roads with multiple lanes, each lane may be collected once, or collected once along different driving directions. It should be noted that, in the embodiment of the present specification, no limitation is imposed on the way and the device type of acquiring the point cloud data of the road, as long as the method and the device type can be used for manufacturing the point cloud data of the high-precision map. The point cloud formed by the point cloud data acquired in the embodiment of the present specification may be as shown in fig. 2.
In specific implementation, the lane line data of the road can be obtained by automatically identifying the lane line of the road through the reflectivity based on the point cloud data. The way of obtaining the lane line data of the road is automatically identified based on the reflectivity of the point cloud data, and the identification efficiency is high compared with manual identification.
At present, operators directly combine the acquired point cloud data and lane line data obtained based on point cloud identification to draw the lane lines of roads in the high-precision map. Specifically, the operator views the point cloud images block by block along the travel path of the collection vehicle to process lane line data, and in order to ensure accuracy, the operator needs to view the matching condition of the lane line data and the point cloud data of the road from multiple viewing angles in a 3D (three-dimensional) scene, so that the operation is complicated, and the operation efficiency is low.
And S12, projecting the point cloud data of the road and the lane line data to a preset plane to obtain road point cloud plane data and lane line plane data.
In specific implementation, the dimensionality reduction can be performed in a corresponding mode according to the characteristics of the point cloud data and the lane line data. In some embodiments of the present specification, with a road surface as a reference, point cloud data of the road surface and point cloud data higher than the road surface are acquired as point cloud data to be projected.
The lane lines are information on the road surface, and the point cloud data within the range that the distance between the road surface and the lane line is less than or equal to the distance range a can be projected onto the road surface by taking the road surface as a reference according to the preset distance range a in consideration of the fact that the road edge has a certain height, so that the road point cloud plane data can be obtained. Referring to the point cloud picture shown in fig. 3, that is, the point cloud data of the road shown in fig. 2 is obtained by using the dimension reduction scheme in the embodiment of the present specification to reduce the dimension. By adopting the scheme to perform dimensionality reduction processing, road point cloud plane data are obtained, interference of point cloud data which are far away from a road surface and irrelevant to a lane line can be avoided, and operation quality is improved.
In some embodiments of the present disclosure, the road surface is xy plane coordinates, and the lane line data may be projected onto the road surface in the following manner: and setting the z value of the lane line data to be 0 to obtain the lane line plane data.
The process of obtaining the lane line plane data by adopting the dimension reduction scheme fully utilizes the relationship between the lane line and the lane surface in the actual physical environment, does not need complex projection transformation or complex operation, and is simple and easy to implement.
And S13, overlapping and displaying the road point cloud plane data and the lane line plane data in a screen.
In the process of drawing the map data, different data can be distinguished by adopting different colors for facilitating operation identification.
In one embodiment of the present specification, the point cloud plane data of the road surface is rendered in a screen with a preset first color, and the lane line plane data is rendered in the screen with a preset second color.
In another embodiment of the present specification, the point cloud plane data of the road surface is rendered in the screen with a preset first color, the point cloud plane data above the road surface is rendered in the screen with a preset second color, and the lane line plane data is rendered in the screen with a preset third color.
Specifically, the point cloud plane data of the road surface may be drawn in gray on the screen, the point cloud plane data of the road edge higher than the road surface may be drawn in red on the screen, and the lane line plane data may be drawn in green on the screen. Alternatively, the point cloud plane data of the road surface may be drawn in black on the screen, the point cloud plane data of the road edge higher than the road surface may be drawn in green on the screen, and the lane line plane data may be drawn in white on the screen. Or, the point cloud plane data and the lane line plane data of the road surface may be set based on the reflectivity, and the color of the point cloud data originally higher than the road surface may be different from the color of the point cloud plane data and the lane line plane data of the road surface.
Referring to fig. 4, the road point cloud plane data and the lane line plane data are displayed in a screen in an overlapping manner. By adopting the embodiment of the specification, the road point cloud plane data after dimension reduction and the lane line plane data are superposed and displayed in the screen through dimension reduction processing, so that the lane line data and the laser point cloud are combined together, operators can check the matching condition of the lane line data and the road point cloud without multiple angles, the operation difficulty can be reduced, the operation efficiency is improved, and the correction of the lane line can be quickly completed.
In specific implementation, the drawn lane line data is obtained by superposing the road point cloud plane data and the lane line plane data, and the road point cloud plane data and the lane line plane data are obtained by the point cloud data based on the road, so that the drawn lane line data has higher precision, can be stored as two-dimensional data of a high-precision map and used for generating the high-precision map, and acquired map data resources can be more fully utilized.
In order to enable the generated high-precision map to meet the requirements of more application scenes, the two-dimensional data of the high-precision map can be restored into the three-dimensional road data of the high-precision map.
As an implementation manner, the elevation data recorded by the corresponding slicing unit in the point cloud slice perpendicular to the road surface in the high-precision map may be acquired, and the three-dimensional road data of the high-precision map may be obtained through reduction based on the two-dimensional data of the high-precision map and the elevation data recorded by the corresponding slicing unit.
In some embodiments of the present specification, the three-dimensional data of the high-precision map may be restored by at least one of the following methods:
the drawn lane line plane data can be traversed, the elevation data recorded by the slicing unit corresponding to the drawn lane line plane data is obtained, the elevation data recorded by the corresponding slicing unit is assigned to the dimension data in the direction perpendicular to the road surface corresponding to the lane line plane data, and the corresponding lane line three-dimensional data is obtained.
The point cloud slice, which may also be referred to as a grid map, is a data form in which a space is divided into regular grids, each grid may be referred to as a slice unit, and each slice unit is assigned a corresponding attribute value to represent an entity.
In specific implementation, the drawn lane line plane data (that is, all points on the two-dimensional lane line obtained after dimensionality reduction) may be traversed to obtain the slicing unit corresponding to the lane line plane data, and when the corresponding slicing unit is obtained, the elevation data recorded by the corresponding slicing unit may be obtained. If the elevation data recorded by the corresponding slicing unit is based on an xyz coordinate system, and the road surface is xy plane coordinates, the obtained elevation data can be directly assigned to the dimension data in the direction vertical to the road surface corresponding to the lane line plane data, so as to obtain the corresponding lane line three-dimensional data for matrix conversion; if the elevation data recorded by the corresponding slicing unit is not based on the xyz coordinate system, the obtained elevation data of the corresponding slicing unit can be subjected to matrix transformation, and the transformed elevation data is assigned to the dimension data, corresponding to the lane line plane data, in the direction perpendicular to the road surface, so that the corresponding lane line three-dimensional data can be obtained.
Similarly, guard rails, road edges or construction boundary data of the road surface after the dimension reduction processing can be restored.
In an embodiment of the present specification, the following scheme is adopted: firstly, recognizing and obtaining guard rails, road edges or construction boundary data of a road surface based on the two-dimensional data of the high-precision map, then obtaining elevation data recorded by slicing units corresponding to the guard rails, the road edges or the construction boundary data of the road surface, and assigning the obtained elevation data to the guard rails, the road edges or the construction boundary data of the road surface and the dimension data in the vertical direction of the road surface, so that corresponding three-dimensional data of the guard rails, the road edges or the construction boundary can be obtained.
If the elevation data recorded by the slicing unit corresponding to the guard rail, the road edge or the construction boundary data of the road surface is based on an xyz coordinate system, the elevation data recorded by the corresponding slicing unit can be directly assigned to the guard rail, the road edge or the construction boundary data of the road surface and the dimension data in the vertical direction of the road surface; if the elevation data recorded by the slicing unit corresponding to the guard rail, the road edge or the construction boundary data of the road surface is not based on the xyz coordinate system, matrix conversion may be performed first, and the converted elevation data is assigned to the guard rail, the road edge or the construction boundary data of the road surface and the dimension data in the vertical direction of the road surface.
In specific implementation, based on the relationship between the guard rail, the road edge or the construction boundary and the road boundary, in order to reduce the data processing amount, only the elevation data recorded by the point cloud slice corresponding to the road point cloud planar data with the preset width away from the road surface side of the guard rail may be acquired for recovery, and the guard rail, the road edge or the construction boundary data after dimensionality reduction may be recovered as three-dimensional data.
Embodiments of the present disclosure also provide a map data display device capable of implementing the map data display method, and the following description is made with reference to the accompanying drawings, and in conjunction with specific embodiments.
Referring to a schematic structural diagram of a map data display device in an embodiment of the present specification shown in fig. 5, in the embodiment of the present specification, as shown in fig. 5, a map data display device 50 may include: an acquisition unit 51, a projection unit 52, a rendering unit 53, wherein:
the acquisition unit 51 is adapted to acquire point cloud data of a road and lane line data of the road identified and obtained based on the point cloud data;
the projection unit 52 is adapted to project the point cloud data of the road and the lane line data onto a preset plane to obtain point cloud plane data of the road and lane line plane data;
the drawing unit 53 is adapted to display the road point cloud plane data and the lane line plane data in a screen in an overlapping manner.
By adopting the map data display device 50, the acquired data of the three-dimensional environment can be reduced to the data of the two-dimensional environment for display, so that the operator can directly operate in the two-dimensional environment to correct the lane line data, and the operator does not need to check the data at multiple angles, thereby reducing the operation difficulty, improving the operation efficiency, and along with the reduction of the operation difficulty, improving the quality of manual operation to a certain extent.
In a specific implementation, the preset plane may be a road surface of the road, and with continued reference to fig. 5, the map data display apparatus may further include a projection point cloud data obtaining unit 54, adapted to obtain, from the point cloud data of the road, point cloud data of the road surface and point cloud data higher than the road surface as point cloud data to be projected.
In some embodiments of the present specification, the drawing unit 53 is adapted to draw point cloud plane data of the road surface in a screen with a preset first color; drawing the point cloud plane data higher than the road surface in a screen by using a preset second color; and drawing the lane line plane data in a screen by using a preset third color.
In a specific implementation, the map data display unit may further include: the drawing color setting unit 55 is adapted to set colors of the drawn plane data, such as point cloud plane data of a road surface, point cloud plane data higher than the road surface, lane line plane data, and the like, so that it is possible to avoid confusion of data of different planes, and it is possible to further improve the work efficiency and the work quality.
In a specific implementation, the road surface is xy plane coordinates, and the projection unit 52 is adapted to set the z value of the lane line data to 0, so as to obtain lane line plane data.
In a specific implementation, the map data display device 50 may further include: and a two-dimensional data storage unit 56 adapted to store the drawn lane line plane data as two-dimensional data of a high-precision map.
In a specific implementation, the map data display device 50 may further include a three-dimensional data restoring unit 57, adapted to obtain elevation data recorded by a corresponding slicing unit in a point cloud slice perpendicular to the road surface in the high-precision map, and restore the three-dimensional road data of the high-precision map based on the two-dimensional data of the high-precision map and the elevation data recorded by the corresponding slicing unit. And the three-dimensional road data of the high-precision map is obtained by reduction, so that the generated high-precision map can meet the requirements of more application scenes.
The embodiment of the present specification further provides a corresponding electronic device, and referring to the structural schematic diagram of the electronic device shown in fig. 6, the electronic device 60 may include a memory 61 and a processor 62, where the memory 61 and the processor 62 may perform data communication through a data bus or the like. The memory 61 has stored thereon computer instructions executable on the processor, and the processor 62 executes the computer instructions to perform the steps of the map data display method according to any of the above embodiments. The specific implementation steps can refer to the above embodiments and the corresponding drawings, and are not described herein again. The electronic device may be any form of electronic computer device as long as it can process map data and perform map data display.
In a specific implementation, the electronic device 60 may comprise a display 63, said display 63 being adapted to display map data through a screen, wherein said road plane data and said lane line plane data may be displayed superimposed in the screen. Alternatively, the electronic device 60 may also have an external display (not shown), and the external display may display the map data through a screen, wherein the road plane data and the lane line plane data may be displayed in a superimposed manner on the screen.
The embodiments of the present specification further provide a corresponding computer readable storage medium, on which computer instructions are stored, and when the computer instructions are executed, the steps of the method for generating a high-precision map road lane line according to any one of the embodiments above are executed. The specific implementation steps can refer to the above embodiments and the corresponding drawings, and are not described herein again.
The computer-readable storage medium may include, for example, any suitable type of memory unit, memory device, memory article, memory medium, storage device, storage article, storage medium and/or storage unit, for example, memory, removable or non-removable media, erasable or non-erasable media, writeable or re-writeable media, digital or analog media, hard disk, floppy disk, compact disk read Only memory (CD-ROM), compact disk recordable (CD-R), compact disk Rewriteable (CD-RW), optical disk, magnetic media, magneto-optical media, removable memory cards or disks, various types of Digital Versatile Disk (DVD), a tape, a cassette, or the like.
The computer instructions may include any suitable type of code, such as source code, compiled code, interpreted code, executable code, static code, dynamic code, encrypted code, and the like, implemented using any suitable high-level, low-level, object-oriented, visual, compiled and/or interpreted programming language.
Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected by one skilled in the art without departing from the spirit and scope of the embodiments herein described, and it is intended that the scope of the invention be limited only by the claims appended hereto.
Claims (10)
1. A map data display method, comprising:
acquiring point cloud data of a road and lane line data of the road identified based on the point cloud data;
projecting the point cloud data of the road and the lane line data to a preset plane to obtain road point cloud plane data and lane line plane data;
and superposing and displaying the road point cloud plane data and the lane line plane data in a screen.
2. The method of claim 1, wherein the predetermined plane is a road surface of the road, the method further comprising:
and acquiring point cloud data of the road surface and point cloud data higher than the road surface from the point cloud data of the road to be used as point cloud data needing projection.
3. The method according to claim 2, wherein the overlaying and displaying the point cloud plane data and the lane line plane data on a screen specifically comprises:
drawing point cloud plane data of the road surface in a screen by using a preset first color;
drawing the point cloud plane data higher than the road surface in a screen by using a preset second color;
and drawing the lane line plane data in a screen by using a preset third color.
4. The method of claim 3, wherein after said plotting said lane line plane data, further comprising:
and storing the drawn lane line plane data as two-dimensional data of the high-precision map.
5. The method of claim 2, wherein the road surface is xy-plane coordinates, and the projecting the lane line data to a preset plane to obtain lane line plane data comprises:
and setting the z value of the lane line data to be 0 to obtain lane line plane data.
6. The method of claim 4, further comprising:
acquiring elevation data recorded by corresponding slicing units in point cloud slices perpendicular to the road surface in the high-precision map;
and restoring to obtain the three-dimensional road data of the high-precision map based on the two-dimensional data of the high-precision map and the elevation data recorded by the corresponding slicing unit.
7. The method according to claim 6, wherein the restoring three-dimensional data of the high-precision map based on the two-dimensional data of the high-precision map and the elevation data recorded by the corresponding slice unit comprises at least one of:
traversing the drawn lane line plane data, acquiring elevation data recorded by a slicing unit corresponding to the drawn lane line plane data, and assigning the elevation data to dimension data in the direction perpendicular to the road surface corresponding to the lane line plane data to obtain corresponding lane line three-dimensional data;
and identifying to obtain guard rails, road edges or construction boundary data of the road surface based on the two-dimensional data of the high-precision map, obtaining elevation data recorded by slicing units corresponding to the guard rails, the road edges or the construction boundary data of the road surface, assigning the obtained elevation data to the guard rails, the road edges or the construction boundary data of the plane where the elevation data are located and the dimension data in the vertical direction of the road surface, and obtaining corresponding three-dimensional data of the guard rails, the road edges or the construction boundary.
8. A map data display apparatus, comprising:
the acquisition unit is suitable for acquiring point cloud data of a road and lane line data of the road identified and obtained based on the point cloud data;
the projection unit is suitable for projecting the point cloud data of the road and the lane line data to a preset plane to obtain road point cloud plane data and lane line plane data;
and the drawing unit is suitable for superposing and displaying the road point cloud plane data and the lane line plane data in a screen.
9. An electronic device comprising a memory and a processor, the memory having stored thereon computer instructions executable on the processor, when executing the computer instructions, performing the steps of the method of any one of claims 1-7.
10. A computer readable storage medium having stored thereon computer instructions which, when executed, perform the steps of the method of any one of claims 1-7.
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