WO2017166687A1 - Method and apparatus for generating three-dimensional intersection roadway model, and storage medium - Google Patents

Method and apparatus for generating three-dimensional intersection roadway model, and storage medium Download PDF

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Publication number
WO2017166687A1
WO2017166687A1 PCT/CN2016/097414 CN2016097414W WO2017166687A1 WO 2017166687 A1 WO2017166687 A1 WO 2017166687A1 CN 2016097414 W CN2016097414 W CN 2016097414W WO 2017166687 A1 WO2017166687 A1 WO 2017166687A1
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point
road
intersecting
intersection
boundary line
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PCT/CN2016/097414
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French (fr)
Chinese (zh)
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孙晔
阳慧蓉
张静
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百度在线网络技术（北京）有限公司
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Publication of WO2017166687A1 publication Critical patent/WO2017166687A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

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  • Embodiments of the present invention relate to the field of road modeling technologies, and in particular, to a method, an apparatus, and a storage medium for generating a three-dimensional intersecting road model.
  • 3D map not only provides all the information needed for 2D maps, but more importantly, it can reflect a three-dimensional world, and can provide users with more rich and intuitive visual effects, giving people an immersive feeling.
  • the three-dimensional map includes multiple levels of information such as terrain, roads, buildings, and landscapes.
  • the three-dimensional road is the most important component of the three-dimensional map, and the road intersection is an important part of the road, and it is the hub of the circulation and collection of people.
  • intersection forms at the intersection such as T-shaped, Y-shaped, X-shaped and "Ten" characters, in addition to various irregular shapes and intersections where multiple road planes intersect.
  • the existing three-dimensional road automation modeling based on lofting does not deal well with the modeling of more than three road intersections.
  • the case of dealing with more than three roads is through
  • Each road is modeled separately, and then there is a blank at the intersection of the roads.
  • the roads are connected by manual modeling in the blank space. The work is very cumbersome and complicated, and the data volume is large, and the manual modeling cost Higher.
  • Embodiments of the present invention provide a method, an apparatus, and a storage medium for generating a three-dimensional intersecting road model, which can reduce the amount of data and the cost of road modeling.
  • an embodiment of the present invention provides a method for generating a three-dimensional intersection road model, including:
  • a three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
  • the embodiment of the present invention further provides an apparatus for generating a three-dimensional crossroad model, including:
  • a boundary line determining module for acquiring a road pipeline and determining a boundary line of the road pipeline
  • a boundary line intersection determining module for determining an intersection of two intersecting boundary lines for adjacent road pipelines
  • a sampling point obtaining module configured to acquire at least one sampling point on each intersecting boundary line according to the intersection point
  • An interpolation point set acquisition module configured to insert a spline curve formed by sampling points of the boundary line Value, obtain the set of interpolation points;
  • a road pipeline cutting module configured to determine a cutting point according to the sampling point, and cut a road pipeline between the cutting points
  • the three-dimensional intersecting road model generating module is configured to form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
  • embodiments of the present invention provide one or more storage media that protect computer-executable instructions for performing a method of three-dimensional crossroad model generation when executed by a computer processor, the method comprising :
  • a three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
  • Embodiments of the present invention provide a method, a device, and a storage medium for generating a three-dimensional intersecting road model.
  • the sampling points are determined by intersections of adjacent road boundary lines, and the interpolation point set is obtained by the spline curve formed by the sampling points, according to the interpolation point set.
  • the connecting lines forming the intersecting boundary lines of adjacent roads achieve the purpose of smoothing the boundary lines intersecting the adjacent road pipelines, and can reduce the amount of data and the cost of road modeling.
  • FIG. 1a is a flowchart of a method for generating a three-dimensional crossroad model according to Embodiment 1 of the present invention
  • FIG. 1b is a schematic diagram of a T-shaped intersecting road formed by a road center line according to Embodiment 1 of the present invention
  • 1c is a schematic diagram of a T-shaped cross road pipeline provided in the first embodiment of the present invention when not aligned;
  • FIG. 1d is a schematic diagram of a T-shaped cross road pipeline according to Embodiment 1 of the present invention.
  • FIG. 2a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 2 of the present invention
  • FIG. 2b is a schematic diagram of a Y-shaped intersecting road formed by a road center line according to Embodiment 2 of the present invention
  • Figure 2c is a schematic view of a road line formed in Figure 2b;
  • Figure 2d is a schematic view of a Y-shaped road pipeline formed by the center line in Figure 2b;
  • FIG. 2 e is a schematic diagram of obtaining a set of interpolation points in a Y-shaped road pipeline according to Embodiment 2 of the present invention
  • 2f is a schematic view of the Y-shaped road pipeline provided by the second embodiment of the present invention after cutting;
  • 2g is a schematic diagram of a Y-shaped three-dimensional intersecting road surface provided by Embodiment 2 of the present invention.
  • 2h is a schematic diagram of a Y-shaped three-dimensional intersecting road model provided by Embodiment 2 of the present invention.
  • FIG. 3a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 3 of the present invention
  • FIG. 3b is a schematic diagram of obtaining an interpolation point set on the basis of FIG. 2d according to Embodiment 3 of the present invention.
  • Figure 3c is a schematic view of the road line formed in Figure 3b after cutting
  • 3d is a schematic diagram of a three-dimensional cross road surface provided by Embodiment 3 of the present invention.
  • FIG. 4 is a structural diagram of a device for generating a three-dimensional intersecting road model according to Embodiment 4 of the present invention.
  • FIG. 5 is a schematic structural diagram of a server according to Embodiment 5 of the present invention.
  • FIG. 1a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 1 of the present invention.
  • the method may be implemented by a device generated by a three-dimensional crossroad model, and the device may be implemented by hardware and/or software.
  • Methods include:
  • S110 Acquire a road pipeline and determine a boundary line of the road pipeline.
  • obtaining a road pipeline and determining a boundary line of the road pipeline includes: drawing a center line of the road according to the acquired street view data, forming a road pipeline according to the road type, the width data of the road, and the center line, and determining the road The boundary line of the pipeline.
  • the center line of the road pipeline is taken as a path, and the straight line formed by the width of the road is scanned along the center line path to form a road pipeline.
  • the distance from the boundary line to the center line on both sides of the road line is equal.
  • the parallel road lines are left-aligned or right-aligned.
  • the centerlines of the three roads intersect at a point F, where EF, GF, and HF are the centerlines of the T-shaped intersection, and the road lines formed by the width data of the road and the centerline are as shown in FIG. 1c. It is shown that the EF and GF corresponding road pipelines are parallel road pipelines forming intersections.
  • the boundary line on the left side of the road pipeline corresponding to EF and GF or the boundary on the right side is required.
  • Line alignment in this case, you need to enter the boundary line e1 of the EF corresponding road pipeline
  • the row shifts, so that e1 is aligned with the boundary line g2 of the road pipeline corresponding to GF, and the resulting road pipeline is as shown in FIG. 1d.
  • the distance between e1 and e2 to EF is not equal.
  • the treatment method of the road pipeline is the same as that when the road pipeline is T-shaped.
  • the road pipelines need to be sorted, specifically, the road pipelines intersecting the center line at one point are sorted in a counterclockwise or clockwise order to determine adjacent road pipelines.
  • the intersection of two intersecting boundary lines in adjacent road pipelines can be determined based on the starting point of the road pipeline, the end point data, and the width data of the road.
  • the boundary line is projected on a preset plane, and the intersection of adjacent road pipeline boundary lines is determined according to the intersection point in the projection surface and the road pipeline weight.
  • the x coordinate and the y coordinate of the intersection point of the boundary line of the adjacent road pipeline are respectively the same as the x coordinate and the y coordinate of the intersection point in the projection surface, and the z coordinate of the intersection point of the boundary line of the adjacent road pipeline is weighted by the adjacent road pipeline.
  • the value is determined.
  • the z coordinate of the boundary line intersection point of the adjacent road pipeline may be the intermediate value of the z coordinate of the intersection point of the two non-coplanar boundary lines and the vertical line where the intersection point of the projection surface is located.
  • S130 Acquire at least one sampling point on the boundary line of each intersection according to the intersection point.
  • acquiring at least one sampling point on each intersecting boundary line according to the intersection point includes: selecting at least one sampling point within a preset sampling distance from the intersection point on a boundary line of each road pipeline;
  • the sampling points on each intersecting boundary line may be 1, 2 or other numbers; the preset sampling distance adopted by each boundary line is determined according to the angle between the boundary lines.
  • the angle between each boundary line can be calculated from the road width data and the road start point and end point data. When the angle between two intersecting boundary lines is small, the preset sampling distance is larger, when the two intersect When the angle between the boundary lines is small, the preset sampling distance is large.
  • S140 Perform interpolation according to a spline curve formed by sampling points of the boundary line to obtain an interpolation point set.
  • the sampling points preset on the two intersecting boundary lines are respectively used as the starting point and the ending point of the spline curve, and the sampling points are formed by using the intersection points of other sampling points or boundary lines on the two intersecting boundary lines as control points. Interpolation is performed through the spline curve to obtain an interpolation point set.
  • the spline curve can be a Bezier curve or a B-spline curve.
  • the preset sampling point can be the sampling point farthest from the intersection of the boundary line.
  • S150 Determine a cutting point according to the sampling point, and cut a road line between the cutting points.
  • the cutting point is the sampling point farthest from the boundary intersection point on the intersecting boundary line, and the pipeline line between the cutting points is cut, that is, the boundary line between the cutting points on the two intersecting boundary lines is deleted.
  • S160 Form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
  • the forming a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set comprises: sequentially connecting the set of interpolation points to form a connection curve; and respectively connecting the connection curve with the two intersecting boundary lines after cutting Connect to form a three-dimensional cross road.
  • the boundary curve formed by the boundary line and the connecting curve on both sides of the road line in the intersecting road surface is taken as a path, and the two-dimensional shape obtained according to the street view data is scanned along the boundary curve to form a three-dimensional intersecting road model.
  • the road pipelines forming the intersections are sequentially processed in a predetermined order to generate a three-dimensional intersection road model, and each intersection road
  • the method of generating a three-dimensional intersecting road model by the pipeline is the same as the above method.
  • This embodiment provides a method for generating a three-dimensional intersecting road model, which passes adjacent road boundary lines.
  • the intersection point determines the sampling point, and the interpolation point set is obtained by the spline curve formed by the sampling point.
  • the connecting line of the adjacent road intersection boundary line is formed, and the boundary line intersecting the adjacent road pipelines is smoothed. And can reduce the amount of data and the cost of road modeling.
  • FIG. 2a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 2 of the present invention.
  • interpolation is performed on a spline curve formed by sampling points of the boundary line to obtain interpolation.
  • the point set preferably includes: taking a sampling point on two intersecting boundary lines as a starting point and an ending point of the spline curve, forming a spline curve by using the intersection point as a control point, and interpolating through the spline curve to obtain an interpolation point set. .
  • S210 Acquire a road pipeline and determine a boundary line of the road pipeline.
  • a Y-shaped intersecting road is taken as an example for description.
  • three road center lines intersect at a point B, and a section line formed by the width of the road is scanned along the AB center line path to form a path.
  • the road line corresponding to the AB center line (as shown in Fig.
  • a1 and a2 are the boundary lines of the AB center line corresponding to the road line, and the distances between a1 and a2 from the AB center line are respectively b, and the distance between a1 and a2 is The width of the road 2b, because the formed road line is a Y-shaped intersection (not a T-shaped or cross-shaped intersection), the distance from the boundary line to the center line on both sides of the road line is the same.
  • Other road pipelines can be obtained by the same method.
  • the road line of the finally formed Y-shaped intersection is shown in Figure 2d, where d1 and d2 are respectively the boundary lines of the BD center line corresponding to the road pipeline, and c1 and c2 are respectively BC.
  • the center line corresponds to the boundary line of the road pipeline.
  • S220 For adjacent road pipelines, determine the intersection of two intersecting boundary lines.
  • o1 is the boundary line a1 of the AB corresponding road pipeline and the side of the road pipeline corresponding to BC.
  • the intersection of the boundary line c2, o2 is the intersection of the boundary line a2 of the AB corresponding road line and the boundary line d1 of the BD corresponding road line, and o3 is the intersection of the boundary line d2 of the BD corresponding road line and the boundary line c1 of the BC corresponding road line.
  • S230 Acquire at least one sampling point on the boundary line of each intersection according to the intersection point.
  • the number of sampling points acquired on each intersecting boundary line is preferably one.
  • a sampling point is obtained at a predetermined sampling distance from the boundary line a1 of the AB corresponding road pipeline and the boundary line c2 of the BC corresponding road pipeline, respectively, and is respectively E and F.
  • a plurality of sampling points can also be acquired on the boundary lines a1 and c2, and sampling points are acquired on other intersecting boundaries by the same method.
  • the sampling points E and F of the two intersecting boundary lines are respectively used as the starting point and the ending point of the spline curve, and the spline curve is formed by using the boundary line intersection point o1 as the control point, and the sample is passed.
  • the bar curve is interpolated to obtain an interpolation point set, wherein two interpolation point coordinates in the interpolation point set are the sampling points E and F respectively, and the interpolation point set obtained by the spline curve formed by E, F, o1 includes the sampling point E.
  • the point coincident with F and the interpolation point between boundary lines a1 and c2. Use the same method to get other interpolation points.
  • the sampling point farthest from the intersection point of the boundary line may be selected as the starting point or the ending point of the spline curve, and the distance may also be selected.
  • the nearest sampling point of the intersection of the boundary line is used as the starting point or the ending point of the spline curve, or any sampling point on the boundary line is selected as the starting point or the ending point of the spline curve.
  • the selection of the specific sampling point needs to be based on the actual situation of the road data. Conducive to the realization of road modeling.
  • S250 Determine a cutting point according to the sampling point, and cut a road line between the cutting points.
  • the road lines between the E and F cutting points are cut with the sampling points E and F as cutting points. Specifically, the boundary line corresponding to Ec0 on the boundary line c2 is deleted, and the boundary line corresponding to Fa0 on the boundary line a1 is deleted. The same method is used to cut the intersecting boundary lines in other road pipelines.
  • the road pipeline after cutting is shown in Figure 2f.
  • the starting point and the ending point on the spline curve are respectively used as cutting points of two intersecting boundary lines.
  • S260 Form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
  • connection curve is a curve formed between E and F
  • the curve is cut by a connection curve between E and F.
  • the two intersecting boundary lines are connected, and the other intersecting boundary lines are connected by the same method to form a three-dimensional intersecting road surface, and the three-dimensional intersecting road surface is staked out to form a three-dimensional intersecting road model (as shown in Fig. 2h).
  • the embodiment provides a method for generating a three-dimensional intersecting road model, which is performed by interpolating a spline curve formed by the selected sampling point on the intersecting boundary line and the intersection point on the boundary line, and the connecting curve formed by the interpolation point set is cut.
  • the intersecting boundary lines are connected to achieve the purpose of smoothing the boundary lines intersecting adjacent road pipelines, and can reduce the amount of data and the cost of road modeling.
  • FIG. 3a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 3 of the present invention.
  • interpolation is performed according to a spline curve formed by sampling points of the boundary line, and an interpolation point is obtained.
  • the set includes: a sampling point that is furthest from the intersection on two intersecting boundary lines as a starting point and an ending point of the spline curve, and the distance between the farthest sampling point on the boundary line and the intersection point
  • the sampling point forms a spline curve as a control point of the spline curve, and interpolates through the spline curve to obtain an interpolation point set.
  • S310 Acquire a road pipeline and determine a boundary line of the road pipeline.
  • S330 Acquire at least one sampling point on the boundary line of each intersection according to the intersection point.
  • the distance between the sampling points farthest from the intersection point on the two intersecting boundary lines is greater than the first preset distance value; the distance from the intersection point to the nearest sampling point on each boundary line The distance between the distances is within a second preset distance value range; in the second preset distance value range, the difference between the height value of the sample point farthest from the intersection point on each boundary line and the height value of the boundary line intersection point is the smallest, To ensure that the road is modeled, the slope of the road is small.
  • the first preset distance value and the second preset distance value range are determined according to data of the road pipeline.
  • two sampling points are preferably acquired on each intersecting boundary line.
  • two sampling points G, H, and I, J are respectively acquired within the preset sampling distance from the intersection of the boundary lines on the intersecting boundary lines a1 and c2.
  • a plurality of sampling points can also be acquired on the boundary lines a1 and c2, and sampling points are acquired on other intersecting boundary lines by the same method, and sampling points are obtained as shown in FIG. 3b.
  • S340 taking the sampling point farthest from the intersection point on the two intersecting boundary lines as the starting point and the ending point of the spline curve, respectively, taking other sampling points between the farth sampling point on the boundary line and the intersection point as samples.
  • the control points of the bar curve form a spline curve, and interpolation is performed through the spline curve to obtain an interpolation point set.
  • J and H which are the farthest from the intersection of the boundary lines on the two boundary lines are respectively used as the starting point and the ending point of the spline curve, and I is between the J and the o1 on the boundary line.
  • G between H and o1 forms a spline curve as a control point of the spline curve, and interpolates through the spline curve to obtain an interpolation point set.
  • the same method is used to obtain the set of interpolation points between other intersecting boundary lines.
  • S350 Determine a cutting point according to the sampling point, and cut a road line between the cutting points.
  • the sampling points J and H farthest from the intersection point o1 on the intersecting boundary line are taken as cutting points, and the road line between the J and H cutting points is cut.
  • the boundary line corresponding to Jc0 on the boundary line c2 is deleted, and the boundary line corresponding to Ha0 on the boundary line a1 is deleted.
  • the other intersecting road pipelines are cut by the same method, and the cut road pipeline is as shown in Fig. 3c.
  • S360 Form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
  • the interpolation points between the intersecting boundary lines a1 and c2 are sequentially connected to form a connection curve, that is, a curve corresponding to JH, and the cut boundary lines a1 and c2 are connected, using the same method. Interpolation points between other intersecting boundary lines are connected, and the intersecting boundary lines after cutting are connected to form a three-dimensional intersecting road surface. Then, the three-dimensional intersecting road surface is staked out to generate a three-dimensional intersecting road model.
  • the present embodiment provides a method for generating a three-dimensional intersecting road model, wherein the sampling points farthest from the intersection of the boundary lines on the intersecting boundary line are respectively used as the starting point and the ending point of the spline curve, and the farthest point from the intersecting boundary line is intersected on the intersecting boundary line.
  • the other sampling points between the sampling point and the intersection point are used as control points to form a spline curve for interpolation, and the intersecting boundary lines formed by the interpolation point set are connected to realize the boundary line intersecting the adjacent road pipelines.
  • the purpose of smoothing is performed, and the amount of data and the cost of road modeling can be reduced.
  • FIG. 4 is a structural block diagram of an apparatus for generating a three-dimensional crossroad model according to an embodiment of the present invention.
  • the apparatus includes: a boundary line determining module 410, a boundary line intersection determining module 420, a sampling point obtaining module 430, an interpolation point set obtaining module 440, a road pipeline cutting module 450, and A three-dimensional intersecting road model generation module 460.
  • the boundary line determining module 410 is configured to acquire a road pipeline and determine a boundary line of the road pipeline;
  • a boundary line intersection determining module 420 configured to determine an intersection of two intersecting boundary lines for adjacent road pipelines
  • a sampling point obtaining module 430 configured to acquire at least one sampling point on each of the intersecting boundary lines according to the intersection point;
  • the interpolation point set obtaining module 440 is configured to perform interpolation according to a spline curve formed by the sampling points of the boundary line to obtain an interpolation point set;
  • a road pipeline cutting module 450 configured to determine a cutting point according to the sampling point, and cut a road pipeline between the cutting points
  • the three-dimensional intersecting road model generating module 460 is configured to form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
  • boundary line determining module 410 is specifically configured to:
  • boundary line intersection determining module 420 is specifically configured to:
  • the boundary line on the adjacent side of the adjacent road pipeline do not intersect, the boundary line is projected on a horizontal plane, and the intersection of the adjacent road pipeline boundary lines is determined according to the intersection point in the projection plane and the road pipeline weight.
  • the apparatus further includes: a road pipeline alignment module 470, configured to left-align the parallel road pipelines if it is determined that there are parallel road pipelines in the road pipeline forming the intersection before determining the boundary line of the road pipeline Or right aligned.
  • a road pipeline alignment module 470 configured to left-align the parallel road pipelines if it is determined that there are parallel road pipelines in the road pipeline forming the intersection before determining the boundary line of the road pipeline Or right aligned.
  • sampling point obtaining module 430 is specifically configured to:
  • At least one sampling point is selected within a preset sampling distance of the intersection point on a boundary line of each road pipeline; wherein a preset sampling distance adopted by each boundary line is determined according to an angle between each boundary line.
  • interpolation point set obtaining module 440 is specifically configured to:
  • One sampling point on the two intersecting boundary lines is used as the starting point and the ending point of the spline curve, and the intersection point is used as the control point to form a spline curve, and the spline curve is interpolated to obtain the interpolation point set.
  • interpolation point set obtaining module 440 is specifically configured to:
  • each boundary line is farthest from the intersection point
  • the difference between the height value of the sampling point and the height value of the intersection of the boundary line is the smallest.
  • road pipeline cutting module 450 is specifically configured to:
  • a sampling point farthest from the intersection point on the intersecting boundary line is used as a cutting point, and a road line between the cutting points is cut.
  • the forming the three-dimensional cross road surface according to the cut road pipeline and the acquired interpolation point set includes:
  • the connecting curves are respectively connected with the two intersecting boundary lines after cutting to form a three-dimensional intersecting road surface.
  • the above product can perform the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
  • Embodiment 5 of the present invention provides a server, including a device for generating a three-dimensional crossroad model provided by any embodiment of the present invention. Specifically, as shown in FIG. 5, an embodiment of the present invention provides a server, where the server includes:
  • One or more processors 510, one processor 510 is taken as an example in FIG. 5;
  • Memory 520 and one or more modules.
  • the server may further include: an input device 530 and an output device 540.
  • the processor 510, the memory 520, the input device 530, and the output device 540 in the server may be connected by a bus or other means, and the bus connection is taken as an example in FIG.
  • the memory 520 is used as a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the method for generating a three-dimensional crossroad model in the embodiment of the present invention (for example, FIG. 4
  • the boundary line determination module 410, the boundary line intersection determination module 420, the sample point acquisition module 430, the interpolation point set acquisition module 440, the road pipeline cutting module 450, and the three-dimensional intersection road model generation module in the apparatus for generating the three-dimensional intersecting road model are shown. 460).
  • the processor 510 executes various functional applications of the server and data processing by executing software programs, instructions, and modules stored in the memory 520, that is, a method of implementing three-dimensional crossroad model generation in the above method embodiments.
  • the memory 520 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to use of the server, and the like. Further, the memory 520 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some examples, memory 520 can further include a distance relative to processor 510 Program-set memory that can be connected to the server over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • Input device 530 can be configured to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the server.
  • Output device 540 can include an output port or the like.
  • Embodiments of the present invention also provide a storage medium including computer executable instructions for performing a method of three-dimensional crossroad model generation when executed by a computer processor, the method comprising:
  • a three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
  • the present invention can be implemented by software and necessary general hardware, and can also be implemented by hardware, but in many cases, the former is a better implementation. .
  • the technical solution of the present invention which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk of a computer. , Read-Only Memory (ROM), Random Access Memory (RAM), Flash (FLASH), hard disk or optical disk, etc., including a number of instructions to make a computer device (can be a personal computer)
  • the server, or network device, etc. performs the methods described in various embodiments of the present invention.
  • the included units and modules are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be implemented.
  • the specific names of the respective functional units are only for convenience of distinguishing from each other, and are not intended to limit the scope of protection of the present invention.

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Abstract

A method and apparatus for generating a three-dimensional intersection roadway model, and a storage medium. The method comprises: acquiring a roadway footprint, and determining the border lines of the roadway footprint (S110); with regard to adjacent roadway footprints, determining a point of intersection of two intersecting border lines (S120); according to the point of intersection, respectively acquiring at least one sampling point on the border line of each intersecting border line (S130); performing interpolation according to a spline curve formed by the sampling point of the border lines to acquire an interpolation point set (S140); determining cut points according to the sampling point, and cutting the roadway footprint between the cut points (S150); and forming a three-dimensional intersection road surface according to the roadway footprint after cutting and the acquired interpolation point set, and setting out the three-dimensional intersection road surface to generate a three-dimensional intersection roadway model (S160). The method can perform smoothing processing on an intersecting border line of adjacent roadway footprints, and can reduce the data size and the costs of roadway modelling.

Description

一种三维交叉道路模型生成的方法、装置及存储介质Method, device and storage medium for generating three-dimensional cross road model
本专利申请要求于2016年03月31日提交的、申请号为201610201453.X、申请人为百度在线网络技术(北京)有限公司、发明名称为“一种三维交叉道路模型生成的方法及装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。This patent application claims to be submitted on March 31, 2016, the application number is 201610201453.X, the applicant is Baidu Online Network Technology (Beijing) Co., Ltd., and the invention name is "a method and device for generating a three-dimensional crossroad model". Priority of the Chinese Patent Application, the entire contents of which is hereby incorporated by reference.
技术领域Technical field
本发明实施例涉及道路建模技术领域，尤其涉及一种三维交叉道路模型生成的方法、装置及存储介质。Embodiments of the present invention relate to the field of road modeling technologies, and in particular, to a method, an apparatus, and a storage medium for generating a three-dimensional intersecting road model.
背景技术Background technique
在很多应用领域，传统的二维地图已经越来越不能满足需求了，取而代之的是能产生身临其境之感的三维地图。随着电子产品硬件的升级，地图三维化已经成为可能。三维地图不仅能够提供二维地图所需的一切信息，更重要的是它能反应一个立体的世界，能够给用户提供更加丰富直观的视觉效果，让人产生身临其境之感。In many applications, traditional two-dimensional maps are increasingly unable to meet the needs, replaced by three-dimensional maps that produce an immersive feel. With the upgrade of electronic hardware, three-dimensional maps have become possible. The 3D map not only provides all the information needed for 2D maps, but more importantly, it can reflect a three-dimensional world, and can provide users with more rich and intuitive visual effects, giving people an immersive feeling.
三维地图包括地形、道路、建筑、景观等多个层次的信息，其中三维道路是三维地图最重要的组成部分，而道路交叉口是道路的重要组成部分，是人流车流通行和汇集的枢纽。交叉路口有多种交叉形式，如T形、Y形、X形和“十”字等形状，此外还有各种不规则形状以及多条道路平面交叉的叉路口。The three-dimensional map includes multiple levels of information such as terrain, roads, buildings, and landscapes. The three-dimensional road is the most important component of the three-dimensional map, and the road intersection is an important part of the road, and it is the hub of the circulation and collection of people. There are various intersection forms at the intersection, such as T-shaped, Y-shaped, X-shaped and "Ten" characters, in addition to various irregular shapes and intersections where multiple road planes intersect.
现有的基于放样的三维道路自动化建模对于3条以上道路相交时的建模不能很好的进行处理。一般情况下，对于处理3条以上道路相交的情形是通过对 各个道路分别进行建模，然后在道路的交汇处留有空白，通过在空白处人工描点进行建模的方式使道路之间连接，工作十分的繁琐和复杂，且数据量大，人工建模成本较高。The existing three-dimensional road automation modeling based on lofting does not deal well with the modeling of more than three road intersections. In general, the case of dealing with more than three roads is through Each road is modeled separately, and then there is a blank at the intersection of the roads. The roads are connected by manual modeling in the blank space. The work is very cumbersome and complicated, and the data volume is large, and the manual modeling cost Higher.
发明内容Summary of the invention
本发明实施例提供一种三维交叉道路模型生成的方法、装置及存储介质，能够减少数据量以及道路建模的成本。Embodiments of the present invention provide a method, an apparatus, and a storage medium for generating a three-dimensional intersecting road model, which can reduce the amount of data and the cost of road modeling.
第一方面，本发明实施例提供了一种三维交叉道路模型生成的方法包括：In a first aspect, an embodiment of the present invention provides a method for generating a three-dimensional intersection road model, including:
获取道路管线，并确定道路管线的边界线；Obtain road pipelines and determine boundary lines of road pipelines;
对于相邻的道路管线，确定两条相交边界线的交点；For adjacent road pipelines, determine the intersection of two intersecting boundary lines;
根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；Acquiring at least one sampling point on the boundary line of each intersection according to the intersection point;
根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集；Interpolating according to a spline curve formed by sampling points of the boundary line to obtain an interpolation point set;
根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；Determining a cutting point according to the sampling point, and cutting a road line between the cutting points;
根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。A three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
第二方面，本发明实施例还提供了一种三维交叉道路模型生成的装置，包括：In a second aspect, the embodiment of the present invention further provides an apparatus for generating a three-dimensional crossroad model, including:
边界线确定模块，用于获取道路管线，并确定道路管线的边界线；a boundary line determining module for acquiring a road pipeline and determining a boundary line of the road pipeline;
边界线交点确定模块，用于对于相邻的道路管线，确定两条相交边界线的交点；a boundary line intersection determining module for determining an intersection of two intersecting boundary lines for adjacent road pipelines;
采样点获取模块，用于根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；a sampling point obtaining module, configured to acquire at least one sampling point on each intersecting boundary line according to the intersection point;
插值点集获取模块，用于根据所述边界线的采样点形成的样条曲线进行插 值，获取插值点集；An interpolation point set acquisition module, configured to insert a spline curve formed by sampling points of the boundary line Value, obtain the set of interpolation points;
道路管线切割模块，用于根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；a road pipeline cutting module, configured to determine a cutting point according to the sampling point, and cut a road pipeline between the cutting points;
三维交叉道路模型生成模块，用于根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。The three-dimensional intersecting road model generating module is configured to form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
第三方面，本发明实施例提供了一个或多个保护计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行三维交叉道路模型生成的方法，该方法包括：In a third aspect, embodiments of the present invention provide one or more storage media that protect computer-executable instructions for performing a method of three-dimensional crossroad model generation when executed by a computer processor, the method comprising :
获取道路管线，并确定道路管线的边界线；Obtain road pipelines and determine boundary lines of road pipelines;
对于相邻的道路管线，确定两条相交边界线的交点；For adjacent road pipelines, determine the intersection of two intersecting boundary lines;
根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；Acquiring at least one sampling point on the boundary line of each intersection according to the intersection point;
根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集；Interpolating according to a spline curve formed by sampling points of the boundary line to obtain an interpolation point set;
根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；Determining a cutting point according to the sampling point, and cutting a road line between the cutting points;
根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。A three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
本发明实施例提供了一种三维交叉道路模型生成的方法、装置及存储介质，通过相邻道路边界线的交点确定采样点，通过采样点形成的样条曲线获取插值点集，根据插值点集形成相邻道路相交边界线的连接线，实现了将相邻道路管线相交的边界线进行平滑处理目的，并且能够减少数据量以及道路建模的成本。Embodiments of the present invention provide a method, a device, and a storage medium for generating a three-dimensional intersecting road model. The sampling points are determined by intersections of adjacent road boundary lines, and the interpolation point set is obtained by the spline curve formed by the sampling points, according to the interpolation point set. The connecting lines forming the intersecting boundary lines of adjacent roads achieve the purpose of smoothing the boundary lines intersecting the adjacent road pipelines, and can reduce the amount of data and the cost of road modeling.
附图说明DRAWINGS
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所 需使用的附图作简单地介绍，当然，以下描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以对这些附图进行修改和替换。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following description will be made on the embodiments. The drawings to be used are briefly described. Of course, the drawings in the following description are only some embodiments of the present invention, and those skilled in the art can also attach these without any creative work. The diagram is modified and replaced.
图1a是本发明实施例一提供的一种三维交叉道路模型生成的方法流程图；1a is a flowchart of a method for generating a three-dimensional crossroad model according to Embodiment 1 of the present invention;
图1b是本发明实施例一提供的道路中心线形成的T字交叉道路示意图；1b is a schematic diagram of a T-shaped intersecting road formed by a road center line according to Embodiment 1 of the present invention;
图1c是本发明实施例一提供的T字型交叉道路管线未进行对齐时的示意图；1c is a schematic diagram of a T-shaped cross road pipeline provided in the first embodiment of the present invention when not aligned;
图1d是本发明实施例一提供的T字型交叉道路管线对齐时的示意图；FIG. 1d is a schematic diagram of a T-shaped cross road pipeline according to Embodiment 1 of the present invention;
图2a是本发明实施例二提供的一种三维交叉道路模型生成方法的流程图；2a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 2 of the present invention;
图2b是本发明实施例二提供的道路中心线形成的Y字型交叉道路示意图；2b is a schematic diagram of a Y-shaped intersecting road formed by a road center line according to Embodiment 2 of the present invention;
图2c是图2b中形成一条道路管线的示意图；Figure 2c is a schematic view of a road line formed in Figure 2b;
图2d是由图2b中的中心线形成的Y字型道路管线示意图；Figure 2d is a schematic view of a Y-shaped road pipeline formed by the center line in Figure 2b;
图2e是本发明实施例二提供的Y字型道路管线中获取插值点集后的示意图；2 e is a schematic diagram of obtaining a set of interpolation points in a Y-shaped road pipeline according to Embodiment 2 of the present invention;
图2f是本发明实施例二提供的Y字型道路管线进行切割后的示意图；2f is a schematic view of the Y-shaped road pipeline provided by the second embodiment of the present invention after cutting;
图2g是本发明实施例二提供的Y字型三维交叉路面示意图。2g is a schematic diagram of a Y-shaped three-dimensional intersecting road surface provided by Embodiment 2 of the present invention.
图2h是本发明实施例二提供的Y字型三维交叉道路模型示意图；2h is a schematic diagram of a Y-shaped three-dimensional intersecting road model provided by Embodiment 2 of the present invention;
图3a是本发明实施例三提供的一种三维交叉道路模型生成方法的流程图；3a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 3 of the present invention;
图3b是本发明实施例三提供的在图2d的基础上获取插值点集后的示意图；FIG. 3b is a schematic diagram of obtaining an interpolation point set on the basis of FIG. 2d according to Embodiment 3 of the present invention; FIG.
图3c是图3b形成的道路管线进行切割后的示意图；Figure 3c is a schematic view of the road line formed in Figure 3b after cutting;
图3d是本发明实施例三提供的三维交叉路面的示意图；3d is a schematic diagram of a three-dimensional cross road surface provided by Embodiment 3 of the present invention;
图4是本发明实施例四提供的一种三维交叉道路模型生成的装置结构图；4 is a structural diagram of a device for generating a three-dimensional intersecting road model according to Embodiment 4 of the present invention;
图5是本发明实施例五提供的一种服务器的结构示意图。FIG. 5 is a schematic structural diagram of a server according to Embodiment 5 of the present invention.
具体实施方式 detailed description
下面将结合附图对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部的实施例，是为了阐述本发明的原理，而不是要将本发明限制于这些具体的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings. Rather than limiting the invention to these specific embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
实施例一Embodiment 1
图1a为本发明实施例一提供的一种三维交叉道路模型生成的方法流程图，该方法可以由三维交叉道路模型生成的装置来执行，该装置可由硬件和/或软件的方式来实现，该方法包括：1a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 1 of the present invention. The method may be implemented by a device generated by a three-dimensional crossroad model, and the device may be implemented by hardware and/or software. Methods include:
S110：获取道路管线，并确定道路管线的边界线。S110: Acquire a road pipeline and determine a boundary line of the road pipeline.
示例性的，获取道路管线，并确定道路管线的边界线包括：根据获取的街景数据描绘道路的中心线，根据道路类型、道路的宽度数据以及所述中心线形成道路管线，并确定所述道路管线的边界线。具体的，以道路管线的中心线为路径，以道路的宽度形成的截面直线沿中心线路径进行扫描，形成道路管线。Illustratively, obtaining a road pipeline and determining a boundary line of the road pipeline includes: drawing a center line of the road according to the acquired street view data, forming a road pipeline according to the road type, the width data of the road, and the center line, and determining the road The boundary line of the pipeline. Specifically, the center line of the road pipeline is taken as a path, and the straight line formed by the width of the road is scanned along the center line path to form a road pipeline.
当形成交叉路口的道路管线中不存在平行的道路管线时，如，Y字型交叉路口，道路管线两侧的边界线到中心线的距离是相等的。When there are no parallel road lines in the road line forming the intersection, for example, the Y-shaped intersection, the distance from the boundary line to the center line on both sides of the road line is equal.
在本实施例中，在确定道路管线的边界线之前，如果判断形成交叉路口的道路管线中存在平行的道路管线，将平行的道路管线进行左对齐或右对齐。例如，如图1b所示，三条道路的中心线相交于一点F，其中，EF、GF和HF为T字型路口的中心线，通过道路的宽度数据以及中心线形成的道路管线如图1c所示，其中EF和GF对应道路管线为形成交叉路口的平行的道路管线，由于EF和GF对应的道路管线的宽度不同，需要将EF和GF对应的道路管线左侧的边界线或右侧的边界线进行对齐，在本例中，需要将EF对应道路管线的边界线e1进 行平移，使e1与GF对应的道路管线的边界线g2对齐，最终形成的道路管线如图1d所示。其中，e1和e2分别到EF之间的距离不相等。当形成的道路管线为十字型路口时，道路管线的处理方法与道路管线为T字型时处理方法相同。In the present embodiment, before determining the boundary line of the road line, if it is determined that there are parallel road lines in the road line forming the intersection, the parallel road lines are left-aligned or right-aligned. For example, as shown in FIG. 1b, the centerlines of the three roads intersect at a point F, where EF, GF, and HF are the centerlines of the T-shaped intersection, and the road lines formed by the width data of the road and the centerline are as shown in FIG. 1c. It is shown that the EF and GF corresponding road pipelines are parallel road pipelines forming intersections. Since the widths of the road pipelines corresponding to EF and GF are different, the boundary line on the left side of the road pipeline corresponding to EF and GF or the boundary on the right side is required. Line alignment, in this case, you need to enter the boundary line e1 of the EF corresponding road pipeline The row shifts, so that e1 is aligned with the boundary line g2 of the road pipeline corresponding to GF, and the resulting road pipeline is as shown in FIG. 1d. The distance between e1 and e2 to EF is not equal. When the formed road pipeline is a cross-shaped intersection, the treatment method of the road pipeline is the same as that when the road pipeline is T-shaped.
S120：对于相邻的道路管线，确定两条相交边界线的交点。S120: For adjacent road pipelines, determine intersections of two intersecting boundary lines.
在本实施例中，需要对道路管线进行排序，具体为将中心线相交于一点的道路管线沿逆时针或顺时针的顺序进行排序，以确定相邻的道路管线。对于相邻的道路管线，根据道路管线的起始点、终止点数据以及道路的宽度数据就可以确定相邻道路管线中两条相交边界线的交点。In this embodiment, the road pipelines need to be sorted, specifically, the road pipelines intersecting the center line at one point are sorted in a counterclockwise or clockwise order to determine adjacent road pipelines. For adjacent road pipelines, the intersection of two intersecting boundary lines in adjacent road pipelines can be determined based on the starting point of the road pipeline, the end point data, and the width data of the road.
在本实施例中，如果需要对道路管线的边界线进行平移的情况下，有可能存在边界线不共面的情况，导致相邻道路管线相邻侧的边界线不相交(实际情况中是相交的)，将边界线在预设平面上进行投影，根据投影面中的交点以及道路管线权重确定相邻道路管线边界线的交点。其中，相邻道路管线的边界线交点的x坐标和y坐标分别与投影面中交点的x坐标和y坐标相同，相邻道路管线的边界线交点的z坐标由该相邻的道路管线的权重值来决定。相邻道路管线的边界线交点的z坐标可以是两条不共面的边界线与投影面中交点所在的竖直线交点的z坐标中间值。In this embodiment, if it is necessary to translate the boundary line of the road pipeline, there may be a case where the boundary lines are not coplanar, and the boundary lines on the adjacent sides of the adjacent road pipelines do not intersect (in actual case, intersecting) The boundary line is projected on a preset plane, and the intersection of adjacent road pipeline boundary lines is determined according to the intersection point in the projection surface and the road pipeline weight. Wherein, the x coordinate and the y coordinate of the intersection point of the boundary line of the adjacent road pipeline are respectively the same as the x coordinate and the y coordinate of the intersection point in the projection surface, and the z coordinate of the intersection point of the boundary line of the adjacent road pipeline is weighted by the adjacent road pipeline. The value is determined. The z coordinate of the boundary line intersection point of the adjacent road pipeline may be the intermediate value of the z coordinate of the intersection point of the two non-coplanar boundary lines and the vertical line where the intersection point of the projection surface is located.
S130：根据所述交点分别在每条相交的所述边界线上获取至少一个采样点。S130: Acquire at least one sampling point on the boundary line of each intersection according to the intersection point.
示例性的，根据所述交点分别在每条相交的所述边界线上获取至少一个采样点包括：在每条道路管线的边界线上距所述交点预设采样距离内选取至少一个采样点；其中，每条相交的边界线上采样点可以是1个、2个或其他数量；各条边界线所采用的预设采样距离根据各条边界线之间的角度进行确定。各条边界线之间的角度可以通过道路宽度数据以及道路起始点、终点数据进行计算得到。当两条相交的边界线之间的角度较小时，预设采样距离较大，当两条相交 的边界线之间的角度较小时，预设采样距离大。Exemplarily, acquiring at least one sampling point on each intersecting boundary line according to the intersection point includes: selecting at least one sampling point within a preset sampling distance from the intersection point on a boundary line of each road pipeline; The sampling points on each intersecting boundary line may be 1, 2 or other numbers; the preset sampling distance adopted by each boundary line is determined according to the angle between the boundary lines. The angle between each boundary line can be calculated from the road width data and the road start point and end point data. When the angle between two intersecting boundary lines is small, the preset sampling distance is larger, when the two intersect When the angle between the boundary lines is small, the preset sampling distance is large.
S140：根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集。S140: Perform interpolation according to a spline curve formed by sampling points of the boundary line to obtain an interpolation point set.
在本实施例中，分别以两条相交边界线上预设的采样点作为样条曲线的起点和终点，以两条相交边界线上其他采样点或边界线交点为控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。其中，样条曲线可以为贝塞尔曲线或B样条曲线。预设的采样点可以为距离边界线交点最远的采样点。In this embodiment, the sampling points preset on the two intersecting boundary lines are respectively used as the starting point and the ending point of the spline curve, and the sampling points are formed by using the intersection points of other sampling points or boundary lines on the two intersecting boundary lines as control points. Interpolation is performed through the spline curve to obtain an interpolation point set. Among them, the spline curve can be a Bezier curve or a B-spline curve. The preset sampling point can be the sampling point farthest from the intersection of the boundary line.
S150：根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割。S150: Determine a cutting point according to the sampling point, and cut a road line between the cutting points.
在本实施例中，切割点为相交边界线上距离边界交点最远的采样点，将切割点之间的管路管线进行切割，即将两条相交边界线上切割点之间的边界线进行删除。In this embodiment, the cutting point is the sampling point farthest from the boundary intersection point on the intersecting boundary line, and the pipeline line between the cutting points is cut, that is, the boundary line between the cutting points on the two intersecting boundary lines is deleted. .
S160：根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。S160: Form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
示例性的，所述根据切割后的道路管线以及获取的插值点集形成三维交叉路面包括：将插值点集进行顺次连接，形成连接曲线；将连接曲线分别与切割后的两条相交边界线进行连接，形成三维交叉路面。在形成三维交叉路面之后，以交叉路面中道路管线的两侧的边界线与连接曲线形成的边界曲线为路径，根据街景数据获取的二维形体为剖面沿边界曲线进行扫描，形成三维交叉道路模型。Exemplarily, the forming a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set comprises: sequentially connecting the set of interpolation points to form a connection curve; and respectively connecting the connection curve with the two intersecting boundary lines after cutting Connect to form a three-dimensional cross road. After the three-dimensional intersecting road surface is formed, the boundary curve formed by the boundary line and the connecting curve on both sides of the road line in the intersecting road surface is taken as a path, and the two-dimensional shape obtained according to the street view data is scanned along the boundary curve to form a three-dimensional intersecting road model. .
在上述实施例的基础上，形成的道路管线中包括多个交叉路口时，按照预设的顺序依次对形成交叉路口的道路管线进行处理，以生成三维的交叉道路模型，每个交叉路口的道路管线生成三维交叉道路模型的方法与上述方法相同。On the basis of the above embodiment, when the formed road pipeline includes a plurality of intersections, the road pipelines forming the intersections are sequentially processed in a predetermined order to generate a three-dimensional intersection road model, and each intersection road The method of generating a three-dimensional intersecting road model by the pipeline is the same as the above method.
本实施例提供了一种三维交叉道路模型生成的方法，通过相邻道路边界线 的交点确定采样点，通过采样点形成的样条曲线获取插值点集，根据插值点集将形成相邻道路相交边界线的连接线，实现了将相邻道路管线相交的边界线进行平滑处理目的，并且能够减少数据量以及道路建模的成本。This embodiment provides a method for generating a three-dimensional intersecting road model, which passes adjacent road boundary lines. The intersection point determines the sampling point, and the interpolation point set is obtained by the spline curve formed by the sampling point. According to the interpolation point set, the connecting line of the adjacent road intersection boundary line is formed, and the boundary line intersecting the adjacent road pipelines is smoothed. And can reduce the amount of data and the cost of road modeling.
实施例二Embodiment 2
图2a是本发明实施例二提供的一种三维交叉道路模型生成方法的流程图，在上述实施例一的基础上，对根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集优选包括：分别以两条相交边界线上的一个采样点作为样条曲线的起点和终点，以所述交点作为控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。2a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 2 of the present invention. On the basis of the first embodiment, interpolation is performed on a spline curve formed by sampling points of the boundary line to obtain interpolation. The point set preferably includes: taking a sampling point on two intersecting boundary lines as a starting point and an ending point of the spline curve, forming a spline curve by using the intersection point as a control point, and interpolating through the spline curve to obtain an interpolation point set. .
基于上述的优化，如图2a所示，本实施例提供的技术方案具体如下：Based on the above optimization, as shown in FIG. 2a, the technical solution provided by this embodiment is specifically as follows:
S210：获取道路管线，并确定道路管线的边界线。S210: Acquire a road pipeline and determine a boundary line of the road pipeline.
在本实施例中，以Y字型的交叉道路为例进行说明，如图2b所示，三条道路中心线相交于一点B，以道路的宽度形成的截面直线沿AB中心线路径进行扫描，形成AB中心线对应的道路管线(如图2c所示)，a1和a2为AB中心线对应道路管线的边界线，a1和a2距离AB中心线的距离分别为b，a1和a2之间的距离为道路的宽度2b，由于形成的道路管线为Y字型路口(不为T字型或十字型路口)，所以道路管线两侧的边界线到中心线的距离是相同的。通过同样的方法可得到其他的道路管线，最终形成的Y字型路口的道路管线如图2d所示，其中，d1和d2分别为BD中心线对应道路管线的边界线，c1和c2分别为BC中心线对应道路管线的边界线。In the present embodiment, a Y-shaped intersecting road is taken as an example for description. As shown in FIG. 2b, three road center lines intersect at a point B, and a section line formed by the width of the road is scanned along the AB center line path to form a path. The road line corresponding to the AB center line (as shown in Fig. 2c), a1 and a2 are the boundary lines of the AB center line corresponding to the road line, and the distances between a1 and a2 from the AB center line are respectively b, and the distance between a1 and a2 is The width of the road 2b, because the formed road line is a Y-shaped intersection (not a T-shaped or cross-shaped intersection), the distance from the boundary line to the center line on both sides of the road line is the same. Other road pipelines can be obtained by the same method. The road line of the finally formed Y-shaped intersection is shown in Figure 2d, where d1 and d2 are respectively the boundary lines of the BD center line corresponding to the road pipeline, and c1 and c2 are respectively BC. The center line corresponds to the boundary line of the road pipeline.
S220：对于相邻的道路管线，确定两条相交边界线的交点。S220: For adjacent road pipelines, determine the intersection of two intersecting boundary lines.
如图2d所示，o1为AB对应道路管线的边界线a1与BC对应道路管线的边 界线c2的交点，o2为AB对应道路管线的边界线a2与BD对应道路管线的边界线d1的交点，o3为BD对应道路管线的边界线d2与BC对应道路管线的边界线c1的交点。As shown in Fig. 2d, o1 is the boundary line a1 of the AB corresponding road pipeline and the side of the road pipeline corresponding to BC. The intersection of the boundary line c2, o2 is the intersection of the boundary line a2 of the AB corresponding road line and the boundary line d1 of the BD corresponding road line, and o3 is the intersection of the boundary line d2 of the BD corresponding road line and the boundary line c1 of the BC corresponding road line.
S230：根据所述交点分别在每条相交的所述边界线上获取至少一个采样点。S230: Acquire at least one sampling point on the boundary line of each intersection according to the intersection point.
在本实施例中，每条相交的边界线上获取采样点的数量优选为1个。如图2e所示，分别在AB对应道路管线的边界线a1与BC对应道路管线的边界线c2距离o1预设采样距离获取一个采样点，分别为E、F。其中，在边界线a1和c2上也可以获取多个采样点，通过相同的方法在其他相交的边界上获取采样点。In the present embodiment, the number of sampling points acquired on each intersecting boundary line is preferably one. As shown in FIG. 2e, a sampling point is obtained at a predetermined sampling distance from the boundary line a1 of the AB corresponding road pipeline and the boundary line c2 of the BC corresponding road pipeline, respectively, and is respectively E and F. Among them, a plurality of sampling points can also be acquired on the boundary lines a1 and c2, and sampling points are acquired on other intersecting boundaries by the same method.
S240：分别以两条相交边界线上的一个采样点作为样条曲线的起点和终点，以所述交点作为控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。S240: taking a sampling point on two intersecting boundary lines as a starting point and an ending point of the spline curve, forming a spline curve by using the intersection point as a control point, and interpolating through the spline curve to obtain an interpolation point set.
在本实施例中，如图2e所示，分别以两条相交边界线的采样点E和F作为样条曲线的起点和终点，以边界线交点o1作为控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集，其中插值点集中有两个插值点坐标分别为采样点E和F重合，通过E、F、o1形成的样条曲线获取的插值点集包括与采样点E和F重合的点以及边界线a1和c2之间插值点。采用同样的方法获取其他的插值点。In this embodiment, as shown in FIG. 2e, the sampling points E and F of the two intersecting boundary lines are respectively used as the starting point and the ending point of the spline curve, and the spline curve is formed by using the boundary line intersection point o1 as the control point, and the sample is passed. The bar curve is interpolated to obtain an interpolation point set, wherein two interpolation point coordinates in the interpolation point set are the sampling points E and F respectively, and the interpolation point set obtained by the spline curve formed by E, F, o1 includes the sampling point E. The point coincident with F and the interpolation point between boundary lines a1 and c2. Use the same method to get other interpolation points.
在上述实施例的基础上，当每条相交边界线上选取的采样点的个数大于1时，可以选取距离边界线交点最远的采样点作为样条曲线的起点或终点，也可以选取距离边界线交点最近的采样点作为样条曲线的起点或终点，或者选取边界线上任意的一个采样点作为样条曲线的起点或终点，具体的采样点的选取需要针对道路数据的实际情况，以利于实现道路建模。On the basis of the above embodiment, when the number of sampling points selected on each intersecting boundary line is greater than 1, the sampling point farthest from the intersection point of the boundary line may be selected as the starting point or the ending point of the spline curve, and the distance may also be selected. The nearest sampling point of the intersection of the boundary line is used as the starting point or the ending point of the spline curve, or any sampling point on the boundary line is selected as the starting point or the ending point of the spline curve. The selection of the specific sampling point needs to be based on the actual situation of the road data. Conducive to the realization of road modeling.
S250：根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割。 S250: Determine a cutting point according to the sampling point, and cut a road line between the cutting points.
在本实施例中，如图2e所示，以采样点E和F作为切割点，将E和F切割点之间的道路管线进行切割。具体的，将边界线c2上的Ec0所对应的边界线进行删除，将边界线a1上的Fa0所对应的边界线进行删除。采用同样的方法对其他道路管线中相交的边界线进行切割，切割完毕后的道路管线如图2f所示。In the present embodiment, as shown in Fig. 2e, the road lines between the E and F cutting points are cut with the sampling points E and F as cutting points. Specifically, the boundary line corresponding to Ec0 on the boundary line c2 is deleted, and the boundary line corresponding to Fa0 on the boundary line a1 is deleted. The same method is used to cut the intersecting boundary lines in other road pipelines. The road pipeline after cutting is shown in Figure 2f.
在上述实施例的基础上，当采样点的个数大于1时，以样条曲线上起点和终点分别作为两条相交边界线的切割点。On the basis of the above embodiment, when the number of sampling points is greater than 1, the starting point and the ending point on the spline curve are respectively used as cutting points of two intersecting boundary lines.
S260：根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。S260: Form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
在本实施例中，如图2g所示，将插值点集进行顺次连接，形成连接曲线，其中连接曲线为E和F之间形成的曲线，通过E和F之间的连接曲线，将切割后的两条相交边界线进行连接，采用相同的方法对其他相交边界线进行连接，形成三维交叉路面，并将三维交叉路面进行放样，形成三维交叉道路模型(如图2h所示)In this embodiment, as shown in FIG. 2g, the set of interpolation points are sequentially connected to form a connection curve, wherein the connection curve is a curve formed between E and F, and the curve is cut by a connection curve between E and F. The two intersecting boundary lines are connected, and the other intersecting boundary lines are connected by the same method to form a three-dimensional intersecting road surface, and the three-dimensional intersecting road surface is staked out to form a three-dimensional intersecting road model (as shown in Fig. 2h).
本实施例提供了一种三维交叉道路模型生成的方法，通过相交边界线上的选取的采样点和边界线上的交点形成的样条曲线进行插值，通过插值点集形成的连接曲线将切割的相交边界线进行连接，实现了将相邻道路管线相交的边界线进行平滑处理目的，并且能够减少数据量以及道路建模的成本。The embodiment provides a method for generating a three-dimensional intersecting road model, which is performed by interpolating a spline curve formed by the selected sampling point on the intersecting boundary line and the intersection point on the boundary line, and the connecting curve formed by the interpolation point set is cut. The intersecting boundary lines are connected to achieve the purpose of smoothing the boundary lines intersecting adjacent road pipelines, and can reduce the amount of data and the cost of road modeling.
实施例三Embodiment 3
图3a是本发明实施例三提供的一种三维交叉道路模型生成的方法流程图，在上述实施例一的基础上，根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集优选包括：分别以两条相交边界线上距离所述交点最远的采样点作为样条曲线的起点和终点，以所述边界线上最远采样点与所述交点之间的其 他采样点作为样条曲线的控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。FIG. 3a is a flowchart of a method for generating a three-dimensional intersecting road model according to Embodiment 3 of the present invention. On the basis of the foregoing Embodiment 1, interpolation is performed according to a spline curve formed by sampling points of the boundary line, and an interpolation point is obtained. Preferably, the set includes: a sampling point that is furthest from the intersection on two intersecting boundary lines as a starting point and an ending point of the spline curve, and the distance between the farthest sampling point on the boundary line and the intersection point The sampling point forms a spline curve as a control point of the spline curve, and interpolates through the spline curve to obtain an interpolation point set.
基于上述的优化，如图3a所示，本实施例提供的技术方案具体如下：Based on the above optimization, as shown in FIG. 3a, the technical solution provided by this embodiment is specifically as follows:
S310：获取道路管线，并确定道路管线的边界线。S310: Acquire a road pipeline and determine a boundary line of the road pipeline.
S320：对于相邻的道路管线，确定两条相交边界线的交点。S320: For adjacent road pipelines, determine the intersection of two intersecting boundary lines.
S330：根据所述交点分别在每条相交的所述边界线上获取至少一个采样点。S330: Acquire at least one sampling point on the boundary line of each intersection according to the intersection point.
在本实施例中，两条相交边界线上距离所述交点最远的采样点之间的距离大于第一预设距离值；每条边界线上的距离所述交点最远与最近的采样点之间的距离在第二预设距离值范围内；在第二预设距离值范围内，每条边界线上距离交点最远的采样点的高度值与边界线交点的高度值之差最小，以保证道路建模后，道路的坡度较小。其中，第一预设距离值以及第二预设距离值范围根据道路管线的数据进行确定。In this embodiment, the distance between the sampling points farthest from the intersection point on the two intersecting boundary lines is greater than the first preset distance value; the distance from the intersection point to the nearest sampling point on each boundary line The distance between the distances is within a second preset distance value range; in the second preset distance value range, the difference between the height value of the sample point farthest from the intersection point on each boundary line and the height value of the boundary line intersection point is the smallest, To ensure that the road is modeled, the slope of the road is small. The first preset distance value and the second preset distance value range are determined according to data of the road pipeline.
在本实施例中，在每条相交的边界线上优选获取两个采样点。如图3b所示，在相交的边界线a1和c2上距离边界线交点预设采样距离内分别获取两个采样点G、H和I、J。其中，在边界线a1和c2上也可以获取多个采样点，通过相同的方法在其他相交的边界线上获取采样点，获取采样点如图3b所示。In the present embodiment, two sampling points are preferably acquired on each intersecting boundary line. As shown in FIG. 3b, two sampling points G, H, and I, J are respectively acquired within the preset sampling distance from the intersection of the boundary lines on the intersecting boundary lines a1 and c2. Wherein, a plurality of sampling points can also be acquired on the boundary lines a1 and c2, and sampling points are acquired on other intersecting boundary lines by the same method, and sampling points are obtained as shown in FIG. 3b.
S340：分别以两条相交边界线上距离所述交点最远的采样点作为样条曲线的起点和终点，以所述边界线上最远采样点与所述交点之间的其他采样点作为样条曲线的控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。S340: taking the sampling point farthest from the intersection point on the two intersecting boundary lines as the starting point and the ending point of the spline curve, respectively, taking other sampling points between the farth sampling point on the boundary line and the intersection point as samples. The control points of the bar curve form a spline curve, and interpolation is performed through the spline curve to obtain an interpolation point set.
在本实施例中，如图3b所示，以两条边界线上距离边界线交点最远的J和H分别作为样条曲线的起点和终点，以边界线上J和o1之间的I，以及H和o1之间的G作为样条曲线的控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。其中，采用相同的方法获取其他相交边界线之间的插值点集。 In the present embodiment, as shown in FIG. 3b, J and H which are the farthest from the intersection of the boundary lines on the two boundary lines are respectively used as the starting point and the ending point of the spline curve, and I is between the J and the o1 on the boundary line. And G between H and o1 forms a spline curve as a control point of the spline curve, and interpolates through the spline curve to obtain an interpolation point set. Among them, the same method is used to obtain the set of interpolation points between other intersecting boundary lines.
S350：根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割。S350: Determine a cutting point according to the sampling point, and cut a road line between the cutting points.
在本实施例中，如图3b所示，将相交边界线上距离所述交点o1最远的采样点J和H作为切割点，将J和H切割点之间的道路管线进行切割。具体的，将边界线上c2上的Jc0所对应的边界线进行删除，将边界线a1上的Ha0所对应的边界线进行删除。其中，采用相同的方法对其他的相交的道路管线进行切割，切割后的道路管线如图3c所示。In the present embodiment, as shown in FIG. 3b, the sampling points J and H farthest from the intersection point o1 on the intersecting boundary line are taken as cutting points, and the road line between the J and H cutting points is cut. Specifically, the boundary line corresponding to Jc0 on the boundary line c2 is deleted, and the boundary line corresponding to Ha0 on the boundary line a1 is deleted. Among them, the other intersecting road pipelines are cut by the same method, and the cut road pipeline is as shown in Fig. 3c.
S360：根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。S360: Form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
如图3d所示，将相交边界线a1和c2之间的插值点进行顺次连接，形成连接曲线，即JH所对应的曲线，将切割后的边界线a1和c2进行连接，采用相同的方法对其他相交边界线之间的插值点进行连接，并连接切割后的相交边界线，形成三维交叉路面。然后，将三维交叉路面进行放样，生成三维交叉道路模型。As shown in FIG. 3d, the interpolation points between the intersecting boundary lines a1 and c2 are sequentially connected to form a connection curve, that is, a curve corresponding to JH, and the cut boundary lines a1 and c2 are connected, using the same method. Interpolation points between other intersecting boundary lines are connected, and the intersecting boundary lines after cutting are connected to form a three-dimensional intersecting road surface. Then, the three-dimensional intersecting road surface is staked out to generate a three-dimensional intersecting road model.
本实施例提供了一种三维交叉道路模型生成的方法，通过相交边界线上距离边界线交点最远的采样点分别作为样条曲线的起点和终点，通过相交边界线上距离边界线交点最远的采样点与交点之间的其他采样点作为控制点形成样条曲线进行插值，通过插值点集形成的连接曲线将切割后的相交边界线进行连接，实现了将相邻道路管线相交的边界线进行平滑处理目的，并且能够减少数据量以及道路建模的成本。The present embodiment provides a method for generating a three-dimensional intersecting road model, wherein the sampling points farthest from the intersection of the boundary lines on the intersecting boundary line are respectively used as the starting point and the ending point of the spline curve, and the farthest point from the intersecting boundary line is intersected on the intersecting boundary line. The other sampling points between the sampling point and the intersection point are used as control points to form a spline curve for interpolation, and the intersecting boundary lines formed by the interpolation point set are connected to realize the boundary line intersecting the adjacent road pipelines. The purpose of smoothing is performed, and the amount of data and the cost of road modeling can be reduced.
实施例四Embodiment 4
图4是本发明实施例提供的一种三维交叉道路模型生成的装置的结构框图，4 is a structural block diagram of an apparatus for generating a three-dimensional crossroad model according to an embodiment of the present invention.
如图4所示，所述装置包括：边界线确定模块410、边界线交点确定模块420、采样点获取模块430、插值点集获取模块440、道路管线切割模块450和 三维交叉道路模型生成模块460。As shown in FIG. 4, the apparatus includes: a boundary line determining module 410, a boundary line intersection determining module 420, a sampling point obtaining module 430, an interpolation point set obtaining module 440, a road pipeline cutting module 450, and A three-dimensional intersecting road model generation module 460.
其中，边界线确定模块410，用于获取道路管线，并确定道路管线的边界线；The boundary line determining module 410 is configured to acquire a road pipeline and determine a boundary line of the road pipeline;
边界线交点确定模块420，用于对于相邻的道路管线，确定两条相交边界线的交点；a boundary line intersection determining module 420, configured to determine an intersection of two intersecting boundary lines for adjacent road pipelines;
采样点获取模块430，用于根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；a sampling point obtaining module 430, configured to acquire at least one sampling point on each of the intersecting boundary lines according to the intersection point;
插值点集获取模块440，用于根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集；The interpolation point set obtaining module 440 is configured to perform interpolation according to a spline curve formed by the sampling points of the boundary line to obtain an interpolation point set;
道路管线切割模块450，用于根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；a road pipeline cutting module 450, configured to determine a cutting point according to the sampling point, and cut a road pipeline between the cutting points;
三维交叉道路模型生成模块460，用于根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。The three-dimensional intersecting road model generating module 460 is configured to form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
进一步的，边界线确定模块410，具体用于：Further, the boundary line determining module 410 is specifically configured to:
根据获取的街景数据描绘道路的中心线，根据道路类型、道路的宽度数据以及所述中心线形成道路管线，并确定所述道路管线的边界线；Depicting a center line of the road according to the acquired street view data, forming a road pipeline according to the road type, the width data of the road, and the center line, and determining a boundary line of the road pipeline;
进一步的，边界线交点确定模块420具体用于：Further, the boundary line intersection determining module 420 is specifically configured to:
如果相邻道路管线相邻侧的边界线不相交，将所述边界线在水平面上进行投影，根据投影面中的交点以及道路管线权重确定相邻道路管线边界线的交点。If the boundary lines on the adjacent side of the adjacent road pipeline do not intersect, the boundary line is projected on a horizontal plane, and the intersection of the adjacent road pipeline boundary lines is determined according to the intersection point in the projection plane and the road pipeline weight.
进一步的额，所述装置还包括：道路管线对齐模块470，用于在确定道路管线的边界线之前，如果判断形成交叉路口的道路管线中存在平行的道路管线，将平行的道路管线进行左对齐或右对齐。Further, the apparatus further includes: a road pipeline alignment module 470, configured to left-align the parallel road pipelines if it is determined that there are parallel road pipelines in the road pipeline forming the intersection before determining the boundary line of the road pipeline Or right aligned.
进一步的，采样点获取模块430具体用于： Further, the sampling point obtaining module 430 is specifically configured to:
在每条道路管线的边界线上距所述交点预设采样距离内选取至少一个采样点；其中，各条边界线所采用的预设采样距离根据各条边界线之间的角度进行确定。At least one sampling point is selected within a preset sampling distance of the intersection point on a boundary line of each road pipeline; wherein a preset sampling distance adopted by each boundary line is determined according to an angle between each boundary line.
进一步的，插值点集获取模块440具体用于：Further, the interpolation point set obtaining module 440 is specifically configured to:
分别以两条相交边界线上的一个采样点作为样条曲线的起点和终点，以所述交点作为控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。One sampling point on the two intersecting boundary lines is used as the starting point and the ending point of the spline curve, and the intersection point is used as the control point to form a spline curve, and the spline curve is interpolated to obtain the interpolation point set.
进一步的，插值点集获取模块440具体用于：Further, the interpolation point set obtaining module 440 is specifically configured to:
分别以两条相交边界线上距离所述交点最远的采样点作为样条曲线的起点和终点，以所述边界线上最远采样点与所述交点之间的其他采样点作为样条曲线的控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。其中，两条相交边界线上距离所述交点最远的采样点之间的距离大于第一预设距离值；Taking the sampling point farthest from the intersection point on the two intersecting boundary lines as the starting point and the ending point of the spline curve, respectively, taking the other sampling points between the farthest sampling point on the boundary line and the intersection point as spline curves The control points form a spline curve and are interpolated by the spline curve to obtain an interpolation point set. Wherein the distance between the sampling points on the two intersecting boundary lines farthest from the intersection point is greater than the first preset distance value;
每条边界线上的距离所述交点最远与最近的采样点之间距离在第二预设距离值范围内；在第二预设距离值范围内，每条边界线上距离交点最远的采样点的高度值与边界线交点的高度值之差最小。The distance between the farthest point and the nearest sampling point on each boundary line is within a second preset distance value; in the second preset distance value range, each boundary line is farthest from the intersection point The difference between the height value of the sampling point and the height value of the intersection of the boundary line is the smallest.
进一步的，道路管线切割模块450具体用于：Further, the road pipeline cutting module 450 is specifically configured to:
将相交边界线上距离所述交点最远的采样点作为切割点，将所述切割点之间的道路管线进行切割。A sampling point farthest from the intersection point on the intersecting boundary line is used as a cutting point, and a road line between the cutting points is cut.
进一步的，所述根据切割后的道路管线以及获取的插值点集形成三维交叉路面包括：Further, the forming the three-dimensional cross road surface according to the cut road pipeline and the acquired interpolation point set includes:
将插值点集进行顺次连接，形成连接曲线；Interpolating the set of interpolation points in sequence to form a connection curve;
将连接曲线分别与切割后的两条相交边界线进行连接，形成三维交叉路面。The connecting curves are respectively connected with the two intersecting boundary lines after cutting to form a three-dimensional intersecting road surface.
上述产品可执行本发明任意实施例所提供的方法，具备执行方法相应的功能模块和有益效果。 The above product can perform the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
实施例五Embodiment 5
本发明实施例五提供了一种服务器，包括本发明任意实施例所提供的三维交叉道路模型生成的装置。具体的，如图5所示，本发明实施例提供一种服务器，该服务器包括：Embodiment 5 of the present invention provides a server, including a device for generating a three-dimensional crossroad model provided by any embodiment of the present invention. Specifically, as shown in FIG. 5, an embodiment of the present invention provides a server, where the server includes:
一个或者多个处理器510，图5中以一个处理器510为例；One or more processors 510, one processor 510 is taken as an example in FIG. 5;
存储器520；以及一个或者多个模块。 Memory 520; and one or more modules.
所述服务器还可以包括：输入装置530和输出装置540。所述服务器中的处理器510、存储器520、输入装置530和输出装置540可以通过总线或其他方式连接，图5中以通过总线连接为例。The server may further include: an input device 530 and an output device 540. The processor 510, the memory 520, the input device 530, and the output device 540 in the server may be connected by a bus or other means, and the bus connection is taken as an example in FIG.
存储器520作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的三维交叉道路模型生成的方法对应的程序指令/模块(例如，附图4所示的三维交叉道路模型生成的装置中的边界线确定模块410、边界线交点确定模块420、采样点获取模块430、插值点集获取模块440、道路管线切割模块450和三维交叉道路模型生成模块460)。处理器510通过运行存储在存储器520中的软件程序、指令以及模块，从而执行服务器的各种功能应用以及数据处理，即实现上述方法实施例中的三维交叉道路模型生成的方法。The memory 520 is used as a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the method for generating a three-dimensional crossroad model in the embodiment of the present invention (for example, FIG. 4 The boundary line determination module 410, the boundary line intersection determination module 420, the sample point acquisition module 430, the interpolation point set acquisition module 440, the road pipeline cutting module 450, and the three-dimensional intersection road model generation module in the apparatus for generating the three-dimensional intersecting road model are shown. 460). The processor 510 executes various functional applications of the server and data processing by executing software programs, instructions, and modules stored in the memory 520, that is, a method of implementing three-dimensional crossroad model generation in the above method embodiments.
存储器520可包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需的应用程序；存储数据区可存储根据服务器的使用所创建的数据等。此外，存储器520可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，存储器520可进一步包括相对于处理器510远 程设置的存储器，这些远程存储器可以通过网络连接至服务器。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。The memory 520 may include a storage program area and an storage data area, wherein the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to use of the server, and the like. Further, the memory 520 may include a high speed random access memory, and may also include a nonvolatile memory such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device. In some examples, memory 520 can further include a distance relative to processor 510 Program-set memory that can be connected to the server over a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
输入装置530可用于接收输入的数字或字符信息，以及产生与服务器的用户设置以及功能控制有关的键信号输入。输出装置540可包括输出端口等。 Input device 530 can be configured to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the server. Output device 540 can include an output port or the like.
本发明实施例还提供了一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行三维交叉道路模型生成的方法，该方法包括：Embodiments of the present invention also provide a storage medium including computer executable instructions for performing a method of three-dimensional crossroad model generation when executed by a computer processor, the method comprising:
获取道路管线，并确定道路管线的边界线；Obtain road pipelines and determine boundary lines of road pipelines;
对于相邻的道路管线，确定两条相交边界线的交点；For adjacent road pipelines, determine the intersection of two intersecting boundary lines;
根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；Acquiring at least one sampling point on the boundary line of each intersection according to the intersection point;
根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集；Interpolating according to a spline curve formed by sampling points of the boundary line to obtain an interpolation point set;
根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；Determining a cutting point according to the sampling point, and cutting a road line between the cutting points;
根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。A three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。 Through the above description of the embodiments, those skilled in the art can clearly understand that the present invention can be implemented by software and necessary general hardware, and can also be implemented by hardware, but in many cases, the former is a better implementation. . Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, may be embodied in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk of a computer. , Read-Only Memory (ROM), Random Access Memory (RAM), Flash (FLASH), hard disk or optical disk, etc., including a number of instructions to make a computer device (can be a personal computer) The server, or network device, etc.) performs the methods described in various embodiments of the present invention.
值得注意的是，上述三维交叉道路模型生成的装置的实施例中，所包括的各个单元和模块只是按照功能逻辑进行划分的，但并不局限于上述的划分，只要能够实现相应的功能即可；另外，各功能单元的具体名称也只是为了便于相互区分，并不用于限制本发明的保护范围。It should be noted that, in the embodiment of the device for generating a three-dimensional crossroad model, the included units and modules are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be implemented. In addition, the specific names of the respective functional units are only for convenience of distinguishing from each other, and are not intended to limit the scope of protection of the present invention.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明披露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以所述权利要求的保护范围为准。 The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present disclosure. All should be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the appended claims.

Claims (16)

  1. 一种三维交叉道路模型生成的方法，其特征在于，包括：A method for generating a three-dimensional intersecting road model, comprising:
    获取道路管线，并确定道路管线的边界线；Obtain road pipelines and determine boundary lines of road pipelines;
    对于相邻的道路管线，确定两条相交边界线的交点；For adjacent road pipelines, determine the intersection of two intersecting boundary lines;
    根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；Acquiring at least one sampling point on the boundary line of each intersection according to the intersection point;
    根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集；Interpolating according to a spline curve formed by sampling points of the boundary line to obtain an interpolation point set;
    根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；Determining a cutting point according to the sampling point, and cutting a road line between the cutting points;
    根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。A three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
  2. 根据权利要求1所述的方法，其特征在于，所述获取道路管线，并确定道路管线的边界线包括：The method of claim 1 wherein said obtaining a road pipeline and determining a boundary line of the road pipeline comprises:
    根据获取的街景数据描绘道路的中心线，根据道路类型、道路的宽度数据以及所述中心线形成道路管线，并确定所述道路管线的边界线。A center line of the road is drawn based on the acquired street view data, a road line is formed according to the road type, the width data of the road, and the center line, and a boundary line of the road line is determined.
  3. 根据权利要求1所述的方法，其特征在于，所述对于相邻的道路管线，确定两条相交边界线的交点包括：The method of claim 1 wherein said determining an intersection of two intersecting boundary lines for an adjacent road pipeline comprises:
    如果相邻道路管线相邻侧的边界线不相交，将所述边界线在预设平面上进行投影，根据投影面中的交点以及道路管线权重确定相邻道路管线边界线的交点。If the boundary lines on the adjacent side of the adjacent road pipeline do not intersect, the boundary line is projected on a preset plane, and the intersection of the adjacent road pipeline boundary lines is determined according to the intersection point in the projection surface and the road pipeline weight.
  4. 根据权利要求1所述的方法，其特征在于，在确定道路管线的边界线之前，还包括：The method of claim 1 further comprising: prior to determining a boundary line of the road pipeline, further comprising:
    如果判断形成交叉路口的道路管线中存在平行的道路管线，将平行的道路管线进行左对齐或右对齐。If it is determined that there are parallel road lines in the road line forming the intersection, the parallel road lines are left-aligned or right-aligned.
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述交点分别在每条相交的所述边界线上获取至少一个采样点包括： The method according to claim 1, wherein the obtaining at least one sampling point on each of the intersecting boundary lines according to the intersection point comprises:
    在每条道路管线的边界线上距所述交点预设采样距离内选取至少一个采样点；其中，各条边界线所采用的预设采样距离根据各条边界线之间的角度进行确定。At least one sampling point is selected within a preset sampling distance of the intersection point on a boundary line of each road pipeline; wherein a preset sampling distance adopted by each boundary line is determined according to an angle between each boundary line.
  6. 根据权利要求1所述的方法，其特征在于，根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集，包括：The method according to claim 1, wherein the interpolation is performed according to a spline formed by the sampling points of the boundary line, and the set of interpolation points is obtained, including:
    分别以两条相交边界线上的一个采样点作为样条曲线的起点和终点，以所述交点作为控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。One sampling point on the two intersecting boundary lines is used as the starting point and the ending point of the spline curve, and the intersection point is used as the control point to form a spline curve, and the spline curve is interpolated to obtain the interpolation point set.
  7. 根据权利要求1所述的方法，其特征在于，根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集，包括：The method according to claim 1, wherein the interpolation is performed according to a spline formed by the sampling points of the boundary line, and the set of interpolation points is obtained, including:
    分别以两条相交边界线上距离所述交点最远的采样点作为样条曲线的起点和终点，以所述边界线上最远采样点与所述交点之间的其他采样点作为样条曲线的控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。Taking the sampling point farthest from the intersection point on the two intersecting boundary lines as the starting point and the ending point of the spline curve, respectively, taking the other sampling points between the farthest sampling point on the boundary line and the intersection point as spline curves The control points form a spline curve and are interpolated by the spline curve to obtain an interpolation point set.
  8. 根据权利要求7所述的方法，其特征在于：The method of claim 7 wherein:
    两条相交边界线上距离所述交点最远的采样点之间的距离大于第一预设距离值；The distance between the sampling points farthest from the intersection point on the two intersecting boundary lines is greater than the first preset distance value;
    每条边界线上的距离所述交点最远与最近的采样点之间的距离在第二预设距离值范围内；The distance between the farthest point of each boundary line and the nearest sampling point on each boundary line is within a second preset distance value range;
    在第二预设距离值范围内，每条边界线上距离所述交点最远的采样点的高度值与边界线交点的高度值之差最小。In the range of the second preset distance value, the difference between the height value of the sample point farthest from the intersection point on each boundary line and the height value of the boundary line intersection point is the smallest.
  9. 根据权利要求7所述的方法，其特征在于，所述根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割，包括：The method according to claim 7, wherein the determining a cutting point according to the sampling point, cutting a road line between the cutting points, comprising:
    将相交边界线上距离所述交点最远的采样点作为切割点，将所述切割点之间的道路管线进行切割。 A sampling point farthest from the intersection point on the intersecting boundary line is used as a cutting point, and a road line between the cutting points is cut.
  10. 根据权利要求1所述的方法，其特征在于，所述根据切割后的道路管线以及获取的插值点集形成三维交叉路面包括：The method according to claim 1, wherein the forming a three-dimensional intersecting road surface according to the cut road line and the acquired set of interpolation points comprises:
    将插值点集进行顺次连接，形成连接曲线；Interpolating the set of interpolation points in sequence to form a connection curve;
    将连接曲线分别与切割后的两条相交边界线进行连接，形成三维交叉路面。The connecting curves are respectively connected with the two intersecting boundary lines after cutting to form a three-dimensional intersecting road surface.
  11. 一种三维交叉道路模型生成的装置，其特征在于，包括：A device for generating a three-dimensional intersection road model, comprising:
    边界线确定模块，用于获取道路管线，并确定道路管线的边界线；a boundary line determining module for acquiring a road pipeline and determining a boundary line of the road pipeline;
    边界线交点确定模块，用于对于相邻的道路管线，确定两条相交边界线的交点；a boundary line intersection determining module for determining an intersection of two intersecting boundary lines for adjacent road pipelines;
    采样点获取模块，用于根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；a sampling point obtaining module, configured to acquire at least one sampling point on each intersecting boundary line according to the intersection point;
    插值点集获取模块，用于根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集；An interpolation point set obtaining module, configured to perform interpolation according to a spline curve formed by the sampling points of the boundary line, and obtain an interpolation point set;
    道路管线切割模块，用于根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；a road pipeline cutting module, configured to determine a cutting point according to the sampling point, and cut a road pipeline between the cutting points;
    三维交叉道路模型生成模块，用于根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。The three-dimensional intersecting road model generating module is configured to form a three-dimensional intersecting road surface according to the cut road pipeline and the acquired interpolation point set, and stake out the three-dimensional intersecting road surface to generate a three-dimensional intersecting road model.
  12. 根据权利要求11所述的装置，其特征在于，采样点获取模块具体用于：The device according to claim 11, wherein the sampling point obtaining module is specifically configured to:
    在每条道路管线的边界线上距所述交点预设采样距离内选取至少一个采样点；其中，各条边界线所采用的预设采样距离根据各条边界线之间的角度进行确定。At least one sampling point is selected within a preset sampling distance of the intersection point on a boundary line of each road pipeline; wherein a preset sampling distance adopted by each boundary line is determined according to an angle between each boundary line.
  13. 根据权利要求11所述的装置，其特征在于，插值点集获取模块具体用于： The apparatus according to claim 11, wherein the interpolation point set obtaining module is specifically configured to:
    分别以两条相交边界线上的一个采样点作为样条曲线的起点和终点，以所述交点作为控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。One sampling point on the two intersecting boundary lines is used as the starting point and the ending point of the spline curve, and the intersection point is used as the control point to form a spline curve, and the spline curve is interpolated to obtain the interpolation point set.
  14. 根据权利要求11所述的装置，其特征在于，插值点集获取模块具体用于：The apparatus according to claim 11, wherein the interpolation point set obtaining module is specifically configured to:
    分别以两条相交边界线上距离所述交点最远的采样点作为样条曲线的起点和终点，以所述边界线上最远采样点与所述交点之间的其他采样点作为样条曲线的控制点形成样条曲线，并通过样条曲线进行插值，获取插值点集。Taking the sampling point farthest from the intersection point on the two intersecting boundary lines as the starting point and the ending point of the spline curve, respectively, taking the other sampling points between the farthest sampling point on the boundary line and the intersection point as spline curves The control points form a spline curve and are interpolated by the spline curve to obtain an interpolation point set.
  15. 根据权利要求14所述的装置，其特征在于，道路管线切割模块具体用于：The device according to claim 14, wherein the road pipeline cutting module is specifically configured to:
    将相交边界线上距离所述交点最远的采样点作为切割点，将所述切割点之间的道路管线进行切割。A sampling point farthest from the intersection point on the intersecting boundary line is used as a cutting point, and a road line between the cutting points is cut.
  16. 一种包含计算机可执行指令的存储介质，所述计算机可执行指令在由计算机处理器执行时用于执行一种三维交叉道路模型生成的方法，其特征在于，该方法包括：A storage medium comprising computer executable instructions for performing a method of three-dimensional crossroad model generation when executed by a computer processor, the method comprising:
    获取道路管线，并确定道路管线的边界线；Obtain road pipelines and determine boundary lines of road pipelines;
    对于相邻的道路管线，确定两条相交边界线的交点；For adjacent road pipelines, determine the intersection of two intersecting boundary lines;
    根据所述交点分别在每条相交的所述边界线上获取至少一个采样点；Acquiring at least one sampling point on the boundary line of each intersection according to the intersection point;
    根据所述边界线的采样点形成的样条曲线进行插值，获取插值点集；Interpolating according to a spline curve formed by sampling points of the boundary line to obtain an interpolation point set;
    根据所述采样点确定切割点，将所述切割点之间的道路管线进行切割；Determining a cutting point according to the sampling point, and cutting a road line between the cutting points;
    根据切割后的道路管线以及获取的插值点集形成三维交叉路面，并对三维交叉路面进行放样，生成三维交叉道路模型。 A three-dimensional intersecting road surface is formed according to the cut road pipeline and the acquired interpolation point set, and the three-dimensional intersecting road surface is staked to generate a three-dimensional intersecting road model.
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