Map registration method and device and computer readable storage medium

Abstract

The invention provides a map registration method and device and a computer readable storage medium, relates to the technical field of maps, and can improve the efficiency of map auditing. The method comprises the following steps: acquiring map data of a to-be-audited map and map data of a plurality of standard maps; the zoom levels of the standard maps are different; aiming at each standard map in the plurality of standard maps, determining a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used for determining the coordinate value of the homonymy point of the target point, and the map to be audited and the target standard map are registered; the target standard map is any one of the plurality of standard maps.

Description

Technical Field

[0001] The present application relates to the field of map technology, and in particular to a map registration method, device, and computer-readable storage medium. Background Art

[0002] Map review refers to comparing the map to be reviewed with the standard map. Figure 1 It is correct, indicating that the map to be reviewed is correct and can be issued subsequently.

[0003] During the map review process, the map to be reviewed needs to be aligned with the standard map so that the map to be reviewed and the standard map can be scaled and moved synchronously. Since the levels of standard maps are diverse, each time the map to be reviewed is compared and reviewed with a standard map, it is necessary to align the map to be reviewed with the standard map, which leads to low efficiency of map review. Summary of the Invention

[0004] The present application provides a map registration method, device and computer-readable storage medium, which can improve the efficiency of map review.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a map registration method is provided, the method comprising: obtaining map data of a map to be reviewed and map data of multiple standard maps; each standard map has a different zoom level; and determining, for each standard map in the multiple standard maps, a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model being used to determine coordinate values ​​of a homonymous point of a target point, the target point being a point in the standard map and the homonymous point being a point in the adjacent standard map, or the target point being a point in the adjacent standard map and the homonymous point being a point in the standard map, the standard map registration model comprising:

[0007]

[0008] Among them, x c Indicates the X-axis coordinate value of the target point, y c Indicates the Y-axis coordinate value of the target point, x b Indicates the X-axis coordinate value of the point with the same name as the target point, y b represents the Y-axis coordinate value of the same-name point of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x Indicates the translation of the adjacent standard map relative to the standard map in the X-axis direction, t yIndicates the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction;

[0009] The map to be reviewed is aligned with a target standard map; the target standard map is any one of multiple standard maps.

[0010] Based on the solution, by obtaining map data of a map to be reviewed and map data of multiple standard maps with different zoom levels, and then, for each standard map in the multiple standard maps, determining a standard map registration model between the standard map and the adjacent standard map corresponding to the standard map, since the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of the same-name point of the target point, the target point is a point in the standard map and the same-name point is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the same-name point is a point in the standard map, therefore, when the map to be reviewed is compared with the multiple standard maps, the standard map registration model is used to determine the coordinate value of the same-name point of the target point, the target point is a point in the standard map and the same-name point is a point in the adjacent standard map, After registering with any standard map in the target standard map, the map to be reviewed can be indirectly registered with the target standard map and other standard maps through the target standard map. That is to say, after selecting a target point in the map to be reviewed, the homonymous points of the target point in the target standard map can be determined first. Then, due to the existence of a standard map registration model between the target standard map and the adjacent standard map corresponding to the target standard map, the homonymous points in the adjacent standard map can be further determined. Similarly, the homonymous points of the target point in each standard map can be determined, without registering the map to be reviewed with each standard map, thereby improving the efficiency of map review.

[0011] In combination with the first aspect, in certain embodiments of the first aspect, determining a standard map registration model between a standard map and an adjacent standard map corresponding to the standard map includes: obtaining a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is a coordinate value of a first point in the standard map, the second coordinate value is a coordinate value of a second point in the standard map, the third coordinate value is a coordinate value of a point with the same name as the first point in the adjacent standard map, and the fourth coordinate value is a coordinate value of a point with the same name as the second point in the adjacent standard map; determining S, θ, t in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value x and t y .

[0012] In combination with the first aspect, in certain embodiments of the first aspect, determining S in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value includes: determining S in the standard image registration model based on the following relationship:

[0013]

[0014] Among them, S represents the scale difference between the adjacent standard map and the standard map, represents the first coordinate value, represents the second coordinate value, represents the third coordinate value, represents the fourth coordinate value, Indicates the X value in the first coordinate value, Indicates the Y value in the first coordinate value, Indicates the X value in the second coordinate value, Indicates the Y value in the second coordinate value, Indicates the X value in the third coordinate value, Indicates the Y value in the third coordinate value, Indicates the X value in the fourth coordinate value, Indicates the Y value of the fourth coordinate.

[0015] In combination with the first aspect, in certain embodiments of the first aspect, determining θ in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value includes: determining θ in the standard image registration model based on the following relationship:

[0016]

[0017] Among them, θ represents the rotation angle of the adjacent standard map relative to the standard map, Indicates the X value in the first coordinate value, Indicates the Y value in the first coordinate value, Indicates the X value in the second coordinate value, Indicates the Y value in the second coordinate value, Indicates the X value in the third coordinate value, Indicates the Y value in the third coordinate value, Indicates the X value in the fourth coordinate value, Indicates the Y value of the fourth coordinate.

[0018] In combination with the first aspect, in certain embodiments of the first aspect, t in the standard image registration model is determined based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y , including: determining t in the standard image registration model based on the following relationship x and t y :

[0019]

[0020] Among them, S represents the scale difference between the adjacent standard map and the standard map, θ represents the rotation angle between the adjacent standard map and the standard map, Indicates the X value in the first coordinate value, Indicates the Y value in the first coordinate value, Indicates the X value in the third coordinate value, Indicates the Y value of the third coordinate.

[0021] In combination with the first aspect, in certain embodiments of the first aspect, after the map to be reviewed is aligned with the target standard map, the method further includes: determining a registration error value between the map to be reviewed and the standard map; and when the registration error value is less than or equal to a preset threshold, determining that the alignment of the map to be reviewed is successful.

[0022] In a second aspect, a map registration device is provided for implementing the map registration method of the first aspect. The map registration device includes modules, units, or means corresponding to the aforementioned method. The modules, units, or means may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the aforementioned functions.

[0023] In conjunction with the second aspect, in certain embodiments of the second aspect, the apparatus includes: an acquisition module and a processing module; the acquisition module is configured to acquire map data of a map to be reviewed and map data of multiple standard maps; each standard map has a different zoom level; the processing module is configured to determine, for each standard map in the multiple standard maps, a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is configured to determine coordinate values ​​of a homonymous point of a target point, where the target point is a point in the standard map and the homonymous point is a point in the adjacent standard map, or where the target point is a point in the adjacent standard map and the homonymous point is a point in the standard map, the standard map registration model includes:

[0024]

[0025] Among them, x c Indicates the X-axis coordinate value of the target point, y c Indicates the Y-axis coordinate value of the target point, x b Indicates the X-axis coordinate value of the point with the same name as the target point, y b represents the Y-axis coordinate value of the same-name point of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x Indicates the translation of the adjacent standard map relative to the standard map in the X-axis direction, t yIt represents the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction; the processing module is also used to align the map to be reviewed with the target standard map; the target standard map is any one of the multiple standard maps.

[0026] In conjunction with the second aspect, in certain embodiments of the second aspect, the processing module is used to determine a standard map registration model between a standard map and an adjacent standard map corresponding to the standard map, including: obtaining a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is a coordinate value of a first point in the standard map, the second coordinate value is a coordinate value of a second point in the standard map, the third coordinate value is a coordinate value of a point with the same name as the first point in the adjacent standard map, and the fourth coordinate value is a coordinate value of a point with the same name as the second point in the adjacent standard map; determining S, θ, t in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y .

[0027] In conjunction with the second aspect, in certain embodiments of the second aspect, the processing module is configured to determine S in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value, including: determining S in the standard image registration model based on the following relationship:

[0028]

[0029] Among them, S represents the scale difference between the adjacent standard map and the standard map, represents the first coordinate value, represents the second coordinate value, represents the third coordinate value, represents the fourth coordinate value, Indicates the X value in the first coordinate value, Indicates the Y value in the first coordinate value, Indicates the X value in the second coordinate value, Indicates the Y value in the second coordinate value, Indicates the X value in the third coordinate value, Indicates the Y value in the third coordinate value, Indicates the X value in the fourth coordinate value, Indicates the Y value of the fourth coordinate.

[0030] In conjunction with the second aspect, in certain embodiments of the second aspect, the processing module is configured to determine θ in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value, including: determining θ in the standard image registration model based on the following relationship:

[0031]

[0032] Among them, θ represents the rotation angle of the adjacent standard map relative to the standard map, Indicates the X value in the first coordinate value, Indicates the Y value in the first coordinate value, Indicates the X value in the second coordinate value, Indicates the Y value in the second coordinate value, Indicates the X value in the third coordinate value, Indicates the Y value in the third coordinate value, Indicates the X value in the fourth coordinate value, Indicates the Y value of the fourth coordinate.

[0033] In conjunction with the second aspect, in certain embodiments of the second aspect, the processing module is configured to determine t in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y , including: determining t in the standard image registration model based on the following relationship x and t y :

[0034]

[0035] Among them, S represents the scale difference between the adjacent standard map and the standard map, θ represents the rotation angle between the adjacent standard map and the standard map, Indicates the X value in the first coordinate value, Indicates the Y value in the first coordinate value, Indicates the X value in the third coordinate value, Indicates the Y value of the third coordinate.

[0036] In combination with the second aspect, in certain embodiments of the second aspect, after the map to be reviewed is aligned with the target standard map, the processing module is further used to: determine the alignment error value between the map to be reviewed and the standard map; and when the alignment error value is less than or equal to a preset threshold, determine that the alignment of the map to be reviewed is successful.

[0037] In a third aspect, a map registration device is provided, comprising: at least one processor and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the method provided in the first aspect and any possible implementation manner thereof.

[0038] In a fourth aspect, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by a processor of a map registration device, the map registration device is enabled to perform the method provided in the first aspect and any possible implementation thereof.

[0039] In a fifth aspect, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute the method provided in the first aspect and any possible implementation manner thereof.

[0040] Among them, the technical effects brought about by any implementation of the second to fifth aspects can refer to the technical effects brought about by different implementations of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the architecture of a map registration system provided in this application;

[0042] Figure 2 A flowchart of a map registration method provided in this application;

[0043] Figure 3 A flowchart of another map registration method provided in this application;

[0044] Figure 4 A flowchart of another map registration method provided in this application;

[0045] Figure 5 A structural diagram of a map registration device provided in this application;

[0046] Figure 6 This is a structural diagram of another map registration device provided in this application. DETAILED DESCRIPTION

[0047] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0048] In addition, to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that the words "first" and "second" do not limit the quantity or execution order, and the words "first" and "second" do not necessarily mean different.

[0049] At the same time, in the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner to facilitate understanding.

[0050] It will be understood that the “embodiment” mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It will be understood that in the various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0051] It can be understood that in this application, "when", "if" and "if" all mean that corresponding processing will be taken under certain objective circumstances, and do not limit the time, nor do they require judgment actions when implementing them, nor do they mean that there are other limitations.

[0052] It is understood that some optional features in the embodiments of the present application may, in certain scenarios, be implemented independently of other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features in certain scenarios as needed. Accordingly, the devices provided in the embodiments of the present application may also implement these features or functions accordingly, which will not be described in detail here.

[0053] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments of this application, and the various implementation methods in each embodiment, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The following implementation methods of this application do not constitute a limitation on the scope of protection of this application.

[0054] Map review refers to comparing the map to be reviewed with the standard map. Figure 1 It is correct, indicating that the map to be reviewed is correct and can be issued subsequently.

[0055] During the map review process, the map to be reviewed needs to be aligned with the standard map so that the map to be reviewed and the standard map can be zoomed and moved synchronously. Since the levels of standard maps vary, each time the map to be reviewed is compared with a standard map for review, it is necessary to align the map to be reviewed with the standard map. For example, if the number of maps to be reviewed and the number of standard maps are 10 respectively, each map to be reviewed needs to be aligned with each standard map separately, and alignment is required 100 times, which leads to low efficiency of map review.

[0056] To solve this problem, the present application provides a map registration method, the method comprising: obtaining map data of a map to be reviewed and map data of multiple standard maps; each standard map has a different zoom level; for each standard map in the multiple standard maps, determining a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate values ​​of the homonymous points of the target point, the target point is a point in the standard map and the homonymous point is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the homonymous point is a point in the standard map, the standard map registration model comprises:

[0057]

[0058] Among them, x c Indicates the X-axis coordinate value of the target point, y c Indicates the Y-axis coordinate value of the target point, x b Indicates the X-axis coordinate value of the point with the same name as the target point, y b represents the Y-axis coordinate value of the same-name point of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x Indicates the translation of the adjacent standard map relative to the standard map in the X-axis direction, t y Indicates the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction;

[0059] The map to be reviewed is aligned with a target standard map; the target standard map is any one of multiple standard maps.

[0060] Based on the solution, by obtaining map data of a map to be reviewed and map data of multiple standard maps with different zoom levels, and then, for each standard map in the multiple standard maps, determining a standard map registration model between the standard map and the adjacent standard map corresponding to the standard map, since the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of the same-name point of the target point, the target point is a point in the standard map and the same-name point is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the same-name point is a point in the standard map, therefore, when the map to be reviewed is compared with the multiple standard maps, the standard map registration model is used to determine the coordinate value of the same-name point of the target point, the target point is a point in the standard map and the same-name point is a point in the adjacent standard map, After registering with any standard map in the target standard map, the map to be reviewed can be indirectly registered with the target standard map and other standard maps through the target standard map. That is to say, after selecting a target point in the map to be reviewed, the homonymous points of the target point in the target standard map can be determined first. Then, due to the existence of a standard map registration model between the target standard map and the adjacent standard map corresponding to the target standard map, the homonymous points in the adjacent standard map can be further determined. Similarly, the homonymous points of the target point in each standard map can be determined, without registering the map to be reviewed with each standard map, thereby improving the efficiency of map review.

[0061] Figure 1 This is a schematic diagram of the architecture of a map registration system provided by this application. The technical solution of the embodiment of this application can be applied to Figure 1 The map registration system shown in Figure 1 As shown, the map registration system 10 includes a map registration device 11 and an electronic device 12 .

[0062] The map registration device 11 is directly or indirectly connected to the electronic device 12 . In the connection relationship, they can be connected in a wired manner or a wireless manner, which is not limited in the embodiment of the present application.

[0063] Data exchange can be performed between the map registration device 11 and the electronic device 12 .

[0064] It should be noted that the map registration device 11 and the electronic device 12 can be independent devices or integrated into the same device, and this application does not make any specific limitations on this.

[0065] When the map registration device 11 and the electronic device 12 are integrated into the same device, the communication between the map registration device 11 and the electronic device 12 is carried out between the modules within the device. In this case, the communication process between the two devices is the same as the communication process between the map registration device 11 and the electronic device 12 when they are independent of each other.

[0066] In the following embodiments provided in this application, this application uses an example in which the map registration device 11 and the electronic device 12 are independently configured.

[0067] In practical applications, the map registration method provided in the embodiment of the present application can be applied to the map registration device 11, and can also be applied to the devices included in the map registration device 11.

[0068] The map registration method provided in the embodiment of the present application will be described below with reference to the accompanying drawings, taking the application of the map registration method to the map registration device 11 as an example.

[0069] Figure 2 A flowchart of a map registration method provided in this application is shown in FIG. Figure 2 As shown, the method includes the following steps:

[0070] S201: A map registration device obtains map data of a map to be reviewed and map data of a plurality of standard maps.

[0071] Each standard map has a different zoom level.

[0072] It should be noted that map data may include the scale of the map, the size of the map, the POI data of the map, the base map data of the map, the boundary data of the map, and the vector data of the map. Of course, map data may also include other map data, and this application does not impose any specific restrictions on this.

[0073] Exemplarily, the zoom level may include national, provincial, municipal, district, county or township levels. Of course, the zoom level may also include other levels, and this application does not impose any specific restrictions on this.

[0074] As a possible implementation, combining Figure 1 The map registration device receives a message from an electronic device, the message including map data of a map to be reviewed and map data of a plurality of standard maps, and the map registration device obtains the map data of the map to be reviewed and map data of a plurality of standard maps from the message.

[0075] S202: The map registration device determines, for each of the multiple standard maps, a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map.

[0076] The zoom level of the adjacent standard map is adjacent to the zoom level of the standard map. The standard map registration model is used to determine the coordinate values ​​of the homonymous points of the target point, where the target point is a point in the standard map and the homonymous point is a point in the adjacent standard map, or where the target point is a point in the adjacent standard map and the homonymous point is a point in the standard map. The standard map registration model includes:

[0077]

[0078] Among them, x c Indicates the X-axis coordinate value of the target point, y c Indicates the Y-axis coordinate value of the target point, x b Indicates the X-axis coordinate value of the point with the same name as the target point, y b represents the Y-axis coordinate value of the same-name point of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x Indicates the translation of the adjacent standard map relative to the standard map in the X-axis direction, t y Indicates the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction.

[0079] For example, taking the zoom levels including national, provincial, municipal, district or township levels as an example, if the zoom level of the standard map is provincial, then the zoom level of the adjacent standard map corresponding to the standard map is national or municipal; if the zoom level of the standard map is municipal, then the zoom level of the adjacent standard map corresponding to the standard map is provincial or district or county.

[0080] It should be noted that the map registration device may determine the standard map registration model between each standard map and the adjacent standard map corresponding to the standard map in sequence according to the order of zoom levels.

[0081] For example, taking the zoom levels including national, provincial, municipal, district and county levels or township levels as an example, first, the map registration device takes the standard map with the zoom level of the township level as the first standard map, and the standard map with the zoom level of the district and county level as the adjacent standard map of the first standard map, and determines the standard map registration model between the standard map with the zoom level of the township level and the standard map with the zoom level of the district and county level.

[0082] Secondly, the map registration device takes the standard map with a zoom level of the district and county level as the second standard map. Since there are two adjacent standard maps with a zoom level of the district and county level, namely, the standard map with a zoom level of the township level and the standard map with a zoom level of the city level, the standard map registration model between the standard map with a zoom level of the township level and the standard map with a zoom level of the district and county level has been determined before and does not need to be determined again. Therefore, the map registration device takes the standard map with a zoom level of the city level as the adjacent standard map of the second standard map, determines the standard map registration model between the standard map with a zoom level of the district and county level and the standard map with a zoom level of the city level, and so on. The map registration device determines the standard map registration model between each standard map and the adjacent standard map corresponding to the standard map.

[0083] Of course, the map registration device may also determine the standard map registration model between each standard map and the adjacent standard map corresponding to the standard map in random order instead of in the order of zoom levels. This application does not impose any specific limitation on this.

[0084] As a possible implementation method, the map configuration device obtains the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value, and then determines S, θ, t in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value. x and t y .

[0085] Among them, the first coordinate value is the coordinate value of the first point in the standard map, the second coordinate value is the coordinate value of the second point in the standard map, the third coordinate value is the coordinate value of the same name point as the first point in the adjacent standard map, and the fourth coordinate value is the coordinate value of the same name point as the second point in the adjacent standard map.

[0086] It should be noted that for the specific description of this possible implementation method, please refer to the relevant description of the specific implementation methods later in this application, which will not be described here in this application.

[0087] S203: The map registration device registers the map to be reviewed with the target standard map.

[0088] The target standard map is any one of the multiple standard maps.

[0089] As a possible implementation method, the map registration device uses a feature extraction algorithm to extract feature points of the map to be reviewed and feature points of the target standard map, and then calculates the similarity between the feature points of the map to be reviewed and feature points of the target standard map, and then determines the homography matrix or rigid body transformation based on the matching point pairs.

[0090] It should be noted that the above implementation method is a general description of the solution for aligning the map to be reviewed with the target standard map. The specific implementation of this implementation method can refer to the existing solution, and this application will not go into details here.

[0091] After S203, the map to be reviewed can be compared with any standard map for review, for example, comments can be made on the map to be reviewed, and area boxes can be set, etc. This application does not impose any specific restrictions on this.

[0092] Based on the solution, by obtaining map data of a map to be reviewed and map data of multiple standard maps with different zoom levels, and then, for each standard map in the multiple standard maps, determining a standard map registration model between the standard map and the adjacent standard map corresponding to the standard map, since the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of the same-name point of the target point, the target point is a point in the standard map and the same-name point is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the same-name point is a point in the standard map, therefore, when the map to be reviewed is compared with the multiple standard maps, the standard map registration model is used to determine the coordinate value of the same-name point of the target point, the target point is a point in the standard map and the same-name point is a point in the adjacent standard map, After registering with any standard map in the target standard map, the map to be reviewed can be indirectly registered with the target standard map and other standard maps through the target standard map. That is to say, after selecting a target point in the map to be reviewed, the homonymous points of the target point in the target standard map can be determined first. Then, due to the existence of a standard map registration model between the target standard map and the adjacent standard map corresponding to the target standard map, the homonymous points in the adjacent standard map can be further determined. Similarly, the homonymous points of the target point in each standard map can be determined, without registering the map to be reviewed with each standard map, thereby improving the efficiency of map review.

[0093] For example, if the number of maps to be reviewed and the number of standard maps are 10 respectively, it is only necessary to first align each standard map with the corresponding adjacent standard map, that is, align 9 times, and then align each map to be reviewed with any standard map (target standard map), that is, align 10 times, a total of 19 times. Compared with the existing solution that requires 100 times of alignment, the solution of this application greatly reduces the number of alignments, thereby improving the efficiency of map review.

[0094] The above is a general description of the map registration method provided in this application. The map registration method provided in this application will be further described below in conjunction with the accompanying drawings.

[0095] In one design, Figure 3 A flowchart of another map registration method provided in this application is shown as follows: Figure 3 As shown, S202 provided in the specific embodiment of this application may specifically include the following steps:

[0096] S301. A map registration apparatus obtains a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value.

[0097] Among them, the first coordinate value is the coordinate value of the first point in the standard map, the second coordinate value is the coordinate value of the second point in the standard map, the third coordinate value is the coordinate value of the same name point as the first point in the adjacent standard map, and the fourth coordinate value is the coordinate value of the same name point as the second point in the adjacent standard map.

[0098] As a possible implementation method, the map registration device selects a first point and a second point on the standard map to obtain a first coordinate value and a second coordinate value. Thereafter, the map registration device determines the coordinate value of a point with the same name as the first point in an adjacent standard map based on the first coordinate value, that is, the third coordinate value. The map registration device determines the coordinate value of a point with the same name as the second point in the adjacent standard map based on the second coordinate value, that is, the fourth coordinate value.

[0099] It should be noted that, in this possible implementation, the specific solution of the map registration device determining the coordinate values ​​of the same-name points in adjacent standard maps based on the coordinate values ​​can refer to the existing solution, and this application will not describe it again.

[0100] S302: The map registration device determines S, θ, t in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y .

[0101] As a possible implementation method, the map registration device determines S in the standard map registration model based on the following relationship:

[0102]

[0103] The θ in the standard image registration model is determined based on the following relationship:

[0104]

[0105] The t in the standard image registration model is determined based on the following relationship x and t y :

[0106]

[0107] Among them, S represents the scale difference between the adjacent standard map and the standard map, θ represents the rotation angle between the adjacent standard map and the standard map, represents the first coordinate value, represents the second coordinate value, represents the third coordinate value, represents the fourth coordinate value, Indicates the X value in the first coordinate value, Indicates the Y value in the first coordinate value, Indicates the X value in the second coordinate value, Indicates the Y value in the second coordinate value, Indicates the X value in the third coordinate value, Indicates the Y value in the third coordinate value, Indicates the X value in the fourth coordinate value, Indicates the Y value of the fourth coordinate.

[0108] The map registration device brings the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value into each relational expression, and can obtain S, θ, t in the standard map registration model. x and t y , and then the standard map registration model between the standard map and the adjacent standard maps corresponding to the standard map can be determined.

[0109] In one design, Figure 4 A flowchart of another map registration method provided by this application is shown below. After S203, Figure 4 As shown, the map registration method provided by this application may also include the following steps:

[0110] S401: The map registration device determines a registration error value between the map to be reviewed and the standard map.

[0111] It should be noted that the larger the registration error value, the more accurate the registration between the map to be reviewed and the standard map is, and the smaller the registration error value, the less accurate the registration between the map to be reviewed and the standard map is.

[0112] As a possible implementation method, the map registration device determines the registration error value between the map to be reviewed and the standard map through a robust verification model.

[0113] It should be noted that this possible implementation method can refer to the existing solution, and this application will not explain it again here.

[0114] S402: When the registration error value is less than or equal to a preset threshold, the map registration device determines that the registration of the map to be reviewed is successful.

[0115] It should be noted that the preset threshold value can be 150, 200, 250, or 300. Of course, the preset threshold value can be other values, and this application does not impose any specific restrictions on this.

[0116] Furthermore, when the registration quality index is greater than a preset threshold, it is determined that the registration between the map to be reviewed and the standard map has failed and needs to be registered again.

[0117] In this way, the effect of map registration can be tested, and when the registration error of map registration is small, map review can be performed again to further improve the efficiency of map review. The above mainly introduces the solution provided by the embodiment of the present application from the perspective of the map registration method executed by the map registration device. In order to achieve the above functions, the map registration device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiment disclosed herein, the embodiment of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0118] The embodiment of the present application can divide the functional modules of the map registration device according to the above-mentioned method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of software functional modules. Optionally, the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, the "module" here may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above-mentioned functions.

[0119] In the case of functional module division, Figure 5 FIG. 1 shows a structural diagram of a map registration device. Figure 5 As shown, the map registration device 50 includes an acquisition module 501 and a processing module 502 .

[0120] In some embodiments, the map registration device 50 may further include a storage module ( Figure 5 ), for storing program instructions and data.

[0121] When the functions of the above functional modules are implemented in the form of hardware, Figure 6 FIG. 1 shows a structural diagram of another map registration device. Figure 6 As shown, the map registration device 60 includes a processor 601, a memory 602 and a bus 603. The processor 601 and the memory 602 may be connected via the bus 603.

[0122] The processor 601 is the control center of the map registration device 60 and can be a single processor or a collective term for multiple processing elements. For example, the processor 601 can be a general-purpose central processing unit (CPU) or other general-purpose processor. The general-purpose processor can be a microprocessor or any conventional processor.

[0123] As an embodiment, the processor 601 may include one or more CPUs, such as Figure 6 CPU 0 and CPU 1 are shown in Figure 1.

[0124] The memory 602 may be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0125] As a possible implementation, memory 602 can exist independently of processor 601 and can be connected to processor 601 via bus 603 to store instructions or program codes. When processor 601 calls and executes the instructions or program codes stored in memory 602, the map registration method provided in the embodiment of the present application can be implemented.

[0126] In another possible implementation, the memory 602 may also be integrated with the processor 601 .

[0127] Bus 603 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0128] It should be pointed out that Figure 6 The structure shown does not constitute a limitation of the map registration device 60. Figure 6 In addition to the components shown, the map registration device 60 may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0129] As an example, combining Figure 5 The functions implemented by the acquisition module 501 and the processing module 502 in the map registration device 50 are the same as those implemented by Figure 6 The functions of the processor 601 in are the same.

[0130] Optional, such as Figure 6 As shown, the map registration device 60 provided in the embodiment of the present application may further include a communication interface 604 .

[0131] The communication interface 604 is used to connect to other devices via a communication network. The communication network can be Ethernet, wireless access network, wireless local area network (WLAN), etc. The communication interface 604 may include a receiving unit for receiving data and a sending unit for sending data.

[0132] In a possible implementation, in the map registration device 60 provided in the embodiment of the present application, the communication interface 604 may also be integrated into the processor 601, which is not specifically limited in the embodiment of the present application.

[0133] As a possible product form, the map registration device of the embodiment of the present application can also be implemented using the following: one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits that can perform the various functions described throughout this application.

[0134] Through the description of the above embodiments, those skilled in the art will clearly understand that for the sake of convenience and brevity, only the division of the above-mentioned functional units is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0135] An embodiment of the present application also provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed, the computer executes each step in the method flow shown in the above method embodiment.

[0136] An embodiment of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute each step of the method flow shown in the above method embodiment.

[0137] An embodiment of the present application provides a chip system, including: a processor and an interface circuit; the interface circuit is used to receive a computer program or instruction and transmit it to the processor; the processor is used to execute the computer program or instruction so that the chip system performs each step in the method flow shown in the above method embodiment.

[0138] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more conductors, a portable computer disk, and a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read-Only Memory (EPROM), registers, hard disks, optical fibers, portable Compact Disc Read-Only Memory (CD-ROM), optical storage devices, magnetic storage devices, or any other form of computer-readable storage medium known in the art, or any combination thereof. An exemplary storage medium is coupled to a processor so that the processor can read information from and write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and storage medium may be located in a specific-purpose ASIC. In the embodiments of the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0139] Since the map registration device, computer-readable storage medium, and computer program product provided in this embodiment can be applied to the map registration method provided by this embodiment, the technical effects that can be obtained can also refer to the above-mentioned method embodiments, and the embodiments of this application will not be repeated here.

[0140] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0141] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely illustrative of the present application as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, the present application is intended to include such modifications and variations as fall within the scope of the claims of the present application and their equivalents.

Claims

1. A map registration method, characterized in that: The method comprises: Obtain map data for the map to be reviewed and map data for multiple standard maps; each standard map has a different zoom level; For each of a plurality of standard maps, a standard map registration model is determined between the standard map and an adjacent standard map corresponding to the standard map; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map; the standard map registration model is used to determine coordinate values ​​of a homonymous point of a target point, where the target point is a point in the standard map and the homonymous point is a point in the adjacent standard map, or where the target point is a point in the adjacent standard map and the homonymous point is a point in the standard map, the standard map registration model includes: Among them, x c Indicates the X-axis coordinate value of the target point, y c Indicates the Y-axis coordinate value of the target point, x b Indicates the X-axis coordinate value of the point with the same name as the target point, y b represents the Y-axis coordinate value of the same-name point of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x Indicates the translation amount of the adjacent standard map relative to the standard map in the X-axis direction, t y Indicates the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction; The map to be reviewed is aligned with a target standard map; the target standard map is any one of the multiple standard maps.

2. The method according to claim 1, characterized in that The determining of a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map includes: Obtaining a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is the coordinate value of a first point in the standard map, the second coordinate value is the coordinate value of a second point in the standard map, the third coordinate value is the coordinate value of a point with the same name as the first point in the adjacent standard map, and the fourth coordinate value is the coordinate value of a point with the same name as the second point in the adjacent standard map; Determine S, θ, t in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y .

3. The method according to claim 2, characterized in that Determining S in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value includes: S in the standard image registration model is determined based on the following relationship: Wherein, S represents the scale difference between the adjacent standard map and the standard map, represents the first coordinate value, represents the second coordinate value, represents the third coordinate value, represents the fourth coordinate value, represents the X value in the first coordinate value, represents the Y value of the first coordinate value, represents the X value in the second coordinate value, represents the Y value of the second coordinate value, represents the X value in the third coordinate value, represents the Y value in the third coordinate value, represents the X value in the fourth coordinate value, Indicates the Y value in the fourth coordinate value.

4. The method according to claim 2, characterized in that Determining θ in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value includes: The θ in the standard image registration model is determined based on the following relationship: Wherein, θ represents the rotation angle of the adjacent standard map relative to the standard map, represents the X value in the first coordinate value, represents the Y value of the first coordinate value, represents the X value in the second coordinate value, represents the Y value of the second coordinate value, represents the X value in the third coordinate value, represents the Y value in the third coordinate value, represents the X value in the fourth coordinate value, Indicates the Y value in the fourth coordinate value.

5. The method according to claim 2, characterized in that Determine t in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y ,include: The t in the standard image registration model is determined based on the following relationship: x and t y : Wherein, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, represents the X value in the first coordinate value, represents the Y value of the first coordinate value, represents the X value in the third coordinate value, Indicates the Y value in the third coordinate value.

6. The method according to any one of claims 1 to 5, characterized in that After registering the map to be reviewed with the target standard map, the method further includes: Determining a registration error value between the map to be reviewed and the standard map; When the registration error value is less than or equal to a preset threshold, it is determined that the registration of the map to be reviewed is successful.

7. A map registration device, characterized in that: The device comprises: an acquisition module and a processing module; The acquisition module is used to acquire map data of the map to be reviewed and map data of multiple standard maps; each standard map has a different zoom level; The processing module is configured to determine, for each of a plurality of standard maps, a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map; the standard map registration model is configured to determine coordinate values ​​of a homonymous point of a target point, where the target point is a point in the standard map and the homonymous point is a point in the adjacent standard map, or where the target point is a point in the adjacent standard map and the homonymous point is a point in the standard map; the standard map registration model includes: Among them, x c Indicates the X-axis coordinate value of the target point, y c Indicates the Y-axis coordinate value of the target point, x b Indicates the X-axis coordinate value of the point with the same name as the target point, y b represents the Y-axis coordinate value of the same-name point of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x Indicates the translation amount of the adjacent standard map relative to the standard map in the X-axis direction, t y Indicates the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction; The processing module is further configured to register the map to be reviewed with a target standard map; the target standard map is any one of the multiple standard maps.

8. The device according to claim 7, characterized in that The processing module is configured to determine a standard map registration model between the standard map and an adjacent standard map corresponding to the standard map, including: Obtaining a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is the coordinate value of a first point in the standard map, the second coordinate value is the coordinate value of a second point in the standard map, the third coordinate value is the coordinate value of a point with the same name as the first point in the adjacent standard map, and the fourth coordinate value is the coordinate value of a point with the same name as the second point in the adjacent standard map; Determine S, θ, t in the standard image registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y .

9. A map registration device, characterized in that: The map registration device comprises: a processor coupled to a memory, wherein the memory is used to store programs or instructions. When the programs or instructions are executed by the processor, the device executes the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instructions are executed, the computer is caused to perform the method according to any one of claims 1 to 6.

Images