CN114373051A - Map updating method and device, electronic equipment and storage medium - Google Patents
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Abstract
The disclosure provides a map updating method, a map updating device, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of computer vision and intelligent traffic. The scheme is as follows: acquiring attribute information of a plurality of monomers with adsorption relations in a map; determining each vertex coordinate of a three-dimensional area corresponding to any monomer in a geocentric coordinate system according to the attribute information of any monomer in the plurality of monomers; determining the coordinates of the projection centroid points of the neutron monomers in the plurality of monomers according to the vertex coordinates and the adsorption relation of the three-dimensional regions corresponding to the plurality of monomers; and determining the coordinates of the target centroid points of the submonoids according to the coordinates of the projection centroid points, and updating the coordinate information of the centroid points of the submonoids in the map according to the coordinates of the target centroid points. Therefore, the deviation between the relative positions or relative angles of the single bodies can be automatically adjusted, and the production efficiency of map rendering data and the accuracy of map rendering are improved.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the field of computer vision and intelligent transportation technologies, and in particular, to a map updating method and apparatus, an electronic device, and a storage medium.
Background
At present, in the process of making high-precision map data, due to the requirement of monomers in a map, each monomer (such as a mark post, a label, a traffic light, a portal frame, a camera and the like) in the map can be independently made, so that service application can independently click and interact the monomers.
Disclosure of Invention
The disclosure provides a map updating method, a map updating device, an electronic device and a storage medium.
According to an aspect of the present disclosure, there is provided a map updating method, including: acquiring a plurality of monomers in a map and attribute information of the monomers; wherein a plurality of said monomers have an adsorptive relationship therebetween; aiming at any monomer in the plurality of monomers, determining each vertex coordinate of a three-dimensional area corresponding to the monomer in a geocentric coordinate system according to the attribute information of the monomer; determining the projection centroid point coordinates of the child monomers with the adsorption relation in the monomers on the corresponding parent monomers according to the vertex coordinates of the three-dimensional regions corresponding to the monomers and the adsorption relation; and determining the coordinates of the target centroid points of the sub-single bodies according to the coordinates of the projection centroid points, and updating the coordinate information of the centroid points of the sub-single bodies in the map according to the coordinates of the target centroid points.
According to another aspect of the present disclosure, there is provided a map updating apparatus including: the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a plurality of monomers in a map and attribute information of the monomers; wherein a plurality of said monomers have an adsorptive relationship therebetween; the first determining module is used for determining each vertex coordinate of the three-dimensional area corresponding to any single body in the geocentric coordinate system according to the attribute information of the single body in any single body in the plurality of single bodies; the second determining module is used for determining the projection centroid point coordinates of the child monomers with the adsorption relation in the monomers on the corresponding parent monomers according to the vertex coordinates of the three-dimensional areas corresponding to the monomers and the adsorption relation; and the updating module is used for determining the target centroid point coordinates of the sub-single bodies according to the projection centroid point coordinates and updating the centroid point coordinate information of the sub-single bodies in the map according to the target centroid point coordinates.
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 memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect 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 the first aspect 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, performs the steps of the method of an embodiment of the first aspect of the present disclosure.
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. 1 is a schematic diagram illustrating a deviation of relative positions between monomers according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a deviation of relative positions between monomers according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram illustrating deviation of relative angles between the single bodies according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating a deviation of relative angles between the monomers provided by an embodiment of the present disclosure;
fig. 5 is a flowchart illustrating a map updating method according to an embodiment of the disclosure;
FIG. 6 is a schematic diagram illustrating the adsorption relationship between monomers provided by an embodiment of the present disclosure;
fig. 7 is a flowchart illustrating a map updating method according to a second embodiment of the disclosure;
FIG. 8 is a schematic diagram of a location of a cell in a local coordinate system according to an embodiment of the present disclosure;
fig. 9 is a flowchart illustrating a map updating method according to a third embodiment of the disclosure;
fig. 10 is a flowchart illustrating a map updating method according to a fourth embodiment of the disclosure;
fig. 11 is a schematic structural diagram of a map updating apparatus according to a fifth embodiment of the disclosure;
FIG. 12 shows a schematic block diagram of an example electronic device that may be used to implement embodiments 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.
However, since the rendering accuracy of the high-accuracy map is sufficiently high, if the shape and size angles of the cells slightly deviate, a series of problems in rendering effect occur, such as deviation in relative positions between the cells and/or deviation in relative angles between the cells. For example, as shown in the left part of fig. 1, the label cannot be attached to the surface of the gantry due to slight deviation in precision, but is inserted; as shown in the middle and right parts of fig. 1, the label cannot be attached to the surface of the portal frame due to slight deviation of the precision, and a hollow distance exists; as shown in the left part of fig. 2, the cross bar and the vertical bar have slight deviation and cannot be tightly attached; as shown in the right part of fig. 2, a notice board or a traffic light board has slight deviation with a cross bar, so that the notice board or the traffic light board cannot be attached to the front surface; for example, as shown in fig. 3 and 4, since the angles between the single bodies are slightly different, the single bodies cannot be bonded in parallel, and there are effects such as insertion and non-bonding.
In the related art, the deviation between the relative positions or relative angles of the single bodies is adjusted in a manual correction mode, so that the map rendering efficiency is reduced and the error rate is high.
In view of the above existing problems, the present disclosure provides a map updating method, apparatus, electronic device and storage medium.
A map updating method, apparatus, electronic device, and storage medium according to embodiments of the present disclosure are described below with reference to the accompanying drawings.
Fig. 5 is a flowchart illustrating a map updating method according to a first embodiment of the disclosure.
The map updating method is exemplified by being configured in a map updating apparatus, which can be applied to any electronic device, so that the electronic device can execute a map updating function.
The electronic device may be any device having a computing capability, for example, a Personal Computer (PC), a mobile terminal, and the like, and the mobile terminal may be a hardware device having various operating systems, touch screens, and/or display screens, such as a mobile phone, a tablet Computer, a Personal digital assistant, and a wearable device.
As shown in fig. 5, the map updating method may include the steps of:
In the disclosed embodiment, the attribute information of a plurality of monomers and a plurality of monomers is obtained in a high-precision map identifying lane data, wherein the lane data may include but is not limited to: lane center lines, lane boundary lines, lane edge lines, or lane turns, etc. The units may be equipment facilities on the roadway, such as, for example, posts, signs, traffic lights, gantries, cameras, and the like. It should be noted that, when the spatial distance between the plurality of monomers is short, the plurality of monomers can be determined as a group through the spatial range, and further, the adsorption relationship between the plurality of monomers can be confirmed according to the type (e.g., a portal frame, a sign on the portal frame, and an induction screen) corresponding to each monomer. For example, a portal frame at a high speed and a label and an induction screen on the portal frame form a group of facility combination together, and the portal frame, the label and the induction screen on the portal frame can have an adsorption relation. For example, as shown in fig. 6, the gantry has an adsorbing relationship with the placard "high XX east" and the placard "white XX house", and the placard "XX outlet 76" has an adsorbing relationship with the placard "white XX house". The multiple units with the adsorption relationship can be divided into a child unit and a parent unit, for example, the label is adsorbed on the portal frame, the label is the child unit, and the portal frame is the parent unit.
It should be noted that the adsorption relationship may include: front adsorption, top adsorption, left adsorption, right adsorption, back adsorption, bottom adsorption and the like, for example, in fig. 6, the label "high XX east" and the gantry are front adsorption, and the label "XX outlet 76" and the label "white XX bankor" are top adsorption. In addition, in the map, the traffic lights and the cross bars can be adsorbed on the front side or the back side, the cross bars and the vertical bars can be adsorbed on the left side or the right side, and the cameras and the vertical bars can be adsorbed on the bottom surface.
The attribute information may include, but is not limited to: identification information of each monomer, type of monomer (e.g., a sign, a camera, a traffic light, or a portal frame), centroid point coordinates corresponding to each monomer, size of each monomer, adsorption angle corresponding to each monomer, identification information of a parent monomer corresponding to a child monomer in the plurality of monomers, and adsorption type with the parent monomer.
Furthermore, each vertex coordinate of the three-dimensional area corresponding to any single body can be determined in the geocentric coordinate system according to the centroid point coordinate, the size information and the adsorption angle in the attribute information of any single body.
In the embodiment of the present disclosure, the coordinates of the centroid point of the adsorption surface of the child monomer in the multiple monomers can be calculated according to the vertex coordinates and the adsorption relationship of the three-dimensional regions corresponding to the multiple monomers, and then the coordinates of the projection centroid point of the coordinates of the centroid point of the child monomer in the multiple monomers on the corresponding parent monomer are determined according to the adsorption relationship.
And step 504, determining the target centroid point coordinates of the submonols according to the projection centroid point coordinates, and updating the centroid point coordinate information of the submonols in the map according to the target centroid point coordinates.
And further, processing the projection centroid point coordinates to obtain target centroid point coordinates of the sub-monomers, and updating the centroid point coordinates of the sub-monomers in the plurality of monomers according to the target centroid point coordinates.
In conclusion, through the adsorption relation among the monomers and the vertex coordinates in the three-dimensional areas corresponding to the monomers, the projection centroid point coordinates of the child monomers with the adsorption relation among the monomers on the corresponding parent monomers are determined, and then the target centroid point is determined according to the projection centroid coordinates so as to update the centroid point coordinates of the child monomers, so that the relative positions or the deviations among the monomers can be automatically adjusted, and the production efficiency of map rendering data and the accuracy of map rendering are improved.
In order to accurately determine each vertex coordinate of the three-dimensional region corresponding to any one of the plurality of monomers in the geocentric coordinate system, as shown in fig. 7, fig. 7 is a schematic flow chart of a map updating method provided in the second embodiment of the present disclosure. The embodiment shown in fig. 7 may include the following steps:
In the embodiment of the present disclosure, the attribute information may include coordinates of a centroid point, a size, and an adsorption angle of the corresponding single body, and a local coordinate system may be constructed according to the coordinates of the centroid point of the corresponding single body in the attribute information, for example, the local coordinate system is constructed with the coordinates of the centroid point of the single body as an origin.
And 703, determining a three-dimensional area corresponding to any monomer in the local coordinate system according to the size of any monomer.
Further, according to the size information of any one of the plurality of monomers, a three-dimensional area with a corresponding size is constructed in a corresponding local coordinate system.
As an example, according to the size information of any single body, the coordinates of each vertex of the any single body in the corresponding local coordinate system can be determined, and the corresponding three-dimensional region can be determined according to the coordinates of each vertex, for example, in the local coordinate system with the coordinates of the centroid point of any single body as the origin, the position of the single body in the local coordinate system is as shown in fig. 8, the size information of any single body is length, width, and height, the size information of the single body in the corresponding local coordinate system is [ p0, p1, p2, p3, p4, p5, p6, p7], the coordinates of the single body 0 is p0 [ -dx, -dy, dz ], the coordinates of vertex 1 is p1 [ dx, -dy, dz ], the coordinates of vertex 2 is p2 [ -dy, -dz ], and the coordinates of vertex 2 is p [ -3 ], -dy, -dz ], vertex 4 corresponds to coordinates p4 [ -dx, dy, dz ], vertex 5 corresponds to coordinates p5 [ dx, dy, dz ], vertex 6 corresponds to coordinates p6 [ dx, dy, -dz ], and vertex 7 corresponds to coordinates p7 [ -dx, dy, -dz ], where dx [ -dth, dy, -dz ], where dx ═ width, dth, dy ═ height, 0.5, and dz ═ length, 0.5.
And 704, rotating the three-dimensional area of any single body according to the adsorption angle of any single body so as to determine each vertex coordinate of the three-dimensional area of any single body in the middle coordinate system.
Optionally, a rotation matrix is created according to the adsorption angle of any single body, the rotation matrix is used to rotate the three-dimensional region of any single body to obtain vertex coordinates of the rotated three-dimensional region of any single body, and the vertex coordinates of the rotated three-dimensional region of any single body are used as the vertex coordinates of the corresponding three-dimensional region of any single body in the intermediate coordinate system.
That is, in order to accurately determine each vertex coordinate of the three-dimensional region of any single body in the intermediate coordinate system, in the embodiment of the present disclosure, a rotation matrix may be created according to the adsorption angle of any single body, and the construction method of the rotation matrix may be as follows:
radius＝((360-angle)*math.pi/180)；
wherein angle is the adsorption angle, radius is the rotation degree, and rotation matrix mat
Can represent that the stereo region of any monomer is rotated 90 degrees counterclockwise according to the x axis; in a rotating matrix mat
Can represent the rotation of the radius angle according to the z-axis for the volumetric region of any monomer.
Further, the stereoscopic region of any one cell is rotated based on the rotation matrix, and the vertex coordinates of the stereoscopic region of any one cell after the rotation are set as the vertex coordinates of the stereoscopic region corresponding to any one cell in the intermediate coordinate system. Wherein the intermediate coordinate system may be a northeast coordinate system.
Furthermore, according to the conversion relation between the middle coordinate system and the geocentric coordinate system, each vertex coordinate of the three-dimensional area of any single body in the middle coordinate system is converted, and each vertex coordinate after the three-dimensional area of any single body is converted is used as each vertex coordinate of the three-dimensional area corresponding to any single body in the geocentric coordinate system. The intermediate coordinate system may be a northeast coordinate system, and the transformation relationship may be a transformation relationship between the northeast coordinate system and the geocentric coordinate system.
And 707, determining the target centroid point coordinates of the submonols according to the projection centroid point coordinates, and updating the centroid point coordinate information of the submonols in the map according to the target centroid point coordinates.
It should be noted that the execution processes of steps 701 and 706-707 may refer to the execution process of the foregoing embodiment, which is not described herein again.
In summary, by determining the vertex coordinates of the three-dimensional region corresponding to any single body in the intermediate coordinate system and converting the vertex coordinates of the three-dimensional region of any single body in the intermediate coordinate system, the vertex coordinates of the three-dimensional region corresponding to any single body in the plurality of single bodies can be accurately determined in the geocentric coordinate system.
In order to accurately determine the projected centroid point coordinates of the child monomers in the multiple monomers, as shown in fig. 9, fig. 9 is a schematic flow chart of a map updating method provided in a third embodiment of the present disclosure, in the embodiment of the present disclosure, a plurality of vertex coordinates of the adsorption surface of the child monomers may be determined according to the adsorption relationship, the centroid point coordinates of the adsorption surface may be determined according to the plurality of vertex coordinates of the adsorption surface, and the centroid point coordinates are projected onto the adsorption surface of the parent monomer corresponding to the child monomers to generate the projected centroid point coordinates of the child monomers. The embodiment shown in fig. 9 may include the following steps:
In the embodiment of the present disclosure, the adsorption surface of the child monomer for adsorbing the parent monomer may be determined according to the adsorption relationship, and the plurality of vertex coordinates of the adsorption surface of the child monomer may be selected from the vertex coordinates in the stereoscopic region corresponding to the child monomer.
For example, the vertices of the suction surface of the subunit are vertex 2, vertex 3, vertex 6, and vertex 7, and the coordinates corresponding to vertex 2, vertex 3, vertex 6, and vertex 7 are selected from the coordinates of the vertices in the three-dimensional region corresponding to the subunit.
And 904, calculating by using the coordinates of the plurality of vertexes of the adsorption surface of the subunit to obtain the coordinates of the centroid point of the adsorption surface of the subunit.
As an example, the coordinates of the center point of the suction surface in the x, y, and z directions may be calculated from the coordinates of each vertex on the suction surface, and the coordinates of the center point of the suction surface in the x, y, and z directions may be used as the coordinates of the centroid point of the suction surface. For example, the vertexes of the adsorption surface of the subunit are vertex 2, vertex 3, vertex 6, and vertex 7, the coordinates of the center point of the adsorption surface in the x, y, and z directions are obtained according to the coordinates of vertex 2, vertex 3, vertex 6, and vertex 7, and the coordinates of the center point of the adsorption surface in the x, y, and z directions are taken as the coordinates of the centroid point of the adsorption surface, and the coordinates of the centroid point can be expressed as the following formula:
wherein back _ center is the coordinate of the centroid, (child [2] [0] + child [3] [0] + child [6] [0] + child [7] [0]) 0.25 is the coordinate of the center point of the adsorption surface in the x direction, (child [2] [1] + child [3] [1] + child [6] [1] + child [7] [1]) 0.25 is the coordinate of the center point of the adsorption surface in the y direction, (child [2] [2] + child [3] + child [6] + child [2] + child [7 ]) 0.25 is the coordinate of the center point of the adsorption surface in the z direction.
Further, the centroid point coordinates are projected to the adsorption surface of the parent monomer corresponding to the child monomer, and the projected centroid point coordinates corresponding to the child monomer can be generated on the adsorption surface of the parent monomer.
And 906, determining the target centroid point coordinates of the submonoids according to the projection centroid point coordinates, and updating the centroid point coordinate information of the submonoids in the map according to the target centroid point coordinates.
It should be noted that the execution processes of steps 901, 902, and 906 may refer to the execution process of the foregoing embodiment, which is not described herein again.
To sum up, according to a plurality of vertex coordinates of the adsorption surface of the child monomer, the centroid point coordinate of the adsorption surface of the child monomer can be generated, and the centroid point coordinate is projected onto the adsorption surface of the corresponding parent monomer, so that the projected centroid point coordinate of the child monomer can be accurately determined.
In order to update the coordinate information of the centroid point of the sub-cell in the map according to the projection centroid point coordinate, as shown in fig. 10, fig. 10 is a schematic flow chart of a map updating method provided in the fourth embodiment of the present disclosure, in the embodiment of the present disclosure, the projection centroid point coordinate information may be moved to obtain the target centroid point coordinate of the sub-cell, and the coordinate information of the centroid point of the sub-cell in the map is updated according to the target centroid point coordinate, and the embodiment shown in fig. 10 may include the following steps:
1001, acquiring attribute information of a plurality of monomers and a plurality of monomers in a map; wherein, a plurality of monomers have adsorption relation.
And 1003, determining the coordinates of the projection centroid points of the child monomers with the adsorption relation in the plurality of monomers on the corresponding parent monomers according to the vertex coordinates and the adsorption relation of the three-dimensional regions corresponding to the plurality of monomers.
And 1004, moving the projection centroid point coordinates according to the depth information corresponding to the adsorption surface of the subunit and the normal vector of the adsorption surface of the subunit to obtain the target centroid point coordinates of the subunit.
In the embodiment of the present disclosure, the projected centroid point coordinate may be moved along a normal vector of the adsorption surface of the sub-monomer, and the moving distance is one half of the depth information (i.e., the thickness of the sub-monomer) corresponding to the adsorption surface, so as to obtain the target centroid point coordinate of the sub-monomer.
And 1005, taking the coordinates of the target centroid point as the coordinates of the centroid point of the sub-single body in the map.
And further, taking the coordinates of the target centroid point as the coordinates of the centroid point of the neutron monomer in the map.
It should be noted that, the execution process of steps 1001-1003 may refer to the execution process of the foregoing embodiment, which is not described herein again.
In conclusion, the projection centroid point coordinates are moved according to the depth information corresponding to the adsorption surface of the sub-monomer and the normal vector of the adsorption surface of the sub-monomer, so as to obtain the target centroid point coordinates of the sub-monomer; and the coordinates of the target centroid point are used as the coordinates of the centroid point of the submonoids in the map, so that the coordinates of the centroid point of the submonoids in the map can be updated through the coordinates of the projection centroid point of the submonoids.
The map updating method of the embodiment of the disclosure acquires attribute information of a plurality of single bodies and a plurality of single bodies in a map; wherein a plurality of monomers have an adsorption relationship; aiming at any monomer in the plurality of monomers, determining each vertex coordinate of a three-dimensional area corresponding to any monomer in a geocentric coordinate system according to the attribute information of any monomer; determining the coordinates of projection mass center points of the child monomers with adsorption relations in the plurality of monomers on the corresponding parent monomers according to the vertex coordinates and the adsorption relations of the three-dimensional regions corresponding to the plurality of monomers; according to the method, the coordinates of the target centroid point of the child monomers are determined according to the coordinates of the projection centroid point, and the coordinates of the centroid point of the child monomers in the map are updated according to the coordinates of the target centroid point.
In order to realize the above embodiments, the present disclosure also proposes a map updating apparatus.
Fig. 11 is a schematic structural diagram of a map updating apparatus according to a fifth embodiment of the disclosure.
As shown in fig. 11, the map updating apparatus 1100 includes: an acquisition module 1110, a first determination module 1120, a second determination module 1130, and an update module 1140.
The obtaining module 1110 is configured to obtain attribute information of a plurality of monomers in a map; wherein, the plurality of monomers have the attribute information of the monomers with adsorption relation; wherein a plurality of monomers have an adsorption relationship; a first determining module 1120, configured to determine, for any one of the multiple monomers, each vertex coordinate of the three-dimensional region corresponding to the any one monomer in the geocentric coordinate system according to attribute information of the any one monomer; a second determining module 1130, configured to determine, according to each vertex coordinate and the adsorption relationship of the three-dimensional region corresponding to the multiple monomers, a projection centroid point coordinate of a child monomer having the adsorption relationship in the multiple monomers on the corresponding parent monomer; and the updating module 1140 is used for determining the target centroid point coordinates of the submonoids according to the projection centroid point coordinates and updating the centroid point coordinate information of the submonoids in the map according to the target centroid point coordinates.
As a possible implementation manner of the embodiment of the present disclosure, the attribute information includes coordinates of a centroid point, a size, and an adsorption angle of the corresponding monomer, and the first determining module 1120 is specifically configured to: aiming at any monomer in the plurality of monomers, constructing a local coordinate system according to the coordinates of the mass center point of any monomer; determining a three-dimensional area corresponding to any monomer in a local coordinate system according to the size of any monomer; rotating the three-dimensional area of any monomer according to the adsorption angle of any monomer so as to determine each vertex coordinate of the three-dimensional area of any monomer in the middle coordinate system; and converting each vertex coordinate of the three-dimensional area of any single body in the middle coordinate system to obtain each vertex coordinate of the three-dimensional area corresponding to any single body in the geocentric coordinate system.
As a possible implementation manner of the embodiment of the present disclosure, the first determining module 1120 is further configured to: creating a rotation matrix according to the corresponding adsorption angle of any monomer; rotating the three-dimensional area of any single body by adopting a rotation matrix to obtain each vertex coordinate of the rotated three-dimensional area of any single body; and taking the vertex coordinates of the stereo region of any single body after rotation as the vertex coordinates of the corresponding stereo region of any single body in the intermediate coordinate system.
As a possible implementation manner of the embodiment of the present disclosure, the second determining module 1130 is specifically configured to: according to the adsorption relation, acquiring a plurality of vertex coordinates of the adsorption surface of the subunit from the vertex coordinates of the three-dimensional area corresponding to the subunit; calculating by adopting the coordinates of a plurality of vertexes of the adsorption surface of the sub-monomer to obtain the coordinates of the centroid point of the adsorption surface of the sub-monomer; and projecting the coordinates of the centroid points to the adsorption surface of the parent monomer corresponding to the child monomer to generate the projected coordinates of the centroid points of the child monomer.
As a possible implementation manner of the embodiment of the present disclosure, the update module 1140 is specifically configured to: moving the projection centroid point coordinates according to the depth information corresponding to the adsorption surface of the sub-monomer and the normal vector of the adsorption surface of the sub-monomer to obtain target centroid point coordinates of the sub-monomer; and taking the coordinates of the target centroid point as the coordinates of the centroid point of the neutron monomer in the map.
The map updating device of the embodiment of the disclosure acquires attribute information of a plurality of single bodies and a plurality of single bodies in a map; wherein a plurality of monomers have an adsorption relationship; aiming at any monomer in the plurality of monomers, determining each vertex coordinate of a three-dimensional area corresponding to any monomer in a geocentric coordinate system according to the attribute information of any monomer; determining the coordinates of projection mass center points of the child monomers with adsorption relations in the plurality of monomers on the corresponding parent monomers according to the vertex coordinates and the adsorption relations of the three-dimensional regions corresponding to the plurality of monomers; according to the coordinates of the projection centroid points, the coordinates of the target centroid points of the sub-monomers are determined, the coordinates of the centroid points of the sub-monomers in the map are updated according to the coordinates of the target centroid points, the device can determine the coordinates of the projection centroid points of the sub-monomers with the adsorption relation in the plurality of monomers on the corresponding parent monomers through the adsorption relation among the plurality of monomers and the coordinates of each vertex in the three-dimensional areas corresponding to the plurality of monomers, further determine the target centroid points according to the coordinates of the projection centroid points, so that the coordinates of the centroid points of the sub-monomers are updated, therefore, the relative positions or the deviations among the relative angles among the monomers can be automatically adjusted, and the production efficiency of map rendering data and the accuracy of map rendering are improved.
In order to implement the above embodiments, the present disclosure also provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the map updating method of the above embodiments.
In order to implement the above embodiments, the present disclosure also proposes a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the map updating method described in the above embodiments.
In order to implement the above embodiments, the present disclosure also proposes a computer program product, which includes a computer program that, when being executed by a processor, implements the map updating method described in the above embodiments.
In the technical scheme of the present disclosure, the processes of collecting, storing, using, processing, transmitting, providing, disclosing and the like of the personal information of the related user are all performed under the premise of obtaining the consent of the user, and all meet the regulations of the related laws and regulations, and do not violate the good custom 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. 12 shows a schematic block diagram of an example electronic device 1200, which 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. 12, the apparatus 1200 includes a computing unit 1201 which can perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)1202 or a computer program loaded from a storage unit 1208 into a Random Access Memory (RAM) 1203. In the RAM 1203, various programs and data required for the operation of the device 1200 may also be stored. The computing unit 1201, the ROM 1202, and the RAM 1203 are connected to each other by a bus 1204. An input/output (I/O) interface 1205 is also connected to bus 1204.
Various components in the device 1200 are connected to the I/O interface 1205 including: an input unit 1206 such as a keyboard, a mouse, or the like; an output unit 1207 such as various types of displays, speakers, and the like; a storage unit 1208, such as a magnetic disk, optical disk, or the like; and a communication unit 1209 such as a network card, modem, wireless communication transceiver, etc. The communication unit 1209 allows the device 1200 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The computing unit 1201 may be a variety of general purpose and/or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1201 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized 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 1201 performs the respective methods and processes described above, such as the map update method. For example, in some embodiments, the map update method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 1208. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 1200 via the ROM 1202 and/or the communication unit 1209. When the computer program is loaded into the RAM 1203 and executed by the computing unit 1201, one or more steps of the map updating method described above may be performed. Alternatively, in other embodiments, the computing unit 1201 may be configured to perform the map update method in any other suitable manner (e.g., by means of firmware).
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), the internet, and blockchain networks.
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 also be a server of a distributed system, or a server incorporating a blockchain.
It should be noted that artificial intelligence is a subject for studying a computer to simulate some human thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware and software technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, machine learning/deep learning, a big data processing technology, a knowledge map technology and the like.
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 (13)
1. A map updating method, comprising:
acquiring a plurality of monomers in a map and attribute information of the monomers; wherein a plurality of said monomers have an adsorptive relationship therebetween;
aiming at any monomer in the plurality of monomers, determining each vertex coordinate of a three-dimensional area corresponding to the monomer in a geocentric coordinate system according to the attribute information of the monomer;
determining the projection centroid point coordinates of the child monomers with the adsorption relation in the monomers on the corresponding parent monomers according to the vertex coordinates of the three-dimensional regions corresponding to the monomers and the adsorption relation;
and determining the coordinates of the target centroid points of the sub-single bodies according to the coordinates of the projection centroid points, and updating the coordinate information of the centroid points of the sub-single bodies in the map according to the coordinates of the target centroid points.
2. The method according to claim 1, wherein the attribute information includes coordinates of a centroid point, a size, and an adsorption angle of a corresponding cell, and for any one of the plurality of cells, determining coordinates of each vertex of a three-dimensional region corresponding to the any one cell in a geocentric coordinate system according to the attribute information of the any one cell includes:
aiming at any monomer in the monomers, constructing a local coordinate system according to the coordinates of the mass center point of the monomer;
according to the size of any monomer, determining a three-dimensional area corresponding to the monomer in the local coordinate system;
rotating the three-dimensional area of any monomer according to the adsorption angle of any monomer so as to determine each vertex coordinate of the three-dimensional area of any monomer in a middle coordinate system;
and converting each vertex coordinate of the three-dimensional area of any single body in the middle coordinate system to obtain each vertex coordinate of the three-dimensional area corresponding to any single body in the geocentric coordinate system.
3. The method according to claim 2, wherein the rotating the three-dimensional region of any single body in the local coordinate system according to the adsorption angle of any single body to determine each vertex coordinate of the three-dimensional region of any single body in the intermediate coordinate system comprises:
creating a rotation matrix according to the corresponding adsorption angle of any monomer;
rotating the three-dimensional area of any single body by adopting the rotation matrix to obtain the vertex coordinates of the rotated three-dimensional area of any single body;
and taking the vertex coordinates of the stereo region of the rotated monomer as the vertex coordinates of the stereo region corresponding to the monomer in the intermediate coordinate system.
4. The method according to claim 1, wherein the determining projected centroid point coordinates of sub-monomers in the plurality of monomers according to the vertex coordinates of the stereo regions corresponding to the plurality of monomers and the adsorption relation comprises:
according to the adsorption relation, acquiring a plurality of vertex coordinates of the adsorption surface of the subunit from each vertex coordinate of the three-dimensional area corresponding to the subunit;
calculating by using the coordinates of the plurality of vertexes of the adsorption surface of the subunit to obtain the coordinates of the centroid point of the adsorption surface of the subunit;
and projecting the barycenter point coordinates onto the adsorption surface of the parent monomer corresponding to the child monomer to generate projected barycenter point coordinates of the child monomer.
5. The method according to any one of claims 1-4, wherein the determining target centroid point coordinates of the sub-cells according to the projection centroid point coordinates and updating the centroid point coordinate information of the sub-cells in the map according to the target centroid point coordinates comprises:
moving the projection centroid point coordinate according to the depth information corresponding to the adsorption surface of the subunit and the normal vector of the adsorption surface of the subunit to obtain a target centroid point coordinate of the subunit;
and taking the coordinates of the target centroid point as the coordinates of the centroid point of the sub-single body in the map.
6. A map updating apparatus, comprising:
the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring a plurality of monomers in a map and attribute information of the monomers; wherein a plurality of said monomers have an adsorptive relationship therebetween;
the first determining module is used for determining each vertex coordinate of the three-dimensional area corresponding to any single body in the geocentric coordinate system according to the attribute information of the single body in any single body in the plurality of single bodies;
the second determining module is used for determining the projection centroid point coordinates of the child monomers with the adsorption relation in the monomers on the corresponding parent monomers according to the vertex coordinates of the three-dimensional areas corresponding to the monomers and the adsorption relation;
and the updating module is used for determining the target centroid point coordinates of the sub-single bodies according to the projection centroid point coordinates and updating the centroid point coordinate information of the sub-single bodies in the map according to the target centroid point coordinates.
7. The apparatus according to claim 6, wherein the attribute information includes coordinates of a centroid point, a size, and an adsorption angle of the corresponding cell, and the first determining module is specifically configured to:
aiming at any monomer in the monomers, constructing a local coordinate system according to the coordinates of the mass center point of the monomer;
according to the size of any monomer, determining a three-dimensional area corresponding to the monomer in the local coordinate system;
rotating the three-dimensional area of any monomer according to the adsorption angle of any monomer so as to determine each vertex coordinate of the three-dimensional area of any monomer in a middle coordinate system;
and converting each vertex coordinate of the three-dimensional area of any single body in the middle coordinate system to obtain each vertex coordinate of the three-dimensional area corresponding to any single body in the geocentric coordinate system.
8. The apparatus of claim 7, wherein the first determining module is further configured to:
creating a rotation matrix according to the corresponding adsorption angle of any monomer;
rotating the three-dimensional area of any single body by adopting the rotation matrix to obtain the vertex coordinates of the rotated three-dimensional area of any single body;
and taking the vertex coordinates of the stereo region of the rotated monomer as the vertex coordinates of the stereo region corresponding to the monomer in the intermediate coordinate system.
9. The apparatus of claim 6, wherein the second determining module is specifically configured to:
according to the adsorption relation, acquiring a plurality of vertex coordinates of the adsorption surface of the subunit from each vertex coordinate of the three-dimensional area corresponding to the subunit;
calculating by using the coordinates of the plurality of vertexes of the adsorption surface of the subunit to obtain the coordinates of the centroid point of the adsorption surface of the subunit;
and projecting the barycenter point coordinates onto the adsorption surface of the parent monomer corresponding to the child monomer to generate projected barycenter point coordinates of the child monomer.
10. The apparatus according to any one of claims 6 to 9, wherein the update module is specifically configured to:
moving the projection centroid point coordinate according to the depth information corresponding to the adsorption surface of the subunit and the normal vector of the adsorption surface of the subunit to obtain a target centroid point coordinate of the subunit;
and taking the coordinates of the target centroid point as the coordinates of the centroid point of the sub-single body in the map.
11. 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 1-5.
12. 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 1-5.
13. A computer program product comprising a computer program which, when being executed by a processor, carries out the steps of the method according to any one of claims 1-5.
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| CN115100426A (en) * | 2022-06-23 | 2022-09-23 | 高德软件有限公司 | Information determination method and device, electronic equipment and computer program product |
| CN115100426B (en) * | 2022-06-23 | 2024-05-24 | 高德软件有限公司 | Information determination method, apparatus, electronic device and computer program product |
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Application publication date: 20220419 Assignee: Beijing Baidu Zhitu Technology Co.,Ltd. Assignor: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY Co.,Ltd. Contract record no.: X2023990000052 Denomination of invention: Map update method, device, electronic device and storage medium License type: Common License Record date: 20230106 |