CN115544032A - Parking lot map updating method, device, equipment and medium - Google Patents

Parking lot map updating method, device, equipment and medium Download PDF

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CN115544032A
CN115544032A CN202211075895.6A CN202211075895A CN115544032A CN 115544032 A CN115544032 A CN 115544032A CN 202211075895 A CN202211075895 A CN 202211075895A CN 115544032 A CN115544032 A CN 115544032A
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image
map
parking lot
updated
area
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蒋鸿越
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/60—Rotation of whole images or parts thereof
    • G06T3/608—Rotation of whole images or parts thereof by skew deformation, e.g. two-pass or three-pass rotation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing

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Abstract

The invention provides a parking lot map updating method, a device, equipment and a medium, wherein the parking lot map updating method comprises the following steps: acquiring a reference map of a parking lot and updated images shot by cameras in all areas, wherein the reference map comprises a plurality of area images; comparing the updated image with each area image, and determining a target area image of the updated image in the reference map and an area position of the target area image in the reference map; correcting the updated image by taking the target area image as a reference to generate a corrected image; splicing the corrected images according to the region positions to generate a splicing map of the parking lot; and updating the reference map according to the parking lot splicing map. The scheme can effectively reduce the updating cost of the map of the parking lot.

Description

Parking lot map updating method, device, equipment and medium
Technical Field
The present application relates to the field of map updating technologies, and in particular, to a parking lot map updating method and apparatus, an electronic device, and a computer-readable storage medium.
Background
At present, the parking lot map is mainly manufactured by map suppliers holding mapping qualification issued by countries, and the map making and updating are realized by a traditional high-precision map making mode. The method is characterized in that a professional collection vehicle or a collection backpack carries a high-precision laser radar and a high-definition camera, collects original video or point cloud data, and then transmits the data back to a map making office of a map supplier for map production. When the map is updated, the map collecting process needs to be repeated, and the map is manufactured after being returned to the parking lot for collection. The manufacturing method ensures the accuracy of the data, but the updating process is complex and the cost is high when the data is updated.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, an apparatus, a device and a medium for updating a parking lot map to solve the above-mentioned technical problems.
The invention provides a parking lot map updating method, which comprises the following steps:
acquiring a reference map of a parking lot and updated images shot by cameras in various areas, wherein the reference map comprises a plurality of area images;
comparing the updated image with each area image, and determining a target area image of the updated image in the reference map and an area position of the target area image in the reference map;
correcting the updated image by taking the target area image as a reference to generate a corrected image;
splicing the corrected images according to the region positions to generate a splicing map of the parking lot;
and updating the reference map according to the splicing map of the parking lot.
The invention provides a parking lot map updating device, comprising:
the system comprises an information acquisition module, a storage module and a display module, wherein the information acquisition module is used for acquiring a reference map of a parking lot and an updated image shot by each regional camera, and the reference map comprises a plurality of regional images;
the matching module is used for comparing the updated image with each area image and determining a target area image of the updated image in the reference map and an area position of the target area image in the reference map;
the correction module is used for correcting the updated image by taking the target area image as a reference to generate a corrected image;
the splicing module is used for splicing the corrected images according to the region positions to generate a splicing map of the parking lot;
and the map updating module is used for updating the reference map according to the splicing map of the parking lot.
The invention provides an electronic device, comprising:
one or more processors;
a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the parking lot map updating method.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the parking lot map updating method.
The invention has the beneficial effects that: according to the invention, the updated image is collected through the camera installed in the parking lot, but not through the camera assembled on the vehicle, because the requirement on the configuration of the camera assembled on the vehicle and the like is high when the updated image is collected through the camera assembled on the vehicle; and the vehicle moves, which causes the updating flow of the reference map to be complex and the updating difficulty to be large.
In addition, according to the scheme, the updated image is corrected, spliced and the like to generate the splicing map of the parking lot, and the reference map is iteratively updated according to the splicing map of the parking lot, so that the updating cost is low.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
fig. 1 is a flowchart illustrating a parking lot map updating method according to an exemplary embodiment of the present application;
fig. 2 is a block diagram of a parking lot map updating apparatus shown in an exemplary embodiment of the present application;
FIG. 3 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present specification, wherein the following description is made for the embodiments of the present invention with reference to the accompanying drawings and the preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
As shown in fig. 1, in an exemplary embodiment, the parking lot map updating method at least includes steps S110 to S150, which are described in detail as follows:
step 110, acquiring a reference map of the parking lot and an updated image shot by each area camera, wherein the reference map comprises a plurality of area images.
It should be noted that the reference map in the present embodiment may be an initial map created by collecting a collection vehicle or the like, or a map obtained by updating the initial map based on an updated image. And updating the images, namely obtaining images obtained by video clips shot by cameras distributed on each layer in the parking lot.
Step S120, comparing the updated image with each of the area images, and determining a target area image of the updated image in the reference map and an area position of the target area image in the reference map.
It should be noted that the target area image is an image of an area in the reference map that matches the update image, that is, within the target area image, the reference map is updated based on the update image.
And step S130, correcting the updated image by taking the target area image as a reference to generate a corrected image.
It should be noted that, since the image captured by the camera has a problem of capturing angle, the image needs to be corrected before being superimposed on the reference map. The corrected content of the updated image includes length, width, height, and inclination of lines. The purpose of rectification is to enable features on the updated image to coincide with features in the target area image.
And step S140, splicing the corrected images according to the region positions to generate a splicing map of the parking lot.
It should be noted that the corrected images are only images of local areas of the parking lot, and the corrected images are spliced, so that the spliced image of the parking lot can cover a larger range of the parking lot, and the reference map can be updated subsequently.
And S150, updating the reference map according to the parking lot splicing map.
In this embodiment, the reason why the requirement for the configuration of the camera mounted on the vehicle is high when the update image is acquired by the camera mounted on the vehicle is that the update image is acquired by the camera mounted on the vehicle, is that the update image is acquired by the camera mounted on the vehicle; and the vehicle moves, which causes the updating flow of the reference map to be complex and the updating difficulty to be large. The scheme can effectively reduce the map updating cost.
In an exemplary embodiment, the process of generating the rectified image in step S130 includes at least steps S210 to S240.
And step S210, identifying the updated image, and determining the position information of the vehicle and the person in the updated image.
It is to be noted that the vehicle and the person relate to personal information, and position information of the vehicle and the person is determined to facilitate subsequent privacy processing.
Step S220 is performed to blur the vehicle and the person in the updated image according to the position information, and to generate an intermediate image and blur area information of the intermediate image.
In this embodiment, privacy of a person is protected by obfuscation.
And step S230, screening out an intermediate image with the fuzzy area smaller than a preset value from the intermediate image according to the fuzzy area information, and generating a preselected image group.
It is worth noting that the blurred area determines the area of the updated map where the feature is occluded. And selecting the intermediate image with a smaller fuzzy area to avoid that the map updating accuracy is influenced by the fact that a large number of features in the selected image are shielded.
Step S240, taking the target area image as a reference, correcting an intermediate image in the preselected image group, and generating the corrected image.
In this embodiment, the intermediate image with a smaller blur area is selected to increase the accuracy of map update.
In an exemplary embodiment, the region image is preset with the reference object image and the element point reference coordinate information of the reference object.
It should be noted that the reference object is an element of the updated parking lot map, such as a lane line, a parking space, and the like, and the element point reference coordinate information is a position of a certain reference point in the reference object, such as an angular point. The reference object and the element point reference coordinate information are specifically shown in table 1.
TABLE 1 exemplary list of references and elemental point reference coordinate information
Figure BDA0003826589240000041
Figure BDA0003826589240000051
In an exemplary embodiment, in step S130, the process of generating a corrected image by correcting the updated image with reference to the target area image at least includes steps S310 to S330.
Step S310, according to the reference object image in the target area image, determining a contrast object image matched with the reference object image in the updated image.
For example, if the reference object image in the target area image is a parking space image, the parking space image needs to be found in the updated image as a contrast object image.
In step S320, the element point-to-point comparison coordinate information of the comparison object is obtained.
In the embodiment, the contrast object image is placed on the reference object image, so that the reference object and the contrast object are in the same coordinate system, and the key points of the contrast object are determined to compare the coordinate information.
Illustratively, the reference object and the comparison object are the same parking space, the element point reference coordinate information of the parking space includes the positions of 4 corner points, the positions of 4 corner points of the parking space in the reference map are element point reference coordinates, and the positions of four corner points of the parking lot in the updated image are element point-to-point comparison coordinates.
Step S330, correcting the updated image to make the element point-to-point coordinate in the updated image coincide with the element point reference coordinate in the target area image, so as to generate the corrected image.
Illustratively, the element point reference coordinate is 4 corner positions of the parking lot in the reference map, the element point-to-point reference coordinate is 4 corner positions of the parking lot in the updated image, and to achieve complete coincidence between the updated image and the parking lot in the reference map, it is necessary that 4 corner positions in the element point-to-point reference coordinate coincide with 4 corner positions in the element point reference coordinate.
In an exemplary embodiment, in step S140, the process of stitching the corrected images according to the region positions to generate a parking lot stitching map includes at least: step S410 to step S430.
Step S410, acquiring the correction amount of each correction image, and taking the correction image with the minimum correction amount in the same position area as a reference image; and determining the corrected images of the adjacent areas of the reference image as a search image according to the area positions.
Illustratively, an image directly opposite to a camera is selected as a reference image from a plurality of images shot by the same camera.
Step S420, an identifier is selected from the reference image, and a contrast matched with the identifier is searched in the search image.
Illustratively, the identifier is a column on the reference map, and the reference is the same column in the search map.
And S430, overlapping the contrast object and the marker, and splicing the search graph and the reference graph according to the overlapping position of the contrast object and the marker to generate the splicing graph of the parking lot.
It should be noted that if a contrast can be searched on the search map, the search map can be merged with the reference map. And the position where the contrast object and the marker coincide, i.e. the splicing position.
Illustratively, the contrasting image of the elements in the overlapping area is retained, and the contrasting image in the non-overlapping area is retained.
In an exemplary embodiment, in step S150, the process of updating the reference map according to the parking lot splicing map at least includes step S510 to step S540.
And step S510, generating a single-layer parking lot updating map of each layer of the parking lot according to the splicing map of the parking lot.
It should be noted that the parking lot splicing map is a partial map of each layer, and the partial maps of each layer are spliced to form a single-layer parking lot updating map.
And step S520, generating an updated panoramic image of the multi-layer parking lot according to the single-layer updated images of the parking lots.
It should be noted that after the single-layer update map of the parking lot on each floor is obtained, the update panorama of the whole parking lot can be obtained according to the upper and lower distribution relation of each floor.
Step S530, comparing the updated panorama with the reference map, and determining a difference location area between the updated panorama and the reference map.
It should be noted that the difference location area is the location of the reference map that needs to be updated.
And step S540, updating the difference position area of the reference map according to the updated panoramic image.
In this embodiment, if the reference map and the updated panorama do not match, the inconsistent place is updated.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.
As shown in fig. 2, the exemplary parking lot map updating apparatus includes:
the information acquisition module 210 is configured to acquire a reference map of a parking lot and updated images shot by cameras in various areas, where the reference map includes a plurality of area images;
a matching module 220, configured to compare the updated image with each of the area images, and determine a target area image of the updated image in the reference map and an area position of the target area image in the reference map.
A rectification module 230, configured to rectify the updated image with the target area image as a reference, so as to generate a rectified image.
And a splicing module 240, configured to splice the corrected images according to the region positions, so as to generate a splicing map of the parking lot.
A map updating module 250, configured to update the reference map according to the parking lot splicing map.
In this exemplary parking area map updating device, gather the renewal image through the camera in the parking area, through correcting, splicing the renewal image, generate the parking area concatenation figure, according to the parking area concatenation figure, carry out the update of benchmark map.
It should be noted that the parking lot map updating apparatus provided in the foregoing embodiment and the parking lot map updating method provided in the foregoing embodiment belong to the same concept, and specific ways for each module and unit to perform operations have been described in detail in the method embodiment, and are not described herein again. In practical applications, the parking lot map updating device provided in the above embodiment may distribute the above functions by different function modules according to needs, that is, divide the internal structure of the device into different function modules to complete all or part of the above described functions, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device configured to store one or more programs, which when executed by the one or more processors, cause the electronic device to implement the parking lot map updating method provided in each of the above embodiments.
FIG. 3 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 300 of the electronic device shown in fig. 3 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 3, the computer system 300 includes a Central Processing Unit (CPU) 301, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 302 or a program loaded from a storage portion 308 into a Random Access Memory (RAM) 303. In the RAM 303, various programs and data necessary for system operation are also stored. The CPU 301, ROM 302, and RAM 303 are connected to each other via a bus 304. An Input/Output (I/O) interface 305 is also connected to bus 304.
The following components are connected to the I/O interface 305: an input portion 306 including a keyboard, a mouse, and the like; an output section 307 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 308 including a hard disk and the like; and a communication section 309 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 309 performs communication processing via a network such as the internet. A drive 310 is also connected to the I/O interface 305 as needed. A removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 310 as necessary, so that a computer program read out therefrom is mounted into the storage section 308 as necessary.
In particular, according to embodiments of the present application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 309, and/or installed from the removable medium 311. When the computer program is executed by a Central Processing Unit (CPU) 301, various functions defined in the system of the present application are executed.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having 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), a 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. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to execute the parking lot map updating method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the parking lot map updating method provided in the above-described embodiments.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims (8)

1. A parking lot map updating method, the method comprising:
acquiring a reference map of a parking lot and updated images shot by cameras in all areas, wherein the reference map comprises a plurality of area images;
comparing the updated image with each area image, and determining a target area image of the updated image in the reference map and an area position of the target area image in the reference map;
correcting the updated image by taking the target area image as a reference to generate a corrected image;
splicing the corrected images according to the region positions to generate a splicing map of the parking lot;
and updating the reference map according to the parking lot splicing map.
2. The parking lot map updating method according to claim 1, wherein generating the rectified image includes:
identifying the updated image, and determining the position information of the vehicle and the person in the updated image;
blurring the vehicle and the person in the updated image according to the position information to generate an intermediate image and blurred area information of the intermediate image;
screening out an intermediate image with the fuzzy area smaller than a preset value from the intermediate images according to the fuzzy area information to generate a preselected image group;
and correcting the intermediate image in the preselected image group by taking the target area image as a reference to generate the corrected image.
3. The parking lot map updating method according to claim 1, wherein the reference object image and the element point reference coordinate information of the reference object are preset in the area image; correcting the updated image by taking the target area image as a reference to generate a corrected image, and the method comprises the following steps:
determining a contrast object image matched with the reference object image in the updated image according to the reference object image in the target area image;
acquiring element point-to-point comparison coordinate information of a comparison object;
and correcting the updated image to ensure that the element point comparison coordinates in the updated image are superposed with the element point reference coordinates in the target area image, thereby generating the corrected image.
4. The parking lot map updating method according to claim 1, wherein the generating a parking lot mosaic map by stitching the corrected images according to the area positions comprises:
acquiring the correction amount of each corrected image, and taking the corrected image with the minimum correction amount in the same position area as a reference image; according to the area position, determining a corrected image of an adjacent area of the reference image as a search image;
selecting an identifier on the reference image, and searching the search image for a contrast object matched with the identifier;
and overlapping the comparison object with the marker, and splicing the search map and the reference map according to the overlapping position of the comparison object and the marker to generate the splicing map of the parking lot.
5. The parking lot map updating method according to claim 1, wherein the updating of the reference map according to the parking lot splice map includes:
generating a single-layer parking lot updating map of each layer of the parking lot according to the splicing map of the parking lot;
generating an updated panoramic view of the multi-layer parking lot according to the single-layer updated views of the parking lots;
comparing the updated panorama with the reference map, and determining a difference position area between the updated panorama and the reference map;
and updating the difference position area of the reference map according to the updated panoramic image.
6. A parking lot map updating apparatus, characterized in that the apparatus comprises:
the system comprises an information acquisition module, a storage module and a processing module, wherein the information acquisition module is used for acquiring a reference map of a parking lot and updated images shot by cameras in various areas, and the reference map comprises a plurality of area images;
the matching module is used for comparing the updated image with each area image and determining a target area image of the updated image in the reference map and an area position of the target area image in the reference map;
the correction module is used for correcting the updated image by taking the target area image as a reference to generate a corrected image;
the splicing module is used for splicing the corrected images according to the region positions to generate a splicing map of the parking lot;
and the map updating module is used for updating the reference map according to the splicing map of the parking lot.
7. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the parking lot map updating method according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that a computer program is stored thereon, which when executed by a processor of a computer, causes the computer to execute the parking lot map updating method according to any one of claims 1 to 5.
CN202211075895.6A 2022-08-31 2022-08-31 Parking lot map updating method, device, equipment and medium Pending CN115544032A (en)

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