A map registration method and apparatus

Abstract

This application provides a map registration method and apparatus. In this application, after acquiring a first map of the target dimension and a two-dimensional map for registering the first map, a reference coordinate system for the first map is determined, and the two-dimensional map is projected onto this reference coordinate system to obtain a second map. This ensures that the first and second maps are in the same reference coordinate system, and that there is a correspondence between the coordinates of points in the first and second maps. Based on this, the first map can be registered using the coordinate correspondence between points in the first and second maps, as well as the geographical location information of the registration reference points in the second map. The solution of this application can improve the accuracy of map registration.

Description

Technical Field

[0001] This application relates to the field of computer technology, and more specifically, to a map registration method and apparatus. Background Technology

[0002] With the continuous development of computer technology, maps created using computers are not only more accurate but also richer and more diverse in content. In the map-making process, it is necessary to match each geographic feature in the map with accurate geographic location information; therefore, map registration is a crucial task. Map registration refers to assigning geographic location information to geographic features in the map to be registered, based on the geographic location information (also known as spatial location information) of geographic features in a reference map.

[0003] Because 2.5D maps offer enhanced visual appeal and greater expressiveness compared to 2D maps, and because they require less data and have lower hardware and software requirements, their application is becoming increasingly widespread. However, existing 2.5D map registration methods often overlook the map changes caused by projecting a 3D map onto a 2.5D map. This leads to the direct matching of geographic location information from the 2D reference map to the 2.5D map, resulting in registration errors and affecting accuracy. Summary of the Invention

[0004] In view of this, this application provides a map registration method and apparatus to improve the accuracy of map registration.

[0005] To achieve the above objectives, the following solution is proposed:

[0006] On the one hand, this application provides a map registration method, including:

[0007] Obtain a first map and a two-dimensional map for registration of the first map. The first map is a 2.5-dimensional map and does not include geographic location information of geographic features. The two-dimensional map includes geographic location information of geographic features.

[0008] Determine the reference coordinate system used in the first map;

[0009] The two-dimensional map is projected onto the reference coordinate system to obtain a second map;

[0010] Based on the coordinate correspondence between each location point in the first map and each location point in the second map, and the geographical location information of the registration reference point in the second map, the first map is registered. The registration reference point is a location point in the second map that is marked with geographical location information.

[0011] In another possible implementation, the first map is obtained by rendering a 3D map;

[0012] Determining the reference coordinate system used by the first map includes:

[0013] Determine the angle transformation parameters for converting the coordinate system of the 3D map to the reference coordinate system of the first map. The angle transformation parameters are obtained based on the transformation relationship between the 3D map and the first map during the process of converting the 3D map to the first map.

[0014] Based on the angle transformation parameters and the coordinate system of the three-dimensional map, the reference coordinate system of the first map is determined.

[0015] In another possible implementation, determining the reference coordinate system of the first map based on the angle transformation parameters and the coordinate system of the 3D map includes:

[0016] Using the angle transformation parameters, a target transformation matrix is ​​determined. The target transformation matrix is ​​used to characterize the mapping relationship between the coordinate system of the three-dimensional map and the reference coordinate system of the first map.

[0017] Based on the target transformation matrix and the coordinate system of the 3D map, a reference coordinate system for the first map is constructed.

[0018] In another possible implementation, the registration of the first map based on the coordinate correspondence between each location point in the first map and each location point in the second map, and the geographical location information of the registration reference points in the second map, includes:

[0019] Determine the target location point to be registered in the first map;

[0020] Determine a registration reference point in the second map that has the same coordinates as the target location point;

[0021] The geographical location information of the registration reference point is determined as the geographical location information of the target location point.

[0022] In another possible implementation, before constructing the reference coordinate system of the first map based on the target transformation matrix and the coordinate system of the 3D map, the following method is further included:

[0023] Determine the coordinate offset from the 3D map to the first map;

[0024] The step of constructing a reference coordinate system for the first map based on the target transformation matrix and the coordinate system of the 3D map includes:

[0025] Based on the coordinate offset, the target transformation matrix, and the coordinate system of the 3D map, a reference coordinate system for the first map is constructed.

[0026] In another aspect, this application also provides a map registration device, comprising:

[0027] A map acquisition unit is used to acquire a first map and a two-dimensional map for registering the first map. The first map is a 2.5-dimensional map and does not include geographic location information of geographic features. The two-dimensional map includes geographic location information of geographic features.

[0028] A coordinate system determination unit is used to determine the reference coordinate system used by the first map;

[0029] A map projection unit is used to project the two-dimensional map onto the reference coordinate system to obtain a second map;

[0030] The map registration unit is used to register the first map based on the coordinate correspondence between each location point in the first map and each location point in the second map, as well as the geographical location information of the registration reference points in the second map. The registration reference points are location points in the second map that are marked with geographical location information.

[0031] In another possible implementation, the first map in the map acquisition unit is obtained by 3D map rendering.

[0032] The coordinate system determination unit includes:

[0033] The parameter acquisition subunit is used to determine the angle transformation parameters for converting the coordinate system of the 3D map to the reference coordinate system of the first map. The angle transformation parameters are obtained based on the transformation relationship between the 3D map and the first map during the process of converting the 3D map to the first map.

[0034] The coordinate system determination subunit is used to determine the reference coordinate system of the first map based on the angle transformation parameters and the coordinate system of the three-dimensional map.

[0035] In yet another possible implementation, the coordinate system determines the sub-unit, including:

[0036] The matrix determination subunit is used to determine the target transformation matrix using the angle transformation parameters. The target transformation matrix is ​​used to characterize the mapping relationship between the coordinate system of the three-dimensional map and the reference coordinate system of the first map.

[0037] The coordinate system construction sub-unit is used to construct the reference coordinate system of the first map based on the target transformation matrix and the coordinate system of the three-dimensional map.

[0038] In yet another possible implementation, the map registration unit includes:

[0039] The location point determination unit is used to determine the target location point to be registered in the first map;

[0040] A reference point determination unit is used to determine a registration reference point in the second map that has the same coordinates as the target location point;

[0041] An information matching unit is used to determine the geographical location information of the registration reference point as the geographical location information of the target location point.

[0042] Another possible implementation includes:

[0043] The offset acquisition subunit is used to determine the coordinate offset from the 3D map to the first map before the coordinate system construction subunit constructs the reference coordinate system of the first map;

[0044] Specifically, the coordinate system construction sub-unit is used to construct a reference coordinate system for the first map based on the coordinate offset, the target transformation matrix, and the coordinate system of the three-dimensional map.

[0045] As can be seen from the above, in this embodiment, after obtaining the first map of the target dimension and the two-dimensional map used for registration of the first map, the reference coordinate system of the first map is determined, and the two-dimensional map is projected onto the reference coordinate system to obtain the second map. This ensures that the first map and the second map are in the same reference coordinate system. Based on this, registering the first map with the second map can reduce the distortion of the registered map caused by the different coordinate systems of the reference map and the map to be registered. Moreover, since the first map and the second map are in the same coordinate system, there is an accurate coordinate correspondence between the location points in the two maps. Based on this, combined with the geographical location information included in the second map, the geographical location information of each geographical element in the first map can be accurately determined, thereby improving the accuracy of the registration of the first map. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0047] Figure 1 This illustration shows a flowchart of a map registration method provided in an embodiment of this application;

[0048] Figure 2 and Figure 3 The diagrams illustrate the different projection surface transformations involved in the conversion from a 3D map to a 2.5 map in the embodiments of this application.

[0049] Figure 4 This illustration shows another flowchart of a map registration method provided in an embodiment of this application;

[0050] Figure 5 This illustration shows a schematic diagram of a map registration device provided in an embodiment of this application. Detailed Implementation

[0051] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] The following describes a map registration method provided by an embodiment of this application.

[0053] like Figure 1 The illustration shows a flowchart of a map registration method provided in an embodiment of this application. This application can be applied to computer devices that perform map registration, without limitation.

[0054] The method in this embodiment includes:

[0055] Step S101: Obtain a first map and a two-dimensional map for registration of the first map.

[0056] The first map is a 2.5D map. A 2.5D map is a two-dimensional map that projects a three-dimensional map onto a plane according to certain projection rules to display the effect of a three-dimensional map. Therefore, a 2.5D map is also called a pseudo-3D map. Based on this, the first map is rendered and processed from a three-dimensional map according to a specified user view angle (also known as map viewpoint or tilt angle).

[0057] In this application, the first map is a map that needs to be registered; therefore, the first map does not include geographic location information of geographic features. Geographic features refer to objects on the map, such as naturally formed lakes and hills, as well as man-made features like roads, landscapes, and buildings. Geographic location information can include information representing the spatial location of geographic features. For example, the geographic location information of a geographic feature can at least include its latitude and longitude; of course, it can also include other geographically relevant information of the geographic feature, without limitation.

[0058] The two-dimensional map corresponds to the first map. For example, the two-dimensional map and the first map include the same object elements. However, the difference between the two-dimensional map and the first map is that the two-dimensional map includes the geographical location information of geographical elements. For example, each landscape, building and other object in the two-dimensional map has accurate geographical location information. Therefore, the two-dimensional map can be used as a reference map for registration with the first map.

[0059] In this application, there are multiple ways to obtain the first map, and this application does not impose any restrictions on how the first map is obtained.

[0060] For example, in one possible implementation, as described above, the first map obtained in this application can be obtained through 3D map rendering. This 3D map is created based on a user's pre-selected viewpoint.

[0061] The following simple example illustrates the process of obtaining the first map:

[0062] First, a suitable user view angle is pre-selected manually. Second, the camera angle in the modeling software is set, along with some auxiliary enhancement settings, such as camera position, ambient light, and cropping start and end points, and the camera angle is recorded. Then, a 3D map is obtained through modeling. Finally, the 3D map is rendered to obtain the first-dimensional map of the desired target dimension, such as a 2.5D map.

[0063] Of course, there are other ways to obtain the first map, such as creating a 3D map yourself and obtaining the first map based on the 3D map; or obtaining the first map from other devices, without any restrictions.

[0064] Step S102: Determine the reference coordinate system used in the first map.

[0065] The reference coordinate system is the coordinate system in which the first map is located, that is, the coordinate system on which the first map is displayed.

[0066] In this application, the reference coordinate system can be constructed in real time or obtained in advance, such as obtaining the coordinate system used by the first map during the construction of the first map, without any restriction.

[0067] Step S103: Project the two-dimensional map onto the reference coordinate system to obtain the second map.

[0068] The inventors of this application discovered through research that if a two-dimensional map is directly used to register a 2.5-dimensional first map, the registered map will be deformed. Moreover, the larger the user view angle corresponding to the first map, the smaller the deformation caused by registration; the smaller the user view angle, the larger the deformation caused by registration.

[0069] Based on the above research findings, this application proposes that, in order to reduce deformation after registration, the two-dimensional map will first be projected onto the reference coordinate system containing the first map. Since the reference coordinate system is a 2.5-dimensional coordinate system, the two-dimensional map can be converted into a 2.5-dimensional second map using projection. This allows for direct registration of the first map based on the second map, avoiding the map stretching required for direct registration of the first map based on the two-dimensional map. This naturally reduces the deformation that occurs during map registration due to map stretching.

[0070] In addition, since the first map and the second map are maps under the same reference coordinate system, the position points between the first map and the second map have a precise coordinate correspondence, which also helps to improve the accuracy of registration.

[0071] It is understandable that, since the two-dimensional map includes the geographical location information of geographical features, the resulting second map will also include the geographical location information of geographical features.

[0072] In this application, there are multiple ways to project a two-dimensional map onto a reference coordinate system to obtain a second map, and no restrictions are imposed on these methods.

[0073] Step S104: Based on the coordinate correspondence between each location point in the first map and each location point in the second map, and the geographical location information of the registration reference point in the second map, the first map is registered.

[0074] In this application, the registration reference point is a location point marked with geographical location information on the second map. Specifically, the registration reference point can be a location point where a geographical feature with geographical location information is located.

[0075] After obtaining the first map and the second map, since both maps are 2.5D maps, the corresponding coordinates of the two maps can be determined, so the second map can be directly used to register the first map.

[0076] During the registration process, it is necessary to obtain the coordinate correspondence between each location point in the first map and the second map. For example, if there is a location point A in the first map, it is necessary to find whether there is a location point B with the same coordinates as point A in the second map, and then use the geographical location information of point B to register point A in the first map.

[0077] As can be seen from the above, in this embodiment, after obtaining the first map of the target dimension and the two-dimensional map used for registration of the first map, the reference coordinate system of the first map is determined, and the two-dimensional map is projected onto the reference coordinate system to obtain the second map. This ensures that the first map and the second map are in the same reference coordinate system. Based on this, registering the first map with the second map can reduce the distortion of the registered map caused by the different coordinate systems of the reference map and the map to be registered. Moreover, since the first map and the second map are in the same coordinate system, there is an accurate coordinate correspondence between the location points in the two maps. Based on this, combined with the geographical location information included in the second map, the geographical location information of each geographical element in the first map can be accurately determined, thereby improving the accuracy of the registration of the first map.

[0078] Understandably, there are multiple possibilities for the specific implementation of determining the reference coordinate system of the first map.

[0079] For example, given that the 3D map from which the first map is rendered is determined, a reference coordinate system for the first map can be constructed based on the 3D map and the user view angle used to project the first map.

[0080] For example, in one possible implementation, if the first map is obtained through 3D map rendering, the angle transformation parameters for converting the coordinate system of the 3D map to the reference coordinate system of the first map can be obtained. These angle transformation parameters are obtained during the conversion process from the 3D map to the first map, based on the transformation relationship between the two maps. Accordingly, based on the angle transformation parameters and the coordinate system of the 3D map, the reference coordinate system of the first map can be determined.

[0081] The following example illustrates one method for constructing a reference coordinate system based on angle transformation parameters.

[0082] In practical applications, considering that projection transformation is involved in the process of projecting from a 3D map to a 2.5D map, this application can first determine the target transformation matrix using angle transformation parameters. This target transformation matrix characterizes the mapping relationship between the coordinate system of the 3D map and the reference coordinate system of the first map, i.e., the projection transformation relationship. Based on this, the reference coordinate system of the first map can be constructed using the target transformation matrix and the coordinate system of the 3D map.

[0083] To facilitate understanding, the process of rendering a 2.5D map from a 3D map will be explained.

[0084] First, after obtaining the 3D map, select a user view angle for rendering the 2.5D map.

[0085] Of course, the process may also require determining camera parameters for orthographic projection, and there are no restrictions on this.

[0086] The user view angle can be selected according to actual needs, without any restrictions.

[0087] Secondly, the angle transformation parameters are determined by combining the user's view angle. Based on the angle transformation parameters and the projection transformation, the target transformation matrix corresponding to the projection from the 3D map to the 2.5D map is determined.

[0088] The projection transformation can be expressed as the following formula:

[0089] V T =V T0 +R*V S

[0090] The projection transformation involves the following parameterized representation:

[0091]

[0092] Among them, V T For the parameterized representation of the target coordinate system to which the transformation is needed, in the process of projecting a 3D map to a 2.5D map, it can be the parameterized representation of the reference coordinate system of the 2.5D map. X T Y T It is used to refer to the x-coordinate and y-coordinate of any point in the target coordinate system.

[0093] V S This represents the spatial representation of the original coordinate system. For example, in a 3D map to 2D map projection transformation, it can represent the parametric representation of the coordinate system in which the 3D map resides. Correspondingly, X... S Y S This represents the x-coordinate and y-coordinate of any point in the original coordinate system.

[0094] R represents the transformation matrix, which is the target transformation matrix to be determined in this application. A1, A2, B1, and B2 represent the values ​​of different elements in the exchange matrix.

[0095] V T0 The coordinate offset from the original coordinate system to the target coordinate system is a vector that involves the coordinate offset of each point in the original coordinate system to the point in the target coordinate system. A0 and B0 represent the values ​​of different elements in this vector of coordinate offset.

[0096] The expression formula based on projection transformation is discussed below. Figure 2 and Figure 3 The process of determining the target transformation matrix is ​​explained. For example... Figure 2 and Figure 3 As shown, it illustrates the projection plane transformation involved in obtaining a 2.5D map from a 3D map through parallel projection.

[0097] Assuming a projection plane of the selected 3D map is perpendicular to the z-axis, such as... Figure 2 As shown in the dashed box, first rotate this projection plane counterclockwise by an angle β around the y-axis, so that the rotated projection plane is as follows. Figure 2 The plane shown is represented by the solid line in the middle. Figure 2 Based on this, continue to rotate the rotated projection plane clockwise by an angle α around the x-axis, as follows: Figure 3 As shown, in Figure 2 The projection surface obtained by rotating on the basis is Figure 3 The surface represented by the dashed line is then rotated around the x-axis to obtain... Figure 3 A surface represented by a solid line. Figure 3 Based on the obtained projection surface, which is the surface represented by the solid line, a projection is made on the z-axis to obtain a 2.5-dimensional projection surface, that is, a 2.5-dimensional map.

[0098] The rotation angles α and β mentioned above are the angle information contained in the angle transformation parameters. This rotation angle can be determined based on the user view angle mentioned earlier. Based on this, and combining the rotation angle, the target transformation matrix and its parameters corresponding to the projection process can be determined as follows:

[0099]

[0100] Finally, using the target transformation matrix and the coordinate system of the 3D map, a reference coordinate system for the 2.5D map is constructed.

[0101] After obtaining the target transformation matrix, the required reference coordinate system can be determined using the target transformation matrix and the coordinate system of the 3D map.

[0102] For example, according to the projection transformation formula, the coordinate offset V from the 3D map to the first map can be determined first. T0 Then, by combining the coordinate offset, the target transformation matrix, and the coordinate system of the 3D map, a reference coordinate system for the 2.5D map is constructed.

[0103] In one possible implementation, V can be pre-set in this application. T0 Since the coordinates are both 0, the values ​​of A0 and B0 are both 0, allowing coordinate offsets to be disregarded when constructing the coordinate system of a 3D map. Of course, coordinate offsets can be set or determined according to actual needs, and there are no restrictions on this.

[0104] In constructing the reference coordinate system, any coordinate system representation method can be used. For example, a well-known text (WKT) representation method can be used. Before constructing the reference coordinate system, statements related to projection transformation need to be added to the WKT method. The target transformation matrix and six parameters of coordinate offset are then input into the WKT method to obtain the project file of the reference coordinate system, which is the reference coordinate system of the first map.

[0105] In this application, by constructing a reference coordinate system, map registration can be performed more accurately and precisely, thereby obtaining a precise registered map.

[0106] To facilitate understanding of the process of registering a first map with a second map, one implementation method will be used as an example below. Figure 4 This illustrates another flowchart of the map registration method provided in this application, which includes the following steps:

[0107] Step S401: Obtain a 2.5-dimensional first map and a 2D map for registration of the first map.

[0108] Step S402: Determine the reference coordinate system used in the first map.

[0109] Step S403: Project the two-dimensional map onto the reference coordinate system to obtain the second map.

[0110] The above steps can be referred to in the relevant descriptions of the previous embodiments, and will not be repeated here.

[0111] Step S404: Determine the target location point to be registered in the first map.

[0112] The target location point is the location point in the first map that needs to be registered, such as the location point of the geographic feature to be registered in the first map. For example, the target location point can be a road gap, a road bend, or a building, etc. There are no specific restrictions, but it is understood that since the target location point is a location point on the first map, it does not have geographic location information.

[0113] In the field of map registration, the target location points to be registered in this application can be referred to as "control points." These points are evenly distributed within the digitized map area and their coordinates can be accurately determined. During map registration, unambiguous points are generally selected as control points, such as road intersections or building corners.

[0114] It is understandable that in practical applications, there can be at least one target location point that needs to be registered in the first map. When there are multiple target location points, subsequent steps S405 to S406 can be performed for each target location point. The specific process is the same and will not be described in detail here.

[0115] Step S405: Determine the registration reference point in the second map that has the same coordinates as the target location point.

[0116] The registration reference point is a location point in the second map that includes geographical location information. Since the coordinates of the registration reference point are the same as those of the target location point, the geographical location information of the registration reference point can be used as the geographical location information of the target location point, thereby achieving registration of the target location point.

[0117] In this process, the coordinates of the target location point in the first map in the reference coordinate system can be determined, and based on this, the registration reference point with the same coordinates in the second map can be found.

[0118] Step S406: Determine the geographical location information of the registration reference point as the geographical location information of the target location point.

[0119] After determining the registration reference point in the second map, the geographical location information of the registration reference point is matched to the target location point, thus completing one registration. Subsequently, the process of determining the target location point and following these steps can be repeated to register other location points to be registered on the first map.

[0120] The map registration apparatus provided in the embodiments of this application is described below. The map registration apparatus described below and the map registration method described above can be referred to each other.

[0121] like Figure 5 As shown, the map registration apparatus of this application is described, which may include:

[0122] The map acquisition unit 501 is used to acquire a first map and a two-dimensional map for registering the first map. The first map is a 2.5-dimensional map and does not include geographic location information of geographic features. The two-dimensional map includes geographic location information of geographic features.

[0123] The coordinate system determination unit 502 is used to determine the reference coordinate system used by the first map;

[0124] The map projection unit 503 is used to project the two-dimensional map onto the reference coordinate system to obtain a second map;

[0125] The map registration unit 504 is used to register the first map based on the coordinate correspondence between each location point in the first map and each location point in the second map, as well as the geographical location information of the registration reference point in the second map. The registration reference point is a location point in the second map that is marked with geographical location information.

[0126] In one possible implementation, the first map in the map acquisition unit is obtained by 3D map rendering.

[0127] The coordinate system defining unit includes:

[0128] The parameter acquisition subunit is used to determine the angle transformation parameters for converting the coordinate system of the 3D map to the reference coordinate system of the first map. The angle transformation parameters are obtained based on the transformation relationship between the 3D map and the first map during the process of converting the 3D map to the first map.

[0129] The coordinate system determination subunit is used to determine the reference coordinate system of the first map based on the angle transformation parameters and the coordinate system of the three-dimensional map.

[0130] In yet another possible implementation, the coordinate system determines the sub-unit, including:

[0131] The matrix determination subunit is used to determine the target transformation matrix using the angle transformation parameters. The target transformation matrix is ​​used to characterize the mapping relationship between the coordinate system of the three-dimensional map and the reference coordinate system of the first map.

[0132] The coordinate system construction sub-unit is used to construct the reference coordinate system of the first map based on the target transformation matrix and the coordinate system of the three-dimensional map.

[0133] In yet another possible implementation, the device further includes:

[0134] The offset acquisition subunit is used to determine the coordinate offset from the 3D map to the first map before the coordinate system construction subunit constructs the reference coordinate system of the first map;

[0135] Specifically, the coordinate system construction sub-unit is used to construct a reference coordinate system for the first map based on the coordinate offset, the target transformation matrix, and the coordinate system of the three-dimensional map.

[0136] In yet another possible implementation, the map registration unit includes:

[0137] The location point determination unit is used to determine the target location point to be registered in the first map;

[0138] A reference point determination unit is used to determine a registration reference point in the second map that has the same coordinates as the target location point;

[0139] An information matching unit is used to determine the geographical location information of the registration reference point as the geographical location information of the target location point.

[0140] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. Furthermore, the features described in the various embodiments of this specification can be substituted or combined with each other, enabling those skilled in the art to implement or use this application. For apparatus embodiments, since they are basically similar to method embodiments, the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0141] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0142] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0143] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A map registration method, characterized in that, include: A first map is obtained by rendering a 3D map according to a specified user view angle, and a 2D map is obtained for registering the first map. The first map is a 2.5D map and does not include geographic location information of geographic features. The 2D map includes geographic location information of geographic features. Determine the angle transformation parameters for converting the coordinate system of the 3D map to the reference coordinate system of the first map. The angle transformation parameters are obtained based on the transformation relationship between the 3D map and the first map during the process of converting the 3D map to the first map. Using the angle transformation parameters, a target transformation matrix is ​​determined. The target transformation matrix is ​​used to characterize the mapping relationship between the coordinate system of the three-dimensional map and the reference coordinate system of the first map. Based on the target transformation matrix and the coordinate system of the 3D map, a reference coordinate system for the first map is constructed; The two-dimensional map is projected onto the reference coordinate system to obtain a second map; Based on the coordinate correspondence between each location point in the first map and each location point in the second map, and the geographical location information of the registration reference point in the second map, the first map is registered. The registration reference point is a location point in the second map that is marked with geographical location information.

2. The method according to claim 1, characterized in that, The registration of the first map based on the coordinate correspondence between each location point in the first map and each location point in the second map, and the geographical location information of the registration reference points in the second map, includes: Determine the target location point to be registered in the first map; Determine a registration reference point in the second map that has the same coordinates as the target location point; The geographical location information of the registration reference point is determined as the geographical location information of the target location point.

3. The method according to claim 1, characterized in that, Before constructing the reference coordinate system of the first map based on the target transformation matrix and the coordinate system of the 3D map, the method further includes: Determine the coordinate offset from the 3D map to the first map; The step of constructing a reference coordinate system for the first map based on the target transformation matrix and the coordinate system of the 3D map includes: Based on the coordinate offset, the target transformation matrix, and the coordinate system of the 3D map, a reference coordinate system for the first map is constructed.

4. A map registration device, characterized in that, include: The map acquisition unit is used to acquire a first map obtained by rendering a three-dimensional map according to a specified user view angle and a two-dimensional map for registering the first map. The first map is a 2.5-dimensional map and does not include geographic location information of geographic features. The two-dimensional map includes geographic location information of geographic features. A coordinate system determination unit is used to determine the reference coordinate system used by the first map; A map projection unit is used to project the two-dimensional map onto the reference coordinate system to obtain a second map; A map registration unit is used to register the first map based on the coordinate correspondence between each location point in the first map and each location point in the second map, as well as the geographical location information of the registration reference points in the second map. The registration reference points are location points in the second map that are marked with geographical location information. The coordinate system determination unit includes: The parameter acquisition subunit is used to determine the angle transformation parameters for converting the coordinate system of the 3D map to the reference coordinate system of the first map. The angle transformation parameters are obtained based on the transformation relationship between the 3D map and the first map during the process of converting the 3D map to the first map. The matrix determination subunit is used to determine the target transformation matrix using the angle transformation parameters. The target transformation matrix is ​​used to characterize the mapping relationship between the coordinate system of the three-dimensional map and the reference coordinate system of the first map. The coordinate system construction sub-unit is used to construct the reference coordinate system of the first map based on the target transformation matrix and the coordinate system of the three-dimensional map.

5. The apparatus according to claim 4, characterized in that, The map registration unit includes: The location point determination unit is used to determine the target location point to be registered in the first map; A reference point determination unit is used to determine a registration reference point in the second map that has the same coordinates as the target location point; An information matching unit is used to determine the geographical location information of the registration reference point as the geographical location information of the target location point.

6. The apparatus according to claim 4, characterized in that, Also includes: The offset acquisition subunit is used to determine the coordinate offset from the 3D map to the first map before the coordinate system construction subunit constructs the reference coordinate system of the first map; Specifically, the coordinate system construction sub-unit is used to construct a reference coordinate system for the first map based on the coordinate offset, the target transformation matrix, and the coordinate system of the three-dimensional map.

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