CN113536025A - Method and device for determining signboard orientation of interest point, electronic equipment and storage medium - Google Patents
Method and device for determining signboard orientation of interest point, electronic equipment and storage medium Download PDFInfo
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Abstract
The disclosure provides a signboard orientation determining method and device for a point of interest, electronic equipment and a storage medium, and relates to the field of artificial intelligence, in particular to an intelligent traffic technology and a deep learning technology. The specific implementation scheme is as follows: determining candidate signboard orientations of the interest points according to road network information and/or ground feature information of positions of the interest points; acquiring a signboard image of the interest point, and determining a value range of the signboard orientation of the interest point by combining shooting information of the signboard image; and determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point. The accuracy rate of calculating POI signboard space orientation has been promoted to this disclosed scheme.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to an intelligent transportation technology and a deep learning technology, and in particular, to a method, an apparatus, an electronic device, a storage medium, and a computer program product for determining a signboard orientation of a point of interest.
Background
A Point Of Interest (POI) is an information point with spatial characteristics. Each residential district, park, school, company, market, etc. in the electronic map is a point of interest.
Typically, each point of interest has a respective sign for showing the name or other information of each point of interest, and the sign orientation of the point of interest is also one of the key spatial attributes of the point of interest. However, there is still a lack of an effective method for calculating the orientation of the point of interest sign.
Disclosure of Invention
The present disclosure provides a method, an apparatus, an electronic device, a storage medium, and a computer program product for signboard orientation determination of a point of interest.
According to an aspect of the present disclosure, there is provided a signboard orientation determination method of a point of interest, including:
determining candidate signboard orientations of the interest points according to road network information and/or ground feature information of positions of the interest points;
determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point and the shooting information of the signboard image;
and determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
According to another aspect of the present disclosure, there is provided a signboard orientation determination apparatus of a point of interest, including:
the candidate orientation determining module is used for determining candidate signboard orientations of the interest points according to road network information and/or ground feature information of positions where the interest points are located;
the value range determining module is used for determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point and by combining the shooting information of the signboard image;
and the real orientation determining module is used for determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point. According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of signage orientation determination for points of interest of any of the embodiments of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of signboard orientation determination of a point of interest of any embodiment of the present disclosure.
According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the method of signboard orientation determination of a point of interest of any embodiment of the present disclosure.
According to the technology disclosed by the invention, the accuracy rate of calculating the direction of the interest point signboard is improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1a is a schematic diagram of a flow of a method for determining a signboard orientation of a point of interest provided according to an embodiment of the present disclosure;
FIG. 1b is a schematic illustration of capturing a signboard image provided according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of a further method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a further method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure;
fig. 4 is a schematic flow chart of a further method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure;
fig. 5 is a schematic flow chart of a further method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure;
fig. 6a is a schematic flow chart of a further method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure;
FIG. 6b is a schematic diagram showing a sign image and a sign frame in a coordinate system provided in accordance with an embodiment of the present disclosure;
fig. 6c is a schematic diagram of obtaining a value range angle by solving an intersection according to the parameters provided in the embodiment of the present disclosure;
fig. 7 is a schematic flow chart of a further method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a signboard orientation determination device of a point of interest provided according to an embodiment of the present disclosure;
fig. 9 is a block diagram of an electronic device for implementing a point of interest sign orientation determination method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
When the signboard orientation of the interest point is determined, a nearest road scheme may be adopted, specifically, a point closest to the interest point is found in the road network, for example, a road closest to the interest point is determined in the road network, then a perpendicular line is drawn to the closest road with the coordinate position of the interest point as a starting point, and an intersection point (i.e., a foot point) of the perpendicular line and the road is taken as a point closest to the interest point; and then taking the coordinate position of the interest point as a starting point, and the direction of a perpendicular line passing through the foot point is the space orientation of the interest point signboard.
However, this way of determining the sign orientation of a point of interest has the following disadvantages: in the real world, the road network condition is often complex, sometimes the interest point is in various scenes such as a corner of an intersection, a distance from a road or a plurality of roads which are close to the intersection at the same time, and under the scenes, the direction of the interest point signboard determined according to the mode fails; the interest points with signs are often attached to a ground object, the orientation of the interest points is the same as the orientation of one surface of the ground object where the interest points are located under normal conditions, and the orientation of the surface of the ground object where the interest points are located may not be the same as the orientation of the nearest road network, so that the direction of the signs determined in the manner is inaccurate; besides, the above method depends on the coordinate accuracy of the interest point, if the positioning is not accurate, the coordinate deviation of several meters may cause the road near the interest point to change, and further, the calculation of the direction of the interest point signboard is influenced. In view of the above disadvantages of the method for determining the direction of the interest point signboard, the inventor creatively provides a method for determining the direction of the interest point signboard by using the road network, the ground feature and the signboard image at the position of the interest point. See in particular the examples below.
Fig. 1a is a schematic flowchart of a method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure, which is applicable to a case of calculating a spatial orientation of a signboard of a point of interest. The method may be performed by a point of interest sign orientation determining apparatus, implemented in software and/or hardware, integrated on an electronic device.
Specifically, referring to fig. 1a, the method for determining the sign orientation of a point of interest is as follows:
s101, determining candidate signboard orientations of the interest points according to road network information and/or ground feature information of positions of the interest points.
The road network information includes road information around the interest point, such as the name and the trend of the road; the feature information includes the feature surface orientation, the contour, the floor area and the like of the feature where the interest point is located. In order to ensure that the directions of interest points are accurately identified, all possible directions of interest points (i.e., candidate directions) need to be screened first, so as to subsequently screen the true directions of interest points from the candidate directions of interest points.
In an alternative embodiment, if the road network condition of the location of the interest point is complex, for example, the interest point is close to a plurality of roads at the same time, the interest point signboard may face one of the roads in this scenario, and in order to accurately identify the signboard orientation of the interest point in the future, the direction in which the interest point faces each road in the road network is first obtained and is taken as the candidate signboard orientation.
In another alternative embodiment, since the sign orientation of the point of interest would normally be the same as the orientation of the face of the feature to which it is attached, the orientation of all the faces of the feature to which the point of interest is attached may be used as candidate sign orientations for the point of interest.
It should be noted that all candidate sign orientations for a point of interest may be determined by either or both of the above two schemes. Compared with the method for determining the direction of the interest point signboard by adopting the nearest road scheme, the method has the advantages that all possible directions of the interest point signboard can be recalled for subsequent selection, and therefore the accuracy of determining the direction of the interest point signboard can be guaranteed.
S102, determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point.
In the embodiment of the disclosure, the signboard image of the point of interest is an actual acquisition image, wherein the actual acquisition image is an image acquired by acquiring and shooting through an actual acquisition means, and the actual acquisition means is exemplarily a panorama, a vehicle recorder and other vehicle acquisition means. It should be noted that the real image projects the interest point in the real three-dimensional space into the two-dimensional plane, the distance feature of the interest point signboard relative to the image capturing point is lost, but the direction feature of the interest point signboard relative to the image capturing point is retained. In the embodiment of the present disclosure, the direction of the interest point signboard with respect to the image capturing point is referred to as an orientation angle, that is, a capturing angle of view.
In the embodiment of the disclosure, the shooting angle of view can be determined according to the signboard image of the interest point, and then the value range of the direction of the interest point signboard can be determined according to the shooting angle of view. In an alternative embodiment, when a signboard can be photographed from a photographing angle of view, it is considered that the point of interest signboard image can still be acquired as long as the photographing angle of view is shifted to the left or right by less than 90 °, so that a range of values of the orientation of the point of interest signboard in a range of less than 180 ° can be determined, that is, a range angle is obtained. Specifically, the direction of the shooting visual angle can be used as the direction of the angular bisector of the range angle to be obtained, an angle smaller than 90 degrees is respectively determined towards the left side and the right side of the direction of the shooting visual angle, and then the two angles smaller than 90 degrees can form the value range of the signboard orientation of the interest point.
Illustratively, referring to fig. 1b, a schematic diagram of capturing an image of a signboard is shown, where OA represents a direction angle, that is, a capturing view angle, and an angle enclosed by a ray BC and a ray BD is a range angle.
S103, determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
After the candidate signboard orientation of the interest point and the value range of the signboard orientation of the interest point are obtained through S101 and S102, it is only necessary to determine whether a certain candidate signboard orientation of the interest point is within the value range, and if so, the candidate signboard orientation is taken as the real signboard orientation of the interest point.
And if a plurality of candidate signboard orientations are simultaneously positioned in the value range, selecting an optimal candidate signboard orientation as the real signboard orientation of the interest point. And if all the candidate signboard orientations are outside the value range, determining one signboard orientation for the interest point according to the value range.
It should be noted that, in the embodiment of the present disclosure, both the candidate signboard orientation and the real signboard orientation of the interest point refer to the spatial angle of the outward normal vector of the signboard plane of the interest point relative to the due north direction.
In the embodiment of the disclosure, all possible signboard orientations of the interest point can be obtained through the road network information and the feature information, the value range of the signboard orientations can be determined according to the signboard images of the interest point, and then the real signboard orientations of the interest point are determined from all candidate signboard orientations according to the value range. Since all possible sign orientations of the interest points are considered when determining the sign orientations of the interest points, the accuracy of determining the real sign orientations of the interest points is guaranteed.
Fig. 2 is a schematic flow chart of a method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure, which is optimized based on the above embodiment and adds a detailed process of determining candidate signboard orientations of the point of interest according to road network information and/or feature information of a location where the point of interest is located, and referring to fig. 2, the method for determining a signboard orientation of the point of interest specifically includes the following steps:
in the embodiment of the present disclosure, the candidate sign orientation may be determined through any one of steps S201 and S202, or according to both of the steps.
S201, determining roads in a preset area around the interest point according to road network information of the position of the interest point, and taking the vertical direction of the roads as candidate signboard orientation of the interest point.
In the embodiment of the disclosure, because the signs of the interest points along the street face the adjacent street in most cases, roads existing in the preset area around the interest points can be determined according to the road network information of the positions of the interest points, and then a set formed by the road networks in the vertical direction in the preset area is used as a possible value-taking option for the direction of the interest point signs. The preset area is an area determined by taking the coordinate position of the interest point as a center of a circle and taking a preset distance (for example, 50m) as a radius. The vertical direction of the road network road refers to a direction perpendicular to the road network and away from the interest point.
In an optional implementation manner, at least two position points are selected on roads in a preset area around the interest point according to road network information of the position of the interest point, and a normal vector direction of a tangent line of the road at each position point, which deviates from the interest point, is taken as a candidate signboard orientation of the interest point. When the position point is determined, a ray intersection method can be adopted, at least two rays in different directions are drawn by taking the interest point as a starting point, and an intersection point of each ray and a road network around the interest point is taken as the position point; or drawing at least two circles with different radiuses by using the position of the interest point as a circle center by using an expanded circle method, and taking the intersection point of each circle and the road network around the interest point as a position point.
It should be noted that the recent road scheme can only obtain the direction corresponding to the road closest to the point of interest in the road network, and the present disclosure calls back the directions that all road networks may correspond to within a certain range with the point of interest as the center.
S202, determining a ground feature frame in a preset area according to the ground feature shape information, and taking the vertical direction of the ground feature frame as the candidate signboard orientation of the interest point.
In the embodiment of the present disclosure, the feature attached to some interest points is too large, and at this time, if the vertical directions of all the edges of the feature outline where the interest points are located are directly recalled as the candidate signboard orientations, the vertical directions of all the edges recalled will not only have no value, but also pollute the candidate orientation set. Based on the method, the feature frame in the preset area is determined according to the feature shape information, for example, the feature outline and the preset area are subjected to intersection to obtain the feature frame in the preset area, and then the vertical direction of the feature frame is taken as the candidate signboard orientation of the interest point.
S203, determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point.
S204, determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
In the embodiment of the disclosure, the vertical direction of the road in the preset area around the interest point and/or the vertical direction of the object frame in the preset area are/is used as the candidate signboard orientation of the interest point, so that not only all possible orientations of the signboard of the interest point can be recalled, but also the recall efficiency is ensured.
Fig. 3 is a schematic flowchart of a method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure, where the embodiment is optimized based on the above embodiment, and a specific process of using a ray intersection method to draw at least two rays in different directions from the point of interest as a starting point and determine a candidate signboard orientation according to an intersection of each ray and a road network around the point of interest is added, and referring to fig. 3, the method for determining a signboard orientation of a point of interest is specifically as follows:
s301, determining a target block where the interest point is located, and determining a first target point which is closest to the interest point on a frame of the target block.
In the embodiment of the present disclosure, the preset area is an area determined by taking the position coordinate of the interest point as a circle center and taking the preset distance as a radius, the area is divided into a plurality of blocks by roads existing in the area, and a frame of each block is composed of roads. Firstly, a target block where an interest point is located is determined, and a first target point which is closest to the interest point is determined on a frame of the target block. Optionally, taking the interest point as a starting point, making a perpendicular line to a frame closest to the interest point, and taking the foot hanging point as a first target point.
S302, drawing a directional line segment passing through the first target point by taking the interest point as a starting point.
In the embodiment of the present disclosure, a directed line segment may be drawn, or a ray passing through the first target point with the interest point as a starting point may also be drawn, which is not specifically limited herein.
And S303, rotating the directed line segment according to a preset rotation angle, and determining other points intersected with the frame of the target block in the rotation process of the directed line segment.
The preset rotation angle is exemplarily 90 degrees, and may be other values, which are not specifically limited herein. And determining the intersection point of the directed line segment and the frame of the target block every time the directed line segment rotates once. It should be noted that, if a certain frame of the target block coincides with the circumference of the preset area, the intersection point of the directed line segment and the frame needs to be removed.
S304, taking the normal vector directions of the tangent lines of the roads at the first target point and other points, which deviate from the interest point, as candidate signboard orientations of the interest point.
Through S301-S303, a first target point and at least one other point can be obtained, at this time, a section of road (namely a road tangent line) with a preset length is respectively cut by taking the third target point and the other points as centers, a normal vector of each road tangent line is made, and the normal vector direction of each road tangent line departing from the interest point is taken as the candidate signboard orientation of the interest point.
S305, determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point.
S306, determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
In the embodiment of the disclosure, the candidate signboard orientation of the interest point can be accurately and quickly determined by a ray intersection method.
Fig. 4 is a schematic flow chart of a method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure, where the embodiment is optimized based on the above embodiment, and a specific process of drawing at least two circles with different radii by using an expanded circumference method with a position of the point of interest as a center of a circle and determining candidate signboard orientations according to intersections of each circle and a road network around the point of interest is added, and with reference to fig. 4, the method for determining a signboard orientation of a point of interest is specifically as follows:
s401, determining a second target point with the closest distance between the road and the interest point according to road network information in a preset area.
In the embodiment of the present disclosure, the preset area refers to an area determined by taking the position coordinate of the interest point as a circle center and taking a preset distance as a radius. And determining a road closest to the interest point according to the road network information in the preset area, and making a perpendicular line to the road closest to the interest point by taking the interest point as a starting point, wherein the foot point is the second target point.
S402, drawing a circle by taking the interest point as a circle center and the distance between the interest point and the second target point as a target radius, and determining the intersection point of the drawn circle and the road in the road network.
And S403, gradually modifying the length of the target radius, redrawing a circle by the modified target radius every time of modification, and determining the intersection point of the newly drawn circle and the road in the road network.
In the embodiment of the disclosure, the radius of the circle is modified step by a smaller step (e.g. 1m), and each radius expansion searches the intersection point of the circle and the newly added road network until the circle is expanded until the radius reaches the maximum recall range (i.e. the radius of the preset area) or the number of possible candidate sign orientations which are recalled reaches the requirement.
S404, taking the normal vector direction of the tangent line of the road at each intersection point, which deviates from the interest point, as the candidate signboard orientation of the interest point.
In the embodiment of the disclosure, if two or more intersection points exist, the directions of normal vectors of the tangent lines of the roads departing from the interest point are the same, only one of the normal vectors needs to be reserved, and the repeated candidate signboard orientations in the candidate signboard orientation set are avoided.
S405, determining a value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point.
S406, determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
In the embodiment of the disclosure, the candidate signboard orientation of the interest point can be accurately and quickly determined by the circumference enlarging method.
Fig. 5 is a schematic flowchart of a method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure, where the embodiment is optimized based on the above-mentioned embodiment, and adds a process of determining candidate signboard orientations based on feature information, and referring to fig. 5, the method for determining a signboard orientation of a point of interest is specifically as follows:
s501, solving intersection of the ground feature outline included in the ground feature shape information and a preset area to obtain a ground feature frame in the preset area.
In the embodiment of the present disclosure, the feature attached to some interest points is too large, and at this time, if the vertical directions of all the edges of the feature outline where the interest points are located are directly recalled as the candidate signboard orientations, the vertical directions of all the edges recalled will not only have no value, but also pollute the possible direction set. In addition, there are many features with irregular shapes, complex contour shapes and possible curved surfaces. Therefore, the direction of the ground object surface cannot be directly used as the candidate signboard direction.
In order to avoid the above problem, in the embodiment of the present disclosure, it is necessary to determine the feature frame located in the preset area, and optionally, the feature outline included in the feature shape information and the preset area are intersected to obtain the feature frame located in the preset area.
And S502, determining a third target point closest to the interest point on the ground object border.
In the embodiment of the disclosure, the feature frame closest to the interest point is determined according to the position coordinates of the interest point, and then a perpendicular line is drawn to the feature frame closest to the interest point with the interest point as a starting point, and the foot-hanging point is the third target point.
And S503, drawing a directional line segment passing through the third target point by taking the interest point as a starting point.
In the embodiment of the present disclosure, a directed line segment may be drawn, or a ray that passes through the third target point with the interest point as a starting point may also be drawn, which is not specifically limited herein.
S504, the directed line segment is rotated according to a preset rotation angle, and other points intersected with the ground feature frame in the directed line segment rotating process are determined.
The preset rotation angle is exemplarily 90 degrees, and may be other values, which are not specifically limited herein. And determining the intersection point of the directed line segment and the ground feature frame when the directed line segment rotates once.
And S505, taking the normal vector directions of the tangent lines of the roads at the third target point and other points, which deviate from the interest point, as candidate signboard orientations of the interest point.
Through S501-S504, a third target point and at least one other point may be obtained, at this time, a road (i.e., a road tangent line) of a preset length is respectively cut with the third target point and the other points as centers, a normal vector of each road tangent line is made, and a normal vector direction of each road tangent line deviating from the interest point is taken as a candidate signboard orientation of the interest point.
S506, determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point.
S507, determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
In the embodiment of the disclosure, the candidate signboard orientation of the interest point can be accurately and quickly determined through the ground feature information.
Fig. 6a is a schematic flow chart of a further method for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure, which is optimized based on the foregoing embodiment, and referring to fig. 6a, the method for determining a signboard orientation of a point of interest is specifically as follows:
s601, determining candidate signboard orientations of the interest points according to road network information and/or ground feature information of positions of the interest points.
S602, determining at least two direction angles of the interest point signboard according to the acquired signboard image of the interest point.
The direction angle refers to an angle of the signboard of the interest point relative to the image capturing point. In the embodiment of the disclosure, in order to accurately obtain the value range of the sign orientation, at least two sign images of the interest point may be obtained, a direction angle is calculated according to each sign image, and the value range is determined according to the at least two direction angles.
In an alternative embodiment, determining at least two direction angles of the interest point signboard according to the acquired signboard image of the interest point comprises: identifying the position of the signboard of the interest point in the signboard image based on an image identification technology, and optionally identifying the interest point signboard included in the signboard image and the position of the signboard of the interest point in the signboard image based on target detection algorithms such as fast-RCNN, resnet, densenet, senet and the like; determining at least two direction angles of the interest point signboard by combining the shooting information of the signboard image; the shooting information of the signboard image refers to the orientation of a camera arranged on the real-time acquisition terminal, and the orientation of the camera can be recorded every time the signboard image is shot due to the fact that the angle sensor is arranged on the real-time acquisition terminal.
In the embodiment of the disclosure, a car-adopted scene is taken as an example for explanation, a signboard frame of an interest point is extracted from a signboard image based on an image recognition technology, and the offset of the signboard can be calculated according to the relative position condition of the central point of the signboard frame relative to the horizontal dimension of the whole signboard image.
Illustratively, the sign image and the sign frame are placed in the coordinate system of fig. 6B, B1(x1, y1) represents the coordinates of the upper left corner of the sign frame, B2(x2, y2) represents the coordinates of the lower right corner of the sign frame, and P (x0, y0) represents the coordinates of the lower right corner of the sign image, and the offset of the sign can be calculated according to these parameters. See in particular the following formula:
after calculating the signboard offset, the shooting angle range is calculated from the focal length of the camera, for example, 62 degrees for a camera with a focal length of 35mm, and the offset angle can be calculated. Assuming that the shift degree of the sign is-0.6 and the shooting angle range of the camera is 62 degrees, the shift angle can be obtained as follows:
offset angle 62/2 x (-0.6) — 18.6
The direction angle of the signboard is obtained by adding the offset angle and the shooting angle of the camera (i.e. the orientation of the camera), and assuming that the shooting direction angle is 10 degrees (the north is 0 and the offset angle is-18.6), the direction angle of the signboard is 10+ (-18.6) — 8.6 ═ 351.4.
And S603, performing intersection operation on the at least two direction angles, and obtaining the value range of the signboard orientation of the interest point according to the operation result.
After at least two direction angles are obtained through S602, the value range of the signboard orientation of the interest point is determined through an intersection solving mode.
For example, see fig. 6c, which shows a schematic diagram of obtaining a value range angle by intersection. Determining a range angle 1 smaller than 180 degrees according to the shooting angle 1, determining a range angle 2 smaller than 180 degrees according to the shooting angle 2, and obtaining an intersection range angle by solving an intersection of the range angle 1 and the range angle 2.
S604, determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
In the embodiment of the disclosure, the accuracy of the calculated value range is ensured by calculating at least two direction angles and then calculating the value range of the signboard orientation according to the at least two direction angles.
Fig. 7 is a flow chart of a signboard orientation determination method of a further point of interest according to an embodiment of the present disclosure, which is optimized based on the above embodiment.
Referring to fig. 7, the method for determining the signboard orientation of the point of interest is as follows:
s701, determining candidate signboard orientations of the interest points according to road network information and/or ground feature information of positions of the interest points.
S702, determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point.
In the embodiment of the present disclosure, if at least two candidate signboard orientations are within the value range, S703 is executed; if no candidate sign orientation is within the range of values, S704 is performed.
And S703, if at least two candidate signboard orientations are in the value range, selecting a real signboard orientation as the interest point from the at least two candidate signboard orientations based on the deviation between the candidate signboard orientations and the angular bisector direction of the range angle or based on the credibility of the candidate signboard orientations.
Wherein, the range angle is determined by the value range; the deviation between the candidate signboard orientation and the angular bisector direction of the range angle may be determined according to the distance between the candidate signboard orientation and the angular bisector direction of the range angle, or may be determined according to the cosine similarity between the candidate signboard orientation and the angular bisector direction of the range angle, which is not specifically limited herein.
In the embodiment of the present disclosure, the confidence level of the candidate signboard orientation corresponding to the point closest to the point of interest is highest, so that when there are multiple candidate signboard orientations falling within the value range, it can be determined whether there is a candidate signboard orientation corresponding to the point closest to the point of interest among the multiple candidate signboard orientations, and if there is a candidate signboard orientation corresponding to the point closest to the point of interest, the candidate signboard orientation is taken as the true signboard orientation of the point of interest.
And S704, if no candidate signboard orientation is in the value range, taking the angular bisector direction of the range angle as the real signboard orientation of the interest point.
In the embodiment of the disclosure, if at least two candidate signboard orientations are within the value range, the screening is performed based on the deviation between the candidate signboard orientations and the angular bisector direction of the range angle, or based on the reliability of the candidate signboard orientations, so that the accuracy of the obtained real signboard orientations can be ensured. If no candidate sign orientation is within the range of values, a sign orientation can be accurately assigned to the point of interest.
Fig. 8 is a schematic structural diagram of a device for determining a signboard orientation of a point of interest according to an embodiment of the present disclosure, which is applicable to a case of determining the signboard orientation of the point of interest. As shown in fig. 8, the apparatus specifically includes:
a candidate orientation determining module 801, configured to determine candidate signboard orientations of the points of interest according to road network information and/or feature information of the positions of the points of interest;
a value range determining module 802, configured to determine a value range of a signboard orientation of the point of interest according to the acquired signboard image of the point of interest;
the real orientation determining module 803 is configured to determine a real signboard orientation of the point of interest according to the value range of the signboard orientation of the point of interest and the candidate signboard orientation of the point of interest.
On the basis of the foregoing embodiment, optionally, the candidate orientation determining module includes:
the first candidate unit is used for determining roads in a preset area around the interest point according to the road network information of the position of the interest point, and taking the vertical direction of the roads as the candidate signboard orientation of the interest point; and/or
And the second candidate unit is used for determining the ground feature frame in the preset area according to the ground feature shape information and taking the vertical direction of the ground feature frame as the candidate signboard orientation of the interest point.
On the basis of the above embodiment, optionally, the preset area is divided into a plurality of blocks by roads existing in the area;
the first candidate unit is specifically configured to:
determining a target block where the interest point is located, and determining a first target point which is closest to the interest point on a frame of the target block;
drawing a directed line segment passing through the first target point by taking the interest point as a starting point;
rotating the directed line segment according to a preset rotation angle, and determining other points intersected with the frame of the target block in the directed line segment rotating process;
and taking the normal vector directions of the road tangents at the first target point and other points respectively departing from the interest point as candidate signboard orientations of the interest point.
On the basis of the foregoing embodiment, optionally, the first candidate unit is further specifically configured to:
determining a second target point with the closest distance between the road and the interest point according to the road network information in the preset area;
drawing a circle by taking the interest point as a circle center and the distance between the interest point and the second target point as a target radius, and determining the intersection point of the drawn circle and the road in the road network;
gradually modifying the length of the target radius, redrawing a circle by the modified target radius every time, and determining the intersection point of the newly drawn circle and the road in the road network;
and taking the normal vector direction of the tangent line of the road at each intersection point, which deviates from the interest point, as the candidate signboard orientation of the interest point.
On the basis of the foregoing embodiment, optionally, the second candidate unit is specifically configured to:
solving the intersection of the ground feature outline included in the ground feature shape information and a preset area to obtain a ground feature frame in the preset area;
determining a third target point closest to the interest point on the ground object border;
drawing a directed line segment passing through the third target point by taking the interest point as a starting point;
rotating the directed line segment according to a preset rotation angle, and determining other points intersected with the ground object frame in the rotation process of the directed line segment;
and taking the normal vector directions of the road tangents at the third target point and other points respectively departing from the interest point as candidate signboard orientations of the interest point.
On the basis of the foregoing embodiment, optionally, the value range determining module includes:
the direction angle determining unit is used for determining at least two direction angles of the interest point signboard according to the acquired signboard image of the interest point; wherein, the direction angle refers to the angle of the signboard of the interest point relative to the image shooting point;
and the value range determining unit is used for performing intersection operation on the at least two direction angles and obtaining the value range of the signboard orientation of the interest point according to the operation result.
On the basis of the foregoing embodiment, optionally, the direction angle determining unit is specifically configured to:
based on the image recognition technology, the position of the signboard of the interest point in the signboard image is recognized, and at least two direction angles of the signboard of the interest point are determined by combining the shooting information of the signboard image.
On the basis of the above embodiment, optionally, the real orientation determining module is specifically configured to:
if at least two candidate signboard orientations are in the value range, selecting a real signboard orientation as an interest point from the at least two candidate signboard orientations based on the deviation between the candidate signboard orientations and the angular bisector direction of the range angle or based on the credibility of the candidate signboard orientations; wherein, the range angle is determined by the value range; or
And if no candidate signboard orientation is in the value range, taking the angular bisector direction of the range angle as the real signboard orientation of the interest point.
The device for determining the signboard orientation of the interest point, provided by the embodiment of the disclosure, can execute the method for determining the signboard orientation of the interest point, provided by any embodiment of the disclosure, and has corresponding functional modules and beneficial effects of the execution method. Reference may be made to the description of any method embodiment of the disclosure for a matter not explicitly described in this embodiment.
In the technical scheme of the disclosure, the acquisition, storage, application and the like of the personal information of the related user all accord with the regulations of related laws and regulations, and do not violate the good customs of the public order.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 9 illustrates a schematic block diagram of an example electronic device 900 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 9, the apparatus 900 includes a computing unit 901, which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)902 or a computer program loaded from a storage unit 908 into a Random Access Memory (RAM) 903. In the RAM 903, various programs and data required for the operation of the device 900 can also be stored. The calculation unit 901, ROM 902, and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.
A number of components in the device 900 are connected to the I/O interface 905, including: an input unit 906 such as a keyboard, a mouse, and the like; an output unit 907 such as various types of displays, speakers, and the like; a storage unit 908 such as a magnetic disk, optical disk, or the like; and a communication unit 909 such as a network card, a modem, a wireless communication transceiver, and the like. The communication unit 909 allows the device 900 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 901 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 901 performs the respective methods and processes described above, such as the signboard orientation determination method of the point of interest. For example, in some embodiments, the point-of-interest sign orientation determination method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 908. In some embodiments, part or all of the computer program may be loaded and/or installed onto device 900 via ROM 902 and/or communications unit 909. When the computer program is loaded into the RAM 903 and executed by the computing unit 901, one or more steps of the above described method of signboard orientation determination of a point of interest may be performed. Alternatively, in other embodiments, the computing unit 901 may be configured by any other suitable means (e.g. by means of firmware) to perform the signboard orientation determination method of the point of interest.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel, sequentially, or in different orders, as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved, and the present disclosure is not limited herein.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (19)
1. A method of signboard orientation determination of a point of interest, comprising:
determining candidate signboard orientations of the interest points according to road network information and/or ground feature information of positions of the interest points;
determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point;
and determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
2. The method according to claim 1, wherein the determining the candidate signboard orientation of the interest point according to road network information and/or feature information of the position of the interest point comprises:
determining roads existing in a preset area around the interest point according to road network information of the position of the interest point, and taking the vertical direction of the roads as the candidate signboard orientation of the interest point; and/or
And determining the ground feature frame in the preset area according to the ground feature shape information, and taking the vertical direction of the ground feature frame as the candidate signboard orientation of the interest point.
3. The method of claim 2, wherein the predetermined area is divided into a plurality of blocks by roads existing within the area;
the method for determining the roads in the preset area around the interest point according to the road network information of the position of the interest point and using the vertical direction of the roads as the candidate signboard orientation of the interest point comprises the following steps:
determining a target block where the interest point is located, and determining a first target point which is closest to the interest point on a frame of the target block;
drawing a directed line segment passing through the first target point by taking the interest point as a starting point;
rotating the directed line segment according to a preset rotation angle, and determining other points intersected with the frame of the target block in the directed line segment rotating process;
and taking the normal vector directions of the road tangents at the first target point and the other points respectively departing from the interest point as the candidate signboard orientations of the interest point.
4. The method according to claim 2, wherein determining roads existing in a preset area around the point of interest according to road network information of the position of the point of interest, and using a vertical direction of the roads as a candidate signboard orientation of the point of interest comprises:
determining a second target point with the closest distance between the road and the interest point according to the road network information in the preset area;
drawing a circle by taking the interest point as a circle center and the distance between the interest point and the second target point as a target radius, and determining an intersection point of the drawn circle and the road in the road network;
gradually modifying the length of the target radius, redrawing a circle by the modified target radius every time, and determining the intersection point of the newly drawn circle and the road in the road network;
and taking the normal vector direction of the tangent line of the road at each intersection point, which deviates from the interest point, as the candidate signboard orientation of the interest point.
5. The method of claim 2, wherein determining a feature frame in the preset area according to the feature shape information, and using a vertical direction of the feature frame as the candidate signboard orientation of the point of interest comprises:
solving the intersection of the ground feature outline included in the ground feature shape information and the preset area to obtain a ground feature frame in the preset area;
determining a third target point which is closest to the interest point on the ground feature frame;
drawing a directed line segment passing through the third target point by taking the interest point as a starting point;
rotating the directed line segment according to a preset rotation angle, and determining other points intersected with the ground feature frame in the directed line segment rotating process;
and taking the normal vector directions of the road tangents at the third target point and the other points respectively departing from the interest point as the candidate signboard orientations of the interest point.
6. The method of claim 1, wherein determining a value range of a signboard orientation of the point of interest according to the acquired signboard image of the point of interest comprises:
determining at least two direction angles of the interest point signboard according to the acquired signboard image of the interest point; wherein the direction angle refers to the angle of the signboard of the interest point relative to the image shooting point;
and performing intersection operation on the at least two direction angles, and obtaining the value range of the signboard orientation of the interest point according to the operation result.
7. The method of claim 6, wherein determining at least two directional angles of the point of interest sign from the acquired sign image of the point of interest comprises:
and identifying the position of the signboard of the interest point in the signboard image based on an image identification technology, and determining at least two direction angles of the signboard of the interest point by combining shooting information of the signboard image.
8. The method of claim 1, wherein determining the true sign orientation of the point of interest from a range of values for the sign orientation of the point of interest and candidate sign orientations of the point of interest comprises:
if at least two candidate signboard orientations are within the value range, selecting one of the at least two candidate signboard orientations as a real signboard orientation of the interest point based on a deviation between the candidate signboard orientations and an angular bisector direction of a range angle or based on a credibility of the candidate signboard orientations; wherein the range angle is determined by the range of values; or
And if no candidate signboard orientation is in the value range, taking the angular bisector direction of the range angle as the real signboard orientation of the interest point.
9. A point of interest sign orientation determining apparatus comprising:
the candidate orientation determining module is used for determining candidate signboard orientations of the interest points according to road network information and/or feature information of positions where the interest points are located;
the value range determining module is used for determining the value range of the signboard orientation of the interest point according to the acquired signboard image of the interest point;
and the real orientation determining module is used for determining the real signboard orientation of the interest point according to the value range of the signboard orientation of the interest point and the candidate signboard orientation of the interest point.
10. The apparatus of claim 9, wherein the candidate orientation determination module comprises:
the first candidate unit is used for determining roads existing in a preset area around an interest point according to road network information of the position of the interest point, and taking the vertical direction of the roads as the candidate signboard orientation of the interest point; and/or
And the second candidate unit is used for determining the ground feature frame in the preset area according to the ground feature shape information and taking the vertical direction of the ground feature frame as the candidate signboard orientation of the interest point.
11. The apparatus of claim 10, wherein the predetermined area is divided into a plurality of blocks by roads existing within the area;
the first candidate unit is specifically configured to:
determining a target block where the interest point is located, and determining a first target point which is closest to the interest point on a frame of the target block;
drawing a directed line segment passing through the first target point by taking the interest point as a starting point;
rotating the directed line segment according to a preset rotation angle, and determining other points intersected with the frame of the target block in the directed line segment rotating process;
and taking the normal vector directions of the road tangents at the first target point and the other points respectively departing from the interest point as the candidate signboard orientations of the interest point.
12. The apparatus of claim 10, wherein the first candidate unit is further specifically configured to:
determining a second target point with the closest distance between the road and the interest point according to the road network information in the preset area;
drawing a circle by taking the interest point as a circle center and the distance between the interest point and the second target point as a target radius, and determining an intersection point of the drawn circle and the road in the road network;
gradually modifying the length of the target radius, redrawing a circle by the modified target radius every time, and determining the intersection point of the newly drawn circle and the road in the road network;
and taking the normal vector direction of the tangent line of the road at each intersection point, which deviates from the interest point, as the candidate signboard orientation of the interest point.
13. The apparatus of claim 10, wherein the second candidate unit is specifically configured to:
solving the intersection of the ground feature outline included in the ground feature shape information and the preset area to obtain a ground feature frame in the preset area;
determining a third target point which is closest to the interest point on the ground feature frame;
drawing a directed line segment passing through the third target point by taking the interest point as a starting point;
rotating the directed line segment according to a preset rotation angle, and determining other points intersected with the ground feature frame in the directed line segment rotating process;
and taking the normal vector directions of the road tangents at the third target point and the other points respectively departing from the interest point as the candidate signboard orientations of the interest point.
14. The apparatus of claim 9, wherein the value range determining module comprises:
the direction angle determining unit is used for determining at least two direction angles of the interest point signboard according to the acquired signboard image of the interest point; wherein the direction angle refers to the angle of the signboard of the interest point relative to the image shooting point;
and the value range determining unit is used for performing intersection operation on the at least two direction angles and obtaining the value range of the signboard orientation of the interest point according to the operation result.
15. The apparatus according to claim 14, wherein the direction angle determination unit is specifically configured to:
and identifying the position of the signboard of the interest point in the signboard image based on an image identification technology, and determining at least two direction angles of the signboard of the interest point by combining shooting information of the signboard image.
16. The apparatus of claim 9, wherein the true orientation determining module is specifically configured to:
if at least two candidate signboard orientations are within the value range, selecting one of the at least two candidate signboard orientations as a real signboard orientation of the interest point based on a deviation between the candidate signboard orientations and an angular bisector direction of a range angle or based on a credibility of the candidate signboard orientations; wherein the range angle is determined by the range of values; or
And if no candidate signboard orientation is in the value range, taking the angular bisector direction of the range angle as the real signboard orientation of the interest point.
17. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-8.
18. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-8.
19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-8.
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