CN113673603A

CN113673603A - Method for matching element points and related device

Info

Publication number: CN113673603A
Application number: CN202110970573.7A
Authority: CN
Inventors: 高彬; 杨雨然; 李楷
Original assignee: Beijing Sogou Technology Development Co Ltd
Current assignee: Beijing Sogou Technology Development Co Ltd
Priority date: 2021-08-23
Filing date: 2021-08-23
Publication date: 2021-11-19

Abstract

The application discloses a method for matching element points and a related device, wherein the method comprises the following steps: and acquiring the coordinates of each element point acquired by different acquisition equipment in the same area. Any one of the element points acquired by the acquisition device is used as a target element point, and the element graph of the target element point is constructed by acquiring the coordinates of each element point acquired by the acquisition device of the target element point and utilizing a first preset distance representing the upper limit value of the distance between other element points and the target element point in the element graph and a second preset distance representing the upper limit value of the distance between two element points of a construction side in the element graph. And obtaining a histogram descriptor of the target element point by the element graph through a preset traversal algorithm. And matching each element point acquired by different acquisition equipment by using the histogram descriptor of each element point. The method has the advantages of low calculation complexity, small required data volume, saving more time and improving the matching efficiency of the element points.

Description

Method for matching element points and related device

Technical Field

The present application relates to the field of data processing technologies, and in particular, to a method for matching factor points and a related device.

Background

Different acquisition devices can be respectively used for acquiring each element point in the same area, and the acquisition parameters of the different acquisition devices are different; therefore, in some scenarios, for example, a high-precision map building scenario, a high-precision map updating scenario, or a three-dimensional modeling scenario, matching of the respective pixel points acquired by different acquisition devices is required. The element points refer to image points of the acquired object in the acquisition space corresponding to the acquired image, for example, the element points in the high-precision map building scene refer to image points of traffic indicator lights, traffic signs and the like corresponding to the acquired image.

At present, matching is performed on each element point acquired by different acquisition devices in the same region, and a common element point matching algorithm in an image is generally adopted. The algorithm needs to acquire huge data volume to support complex and tedious calculation, and can accurately judge whether each element point acquired by different acquisition equipment is matched or not; that is, the current element point matching algorithm not only has high computational complexity, but also consumes a lot of time, resulting in low element point matching efficiency.

Disclosure of Invention

In view of this, the present application provides a method and a related apparatus for matching element points, which have low computation complexity, small required data amount, simple computation, and can save more time, thereby improving the efficiency of matching element points.

In a first aspect, an embodiment of the present application provides a method for matching factor points, where the method includes:

respectively acquiring the coordinates of each element point acquired by different acquisition equipment in the same area;

aiming at each target element point, constructing an element graph of the target element point according to the coordinate, the first preset distance and the second preset distance of each element point acquired by acquisition equipment for acquiring the target element point; the target element point is any one of the element points acquired by the acquisition equipment, and the first preset distance represents an upper limit value of a distance between other element points in the element graph and the target element point; the second preset distance represents an upper limit value of a distance between two element points of a construction edge in the element graph; the second preset distance is less than or equal to the first preset distance;

obtaining a histogram descriptor of the target element point according to the element graph of the target element point and a preset traversal algorithm;

and matching each element point acquired by different acquisition equipment according to the histogram descriptor of each element point.

Optionally, the acquiring, according to the coordinates, the first preset distance, and the second preset distance of each element point acquired by the acquiring device that acquires the target element point, includes:

determining each element point within the first preset distance from the target element point as other element points according to the coordinates of each element point acquired by acquisition equipment for acquiring the target element point;

and according to the coordinates of the target element point and the coordinates of each other element point, constructing edges between the two other element points with the distance less than or equal to the second preset distance and between the other element points and the target element point, and obtaining an element graph of the target element point.

Optionally, the obtaining a histogram descriptor of the target element point according to the element map of the target element point and a preset traversal algorithm includes:

determining the mark of the target element point and the marks of the other element points according to the coordinate of the target element point and the coordinate of the other element points;

determining each traversal path corresponding to the target element point according to the element graph of the target element point, the preset traversal steps of the preset traversal algorithm, the mark of the target element point and the marks of the other element points, and counting the number of each traversal path;

and obtaining a histogram descriptor of the target element point according to each traversal path corresponding to the target element point and the number of each traversal path.

acquiring other attributes of the target element point and other attributes of each other element point;

determining the mark of the target element point and the mark of each other element point according to the coordinate and other attributes of the target element point and the coordinate and other attributes of each other element point;

Optionally, the other attributes include one or more of:

element type, element color, element shape, and element content.

Optionally, the preset traversal algorithm includes an exhaustive traversal algorithm or a random walk algorithm.

Optionally, the matching, according to the histogram descriptor of each of the element points, each of the element points acquired by the different acquisition devices includes:

determining a histogram descriptor of a first element point acquired by first acquisition equipment and a histogram descriptor of each second element point acquired by second acquisition equipment; the second acquisition device and the first acquisition device acquire different data, the first element point is any one of the element points acquired by the first acquisition device, and the second element point is the same element type as the first element point in the element points acquired by the second acquisition device;

calculating the similarity between the first element point and each second element point according to the histogram descriptor of the first element point and the histogram descriptor of each second element point to obtain a plurality of similarities;

and determining the maximum value of the similarity, and if the maximum value is greater than a similarity threshold value, determining that a second element point corresponding to the maximum value of the similarity has a matching relationship with the first element point.

In a second aspect, an embodiment of the present application provides an apparatus for matching factor points, where the apparatus includes:

the acquisition unit is used for respectively acquiring the coordinates of each element point acquired by different acquisition equipment in the same area;

the construction unit is used for constructing an element graph of each target element point according to the coordinate, the first preset distance and the second preset distance of each element point acquired by acquisition equipment for acquiring the target element point; the target element point is any one of the element points acquired by the acquisition equipment, and the first preset distance represents an upper limit value of a distance between other element points in the element graph and the target element point; the second preset distance represents an upper limit value of a distance between two element points of a construction edge in the element graph; the second preset distance is less than or equal to the first preset distance;

the obtaining unit is used for obtaining a histogram descriptor of the target element point according to the element graph of the target element point and a preset traversal algorithm;

and the matching unit is used for matching each element point acquired by different acquisition equipment according to the histogram descriptor of each element point.

Optionally, the building unit includes a first determining subunit and a building subunit:

the first determining subunit is configured to determine, according to coordinates of each element point acquired by an acquisition device that acquires the target element point, each element point within the first preset distance from the target element point as each other element point;

and the constructing subunit is configured to construct an edge between two element points with a distance smaller than or equal to the second preset distance according to the coordinates of the target element point and the coordinates of each of the other element points, so as to obtain an element map of the target element point.

Optionally, the obtaining unit includes a second determining subunit, a third determining subunit, and a first obtaining subunit:

the second determining subunit is configured to determine, according to the coordinates of the target element point and the coordinates of each of the other element points, a mark of the target element point and a mark of each of the other element points;

the third determining subunit is configured to determine, according to the element map of the target element point, the preset traversal step number of the preset traversal algorithm, the label of the target element point, and the labels of the other element points, each traversal path corresponding to the target element point, and count the number of each traversal path;

the obtaining subunit is configured to obtain a histogram descriptor of the target element point according to each traversal path corresponding to the target element point and the number of each traversal path.

Optionally, the obtaining unit includes an obtaining subunit, a fourth determining subunit, a fifth determining subunit, and a second obtaining subunit:

the acquiring subunit is configured to acquire other attributes of the target element point and other attributes of each of the other element points;

and the fourth determining subunit is configured to determine, according to the coordinates and other attributes of the target element point and the coordinates and other attributes of each of the other element points, the mark of the target element point and the marks of each of the other element points.

The fifth determining subunit is configured to determine, according to the element map of the target element point, the preset traversal step number of the preset traversal algorithm, the label of the target element point, and the labels of the other element points, each traversal path corresponding to the target element point, and count the number of each traversal path;

the second obtaining subunit is configured to obtain a histogram descriptor of the target element point according to each traversal path corresponding to the target element point and the number of each traversal path.

Optionally, the other attributes include one or more of:

element type, element color, element shape, and element content.

Optionally, the matching unit includes a sixth determining subunit, a calculating subunit, and a second determining subunit:

the sixth determining subunit is configured to determine a histogram descriptor of the first element point acquired by the first acquisition device, and a histogram descriptor of each second element point acquired by the second acquisition device; the second acquisition device and the first acquisition device acquire different data, the first element point is any one of the element points acquired by the first acquisition device, and the second element point is the same element type as the first element point in the element points acquired by the second acquisition device;

the calculating subunit is configured to calculate, according to the histogram descriptor of the first element point and the histogram descriptor of each second element point, a similarity between the first element point and each second element point, and obtain a plurality of similarities;

the seventh determining subunit is configured to determine a maximum value of the multiple similarity degrees, and if the maximum value is greater than a similarity threshold, determine that a second element point corresponding to the maximum value of the similarity degrees has a matching relationship with the first element point.

In a third aspect, an embodiment of the present application provides an apparatus for element point matching, the apparatus including a memory, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by one or more processors to perform the method for element point matching according to the first aspect.

In a fourth aspect, embodiments of the present application provide a machine-readable medium having stored thereon instructions, which when executed by one or more processors, cause an apparatus to perform the method of element point matching as described in the first aspect.

Compared with the prior art, the method has the advantages that:

by adopting the technical scheme of the embodiment of the application, firstly, the coordinates of each element point acquired by different acquisition equipment in the same area are acquired. Secondly, any one of the element points acquired by the acquisition equipment is used as a target element point, and an element graph of the target element point is constructed by acquiring the coordinates of each element point acquired by the acquisition equipment of the target element point and utilizing a first preset distance representing the upper limit value of the distance between other element points and the target element point in the element graph and a second preset distance representing the upper limit value of the distance between two element points of a construction side in the element graph; and the second preset distance is less than or equal to the first preset distance. Then, on the basis of the element graph of the target element point, a histogram descriptor of the target element point is obtained through a preset traversal algorithm. And finally, matching each element point acquired by different acquisition equipment by using the histogram descriptor of each element point. It can be seen that the element graph of the element points is constructed through the distance between different element points and the distance upper limit value set by the construction element graph; and then obtaining a histogram descriptor of the element points by using a preset traversal algorithm through the element graph, and matching the element points by using the histogram descriptor of the element points. The method has the advantages of low calculation complexity, small required data volume, simple calculation and capability of saving more time, thereby improving the matching efficiency of the element points.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments of the present application will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic diagram of a system framework related to an application scenario in an embodiment of the present application;

fig. 2 is a schematic flowchart of a method for matching factor points according to an embodiment of the present disclosure;

fig. 3 is an element diagram of a target element point a according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an apparatus for matching feature points according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an apparatus for matching factor points according to an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a server according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In scenes such as high-precision map establishment, high-precision map updating or three-dimensional modeling, all the element points acquired by different acquisition equipment in the same area need to be matched. By adopting a common algorithm for matching element points in an image, a huge data volume needs to be acquired to support complex and tedious calculation, and whether each element point acquired by different acquisition equipment is matched can be accurately judged, so that not only is the calculation complexity high, but also a large amount of time is consumed, and the efficiency of matching the element points is low.

In order to solve this problem, in the embodiment of the present application, coordinates of each element point acquired by different acquisition devices in the same area are acquired. Taking any one of the element points acquired by the acquisition equipment as a target element point, and constructing an element graph of the target element point by acquiring the coordinates of each element point acquired by the acquisition equipment of the target element point and by using a first preset distance representing the upper limit value of the distance between other element points and the target element point in the element graph and a second preset distance representing the upper limit value of the distance between two element points of a construction side in the element graph; and the second preset distance is less than or equal to the first preset distance. On the basis of the element graph of the target element point, a histogram descriptor of the target element point is obtained through a preset traversal algorithm. And matching each element point acquired by different acquisition equipment by using the histogram descriptor of each element point. It can be seen that the element graph of the element points is constructed through the distance between different element points and the distance upper limit value set by the construction element graph; and then obtaining a histogram descriptor of the element points by using a preset traversal algorithm through the element graph, and matching the element points by using the histogram descriptor of the element points. The method has the advantages of low calculation complexity, small required data volume, simple calculation and capability of saving more time, thereby improving the matching efficiency of the element points.

For example, one of the scenarios in the embodiment of the present application may be applied to the scenario shown in fig. 1, where the scenario includes the first capture device 101, the second capture device 102, and the server 103. The server 103 performs matching on each element point acquired by the first acquisition device 101 and the second acquisition device 102 in the same area by using the embodiment provided by the embodiment of the present application.

It is to be understood that, in the above application scenario, although the actions of the embodiments of the present application are described as being performed by the server 103; however, the present application is not limited in terms of executing a subject as long as the actions disclosed in the embodiments of the present application are executed.

It is to be understood that the above scenario is only one example of a scenario provided in the embodiment of the present application, and the embodiment of the present application is not limited to this scenario.

The following describes in detail a specific implementation manner of the method for matching element points and the related apparatus in the embodiment of the present application by using an embodiment in conjunction with the accompanying drawings.

Exemplary method

Referring to fig. 2, a flow chart of a method for matching element points in the embodiment of the present application is shown.

In this embodiment, the method may include, for example, the steps of:

step 201: and respectively acquiring the coordinates of each element point acquired by different acquisition equipment in the same area.

In the embodiment of the application, different acquisition devices respectively acquire each element point in the same area; for example, the first acquisition device acquires each element point in a certain area, and the second acquisition device also acquires each element point in the same area. In scenes such as high-precision map building, high-precision map updating or three-dimensional modeling, all element points acquired by different acquisition equipment in the same area need to be matched, and then the coordinates of all element points acquired by different acquisition equipment in the same area need to be acquired respectively. For example, the coordinates of each of the element points acquired by the first acquisition device in the area are acquired, and the coordinates of each of the element points acquired by the second acquisition device in the area are acquired.

The positioning precision difference when different acquisition devices acquire each element point is small, namely, the positioning precision difference accords with a preset difference range.

Step 202: aiming at each target element point, constructing an element graph of the target element point according to the coordinate, the first preset distance and the second preset distance of each element point acquired by acquisition equipment for acquiring the target element point; the target element point is any one of the element points acquired by the acquisition device, the first preset distance represents an upper limit value of a distance between other element points constituting the element graph and the target element point, the second preset distance represents an upper limit value of a distance between two element points constituting an edge in the element graph, and the second preset distance is smaller than or equal to the first preset distance.

In this embodiment of the present application, regarding any one of the element points in step 201, as a target element point, it is necessary to determine all other element points that are suspected to be related to the target element point from the respective element points acquired by the acquisition device that acquires the target element point; and determining every two other element points, other element points and the target element point which have correlation relations in the target element point and all other element points which are related to the target element point in a suspected manner so as to construct a element map of the target element point. That is, the two element points for constructing the edge may include the two other element points for constructing the edge, and may also include the other element points for constructing the edge and the target element point.

In specific implementation, the coordinates of each element point acquired by the acquisition equipment acquiring the target element point are known, and the distance between any two element points can be obtained. Regarding any one of the element points in the step 201, the element point is used as a target element point, an upper limit value of a distance between other element points in the element graph and the target element point is preset as a first preset distance, all other element points meeting the first preset distance are screened, and the target element point is combined to construct the element graph. That is, all other element points that are suspected to be related to the target element point are determined. Then, presetting the upper limit values of the distance between two other element points of the constructed edge and the distance between other element points and the target element point in the element graph as second preset distances, screening two pairs of other element points, other element points and the target element point which accord with the second preset distances, and constructing edges, namely, determining the two pairs of other element points, other element points and the target element point which have the correlation; thereby realizing the element graph construction of the target element point. And the second preset distance is less than or equal to the first preset distance.

In practical application, all other element points meeting the first preset distance are screened, and the target element points are combined to construct an element graph. In specific implementation, all the element points within the first preset distance from the target element point can be determined as other element points by drawing a circle with the target element point as the center of the circle and the first preset distance as the radius through the coordinates of each element point acquired by the acquisition equipment for acquiring the target element point. And screening every two other element points, other element points and target element points which accord with the second preset distance, and constructing edges. In specific implementation, the distance between every two other element points can be calculated through the coordinates of the target element point and the coordinates of all other element points, the distance between every other element point and the target element point is calculated, an edge is constructed between the two other element points with the distance less than or equal to a second preset distance, and an edge is constructed between the other element points with the distance less than or equal to the second preset distance and the target element point.

Therefore, in an alternative implementation manner of this embodiment of the present application, the step 202 may include, for example, the following steps a to B:

step A: and determining each element point within the first preset distance from the target element point as other element points according to the coordinates of each element point acquired by the acquisition equipment for acquiring the target element point.

And B: and constructing an edge between two element points with the distance less than or equal to the second preset distance according to the coordinates of the target element point and the coordinates of the other element points to obtain an element graph of the target element point.

Step 203: and obtaining a histogram descriptor of the target element point according to the element graph of the target element point and a preset traversal algorithm.

In this embodiment of the application, after the element map of the target element point is constructed in step 202, on the basis of the element map of the target element point, a histogram of the target element point may be obtained by using a preset traversal algorithm, where the histogram uses traversal paths corresponding to the target element point as abscissa and the number of traversal paths as ordinate, and a histogram descriptor of the target element point may be obtained based on the histogram.

In specific implementation, first, the coordinates of the target element point and the coordinates of each of the other element points in the element map of the target element point are considered to determine the label of the target element point and the labels of each of the other element points, where there may be a case where the labels are the same, for example, the labels of two element points with relatively close coordinates are the same. Then, in the element graph of the target element point, taking the target element point as a starting point, traversing other element points according to a preset traversal step number of a preset traversal algorithm, and determining each traversal path corresponding to the target element point; in the case that there may be the same label, there may be a case that the number of certain traversal paths is not 1, and it is also necessary to count the number of each traversal path. And finally, forming a histogram descriptor of the target element point according to each traversal path corresponding to the target element point and the number of each traversal path.

Therefore, in an optional implementation manner of this embodiment of this application, the step 203 may include, for example, the following steps C to E:

and C: and determining the mark of the target element point and the marks of the other element points according to the coordinates of the target element point and the coordinates of the other element points.

Step D: and determining each traversal path corresponding to the target element point according to the element graph of the target element point, the preset traversal steps of the preset traversal algorithm, the mark of the target element point and the marks of the other element points, and counting the number of each traversal path.

Step E: and obtaining a histogram descriptor of the target element point according to each traversal path corresponding to the target element point and the number of each traversal path.

In this embodiment of the application, in order to increase variability, diversity, or specificity of each traversal path corresponding to the target element point, other attributes of the target element point and other attributes of each other element point may also be obtained, and when determining the mark of the target element point and the marks of each other element point, on the basis of the coordinates of the target element point and the coordinates of each other element point, the marks of the target element point and the marks of each other element point are made more diverse by increasing the other attributes of the target element point and the other attributes of each other element point, so that the traversal path is changed, thereby increasing variability, diversity, or specificity of each traversal path corresponding to the target element point.

Therefore, in an optional implementation manner of this embodiment of the present application, step 203 of the method may further include, for example, step F: acquiring other attributes of the target element point and other attributes of each other element point; correspondingly, the step D may specifically be, for example: and determining the mark of the target element point and the mark of each other element point according to the coordinates and other attributes of the target element point and the coordinates and other attributes of each other element point.

Among them, it is possible to set: whether the element types are the same or not and whether the marks influencing the element points are the same or not; or whether the element colors are the same or not and whether the marks influencing the element points are the same or not; or whether the shapes of the elements are the same or not and whether the marks influencing the element points are the same or not; or whether the element contents are the same or not and whether the marks affecting the element points are the same or not. Therefore, in an alternative implementation manner of the embodiment of the present application, the other attributes include one or more of an element type, an element color, an element shape, and an element content.

Wherein, the preset traversal algorithm may be an exhaustive traversal algorithm; in other words, in the element map of the target element point, taking the target element point as a starting point, and performing exhaustive traversal according to a preset traversal step number to obtain all traversal paths corresponding to the target element point; the method ensures that each traversal path corresponding to the target element point is more complete, and is suitable for the condition that the number of the element points in the element graph is less. The preset traversal algorithm can also be a random walk algorithm; that is, in the element map of the target element point, the target element point is taken as a starting point, and the target element point is randomly walked according to the preset traversal steps to obtain a part of traversal paths corresponding to the target element point. Therefore, in an optional implementation manner of the embodiment of the present application, the preset traversal algorithm includes an exhaustive traversal algorithm or a random walk algorithm.

As an example, an element diagram of a target element point a is shown in fig. 3. Assuming that the preset traversal algorithm is an exhaustive traversal algorithm, the preset traversal step number is 2. Firstly, respectively acquiring coordinates and element types of a target element point A, other element points B1, other element points B2 and other element points C, wherein the element types of the other element points B1 and the other element points B2 are the same; based on the obtained coordinates and element types of the element points, the mark of the target element point a, the marks of the other element points B1, B of the other element points B2 and C of the other element points C are determined. Then, in the element graph of the target element point a, taking the target element point a as a starting point, and traversing exhaustively according to a preset traversal step number 2 to obtain that each traversal path corresponding to the target element point a is ABB, ABC and ACB, the number of the traversal paths ABB is 2, the number of the traversal paths ABC is 1, and the number of the traversal paths ACB is 1. Finally, the histogram descriptor of the target element point a obtained according to the above contents may be ABB: 2. ABC: 1. ACB: 1.

step 204: and matching each element point acquired by different acquisition equipment according to the histogram descriptor of each element point.

In the embodiment of the present application, after the step 202 to the step 203 are respectively executed for each element point in the step 201, and the histogram descriptor of each element point is obtained, the histogram descriptor of each element point can be utilized to match each element point acquired by different acquisition devices, so as to reduce the computational complexity of the existing element point matching algorithm, reduce the required data amount, simplify the computation, and save more time, thereby improving the element point matching efficiency.

In specific implementation, any one acquisition device can be selected as a first acquisition device, and any one of the acquired element points of the first acquisition device is used as a first element point; and selecting one acquisition device different from the first acquisition device as a second acquisition device, wherein all the element points with the same element type as the first element points in the element points acquired by the second acquisition device are used as the second element points. Firstly, determining a histogram descriptor of the first element point and a histogram descriptor of each second element point; then, calculating the similarity between the first element point and each second element point through the histogram descriptor of the first element point and the histogram descriptor of each second element point, so as to obtain a plurality of similarities, wherein the number of the similarities is equal to the total number of the second element points; and finally, if the similarity of a certain target in the multiple similarities is greater than the similarity threshold value and the target similarity is the largest in the multiple similarities, indicating that the first element point and the second element point corresponding to the target similarity have a matching relationship. Therefore, in an alternative implementation manner of this embodiment of the present application, the step 203 may include, for example, the following steps F to H:

step F: determining a histogram descriptor of a first element point acquired by first acquisition equipment and a histogram descriptor of each second element point acquired by second acquisition equipment; the second acquisition device and the first acquisition device acquire different data, the first element point is any one of the element points acquired by the first acquisition device, and the second element point is the same element type as the first element point in the element points acquired by the second acquisition device.

Step G: and calculating the similarity between the first element point and each second element point according to the histogram descriptor of the first element point and the histogram descriptor of each second element point to obtain a plurality of similarities.

The embodiment of the present application is not limited to the specific implementation of calculating the similarity, and the specific implementation of calculating the similarity is various, for example, a cosine similarity calculation method, a weighted similarity calculation method, and the like may be adopted.

As an example, assume that the histogram descriptor of the first element point is ABB: 2. ABC: 1. ACB: 1, the histogram descriptor of the second element point is ABB: 1. ABC: 2. ACB: 1; the similarity between the first element point and the second element point is as follows:

step H: and determining the maximum value of the similarity, and if the maximum value is greater than a similarity threshold value, determining that a second element point corresponding to the maximum value of the similarity has a matching relationship with the first element point.

Through various implementation manners provided by this embodiment, first, coordinates of each element point acquired by different acquisition devices in the same area are acquired. Secondly, any one of the element points acquired by the acquisition equipment is used as a target element point, and an element graph of the target element point is constructed by acquiring the coordinates of each element point acquired by the acquisition equipment of the target element point and utilizing a first preset distance representing the upper limit value of the distance between other element points and the target element point in the element graph and a second preset distance representing the upper limit value of the distance between two element points of a construction side in the element graph; and the second preset distance is less than or equal to the first preset distance. Then, on the basis of the element graph of the target element point, a histogram descriptor of the target element point is obtained through a preset traversal algorithm. And finally, matching each element point acquired by different acquisition equipment by using the histogram descriptor of each element point. It can be seen that the element graph of the element points is constructed through the distance between different element points and the distance upper limit value set by the construction element graph; and then obtaining a histogram descriptor of the element points by using a preset traversal algorithm through the element graph, and matching the element points by using the histogram descriptor of the element points. The method has the advantages of low calculation complexity, small required data volume, simple calculation and capability of saving more time, thereby improving the matching efficiency of the element points.

Exemplary devices

Referring to fig. 4, a schematic structural diagram of an apparatus for matching element points in the embodiment of the present application is shown. In this embodiment, the apparatus may specifically include:

an obtaining unit 401, configured to obtain coordinates of each element point collected by different collection devices in the same area;

a constructing unit 402, configured to construct, for each target element point, an element map of the target element point according to coordinates, a first preset distance, and a second preset distance of each element point acquired by an acquisition device that acquires the target element point; the target element point is any one of the element points acquired by the acquisition equipment, and the first preset distance represents an upper limit value of a distance between other element points in the element graph and the target element point; the second preset distance represents an upper limit value of a distance between two element points of a construction edge in the element graph; the second preset distance is less than or equal to the first preset distance;

an obtaining unit 403, configured to obtain a histogram descriptor of the target element point according to the element map of the target element point and a preset traversal algorithm;

a matching unit 404, configured to match, according to the histogram descriptor of each of the element points, each of the element points acquired by the different acquisition devices.

In an optional implementation manner of the embodiment of the present application, the building unit 402 includes a first determining subunit and a building subunit:

In an optional implementation manner of the embodiment of the present application, the obtaining unit 403 includes a second determining subunit, a third determining subunit, and a first obtaining subunit:

In an optional implementation manner of the embodiment of the present application, the obtaining unit 403 includes an obtaining subunit, a fourth determining subunit, a fifth determining subunit, and a second obtaining subunit:

In an optional implementation manner of the embodiment of the present application, the other attributes include one or more of the following:

element type, element color, element shape, and element content.

In an optional implementation manner of the embodiment of the present application, the preset traversal algorithm includes an exhaustive traversal algorithm or a random walk algorithm.

In an optional implementation manner of the embodiment of the present application, the matching unit 404 includes a sixth determining subunit, a calculating subunit, and a second determining subunit:

Fig. 5 is a block diagram illustrating an apparatus 500 for factor point matching according to an example embodiment. For example, the apparatus 500 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.

Referring to fig. 5, the apparatus 500 may include one or more of the following components: processing component 502, memory 504, power component 506, multimedia component 508, audio component 510, input/output (I/O) interface 512, sensor component 514, and communication component 516.

The processing component 502 generally controls overall operation of the device 500, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing components 502 may include one or more processors 520 to execute instructions to perform all or a portion of the steps of the methods described above. Further, the processing component 502 can include one or more modules that facilitate interaction between the processing component 502 and other components. For example, the processing component 502 can include a multimedia module to facilitate interaction between the multimedia component 508 and the processing component 502.

The memory 504 is configured to store various types of data to support operation at the device 500. Examples of such data include instructions for any application or method operating on device 500, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 504 may be implemented by any type or combination of volatile or non-volatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.

The power supply component 506 provides power to the various components of the device 500. The power components 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the apparatus 500.

The multimedia component 508 includes a screen that provides an output interface between the device 500 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure correlated to the touch or slide operation. In some embodiments, the multimedia component 508 includes a front facing camera and/or a rear facing camera. The front-facing camera and/or the rear-facing camera may receive external multimedia data when the device 500 is in an operating mode, such as a shooting mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

The audio component 510 is configured to output and/or input audio signals. For example, audio component 510 includes a Microphone (MIC) configured to receive external audio signals when apparatus 500 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may further be stored in the memory 504 or transmitted via the communication component 516. In some embodiments, audio component 510 further includes a speaker for outputting audio signals.

The I/O interface 512 provides an interface between the processing component 502 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.

The sensor assembly 514 includes one or more sensors for providing various aspects of status assessment for the device 500. For example, the sensor assembly 514 may detect an open/closed state of the device 500, the relative positioning of the components, such as a display and keypad of the apparatus 500, the sensor assembly 514 may also detect a change in the position of the apparatus 500 or a component of the apparatus 500, the presence or absence of user contact with the apparatus 500, orientation or acceleration/deceleration of the apparatus 500, and a change in the temperature of the apparatus 500. The sensor assembly 514 may include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 514 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 516 is configured to facilitate communication between the apparatus 500 and other devices in a wired or wireless manner. The apparatus 500 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 516 receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communications component 516 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the apparatus 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the above-described methods.

In an exemplary embodiment, a non-transitory computer-readable storage medium comprising instructions, such as the memory 504 comprising instructions, executable by the processor 520 of the apparatus 500 to perform the above-described method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

A non-transitory computer readable storage medium having instructions therein which, when executed by a processor of a mobile terminal, enable the mobile terminal to perform a method of factor point matching, the method comprising:

In an optional implementation manner of the embodiment of the present application, the acquiring, according to the coordinates, the first preset distance, and the second preset distance of each of the element points acquired by the acquiring device that acquires the target element point, includes:

and constructing an edge between two element points with the distance less than or equal to the second preset distance according to the coordinates of the target element point and the coordinates of the other element points to obtain an element graph of the target element point.

In an optional implementation manner of the embodiment of the present application, the obtaining a histogram descriptor of the target element point according to the element map of the target element point and a preset traversal algorithm includes:

element type, element color, element shape, and element content.

In an optional implementation manner of the embodiment of the present application, the matching, according to the histogram descriptor of each of the element points, each of the element points acquired by the different acquisition devices includes:

Fig. 6 is a schematic structural diagram of a server in an embodiment of the present application. The server 600 may vary significantly due to configuration or performance, and may include one or more Central Processing Units (CPUs) 622 (e.g., one or more processors) and memory 632, one or more storage media 630 (e.g., one or more mass storage devices) storing applications 642 or data 644. Memory 632 and storage medium 630 may be, among other things, transient or persistent storage. The program stored in the storage medium 630 may include one or more modules (not shown), each of which may include a series of instruction operations for the server. Still further, the central processor 622 may be configured to communicate with the storage medium 630 and execute a series of instruction operations in the storage medium 630 on the server 600.

The server 600 may also include one or more power supplies 626, one or more wired or wireless network interfaces 650, one or more input-output interfaces 658, one or more keyboards 656, and/or one or more operating systems 641, such as Windows Server, Mac OS XTM, UnixTM, LinuxTM, FreeBSDTM, etc.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing is merely a preferred embodiment of the present application and is not intended to limit the present application in any way. Although the present application has been described with reference to the preferred embodiments, it is not intended to limit the present application. Those skilled in the art can now make numerous possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the claimed embodiments. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still fall within the protection scope of the technical solution of the present application without departing from the content of the technical solution of the present application.

Claims

1. A method of factor point matching, comprising:

2. The method according to claim 1, wherein the first preset distance, the second preset distance and the coordinates of each of the element points acquired by the acquisition device acquiring the target element point comprise:

3. The method according to claim 1, wherein obtaining the histogram descriptor of the target element point according to the element map of the target element point and a preset traversal algorithm comprises:

4. The method according to claim 1, wherein obtaining the histogram descriptor of the target element point according to the element map of the target element point and a preset traversal algorithm comprises:

5. The method of claim 4, wherein the other attributes comprise one or more of:

element type, element color, element shape, and element content.

6. The method according to claim 1, wherein the matching the respective pixel points acquired by the different acquisition devices according to the histogram descriptors of the respective pixel points comprises:

7. An apparatus for matching feature points, comprising:

8. The apparatus of claim 7, wherein the construction unit comprises a first determining subunit and a construction subunit:

9. The apparatus of claim 7, wherein the obtaining unit comprises a second determining subunit, a third determining subunit, and a first obtaining subunit:

10. The apparatus of claim 7, wherein the obtaining unit comprises an obtaining subunit, a fourth determining subunit, a fifth determining subunit, and a second obtaining subunit:

11. The apparatus of claim 10, wherein the other attributes comprise one or more of:

element type, element color, element shape, and element content.

12. The apparatus of claim 7, wherein the matching unit comprises a sixth determining subunit, a calculating subunit, and a second determining subunit:

13. An apparatus for element point matching, comprising a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by one or more processors to perform the method for element point matching according to any one of claims 1 to 6.

14. A machine-readable medium having stored thereon instructions, which when executed by one or more processors, cause an apparatus to perform the method of element point matching recited in any of claims 1-6.