CN117689832B

CN117689832B - Traffic sign generation method, device, equipment and storage medium

Info

Publication number: CN117689832B
Application number: CN202410156446.7A
Authority: CN
Inventors: 苏柏
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2024-02-04
Filing date: 2024-02-04
Publication date: 2024-05-17
Anticipated expiration: 2044-02-04
Also published as: CN117689832A

Abstract

The application relates to a traffic sign generation method, a device, equipment and a storage medium. The method can be applied to the map field, and comprises the following steps: selecting at least two first space points with the distance meeting a first distance condition from the point cloud data; selecting a second space point with a distance meeting a second distance condition from the fitting plane from the first space point; the fitting plane is a plane determined according to the first space point; gridding a projection area obtained by projecting the second space points on the fitting plane to obtain a grid graph and attribute values corresponding to grids in the grid graph; determining an initial boundary according to grids to which the reference points belong, performing grid traversal on the grid graph by taking the grids to which the reference points belong as starting points, and performing boundary update on the initial boundary according to the attribute values of the traversed grids in the traversal process until the traversal stopping condition is reached, and generating traffic signs based on the boundary when the traversal stopping condition is reached. By adopting the method, the accuracy and the efficiency of traffic sign manufacturing can be improved.

Description

Traffic sign generation method, device, equipment and storage medium

Technical Field

The present application relates to the field of computer technologies, and in particular, to a traffic sign generating method, apparatus, device, and storage medium.

Background

High-Definition Maps (HD Maps) are widely used in automatic driving and Advanced Driving Assistance Systems (ADAS) to provide detailed and accurate road network information, for example, lane-level road information, traffic signs, traffic lights, and other road elements, so accurate production and updating of traffic signs is a key task for High-Definition map maintenance.

In the prior art, the traffic sign is usually manufactured by taking a space point manually selected from the point cloud data by an operator as a sign vertex. However, in a complex three-dimensional scene, it is difficult to accurately select spatial points used as vertices of the traffic sign by using a manual selection method, so that the accuracy of the traffic sign is low.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a traffic sign generating method, apparatus, device, and storage medium that can improve the accuracy of traffic signs.

In a first aspect, the present application provides a traffic sign generation method. The method comprises the following steps:

Selecting at least two first space points with the distance meeting a first distance condition from the point cloud data; the reference point is a spatial point designated by a signage making operation acting on the point cloud data;

Selecting a second space point with the distance between the second space point and the fitting plane meeting a second distance condition from at least two first space points; the fitting plane is a plane determined according to at least two first space points;

gridding a projection area obtained by projecting the second space points on the fitting plane to obtain a grid chart and attribute values corresponding to grids in the grid chart;

And determining an initial boundary according to the grid to which the reference point belongs, performing grid traversal on the grid graph by taking the grid to which the reference point belongs as a starting point, and performing boundary update on the initial boundary according to the attribute value corresponding to the traversed grid in the traversal process until a traversal stopping condition is reached, and generating a traffic sign based on the boundary when the traversal stopping condition is reached.

In a second aspect, the application further provides a traffic sign generating device. The device comprises:

The first space point selection module is used for selecting at least two first space points, the distance between the first space points and the reference point of which meets the first distance condition, from the point cloud data; the reference point is a spatial point designated by a signage making operation acting on the point cloud data;

The second space point selecting module is used for selecting a second space point, the distance between the second space point and the fitting plane of which meets a second distance condition, from at least two first space points; the fitting plane is a plane determined according to at least two first space points;

the gridding module is used for gridding a projection area obtained by projecting the second space point on the fitting plane to obtain a grid graph and attribute values corresponding to grids in the grid graph;

And the sign generation module is used for determining an initial boundary according to the grid to which the reference point belongs, performing grid traversal on the grid graph by taking the grid to which the reference point belongs as a starting point, and updating the boundary of the initial boundary according to the attribute value corresponding to the traversed grid in the traversal process until reaching a traversal stopping condition, and generating a traffic sign based on the boundary when reaching the traversal stopping condition.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

According to the traffic sign generating method, the traffic sign generating device, the computer equipment, the storage medium and the computer program product, an operator only needs to trigger sign making operation to specify the reference point in the point cloud data, then at least two first space points with the distance between the first space points and the reference point meeting the first distance condition can be selected from the point cloud data, and among the at least two first space points, a second space point with the distance between the first space points and a fitting plane meeting the second distance condition is selected, wherein the fitting plane is a plane determined according to the at least two first space points, so that the second space point close to the surface of an actual traffic sign is obtained, the number of space points in subsequent calculation is reduced, meanwhile, interference of noise space points is avoided, and the efficiency and the accuracy of traffic sign making are improved; the projection area obtained by projecting the second space points on the fitting plane is gridded to obtain a gridding diagram and attribute values corresponding to grids in the gridding diagram, an initial boundary is determined according to the grids to which the reference points belong, grid traversal is carried out on the gridding diagram by taking the grids to which the reference points belong as starting points, and in the traversal process, boundary updating is carried out on the initial boundary according to the attribute values corresponding to the traversed grids until the traversal stopping condition is reached, a traffic sign is generated based on the boundary when the traversal stopping condition is reached, continuous space data is converted into discrete grids which are easier to process, and the initial boundary is continuously updated through the traversal grids, so that the traffic sign can be quickly and accurately generated, and the efficiency and the accuracy of traffic sign manufacturing are further improved.

Drawings

FIG. 1 is a diagram of an application environment for a traffic sign generation method in one embodiment;

FIG. 2 is a flow diagram of a method of traffic sign generation in one embodiment;

FIG. 3 is a schematic view of a circular traffic sign in one embodiment;

FIG. 4 is a schematic view of a rectangular traffic sign in one embodiment;

FIG. 5 is a schematic view of a rectangular traffic sign in another embodiment;

FIG. 6 is a schematic diagram of a mapping interface in one embodiment;

FIG. 7 is a schematic diagram of a spatial subregion in one embodiment;

FIG. 8 is a diagram of a trellis diagram traversal in one embodiment;

FIG. 9 is a diagram of a trellis diagram traversal in another embodiment;

FIG. 10 is a schematic diagram of a trellis diagram traversal in another embodiment;

FIG. 11 is a flow chart of a method of traffic sign generation in another embodiment;

FIG. 12 is a flow chart of a method of traffic sign generation in another embodiment;

FIG. 13 is a block diagram of a traffic sign generating device in one embodiment;

FIG. 14 is a block diagram of a traffic sign generating apparatus in another embodiment;

fig. 15 is an internal structural view of a computer device in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

The traffic sign generation method provided by the application can be applied to the field of intelligent traffic, and particularly can be applied to the field of dynamic driving of intelligent traffic.

The intelligent transportation system (INTELLIGENT TRAFFIC SYSTEM, ITS) is also called an intelligent transportation system (INTELLIGENT TRANSPORTATION SYSTEM), which is a comprehensive transportation system for effectively and comprehensively applying advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation research, artificial intelligence and the like) to transportation, service control and vehicle manufacturing, and enhancing the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy. Or alternatively;

The intelligent vehicle-road cooperative system (INTELLIGENT VEHICLE Infrastructure Cooperative Systems, IVICS), which is called vehicle-road cooperative system for short, is one development direction of Intelligent Transportation Systems (ITS). The vehicle-road cooperative system adopts advanced wireless communication, new generation internet and other technologies, carries out vehicle-road dynamic real-time information interaction in an omnibearing manner, and develops vehicle active safety control and road cooperative management on the basis of full-time idle dynamic traffic information acquisition and fusion, thereby fully realizing effective cooperation of human-vehicle roads, ensuring traffic safety and improving traffic efficiency, and further forming a safe, efficient and environment-friendly road traffic system.

Autopilot, also known as unmanned or autopilot, is a technology that utilizes various sensors, controllers, computer vision and artificial intelligence techniques to achieve autonomous travel of a vehicle. The automatic driving automobile can complete driving tasks without manual intervention, and safe and efficient travel from the starting point to the end point is realized.

The traffic sign generating method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104 or may be located on the cloud or other servers. The traffic sign generating method is performed by the terminal 102 or the server 104 alone or by the terminal 102 and the server 104 in cooperation. In some embodiments, the traffic sign generating method is performed by the terminal 102, the terminal 102 selecting at least two first spatial points in the point cloud data for which the distance from the reference point satisfies a first distance condition; the reference points are spatial points designated by a signage making operation acting on the point cloud data; selecting a second space point with the distance between the second space point and the fitting plane meeting a second distance condition from at least two first space points; the fitting plane is a plane determined according to at least two first space points; gridding a projection area obtained by projecting the second space points on the fitting plane to obtain a grid graph and attribute values corresponding to grids in the grid graph; determining an initial boundary according to grids to which the reference points belong, performing grid traversal on the grid graph by taking the grids to which the reference points belong as starting points, and updating the boundary of the initial boundary according to attribute values corresponding to the traversed grids in the traversal process until a traversal stopping condition is reached, and generating traffic signs based on the boundary when the traversal stopping condition is reached.

The terminal 102 may be, but not limited to, various desktop computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, where the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart vehicle devices, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like. The server 104 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and artificial intelligence platforms, and the like. The terminal 102 and the server 104 may be directly or indirectly connected through wired or wireless communication, and the present application is not limited herein.

In one embodiment, as shown in fig. 2, a traffic sign generating method is provided, and the method is applied to the terminal 102 in fig. 1 for illustration, and includes the following steps:

s202, selecting at least two first space points with the distance meeting a first distance condition from the reference point in the point cloud data.

The point cloud data is a set of a large number of spatial points, each representing a position in three-dimensional space, which are obtained by a scanning device, which may be a laser scanner, a stereoscopic camera or other type of three-dimensional scanning device.

The point cloud data in the embodiment of the application can be specifically point cloud data related to a road environment, which can be obtained through a vehicle provided with professional equipment, wherein the vehicle is a vehicle specially used for obtaining the road environment data, and is usually provided with various sensor equipment such as a laser radar, a camera, a GPS, an IMU and the like, so that the position, the posture, the speed and other information of the vehicle can be obtained in real time, and the three-dimensional point cloud data of the road environment can be obtained.

It can be understood that after the point cloud data of the road environment is obtained, preprocessing such as cleaning, noise reduction, registration fusion, format conversion and the like can be performed on the obtained point cloud data to obtain preprocessed point cloud data, the preprocessed point cloud data is imported into a map making application, so that the imported point cloud data is processed and edited by the map making application to produce a high-precision map, and the high-precision map can be particularly used for producing elements such as lane lines, road marks, traffic signs and signal lamps, and the like, and the produced high-precision map can be used in the fields of automatic driving and advanced driving assistance systems, and the actual traffic signs can be particularly circular traffic signs as shown in fig. 3 or rectangular traffic signs as shown in fig. 4 and 5.

The reference point is a spatial point designated by a signage making operation acting on the point cloud data, the signage making operation may specifically be a selecting operation of the spatial point in the point cloud data after the signage making process is started, the signage making process may specifically be started by a special control or tool, for example, the signage making process may be started by triggering a button, a menu option or other interface element, the selecting operation may specifically be operations of clicking, double clicking, staying, etc., the staying refers to hovering a mouse over a specific position of the point cloud data for at least a period of time, and the spatial point corresponding to the specific position is taken as the reference point.

The first distance condition may specifically be a distance threshold condition, which is used to determine which spatial points in the point cloud data are relevant to traffic sign making, for example, the distance threshold may be set to 5 meters, and then a distance less than 5 meters is determined as a distance that meets the first distance condition, and a spatial point corresponding to the distance is taken as the first spatial point.

Specifically, when the traffic sign is manufactured, an operator can trigger the sign manufacturing operation on the displayed point cloud data, the terminal obtains a space point designated by the sign manufacturing operation, determines the space point as a reference point, obtains coordinates of the reference point in a geocentric coordinate system, determines distances between the reference point and other space points in the point cloud data according to the coordinates of the reference point, judges whether each distance reaches a distance threshold corresponding to a first distance condition, and determines that the other reference point is the first space point if the distance between the reference point and any other space point is smaller than the distance threshold, so that at least two first space points with the distance meeting the first distance condition are obtained.

The other spatial points may be any spatial point except the reference point in the point cloud data, and it is understood that for the point cloud data including a large number of points, it may be very time-consuming to directly calculate the distance between each point, and in order to improve efficiency, the candidate spatial points may be obtained by first initially screening the point cloud data, and the candidate spatial points are used as other spatial points, so as to calculate the distance between the candidate spatial points and the reference point.

Referring to the map making interface diagram of the map making application shown in fig. 6, the map making interface includes a data operation area and a toolbar, the data operation area is used for displaying and operating point cloud data, the toolbar displays at least different road element making controls, for example, a rectangular sign making control 602 and a circular traffic sign making control 604 shown in fig. 6, an operator can click the rectangular sign making control 602, a terminal responds to clicking operation on the rectangular sign making control 602 to start a sign making process, the operator can select a specified space point in the data operation area through a mouse, the terminal responds to the point selecting operation to obtain the space point specified by the point selecting operation, the space point is used as a reference point, at least two first space points with a distance between the selected space point and the reference point meeting a first distance condition in the point cloud data are selected, steps S204-S208 are executed based on the selected space point, and the generated traffic sign is displayed in the data operation area, so that a user previews the rectangular traffic sign generated based on the selected space point.

S204, selecting a second space point with the distance between the second space point and the fitting plane meeting a second distance condition from at least two first space points.

The fitting plane is a plane determined according to at least two first space points, and specifically, the fitting plane may be obtained by directly performing plane fitting on the first space points, or may be obtained by performing plane fitting on at least a part of the first space points. It should be noted that, in a practical example, the plane on which the traffic sign is located is generally perpendicular to the ground, so that when plane fitting is performed, the obtained angle between the fitting plane and the ground is acceptable only when the angle between the fitting plane and the ground is approximately 90 degrees, that is, the angle between the fitting plane and the ground is acceptable when the angle between the fitting plane and the ground is between 85 degrees and 95 degrees, for example, if the angle between the fitting plane and the ground is less than 85 degrees or greater than 95 degrees, the result of plane fitting is abandoned, and the flow of generating the traffic sign based on the currently selected reference point is stopped.

The second distance condition may specifically be a distance threshold condition, which is used to determine which spatial points in the first spatial points may be points on the actual traffic sign, for example, the distance threshold may be set to 0.05 meter, and then a distance less than 0.05 meter is determined as a distance that satisfies the second distance condition, and a spatial point corresponding to the distance is taken as the second spatial point.

Specifically, after obtaining at least two first space points, the terminal may perform plane fitting by adopting a preset plane fitting algorithm based on the at least two first space points to obtain a fitting plane, determine the distance between each first space point and the fitting plane, determine whether each distance reaches a distance threshold corresponding to a second distance condition, and determine, for any one first space point, that the first space point is the second space point if the distance between the first space point and the fitting plane is smaller than the distance threshold, so as to obtain a second space point with a distance between the first space point and the fitting plane meeting the second distance condition.

S206, gridding a projection area obtained by projecting the second space points on the fitting plane to obtain a grid chart and attribute values corresponding to grids in the grid chart.

The projection refers to a process of mapping the second space point in the three-dimensional space onto the two-dimensional fitting plane, and by projecting the second space point onto the fitting plane, the subsequent analysis and processing process of the second space point can be simplified, and the data processing efficiency can be improved. In the embodiment of the application, the projection specifically refers to orthogonal projection, and in the projection, the second space point is perpendicularly projected onto the fitting plane, that is, the projection line is perpendicular to the fitting plane, so that the distribution condition of the second space point in the designated dimension can be kept unchanged.

The projection area refers to a two-dimensional space area occupied by the second space point after being projected onto the fitting plane, reflects the projection contour of the second space point on the fitting plane, and specifically, the projection area can be a minimum rectangular area surrounding the projection point corresponding to the second space point, and can also be called a bounding box (Bounding Box).

Gridding refers to dividing the projection area into a series of regular small cells, which may be specifically square or rectangular grids, each representing a small portion within the area.

The attribute value is a description of the distribution characteristics of the second spatial points corresponding to the grid, for example, when the number of the second spatial points corresponding to a certain grid is at least one, the attribute value of the grid may be set to 1 (indicating a dotted point), and when the number of the second spatial points corresponding to a certain grid is 0, the attribute value of the grid may be set to 0 (indicating no point).

Specifically, after obtaining a fitting plane corresponding to the first space point, the terminal projects the second space point onto the fitting plane, determines a projection area formed on the fitting plane after projection is completed, and adopts a preset gridding scheme to gridde the projection area to obtain a gridding diagram, determines the number of the second space points corresponding to the grid according to any grid on the gridding diagram, determines the attribute value of the grid according to the number of the second space points corresponding to the grid, and performs the above processing on each grid, thereby obtaining the attribute value of each grid in the gridding diagram.

And S208, determining an initial boundary according to the grid to which the reference point belongs, performing grid traversal on the grid graph by taking the grid to which the reference point belongs as a starting point, and performing boundary update on the initial boundary according to the attribute value corresponding to the traversed grid in the traversal process until the traversal stopping condition is reached, and generating the traffic sign based on the boundary when the traversal stopping condition is reached.

The traversal refers to a process of checking grids in the grid graph according to a specific sequence, and the traversal in the embodiment of the application is based on the position relationship among the grids, specifically, the traversal is extended outwards by taking the grid to which the reference point belongs as a starting point, and the boundary can be updated according to the attribute value of the traversed grid in the traversal process.

The traversal stop condition refers to a rule or condition that determines when to end the traversal process, in order to ensure that the traversal process is effective and efficient, avoiding unnecessary computations.

Specifically, after obtaining a grid map, the terminal determines grids to which the reference points belong, determines boundaries of the four directions of the grids as initial boundaries, sequentially traverses the grids by adopting a preset traversing method with the grids to which the reference points belong as traversing starting points, acquires attribute values of the grids for each traversed grid, verifies the attribute values of the grids to obtain a verification result, performs boundary updating on the initial boundaries according to the verification result until reaching traversing stop conditions, and generates traffic signs based on the boundaries when reaching the traversing stop conditions.

Wherein the verification is specifically to verify whether the attribute value satisfies the attribute value condition.

In one embodiment, the process of the terminal generating traffic sign based on the boundary when the traversal stop condition is reached includes the steps of: when the label making operation corresponds to making the rectangular label, directly taking the boundary when reaching the traverse stop condition as the boundary of the rectangular label, and generating the rectangular traffic label; when the sign making operation corresponds to making a circular traffic sign, the circular traffic sign is generated with the boundary based on when the traversal stop condition is reached as the boundary of the inscribed rectangle of the circular traffic sign.

Referring to fig. 6, in response to a clicking operation on the rectangular sign making control 602, the terminal starts a sign making process, an operator can select a designated space point in the data operation area through a mouse, in response to the point selecting operation, the terminal obtains the space point designated by the point selecting operation, and uses the space point as a reference point, steps S204 and S206 are executed, and in the process of executing S208, a rectangular traffic sign is generated directly by using a boundary when reaching a traverse stop condition as a boundary of the rectangular sign; the terminal responds to the clicking operation on the circular traffic sign making control 604 to start the sign making process, an operator can select a designated space point in the data operation area through a mouse, the terminal responds to the point selecting operation to obtain the space point designated by the point selecting operation, the space point is used as a reference point, steps S204 and S206 are executed, and in the process of executing S208, the boundary when the traversing stop condition is reached is directly used as the boundary of the circular traffic sign, so that the circular traffic sign is generated.

In the traffic sign generating method, an operator only needs to trigger sign making operation to specify the reference point in the point cloud data, then at least two first space points with the distance between the first space points and the reference point meeting the first distance condition can be selected in the point cloud data, and among the at least two first space points, a second space point with the distance between the first space points and a fitting plane meeting the second distance condition is selected, wherein the fitting plane is a plane determined according to the at least two first space points, so that the second space points close to the surface of an actual traffic sign are obtained, the number of space points in subsequent calculation is reduced, meanwhile, the interference of noise space points is avoided, and the efficiency and accuracy of traffic sign making are improved; the projection area obtained by projecting the second space points on the fitting plane is gridded to obtain a gridding diagram and attribute values corresponding to grids in the gridding diagram, an initial boundary is determined according to the grids to which the reference points belong, grid traversal is carried out on the gridding diagram by taking the grids to which the reference points belong as starting points, and in the traversal process, boundary updating is carried out on the initial boundary according to the attribute values corresponding to the traversed grids until the traversal stopping condition is reached, a traffic sign is generated based on the boundary when the traversal stopping condition is reached, continuous space data is converted into discrete grids which are easier to process, and the initial boundary is continuously updated through the traversal grids, so that the traffic sign can be quickly and accurately generated, and the efficiency and the accuracy of traffic sign manufacturing are further improved.

In one embodiment, the process of selecting at least two first space points with the distance between the terminal and the reference point meeting the first distance condition in the point cloud data specifically includes the following steps: determining a reference point according to a screen point designated by a signage making operation acting on the point cloud data; selecting at least two candidate space points from the point cloud data; determining the distance between each candidate space point and the reference point; and selecting at least two first space points with the distances meeting the first distance condition from the candidate space points.

The screen points are coordinate points selected by an operator on a terminal screen through an interactive interface, and the coordinate points are two-dimensional and are used for specifying reference points in point cloud data.

Specifically, the terminal responds to the label making operation, acquires screen points designated by the label making operation, determines reference points in the point cloud data according to the screen points by adopting a preset algorithm, selects at least two candidate space points from the point cloud data by adopting a preset candidate space point screening algorithm, determines the distance between each candidate space point and the reference point according to the coordinates of the reference points and the coordinates of each candidate space point, judges whether each distance reaches a distance threshold corresponding to a first distance condition, and determines other reference points as first space points if the distance between any candidate space point and the reference point is smaller than the distance threshold, thereby obtaining at least two first space points with the distance between the other reference points meeting the first distance condition.

In the above embodiment, the terminal converts the screen point into the reference point in the three-dimensional space, so that the selected first space point is ensured to be related to the position of the target (such as the actual traffic sign) designated by the operator, and the accuracy of the subsequent traffic sign manufacture is improved; by selecting a plurality of candidate space points, and further screening a first space point from the candidate space points, the distance between each space point and a reference point is not required to be analyzed, calculation is reduced, the efficiency of selecting the first space point is improved, and the efficiency of manufacturing traffic signs is further improved; the first space point most relevant to the actual sign can be screened from a large number of candidate spaces by applying the first distance condition, so that the traffic sign can be generated based on the first space point, and the accuracy of traffic sign manufacturing is improved.

In one embodiment, the process of determining a reference point by a terminal according to a screen point designated by a signage making operation acting on point cloud data includes the steps of: acquiring screen points designated by a label making operation acting on point cloud data; generating a target ray from the observation position; the target ray passes through the screen point; a first spatial point at which the target ray intersects the point cloud data is determined as a reference point.

Wherein the observation position is a point in three-dimensional space representing the position of a virtual camera or observer, the observation position determining the part of the three-dimensional scene seen by the observer. The observation position in the embodiment of the application may specifically refer to a camera position. The target ray passing through the screen point may specifically be a three-dimensional coordinate corresponding to the target ray passing through the screen point.

Specifically, the terminal responds to the label making operation, acquires a screen point designated by the label making operation, determines a two-dimensional coordinate of the screen point, converts the two-dimensional coordinate of the screen point according to a preset coordinate conversion relation to obtain a three-dimensional coordinate corresponding to the screen point, starts from an observation position to generate a target ray passing through the three-dimensional coordinate, determines a space point where the target ray intersects with the point cloud data, and determines the intersecting space point with the minimum distance between the three-dimensional coordinates corresponding to the screen point as a reference point when more than two intersecting space points exist.

In the embodiment, the terminal automatically generates the rays to determine the reference points corresponding to the screen points by acquiring the screen points designated by the label making operation acting on the point cloud data, so that errors possibly caused by selecting the screen points are reduced, an operator can accurately determine the reference points by only selecting one screen point at will in the label area of the point cloud data, and then the traffic label is generated, and the possible selection errors when selecting the screen points for a plurality of times to determine the label top in the existing scheme are avoided, thereby improving the accuracy of traffic label making.

In one embodiment, the process of selecting at least two candidate spatial points from the point cloud data by the terminal includes the following steps: carrying out region division on a space region of point cloud data distribution to obtain at least two space subregions; respectively determining the distance between each space subarea and a reference point; determining a space subarea with a distance meeting the area candidate condition as a candidate space subarea; at least two points in the candidate spatial sub-region are determined as candidate points in space.

The region division refers to dividing a spatial region in which point cloud data are distributed into a plurality of small sub-regions, and the small sub-regions are the spatial sub-regions.

The region candidate condition may specifically be a distance threshold condition, which is used to determine which spatial points in the point cloud data are candidate spatial points that may be relevant for traffic sign production, the distance threshold may be related to the size of a spatial sub-region, for example, the spatial sub-region is a cube with a side length of 8 meters, the distance threshold corresponding to the region candidate condition may be set to 10 meters, then a distance less than 10 meters is determined as a distance that satisfies the region candidate condition, and the spatial sub-region corresponding to the distance is determined as a candidate spatial sub-region.

Specifically, the terminal determines a space region of point cloud data distribution, performs region division on the space region according to a preset unit cube size, as shown in fig. 7, obtains a space region formed by cubes with the same size, determines the body center of the unit cube corresponding to each space region, calculates the distance between each body center and a reference point, uses the distance as the distance between the corresponding space region and the reference point, judges whether each distance reaches a distance threshold corresponding to a region candidate condition, determines that the space region is a candidate space region if the distance between the space region and the reference point is smaller than the distance threshold corresponding to the region candidate condition for any space region, and determines each space point in the candidate space region as a candidate space point.

In the above embodiment, the terminal performs region division on the spatial region of the point cloud data distribution to obtain at least two spatial subregions; respectively determining the distance between each space subarea and a reference point; determining a space subarea with a distance meeting the area candidate condition as a candidate space subarea; at least two space points in the candidate space subarea are determined as candidate space points, so that a first space point related to the traffic sign can be quickly and accurately identified and extracted from huge point cloud data, and the traffic sign can be manufactured based on the first space point, thereby improving the efficiency and accuracy of manufacturing the traffic sign.

In one embodiment, before selecting the second spatial point with the distance between the second spatial point and the fitting plane satisfying the second distance condition from the at least two first spatial points, the terminal may further: determining the distance between each first space point and the reference point; selecting a third space point with a distance meeting a third distance condition from at least two first space points; and carrying out plane fitting on the third space point according to the reference point to obtain a fitting plane.

The third distance condition may specifically be a distance threshold condition, which is used to determine that those spatial points in the first spatial points are most likely to be related to traffic sign production, for example, the size of an actual traffic sign is usually about 1 meter, where the distance threshold corresponding to the third distance condition may be set to 0.5 meter, and a distance less than 0.5 meter may be determined as a distance that meets the third distance condition, and the second spatial point corresponding to the distance is determined as the third spatial point.

Specifically, the terminal may obtain the coordinates of each first spatial point and the coordinates of the reference point, calculate, for any one first spatial point, the distance between the first spatial point and the reference point according to the coordinates of the first spatial point and the coordinates of the reference point, determine whether the distance reaches a distance threshold corresponding to a third distance condition, if the distance between the rest of the reference points is smaller than the distance threshold corresponding to the third distance condition, determine that the first spatial point is a second spatial point, and perform the above processing for each first spatial point, thereby screening out each third spatial point that satisfies the third distance condition with respect to the reference point from the first spatial points, and performing plane fitting by adopting a preset plane fitting algorithm in combination with the coordinates of the third spatial point and the coordinates of the reference point, to obtain a fitting plane.

The preset plane fitting algorithm may specifically be a least square method, a Principal Component Analysis (PCA) method, a eigenvalue decomposition method, and the like.

In the above embodiment, the terminal determines the distance between each first space point and the reference point; selecting a third space point with a distance meeting a third distance condition from at least two first space points; and carrying out plane fitting on the third space points according to the reference points to obtain a fitting plane, so that the third space points most relevant to the traffic sign can be accurately screened, and carrying out plane fitting on the third space points to enable the obtained fitting plane to be closest to the plane of the real traffic sign, and further, the accuracy of traffic sign manufacturing can be improved when the traffic sign is generated based on the fitting plane.

In one embodiment, the terminal performs plane fitting on the third spatial point according to the reference point, and the process of obtaining the fitted plane specifically includes the following steps: determining a covariance matrix corresponding to the third space point; determining eigenvalues and eigenvectors of the covariance matrix; determining a target plane normal according to the characteristic value and the characteristic vector; and determining a fitting plane according to the target plane normal and the reference point.

The covariance matrix of the third space point is a 3x3 matrix, its elements are covariance of the third space point on x, y and z coordinate axes, and diagonal elements of the matrix are variances of each dimension. For example, var (x), var (y), var (z), whereas the off-diagonal elements are covariances between different dimensions, for example, cov (x, y), cov (x, z), cov (y, z).

Specifically, the terminal obtains coordinates of each third space point, calculates a coordinate average value on each coordinate axis according to the coordinates of the third space points, determines a covariance matrix according to the coordinate average value, then uses a jacobian iteration method to determine a plurality of groups of characteristic values and characteristic vectors corresponding to the covariance matrix, selects a minimum characteristic value and a characteristic vector corresponding to the minimum characteristic value from the plurality of groups of obtained characteristic values and characteristic vectors, determines the characteristic vector corresponding to the minimum characteristic value as a target plane normal, determines a plane equation according to the coordinates of the target plane normal and the reference point, and the plane represented by the plane equation is a fitting plane.

In the above embodiment, the terminal determines the covariance matrix corresponding to the third spatial point; determining eigenvalues and eigenvectors of the covariance matrix; determining a target plane normal according to the characteristic value and the characteristic vector; and determining a fitting plane according to the normal line of the target plane and the reference point, so that a plane conforming to the distribution of the third space point can be fitted quickly and accurately, the obtained fitting plane is closest to the real traffic sign plane, and the accuracy of traffic sign manufacturing can be improved when the traffic sign is generated based on the fitting plane in the follow-up process.

In one embodiment, the terminal may also determine the angle between the target plane normal and the ground; the process of determining a fitting plane by the terminal according to the target plane normal and the reference point comprises the following steps: and when the included angle meets the included angle condition, determining a fitting plane according to the normal line of the target plane and the reference point.

The angle condition may specifically be an angle range condition for evaluating whether the angle between the normal line of the target plane and the ground meets a specific requirement, and it should be noted that, in a practical example, the plane where the traffic sign is located is generally perpendicular to the ground, the normal line of the traffic sign is generally parallel to the ground, that is, the normal line of the traffic sign is generally perpendicular to the normal line of the ground, and then the angle range corresponding to the angle condition may be preset to be [85 °,90 ° ].

Specifically, after the target plane normal is obtained, the terminal can also obtain the normal vector (0, 1) of the ground, calculate the included angle between the target plane normal and the normal vector (0, 1) of the ground, judge whether the included angle is in the angle range corresponding to the included angle condition, and when the included angle between the target plane normal and the normal of the ground is in the angle range, determine that the included angle between the target plane normal and the ground meets the included angle condition, and determine the fitting plane according to the target plane normal and the reference point.

For example, assuming that the target plane normal is (a, b, c) and the reference point coordinates are (X0, Y0, Z0), the plane equation may be expressed as a (X-X0) +b (Y-Y0) +c (Z-Z0) +d=0, so that the value of d may be found, resulting in a fitted plane.

In the above embodiment, the terminal determines the included angle between the normal line of the target plane and the ground; when the included angle meets the included angle condition, a fitting plane is determined according to the normal line of the target plane and the reference point, so that the fitted plane can be ensured to meet the space direction requirement of the traffic sign, the obtained fitting plane is closest to the real traffic sign plane, and the accuracy of traffic sign manufacturing can be improved when the traffic sign is generated based on the fitting plane in the follow-up process.

In one embodiment, the terminal may also determine the angle between the target plane normal and the ground; when the included angle does not meet the included angle condition, acquiring the generated target traffic sign; the target traffic sign is generated by performing plane fitting based on the historical reference points; the target traffic sign is determined as a traffic sign generated based on the reference point.

Specifically, after the target plane normal is obtained, the terminal may further obtain a normal vector (0, 1) of the ground, calculate an included angle between the target plane normal and the normal vector (0, 1) of the ground, determine whether the included angle is in an angle range corresponding to an included angle condition, and when the included angle between the target plane normal and the normal of the ground is not in the angle range, determine that the included angle between the target plane normal and the ground does not meet the included angle condition, and for the target plane normal which does not meet the included angle condition, the fitted plane does not meet the spatial direction requirement of an actual traffic sign, that is, the currently selected reference point cannot be used for generating an accurate traffic sign, and may obtain the traffic sign generated based on the history reference point as the target traffic sign.

The historical reference point is a spatial point designated by a label making operation acting on point cloud data at a historical moment, for example, after a label making process is started, an operator can select a reference point a in the point cloud data at a first moment, execute step S202 for the reference point a, determine a target plane normal a, determine a fitting plane according to the target plane normal and the reference point a when an included angle between the target plane normal a and the ground meets an included angle condition, execute steps S204-S208, thereby obtaining a traffic label generated based on the reference point a, then drag a mouse, select a reference point B in the point cloud data at a second moment, execute step S202 for the reference point B, determine the target plane normal B, and acquire the traffic label generated based on the reference point a selected at the previous moment (the first moment) when the included angle between the target plane normal B and the ground does not meet the included angle condition, and determine the traffic label generated based on the reference point B.

In the above embodiment, the terminal determines the included angle between the normal line of the target plane and the ground; when the included angle does not meet the included angle condition, the generated target traffic sign is obtained, the target traffic sign is determined to be the traffic sign generated based on the reference point, when the point cloud data quality is insufficient or the problems of shielding exist, the defects can be made up by means of analysis of the historical reference point, the available traffic sign can be obtained even under the non-ideal condition, and therefore the accuracy of traffic sign manufacturing is improved.

In one embodiment, the process of selecting the second space point with the distance between the second space point and the fitting plane meeting the second distance condition from the terminal in at least two first space points comprises the following steps: acquiring a distance threshold corresponding to the second distance condition; determining a first plane and a second plane which are the distance threshold values from the fitting plane; and determining the spatial points between the first plane and the second plane of at least two first spatial points as second spatial points, wherein the distance between the second spatial points and the fitting plane meets a second distance condition.

The first plane and the second plane are respectively parallel to the fitting plane and are respectively positioned above and below the fitting plane, and the distance between the first plane and the fitting plane is equal to a distance threshold corresponding to the second distance condition.

Specifically, the terminal may obtain a distance threshold value and a fitting plane corresponding to the second distance condition, translate the fitting plane upward by a first distance along a plane normal of the fitting plane to obtain a first plane, wherein the first distance is equal to the distance threshold value, translate the fitting plane downward by a second distance along the plane normal of the fitting plane to obtain a second plane, wherein the first distance is equal to the distance threshold value, determine a space point between the first plane and the second plane according to coordinates of each first space point, and determine the space point between the first plane and the second plane as a second space point with a distance between the first space point and the fitting plane meeting the second distance condition.

For example, the reference point is located in the obtained fitting plane, the reference point is taken as an origin, the normal direction of the fitting plane is taken as a z axis, the direction perpendicular to the ground is taken as a y axis, the cross multiplication result of the y axis and the z axis is taken as an x axis, a reference point coordinate system is established, the coordinates of each first space point in the reference point coordinate system are obtained by converting the coordinates of each first space point in the earth center coordinate system into the reference point coordinate system, the plane which is located above the fitting plane and has a distance of 0.05 from the fitting plane is determined to be the first plane, namely, the plane with z=0.05 is determined to be the first plane, the plane which is located below the fitting plane and has a distance of 0.05 from the fitting plane is determined to be the second plane, namely, the plane with z= -0.05 is determined to be the second plane, and the first space point with an absolute value of z less than 0.05 in the coordinates is determined to be the second space point which meets the second distance condition from the fitting plane.

The coordinate conversion process is as follows: first, the coordinates of each first spatial point are translated so that the reference point becomes a new origin, for example, the coordinates of the point P in the geocentric coordinate system are (XP, YP, ZP), the coordinates of the reference point in the geocentric coordinate system are (X0, Y0, Z0), the coordinates of the point P after translation are (XP-X0, YP-Y0, ZP-Z0), and then the coordinates of the point P after translation are rotationally transformed to the reference point coordinate system, specifically, the coordinates of the point P after translation (XP-X0, YP-Y0, ZP-Z0) are multiplied by a transformation matrix M, wherein the transformation matrix is a matrix formed by vectors of X-axis, Y-axis and Z-axis of the reference point coordinate system. The translation and rotation processes described above are repeated for each first spatial point, resulting in their coordinates in the reference point coordinate system.

In the above embodiment, the terminal determines the first plane and the second plane, where the distance between the first plane and the fitting plane is the distance threshold; and determining the space points between the first plane and the second plane as second space points, wherein the distance between the second space points and the fitting plane meets a second distance condition, noise possibly caused by measurement errors or environmental interference exists in the point cloud data, the noise points can be effectively filtered by setting a distance threshold value, only the second space points closely related to the actual traffic sign are reserved, the number of the space points to be analyzed can be reduced, and the efficiency and the accuracy of traffic sign manufacturing can be improved when the traffic sign is generated based on the second space points.

In one embodiment, the process of gridding a projection area obtained by projecting the second space point on the fitting plane by the terminal to obtain a grid chart and attribute values corresponding to the grids in the grid chart includes the following steps: projecting the second space point to the fitting plane to obtain a projection point; determining a minimum rectangular area surrounding the projection point in the fitting plane as a projection area; gridding the projection area according to a preset grid size to obtain a grid chart; and determining the attribute value of the grid according to the distribution of the projection points in each grid of the grid graph.

Specifically, the terminal may adopt a vertical projection manner to project the second spatial points onto the fitting plane to obtain projection points corresponding to the second spatial points located on the fitting plane, in the fitting plane, taking the reference point as an origin, taking the direction perpendicular to the ground as a y axis, taking the cross multiplication result of the y axis and the normal direction of the fitting plane as an x axis, establishing a plane rectangular coordinate system, under the plane rectangular coordinate system, respectively taking the maximum x value, the maximum y value, the minimum x value and the minimum y value in the coordinates of the projection points as the minimum rectangular area surrounding the projection points, determining the minimum rectangular area as the projection area, then obtaining the preset grid size, dividing the projection area into grids according to the obtained grid size to obtain a grid map, counting the number of the projection points located in the grid for each grid for which the grid map is found, and determining the attribute value of the grid according to the number of the projection points in the grid.

In the above embodiment, the terminal obtains the projection point by projecting the second spatial point to the fitting plane; determining a minimum rectangular area surrounding the projection point in the fitting plane as a projection area; gridding the projection area according to a preset grid size to obtain a grid chart; according to the distribution of the projection points in each grid of the grid graph, the attribute values of the grids are determined, so that complex three-dimensional point cloud data can be converted into two-dimensional grid data which is easier to manage and analyze, and the efficiency of traffic sign manufacturing can be improved when traffic signs are generated based on the grid graph.

In one embodiment, the terminal performs grid traversal on the grid graph with the belonging grid as a starting point, and performs boundary update on the initial boundary according to the attribute value corresponding to the traversed grid in the traversal process until the traversal stopping condition is reached, and the process of generating the traffic sign based on the boundary when the traversal stopping condition is reached specifically comprises the following steps: determining the grid as a starting point, and acquiring a preset number of traversal directions and corresponding traversal sequences; sequentially selecting the traversing directions from the preset number of traversing directions, and traversing the target grids in the selected traversing directions according to the traversing sequence corresponding to each selected traversing direction; when the attribute values of all the target grids meet the attribute value conditions, carrying out boundary updating on the initial boundary according to the boundary values of the target grids; stopping traversing other target grids in the currently selected traversing direction when the attribute values of the target grids do not meet the attribute value conditions, and marking the currently selected traversing direction as a stopping state; when the preset number of traversal directions are in a stop state, determining that the traversal stop condition is reached, and generating the traffic sign based on the boundary when the traversal stop condition is reached.

The preset number of the traverse directions may be specifically an up, down, left and right four traverse directions, and the traverse sequence refers to a grid sequence in the corresponding traverse directions, for example, when the traverse directions are up or down, the corresponding traverse sequence is from left to right, and when the traverse directions are left or right, the corresponding traverse sequence is from top to bottom.

The attribute value condition is a condition for judging whether a grid satisfies a specific requirement, for example, it is determined that the grid satisfies the attribute value condition when the attribute value of the grid is 1, and it is determined that the grid does not satisfy the attribute value condition when the attribute value of the grid is 0.

Specifically, the terminal acquires preset upper, lower, left and right traversing directions and traversing sequences corresponding to the traversing directions, selects a traversing direction to be traversed next from the four traversing directions according to the upper, lower, left and right traversing directions, sequentially traverses the target grids in the appointed row above according to the left-to-right direction when the traversing direction is the upper direction, detects whether attribute values of the target grids meet attribute value conditions one by one, determines the upper boundary of the target grid of the appointed row as the upper boundary of the updated initial boundary when the attribute values of all the target grids meet the attribute value conditions, stops traversing other target grids behind the target grid in the appointed row if the attribute values of the target grids do not meet the attribute value conditions, and marks the traversing direction as a stop state; when the next traversing direction is downward, traversing the target grids in the designated row from left to right in sequence, detecting whether the attribute values of the target grids meet the attribute value conditions one by one, determining the lower boundary of the target grid of the designated row as the lower boundary of the updated initial boundary when the attribute values of all the target grids meet the attribute value conditions, stopping traversing other target grids behind the target grid in the designated row if the attribute values of the target grids do not meet the attribute value conditions, and marking the traversing direction as a stop state; when the next traversing direction is left, traversing the target grids in the designated column from left to right in sequence, detecting whether the attribute values of the target grids meet the attribute value conditions one by one, determining the left boundary of the target grid of the designated column as the left boundary of the updated initial boundary when the attribute values of all the target grids meet the attribute value conditions, stopping traversing other target grids behind the target grid in the designated column if the attribute values of the target grids do not meet the attribute value conditions, and marking the traversing direction left as a stop state; when the next traversing direction is right, traversing the target grids in the specified column from right to right in sequence, detecting whether the attribute values of the target grids meet the attribute value conditions one by one, determining the right boundary of the target grid in the specified column as the right boundary of the updated initial boundary when the attribute values of all the target grids meet the attribute value conditions, stopping traversing other target grids behind the target grid in the specified column if the attribute values of the target grids do not meet the attribute value conditions, and marking the traversing direction right as a stop state; when the four directions are in a stop state, determining to reach a traversing stop condition, acquiring the boundaries in the four directions, determining the coordinates of four vertexes of a rectangle under a reference point coordinate system according to the boundaries in the four directions, namely four vertexes of a traffic sign, when the sign making operation corresponds to making the rectangular traffic sign, using the four vertexes as the four vertexes of the rectangular sign to generate the rectangular traffic sign, and when the sign making operation corresponds to making the circular traffic sign, using the four vertexes as the vertexes of the inscribed rectangle of the circular traffic sign to generate the circular traffic sign.

It should be noted that, after updating the initial boundary, it is further determined whether the updated initial boundary has reached the boundary of the grid map, that is, whether the updated initial boundary has reached the boundary of the projection area, if the updated initial boundary has reached the boundary of the grid map, the corresponding traversal direction is marked as a stopped state, for example, after determining the upper boundary of the target grid of the designated row as the upper boundary of the updated initial boundary, determining whether the upper boundary of the updated initial boundary has reached the upper boundary of the grid map, if so, marking the traversal direction as a stopped state; after determining the lower boundary of the target grid of the designated row as the lower boundary of the updated initial boundary, determining whether the lower boundary of the updated initial boundary reaches the lower boundary of the grid graph, and if so, marking the traversal direction as a stop state; after determining the left boundary of the target grid of the designated column as the left boundary of the updated initial boundary, determining whether the left boundary of the updated initial boundary reaches the left boundary of the grid graph, and if so, marking the left traversal direction as a stop state; after the right boundary of the target grid of the designated column is determined as the right boundary of the updated initial boundary, whether the right boundary of the updated initial boundary reaches the right boundary of the grid graph is determined, and if so, the traversing direction right is marked as a stop state.

It is to be understood that the direction of the next to be traversed is selected from the four directions of the traversal in the order of the up, down, left, and right directions, and specifically, the direction of the next to be traversed may be determined in the order of the up, down, left, and right directions, the last traversed direction, and the stopped traversed direction. For example, the latest traversal direction is right, the traversal direction to be checked is first determined to be up according to the sequence of the directions of up, down, left and right, the state in the traversal direction is checked, if the traversal direction is in a stop state, the traversal direction to be checked is determined to be down, the state in the traversal direction is checked, if the traversal direction is in a stop state, the traversal direction to be checked is determined to be left, the state in the traversal direction to be left is checked, and if the traversal direction to be left is not in a stop state, the traversal direction to be traversed next is determined to be left.

In addition, after determining the coordinates of the four vertexes of the rectangle under the coordinate system of the reference point according to the boundaries in the four directions of the upper direction, the lower direction, the left direction and the right direction, before generating the traffic sign, the coordinates of the four vertexes under the coordinate system of the reference point can be converted under the geocentric coordinate system to obtain the coordinates of the four vertexes under the geocentric coordinate system, and the corresponding traffic sign is generated based on the coordinates of the four vertexes under the geocentric coordinate system. Wherein the coordinate transformation process is the inverse of the transformation of the geocentric coordinate system to the reference point coordinate system.

Referring to a mesh map shown in (a) of fig. 8, in which a center of a mesh (a mesh filled with a dotted line in the figure) to which a reference point belongs is taken as a coordinate origin, a process of generating a traffic sign through mesh traversal is illustrated, a terminal acquires preset four traversal directions up, down, left, and right and a traversal order corresponding to each traversal direction, selects a traversal direction to be traversed next from the four traversal directions in the sequence of the up, down, left, and right directions, takes a mesh 1 (a mesh to which the reference point belongs) of (B) of fig. 8 as a traversal origin, confirms that an attribute value 1 of the mesh satisfies an attribute value condition, determines a boundary mesh of a rectangle as a mesh 1, records a mesh number of the mesh to which the boundary mesh corresponding to the rectangle belongs from the reference point through an upper boundary value, a lower boundary value, a left boundary value, and a right boundary value, the upper boundary value=0, the lower boundary value=0, the left boundary value=0, the right boundary value=0 of the recordable rectangle, then traversing the grid 2 below the grid 1, confirming that the attribute value 1 of the grid 2 satisfies the attribute value condition, updating the lower boundary value= -1, then traversing the grid 3 above the grid 1, confirming that the attribute value 1 of the grid 3 satisfies the attribute value condition, updating the upper boundary value=1, then traversing the grids 4, 5 and 6 on the left side of the grid 2, grid 1 and grid 3, sequentially confirming that the attribute value 1 of the grid 4, grid 5 and grid 6 satisfies the attribute value condition, further traversing the grid 7, grid 8 and grid 9 on the right side of the grid 2, grid 1 and grid 3, sequentially confirming that the attribute value 1, grid 7, the attribute values of the grids 8 and 9 satisfy the attribute value condition with 1, the right boundary value=1, then the lower grid 10-12 is traversed, the attribute value of each grid is sequentially confirmed to satisfy the attribute value condition with 1, the lower boundary value= -2 is updated, then the upper grid 13-15 is traversed, the attribute value of each grid is sequentially confirmed to satisfy the attribute value condition with 1, the upper boundary value=2 is updated, then the left grid 16-20 is traversed, the attribute value of each grid is sequentially confirmed to satisfy the attribute value condition with 1, the left boundary value= -2 is updated, then the right grid 16-20 is traversed, the attribute value of each grid is sequentially confirmed to satisfy the attribute value condition with 1, the right boundary value=2 is updated, the word is analogically until the attribute value of the grid 31 is confirmed to be 0 to not satisfy the attribute value condition when the traversing direction is upper and the grid 31 is traversed, stopping the traversal of the other target grids on the right side of the grid 31, marking the upper part of the traversal direction as a stopped state, then traversing the left side, the right side and the lower side, when the traversal direction is the lower side and the traversal is to the grid 45, confirming that the attribute value 0 of the grid 45 does not meet the attribute value condition, stopping the traversal of the other target grids on the right side of the grid 45, marking the lower part of the traversal direction as a stopped state, then traversing the left side, the right side and the left side, when the traversal direction is the right side and the traversal is to the grid 64, confirming that the attribute value 0 of the grid 64 does not meet the attribute value condition, stopping the traversal of the other target grids below the grid 64, marking the traversal direction to the right side as a stopped state, then traversing the left side, when the traversal direction is the left side and the traversal is to the grid 65, if the attribute value of the grid 65 is 0 and the attribute value condition is not met, stopping traversing other target grids below the grid 65, marking the left side of the traversing direction as a stopped state, reaching the traversing stopping condition, obtaining an upper boundary value=2, a lower boundary value= -3, a left boundary value= -5 and a right boundary value=4, assuming that the side length of the grid is 0.1, determining that coordinates of four vertexes of a rectangle under a reference point coordinate system are sequentially a lower left corner (-0.55, -0.35,0), an upper left corner (-0.55,0.25,0), an upper right corner (0.45,0.25,0) and a lower right corner (0.45-0.35,0), converting the coordinates of the four vertexes under the reference point coordinate system under a geocentric coordinate system to obtain coordinates of the four vertexes under the geocentric coordinate system, and generating a corresponding traffic sign based on the coordinates of the four vertexes under the geocentric coordinate system.

Fig. 9 and 10 illustrate two other embodiments of a grid graph traversal process and traversal results based on which corresponding traffic signs may be generated.

In one embodiment, as shown in fig. 11, there is further provided a traffic sign generating method, which is illustrated by taking the terminal 102 in fig. 1 as an example, and includes the following steps:

s1102, acquiring screen points designated by a label making operation acting on point cloud data; generating a target ray from the observation position; the target ray passes through the screen point; a first spatial point at which the target ray intersects the point cloud data is determined as a reference point.

S1104, selecting at least two first space points with the distance meeting a first distance condition from the reference point in the point cloud data.

S1106, determining the distance between each first space point and the reference point; and selecting a third space point with a distance meeting a third distance condition from the at least two first space points.

S1108, determining a covariance matrix corresponding to the third space point; determining eigenvalues and eigenvectors of the covariance matrix; determining a target plane normal according to the characteristic value and the characteristic vector; and determining a fitting plane according to the target plane normal and the reference point.

S1110, acquiring a distance threshold corresponding to the second distance condition; determining a first plane and a second plane which are the distance threshold values from the fitting plane; and determining the spatial points between the first plane and the second plane of at least two first spatial points as second spatial points, wherein the distance between the second spatial points and the fitting plane meets a second distance condition.

S1112, projecting the second space point to the fitting plane to obtain a projection point; determining a minimum rectangular area surrounding the projection point in the fitting plane as a projection area; gridding the projection area according to a preset grid size to obtain a grid chart; and determining the attribute value of the grid according to the distribution of the projection points in each grid of the grid graph.

S1114, determining the grid to which the grid belongs as a starting point, and acquiring a preset number of traversal directions and corresponding traversal sequences.

S1116, selecting the traversing directions from the preset number of traversing directions in sequence, and traversing the target grids in the selected traversing directions according to the traversing sequence corresponding to each selected traversing direction.

S1118, when the attribute values of all the target grids meet the attribute value conditions, carrying out boundary update on the initial boundary according to the boundary values of the target grids; and stopping traversing other target grids in the currently selected traversing direction when the attribute values of the target grids do not meet the attribute value conditions, and marking the currently selected traversing direction as a stopping state.

And S1120, determining that the traversal stopping condition is reached when the preset number of traversal directions are in a stopping state, and generating the traffic sign based on the boundary when the traversal stopping condition is reached.

The application also provides an application scene, which applies the traffic sign generating method, referring to fig. 12, the traffic sign generating method specifically comprises the following steps:

The terminal can be used for running a map making application, the terminal displays operable point cloud data in a data operation area of the map application, a traffic sign making tool is displayed in a tool bar, the terminal responds to triggering operation of the traffic sign making tool to start a sign making process, an operator can trigger a shift key and select a space point on the point cloud data through a mouse, the terminal responds to the point selecting operation to obtain the space point designated by the point selecting operation, the space point is used as a reference point, the process of the traffic sign generating method is executed to generate corresponding traffic signs, preview and display are carried out on the generated traffic signs, a user can confirm the displayed traffic signs, and when confirmation operation of the displayed traffic signs is detected, the generated traffic signs are added into a high-precision map being made; when a cancel operation is detected for the presented traffic sign, a new point pick operation is detected to regenerate the traffic sign.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a traffic sign generating device for realizing the traffic sign generating method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the traffic sign generating device or devices provided below may refer to the limitation of the traffic sign generating method hereinabove, and will not be repeated herein.

In one embodiment, as shown in fig. 13, there is provided a traffic sign generating apparatus comprising: a first spatial point selection module 1302, a second spatial point selection module 1304, a meshing module 1306, and a signage generation module 1308, wherein:

A first spatial point selection module 1302, configured to select at least two first spatial points in the point cloud data, where a distance between the first spatial point and the reference point meets a first distance condition; the reference points are spatial points designated by a signage making operation acting on the point cloud data;

A second spatial point selection module 1304, configured to select, from at least two first spatial points, a second spatial point whose distance from the fitting plane satisfies a second distance condition; the fitting plane is a plane determined according to at least two first space points;

The gridding module 1306 is configured to gridde a projection area obtained by projecting the second spatial point onto the fitting plane, so as to obtain a grid map and attribute values corresponding to grids in the grid map;

the sign generation module 1308 is configured to determine an initial boundary according to a grid to which the reference point belongs, perform grid traversal on the grid map with the grid to which the reference point belongs as a starting point, and update the boundary of the initial boundary according to an attribute value corresponding to the traversed grid in the traversal process until a traversal stop condition is reached, and generate a traffic sign based on the boundary when the traversal stop condition is reached.

In the above embodiment, the operator only needs to trigger the operation of making the sign to specify the reference point in the point cloud data, then at least two first space points with the distance between the first space points and the reference point meeting the first distance condition can be selected from the point cloud data, and among the at least two first space points, a second space point with the distance between the first space points and the fitting plane meeting the second distance condition is selected, wherein the fitting plane is a plane determined according to the at least two first space points, so that the second space points close to the surface of the actual traffic sign are obtained, the number of space points in subsequent calculation is reduced, meanwhile, the interference of noise space points is avoided, and the efficiency and accuracy of making the traffic sign are improved; the projection area obtained by projecting the second space points on the fitting plane is gridded to obtain a gridding diagram and attribute values corresponding to grids in the gridding diagram, an initial boundary is determined according to the grids to which the reference points belong, grid traversal is carried out on the gridding diagram by taking the grids to which the reference points belong as starting points, and in the traversal process, boundary updating is carried out on the initial boundary according to the attribute values corresponding to the traversed grids until the traversal stopping condition is reached, a traffic sign is generated based on the boundary when the traversal stopping condition is reached, continuous space data is converted into discrete grids which are easier to process, and the initial boundary is continuously updated through the traversal grids, so that the traffic sign can be quickly and accurately generated, and the efficiency and the accuracy of traffic sign manufacturing are further improved.

In one embodiment, the first spatial point selection module 1302 is further configured to: determining a reference point according to a screen point designated by a signage making operation acting on the point cloud data; selecting at least two candidate space points from the point cloud data; determining the distance between each candidate space point and the reference point; and selecting at least two first space points with the distances meeting the first distance condition from the candidate space points.

In one embodiment, the first spatial point selection module 1302 is further configured to: acquiring screen points designated by a label making operation acting on point cloud data; generating a target ray from the observation position; the target ray passes through the screen point; a first spatial point at which the target ray intersects the point cloud data is determined as a reference point.

In one embodiment, the first spatial point selection module 1302 is further configured to: carrying out region division on a space region of point cloud data distribution to obtain at least two space subregions; respectively determining the distance between each space subarea and a reference point; determining a space subarea with a distance meeting the area candidate condition as a candidate space subarea; at least two points in the candidate spatial sub-region are determined as candidate points in space.

In one embodiment, as shown in fig. 14, the apparatus further comprises: a plane fitting module 1310 for determining a distance between each first spatial point and the reference point; selecting a third space point with a distance meeting a third distance condition from at least two first space points; and carrying out plane fitting on the third space point according to the reference point to obtain a fitting plane.

In one embodiment, the plane fitting module 1310 is further configured to: determining a covariance matrix corresponding to the third space point; determining eigenvalues and eigenvectors of the covariance matrix; determining a target plane normal according to the characteristic value and the characteristic vector; and determining a fitting plane according to the target plane normal and the reference point.

In one embodiment, the plane fitting module 1310 is further configured to determine an angle between the target plane normal and the ground; and when the included angle meets the included angle condition, determining a fitting plane according to the normal line of the target plane and the reference point.

In one embodiment, the plane fitting module 1310 is further configured to determine an angle between the target plane normal and the ground; the sign generation module 1308 is further configured to obtain a generated target traffic sign when the included angle does not meet the included angle condition; the target traffic sign is generated by performing plane fitting based on the historical reference points; the target traffic sign is determined as a traffic sign generated based on the reference point.

In one embodiment, the second spatial point selection module 1304 is configured to: acquiring a distance threshold corresponding to the second distance condition; determining a first plane and a second plane which are the distance threshold values from the fitting plane; and determining the spatial points between the first plane and the second plane of at least two first spatial points as second spatial points, wherein the distance between the second spatial points and the fitting plane meets a second distance condition.

In one embodiment, meshing module 1306 is further to: projecting the second space point to the fitting plane to obtain a projection point; determining a minimum rectangular area surrounding the projection point in the fitting plane as a projection area; gridding the projection area according to a preset grid size to obtain a grid chart; and determining the attribute value of the grid according to the distribution of the projection points in each grid of the grid graph.

In one embodiment, signage generation module 1308 is further to: determining the grid as a starting point, and acquiring a preset number of traversal directions and corresponding traversal sequences; sequentially selecting the traversing directions from the preset number of traversing directions, and traversing the target grids in the selected traversing directions according to the traversing sequence corresponding to each selected traversing direction; when the attribute values of all the target grids meet the attribute value conditions, carrying out boundary updating on the initial boundary according to the boundary values of the target grids; stopping traversing other target grids in the currently selected traversing direction when the attribute values of the target grids do not meet the attribute value conditions, and marking the currently selected traversing direction as a stopping state; when the preset number of traversal directions are in a stop state, determining that the traversal stop condition is reached, and generating the traffic sign based on the boundary when the traversal stop condition is reached.

The various modules in the traffic sign generating device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a terminal, and an internal structure diagram thereof may be as shown in fig. 15. The computer device includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input means. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a traffic sign generating method. The display unit of the computer equipment is used for forming a visual picture, and can be a display screen, a projection device or a virtual reality imaging device, wherein the display screen can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, can also be a key, a track ball or a touch pad arranged on a shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 15 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements are applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In an embodiment, there is also provided a computer device comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the method embodiments described above when the computer program is executed.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when executed by a processor, carries out the steps of the method embodiments described above.

In an embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the steps of the method embodiments described above.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A method of traffic sign generation, the method comprising:

Selecting a second space point with a distance meeting a second distance condition from the two-dimensional fitting plane from at least two first space points; the fitting plane is a plane determined according to at least two first space points;

Gridding a projection area obtained by projecting the second space points on the fitting plane to obtain a grid chart and attribute values corresponding to grids in the grid chart; the attribute value is a description of a distribution characteristic of the second spatial point corresponding to the grid;

Determining an initial boundary according to grids to which the reference points belong, determining the grids to which the reference points belong as starting points, and acquiring a preset number of traversal directions and corresponding traversal sequences;

Sequentially selecting the traversing directions from the preset number of traversing directions, and traversing the selected target grids in the traversing directions according to the traversing sequence corresponding to the traversing directions selected each time;

when the attribute values of all the target grids meet the attribute value conditions, carrying out boundary updating on the initial boundary according to the target grid boundary values; stopping traversing other target grids in the currently selected traversing direction when the attribute values of the target grids do not meet the attribute value conditions, and marking the currently selected traversing direction as a stopping state;

Determining that a traversing stopping condition is reached when the preset number of traversing directions are in the stopping state, and generating a rectangular traffic sign by taking the boundary reaching the traversing stopping condition as the boundary of the rectangular sign when the rectangular sign is manufactured corresponding to the sign manufacturing operation; when the label making operation corresponds to making a round label, the round traffic label is generated by taking the boundary when the traverse stop condition is used as the boundary of the inscribed rectangle of the round label.

2. The method according to claim 1, wherein selecting at least two first spatial points in the point cloud data whose distances from the reference point satisfy a first distance condition comprises:

determining a reference point according to a screen point designated by a signage making operation acting on the point cloud data;

selecting at least two candidate space points from the point cloud data;

Determining the distance between each candidate space point and the reference point;

And selecting at least two first space points with the distance meeting a first distance condition from the candidate space points.

3. The method of claim 2, wherein the determining a reference point from a screen point specified by a signage operation acting on the point cloud data comprises:

Acquiring screen points designated by a label making operation acting on the point cloud data;

Generating a target ray from the observation position; the target ray passes through the screen point;

and determining a first space point where the target ray intersects the point cloud data as a reference point.

4. The method of claim 2, wherein the selecting at least two candidate spatial points from the point cloud data comprises:

carrying out region division on the space region of the point cloud data distribution to obtain at least two space subregions;

determining the distance between each space subarea and the reference point respectively;

Determining the space subarea of which the distance meets the area candidate condition as a candidate space subarea;

at least two spatial points in the candidate spatial sub-region are determined as candidate spatial points.

5. The method of claim 1, wherein the selecting a second spatial point from the at least two first spatial points that is at a second distance from the two-dimensional fitting plane is preceded by:

Determining the distance between each first space point and the reference point;

selecting a third space point with the distance meeting a third distance condition from at least two first space points;

And carrying out plane fitting on the third space point according to the reference point to obtain a two-dimensional fitting plane.

6. The method of claim 5, wherein performing a plane fit on the third spatial point according to the reference point to obtain a two-dimensional fit plane comprises:

Determining a covariance matrix corresponding to the third space point;

determining eigenvalues and eigenvectors of the covariance matrix;

determining a target plane normal according to the characteristic value and the characteristic vector;

and determining a two-dimensional fitting plane according to the target plane normal and the reference point.

7. The method of claim 6, wherein the method further comprises:

determining an included angle between the target plane normal and the ground;

the determining a fitting plane according to the target plane normal and the reference point comprises:

and when the included angle meets the included angle condition, determining a two-dimensional fitting plane according to the target plane normal and the reference point.

8. The method of claim 6, wherein the method further comprises:

determining an included angle between the target plane normal and the ground;

When the included angle does not meet the included angle condition, acquiring the generated target traffic sign; the target traffic sign is generated by performing plane fitting based on historical reference points;

the target traffic sign is determined as a traffic sign generated based on the reference point.

9. The method according to claim 1, wherein selecting a second spatial point having a distance from the two-dimensional fitting plane satisfying a second distance condition from at least two of the first spatial points comprises:

acquiring a distance threshold corresponding to the second distance condition;

determining a first plane and a second plane which have the distance between the first plane and the two-dimensional fitting plane as the distance threshold value;

And determining a spatial point which is positioned between the first plane and the second plane in the at least two first spatial points as a second spatial point of which the distance between the fitting plane and the first spatial point meets a second distance condition.

10. The method according to claim 1, wherein gridding the projection area obtained by projecting the second spatial point onto the fitting plane to obtain a gridding diagram and attribute values corresponding to grids in the gridding diagram, includes:

Projecting the second space point to the fitting plane to obtain a projection point;

determining a minimum rectangular area surrounding the projection point in the fitting plane as a projection area;

gridding the projection area according to a preset grid size to obtain a grid chart;

And determining the attribute value of each grid according to the distribution of the projection points in each grid of the grid graph.

11. A traffic sign generating apparatus, the apparatus comprising:

The second space point selecting module is used for selecting a second space point, the distance between the second space point and the two-dimensional fitting plane of which meets the second distance condition, from at least two first space points; the fitting plane is a plane determined according to at least two first space points;

The gridding module is used for gridding a projection area obtained by projecting the second space point on the fitting plane to obtain a grid graph and attribute values corresponding to grids in the grid graph; the attribute value is a description of a distribution characteristic of the second spatial point corresponding to the grid;

The label generation module is used for determining an initial boundary according to the grid to which the reference point belongs, determining the grid to which the reference point belongs as a starting point, and acquiring a preset number of traversal directions and corresponding traversal sequences; sequentially selecting the traversing directions from the preset number of traversing directions, and traversing the selected target grids in the traversing directions according to the traversing sequence corresponding to the traversing directions selected each time; when the attribute values of all the target grids meet the attribute value conditions, carrying out boundary updating on the initial boundary according to the target grid boundary values; stopping traversing other target grids in the currently selected traversing direction when the attribute values of the target grids do not meet the attribute value conditions, and marking the currently selected traversing direction as a stopping state; determining that a traversing stopping condition is reached when the preset number of traversing directions are in the stopping state, and generating a rectangular traffic sign by taking the boundary reaching the traversing stopping condition as the boundary of the rectangular sign when the rectangular sign is manufactured corresponding to the sign manufacturing operation; when the label making operation corresponds to making a round label, the round traffic label is generated by taking the boundary when the traverse stop condition is used as the boundary of the inscribed rectangle of the round label.

12. The apparatus of claim 11, wherein the first spatial point selection module is further configured to:

selecting at least two candidate space points from the point cloud data;

13. The apparatus of claim 12, wherein the first spatial point selection module is further configured to:

14. The apparatus of claim 12, wherein the first spatial point selection module is further configured to:

15. The apparatus of claim 11, wherein the apparatus further comprises a plane fitting module for, among the at least two first spatial points, selecting a second spatial point whose distance from the two-dimensional fitting plane satisfies a second distance condition:

16. The apparatus of claim 15, wherein the plane fitting module is further configured to:

Determining a covariance matrix corresponding to the third space point;

determining eigenvalues and eigenvectors of the covariance matrix;

17. The apparatus of claim 16, further comprising a plane fitting module for:

determining an included angle between the target plane normal and the ground;

18. The apparatus of claim 16, wherein the apparatus further comprises:

the plane fitting module is used for determining an included angle between the normal of the target plane and the ground;

The sign generation module is used for acquiring the generated target traffic sign when the included angle does not meet the included angle condition; the target traffic sign is generated by performing plane fitting based on historical reference points; the target traffic sign is determined as a traffic sign generated based on the reference point.

19. The apparatus of claim 11, wherein the second spatial point selection module is configured to:

acquiring a distance threshold corresponding to the second distance condition;

20. The apparatus of claim 11, wherein the meshing module is further configured to:

21. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any one of claims 1 to 10 when the computer program is executed.

22. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 10.

23. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any one of claims 1 to 10.