CN115359251A - Method and system for calculating common edges of multiple contours in visual sensor data - Google Patents
Method and system for calculating common edges of multiple contours in visual sensor data Download PDFInfo
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- CN115359251A CN115359251A CN202210792838.3A CN202210792838A CN115359251A CN 115359251 A CN115359251 A CN 115359251A CN 202210792838 A CN202210792838 A CN 202210792838A CN 115359251 A CN115359251 A CN 115359251A
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- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
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- G06V10/457—Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components by analysing connectivity, e.g. edge linking, connected component analysis or slices
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Abstract
The invention provides a method and a system for calculating common edges of a plurality of outlines in visual sensor data, wherein the method comprises the following steps: acquiring contour point coordinates of each scene in the visual sensor data, setting a direction for marking the contour coordinate data, and searching and marking a common edge starting point and an end point of the existing contour and the contour to be drawn according to the direction; and calculating a point path between the starting point and the end point on the existing contour, and replacing the point path between the starting point and the end point in the currently drawn contour with the point path as a common edge point path. The method provided by the invention reduces the dotted line drawing operation, can greatly improve the drawing efficiency of semantic segmentation, enables the adjacent outlines to be more accurately attached, reduces a large amount of manual examination and repeated modification work, and improves the productivity.
Description
Technical Field
The invention relates to the technical field of image processing, in particular to a method and a system for calculating common edges of a plurality of outlines in vision sensor data.
Background
Semantic segmentation is to classify each pixel in an image, and is widely applied to the fields of medical images, unmanned driving and the like at present. The simplest and common semantic segmentation implementation at present is to segment the whole image, such as a road, a building, a vehicle, etc., using a large number of polygonal contours. A large number of polygonal contours, each representing one scene in the visual sensor data, fit closely together and segment the different scenes in the image. These segmented targets have a great effect on target determination for automated driving, and if there is an overlap region between the segmented contours, the automated driving-related algorithm may erroneously recognize the target. Therefore, each of the divided adjacent contours needs to be precisely fitted.
However, in the current semantic segmentation process, a large number of contours need to be drawn manually, and accurate fitting between adjacent contours needs to be realized, so that the semantic segmentation efficiency is extremely low, and a large number of rework and audit processes are caused.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a method and a system for calculating the common edges of a plurality of outlines in visual sensor data, which optimize the outline drawing of each scene in the visual sensor data, greatly reduce the drawing operation and improve the outline drawing efficiency of semantic segmentation visual sensor data in a common edge calculation mode.
According to a first aspect of the present invention, there is provided a method for calculating a plurality of contour co-edges in visual sensor data, comprising:
acquiring contour point coordinates of each scene in visual sensor data, setting a direction for marking the contour coordinate data, and searching and marking a common edge starting point and an end point of the existing contour and a contour to be drawn according to the direction;
and calculating a point path between the starting point and the end point on the existing contour, and replacing the point path between the starting point and the end point in the currently drawn contour with the point path as a common edge point path.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, the marking direction of the contour coordinate data is a clockwise direction or a counterclockwise direction.
Optionally, before calculating a point path between the starting point and the ending point on the existing contour, the method further includes:
judging whether the starting point and the end point belong to one or a plurality of existing contours;
if the starting point and the end point belong to the same existing contour, calculating a point path of a common edge between the existing contour and the contour to be drawn through the starting point and the end point;
if the starting point and the end point belong to a plurality of different existing contours respectively, combining the corresponding existing contours into a virtual contour to be shared, and calculating a point path of a common edge between the virtual contour to be shared and the contour to be drawn through the starting point and the end point.
Optionally, the virtual contour of the edge to be shared only participates in calculating the point path of the common edge, and after the currently drawn contour is completed, the virtual contour of the edge to be shared is removed from being merged.
Optionally, the corresponding multiple existing contours are merged into a virtual contour to be co-bounded by a polygon merging algorithm.
Optionally, calculating a common edge point path between the starting point and the end point on the existing contour includes:
respectively storing all point coordinates of the contour to be drawn and all point coordinates of the existing contour into two sets;
searching all common points in the two sets as subsets;
sequencing the common points in the subset according to the direction, and recording and marking a starting point and an end point;
and sequencing the point sets of the existing contour according to the direction, and searching all point coordinates from the starting point to the end point in the point sets of the existing contour to obtain a point path of the common edge.
According to a second aspect of the present invention, there is provided a system for calculating a common edge of a plurality of contours in visual sensor data, comprising:
the end point searching module is used for setting the direction for marking the contour coordinate data, searching and marking the common edge starting point and the common edge ending point of the contour coordinate data and the contour to be drawn on the existing contour according to the direction;
and the graph drawing module is used for calculating a point path between the starting point and the end point on the existing outline and replacing the point path between the starting point and the end point in the currently drawn outline with the point path as a public edge point path.
According to a third aspect of the present invention, there is provided an electronic device, comprising a memory, and a processor, wherein the processor is configured to implement the steps of the above-mentioned method for calculating the common edge of a plurality of outlines in visual sensor data when executing a computer management program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium, on which a computer management-like program is stored, the computer management-like program, when executed by a processor, implementing the steps of the above-mentioned method for calculating a common edge of a plurality of contours in visual sensor data.
The invention provides a method, a system, electronic equipment and a storage medium for calculating the common edge of a plurality of outlines. The method provided by the invention reduces dotted line drawing operation, can greatly improve drawing efficiency of semantic segmentation, enables the outlines of adjacent scenes to be more accurately attached, reduces a large amount of manual examination and repeated modification work, and improves productivity.
Drawings
FIG. 1 is a flowchart illustrating a method for calculating a common edge of a plurality of contours in visual sensor data according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method for calculating a common edge of a plurality of contours according to another embodiment of the present invention;
FIG. 3 is a block diagram illustrating the structure of a computing system for edge sharing of a plurality of contours in visual sensor data according to the present invention;
FIG. 4 is a schematic diagram of a working procedure of an embodiment of the present invention in which a contour to be coterminous is a single contour;
FIG. 5 is a schematic diagram illustrating the working steps of the embodiment of the present invention in which the contour to be co-located is a plurality of contours;
fig. 6 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
fig. 7 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a method for calculating a common edge of a plurality of contours in visual sensor data according to the present invention, as shown in fig. 1, the method includes:
acquiring contour point coordinates of each scene in visual sensor data, setting a direction for marking the contour coordinate data, and searching and marking a common edge starting point and an end point of the existing contour and a contour to be drawn according to the direction;
calculating a point path between the starting point and the end point on the existing contour, and replacing the point path between the starting point and the end point in the currently drawn contour with the point path as a common edge point path;
and finishing the drawing of the coordinates of the points except the common edge of the current drawn contour.
It can be appreciated that, based on the deficiencies in the background art, embodiments of the present invention provide a method for calculating a common edge of a plurality of contours in visual sensor data.
In the method of this embodiment, first, the search directions of the point sets of the contour of each scene in the visual sensor data are unified, for example, clockwise or counterclockwise, then the start point and the end point of the common edge are searched according to the preset directions, the point coordinate set of the common edge is searched in the existing contour according to the start point and the end point of the common edge, the common edge point set of the existing contour replaces the corresponding point set of the currently drawn contour, and then the drawing of the paths of the other points of the currently drawn contour is completed. The method of the embodiment reduces the drawing operation of the public edge point lines, can greatly improve the drawing efficiency of semantic segmentation, enables the adjacent outlines to be attached more accurately, reduces a large amount of manual examination and repeated modification work, and improves the productivity.
In a possible embodiment, the direction of the contour coordinate data mark is clockwise or counterclockwise.
It will be appreciated that the point path of the contour is a closed contour shape having its point coordinates ordered clockwise or counterclockwise. The sorting direction of the contour coordinate data is preset, for example, the green algorithm is used for unifying the sorting direction of the contour point set into clockwise, so that the drawing operation of the contour graph is normalized, and the coordinates of the starting point and the end point of the common edge are conveniently determined when the common edge is searched.
In a possible embodiment mode, as shown in fig. 2, before calculating a point path between the starting point and the ending point on the existing contour, the method further includes:
judging whether the starting point and the end point belong to one or a plurality of existing contours;
if the starting point and the end point belong to the same existing contour, calculating a point path of a common edge between the existing contour and the contour to be drawn through the starting point and the end point;
if the starting point and the end point belong to a plurality of different existing contours respectively, combining the corresponding existing contours into a virtual contour to be shared, and calculating a point path of a common edge between the virtual contour to be shared and the contour to be drawn through the starting point and the end point.
It will be appreciated that the contour to be rendered may have a larger area than the existing contour, for example it may be coterminous with a plurality of adjacent existing contours, so that in finding the common edge start and end points of the contour to be rendered and the existing contours, there may be situations where there is only one common point between the contour to be rendered and the existing contours. If the outline to be drawn is compared with a single existing outline independently, the common edge of the outline to be drawn and the existing outline cannot be found, so that a plurality of adjacent existing outlines are taken as a whole in advance and compared with the outline to be drawn to find a common point, an adjacent existing outline group with two or more common points between the adjacent existing outlines and the outline to be drawn is combined into a virtual outline to be drawn through an algorithm, the starting point and the end point of the common edge between the virtual outline to be drawn and the outline to be drawn are found through the method, then the edge between the starting point and the end point on the virtual outline to be drawn is taken as the common edge between the virtual outline to be drawn and the outline to be drawn, the point path of the common edge is stored in the outline to be drawn, the common edge is replaced by the edge between the starting point and the end point on the outline to be drawn, the accurate fit between the current drawn outline and the existing outline group is achieved, and the overlapping area between the adjacent outlines is eliminated.
In a possible embodiment, the virtual contour to be co-located only participates in calculating the point path of the common edge, and after the currently drawn contour is completed, the virtual contour to be co-located is merged.
It can be understood that the adjacent existing contours are combined into a virtual contour to be co-located only for facilitating calculation when searching for a common edge between the existing contour and the currently drawn contour, and the existing contours are not substantially changed, so that after the currently drawn contour is drawn, the original existing contours are kept as they are, the currently drawn contour and the original contour both become the existing contours, and the next contour to be drawn can be drawn on the basis of the new existing contour.
In one possible embodiment, a plurality of existing contours are merged into a virtual contour to be co-bounded by a polygon merging algorithm.
It can be understood that the idea of the polygon merging algorithm is to remove the common edges of the adjacent contours, which is the prior art and is not described herein again.
In a possible embodiment, calculating a common edge point path between the start point and the end point on the existing contour includes:
respectively storing all point coordinates of the contour to be drawn and all point coordinates of the existing contour into two sets;
searching all common points in the two sets as subsets;
sequencing the common points in the subset according to the direction, and recording and marking a starting point and an end point;
and sequencing the point sets of the existing contour according to the preset direction, and searching all point coordinates from the starting point to the end point in the point sets of the existing contour to obtain the point path of the common edge.
It will be appreciated that this embodiment illustrates the process of finding a common edge to be fitted between an existing outline and a currently drawn outline. For example, a green algorithm is first used to unify the set of contour points clockwise; searching common points in the two sets by using double circulation until coordinates of a starting point and an end point of a common edge are obtained because the searching sequence of the contour points is consistent; and then searching the point coordinate set of the existing contour again according to a preset direction, starting to record points from the starting point of the first searched common edge until the end point of the first searched common edge, wherein the point coordinate set between the starting point and the end point is the common edge point set. And replacing points between the corresponding public edge starting point and the corresponding public edge end point on the newly drawn outline by using the public edge point set, namely realizing the accurate fitting between the newly generated outline and the existing outline.
In order to more clearly show the technical solution of the present invention, the embodiment is now explained with reference to a specific operation case.
As shown in fig. 3, assuming that the existing contour is a single contour, i.e. the currently drawn contour is co-located with the single existing contour, refer to the following workflow.
Single contour common edge: the contour A (sequenced in the clockwise direction, the point path is P1P2P3P4P5P6P 7) is an existing contour, the contour B (sequenced in the clockwise direction, the point path is P1N1N2P 5) is a newly drawn contour, wherein P1 and P2 are common points, the point path P1P2P3P4P5 is calculated to be a common edge through an algorithm, the P1P5 edge of the contour B is replaced by the P1P2P3P4P5, the contour A and the contour B are accurately attached, three points P2, P3 and P4 do not need to be drawn, and the drawing workload is reduced.
As shown in fig. 4, assuming that the existing contour is a plurality of contours, that is, the currently drawn contour is shared by the existing contours, the following workflow is referred to.
The plurality of contours share a common edge: the contour A (ordered in the clockwise direction, the point path is P1P2P 7), the contour B (ordered in the clockwise direction, the point path is P7P2P3P4P 6), the contour C (ordered in the clockwise direction, the point path is P6P4P 5) are existing contours, the existing contours are mutually attached, the P1, the P2 and the P4 are common points, the contour D (ordered in the clockwise direction, the point path is P1N1N2P 5) is a newly drawn contour, and the P1 and the P2 are common points. Firstly, the A contour, the B contour and the C contour are merged into a new virtual contour A ' (P1P 2P3P4P5P6P 7) through a contour merging algorithm, then single contour common edge logic is continuously executed, and a new contour D ' (P1N 1N2P5P4P3P 2) is generated on the basis of the virtual contours A ' and the D contour.
Fig. 5 is a structural diagram of a system for computing multiple contour co-edges in visual sensor data according to an embodiment of the present invention, and as shown in fig. 5, the system for computing multiple contour co-edges in visual sensor data includes an endpoint searching module and a graph drawing module, where:
the end point searching module is used for acquiring contour point coordinates of each scene in the visual sensor data, setting a direction for marking the contour coordinate data, and searching and marking a common edge starting point and an end point of the existing contour and the contour to be drawn according to the direction;
and the graph drawing module is used for calculating a point path between the starting point and the end point on the existing outline, and replacing the point path between the starting point and the end point in the currently drawn outline with the point path as a public edge point path.
It can be understood that the system for calculating the common edges of the plurality of contours in the visual sensor data provided by the present invention corresponds to the method for calculating the common edges of the plurality of contours provided by the foregoing embodiments, and the related technical features of the system for calculating the common edges of the plurality of contours may refer to the related technical features of the method for calculating the common edges of the plurality of contours, which are not described herein again.
Referring to fig. 6, fig. 6 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 6, an embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the following steps:
acquiring contour point coordinates of each scene in the visual sensor data, setting a direction for marking the contour coordinate data, and searching and marking a common edge starting point and an end point of the existing contour and the contour to be drawn according to the direction;
and calculating a point path between the starting point and the end point on the existing contour, and replacing the point path between the starting point and the end point in the currently drawn contour with the point path as a common edge point path.
Referring to fig. 7, fig. 7 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 7, the present embodiment provides a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the steps of:
acquiring contour point coordinates of each scene in the visual sensor data, setting a direction for marking the contour coordinate data, and searching and marking a common edge starting point and an end point of the existing contour and the contour to be drawn according to the direction;
and calculating a point path between the starting point and the end point on the existing contour, and replacing the point path between the starting point and the end point in the currently drawn contour with the point path as a common edge point path.
According to the method, the system, the electronic device and the storage medium for calculating the common edge of the multiple outlines, the searching directions of the point sets of the outlines are unified, for example, clockwise or anticlockwise, then the starting point and the end point of the common edge are searched according to the preset direction, the common edge point set of the existing outline replaces the corresponding point set of the currently drawn outline, and then the drawing of paths of other points of the currently drawn outline is completed. The method provided by the invention reduces dotted line drawing operation, can greatly improve drawing efficiency of semantic segmentation, enables the adjacent outlines to be more accurately attached, reduces a large amount of manual examination and repeated modification work, and improves productivity.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A method for calculating a common edge of a plurality of contours in visual sensor data, comprising:
acquiring contour point coordinates of each scene in visual sensor data, setting a direction for marking the contour coordinate data, and searching and marking a common edge starting point and an end point of the existing contour and a contour to be drawn according to the direction;
and calculating a point path between the starting point and the end point on the existing contour, and replacing the point path between the starting point and the end point in the currently drawn contour with the point path as a common edge point path.
2. The method of claim 1, wherein the contour coordinate data is labeled in a clockwise or counterclockwise direction.
3. The method of claim 1, further comprising, prior to computing a path of points on the existing contour between the starting point and the ending point:
judging whether the starting point and the end point belong to one or a plurality of existing contours;
if the starting point and the end point belong to the same existing contour, calculating a point path of a common edge between the existing contour and the contour to be drawn through the starting point and the end point;
if the starting point and the end point belong to a plurality of different existing contours respectively, combining the corresponding existing contours into a virtual contour to be shared, and calculating a point path of a common edge between the virtual contour to be shared and the contour to be drawn through the starting point and the end point.
4. The method as claimed in claim 3, wherein the virtual to-be-coterminous contour only participates in calculating the point path of the common edge, and the virtual to-be-coterminous contour is released from merging after the currently drawn contour is completed.
5. The method of claim 3, wherein the existing contours are merged into a virtual candidate contour by a polygon merging algorithm.
6. The method according to any one of claims 1 to 5, wherein calculating a common edge point path between the start point and the end point on the existing contour comprises:
respectively storing all point coordinates of the contour to be drawn and all point coordinates of the existing contour into two sets;
searching all common points in the two sets as subsets;
sequencing the common points in the subset according to the direction, and recording and marking a starting point and an end point;
and sequencing the point sets of the existing contours according to the direction, and searching all point coordinates from the starting point to the end point in the point sets of the existing contours to obtain a point path of the common edge.
7. A system for calculating co-edges of a plurality of contours in visual sensor data, comprising:
the end point searching module is used for setting the direction for marking the contour coordinate data, searching and marking the common edge starting point and the common edge ending point of the contour coordinate data and the contour to be drawn on the existing contour according to the direction;
and the graph drawing module is used for calculating a point path between the starting point and the end point on the existing outline and replacing the point path between the starting point and the end point in the currently drawn outline with the point path as a public edge point path.
8. An electronic device comprising a memory, a processor for implementing the steps of a method for calculating co-edges of a plurality of contours in visual sensor data according to any one of claims 1-6 when executing a computer management-like program stored in the memory.
9. A computer-readable storage medium, having stored thereon a computer management-like program, which when executed by a processor, performs the steps of a method for calculating co-edges of contours in visual sensor data as claimed in any one of claims 1 to 6.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116152274A (en) * | 2023-04-23 | 2023-05-23 | 之江实验室 | Image segmentation method, device, equipment and storage medium |
| CN116483358A (en) * | 2023-04-13 | 2023-07-25 | 江西骏学数字科技有限公司 | Method and system for realizing pseudo 3D user interface of desktop VR |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116483358A (en) * | 2023-04-13 | 2023-07-25 | 江西骏学数字科技有限公司 | Method and system for realizing pseudo 3D user interface of desktop VR |
| CN116483358B (en) * | 2023-04-13 | 2024-04-12 | 江西骏学数字科技有限公司 | Method and system for realizing pseudo 3D user interface of desktop VR |
| CN116152274A (en) * | 2023-04-23 | 2023-05-23 | 之江实验室 | Image segmentation method, device, equipment and storage medium |
| CN116152274B (en) * | 2023-04-23 | 2023-08-04 | 之江实验室 | Image segmentation method, device, equipment and storage medium |
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