A method and terminal device for restoring satellite maps

Abstract

The embodiment of the present application relates to a method for restoring a satellite map, which is applied to a terminal device, and includes: identifying areas without satellite maps, and for each area without satellite maps, obtaining a vector map corresponding to the area without satellite maps; mapping the vector map to a real satellite sub-map according to a pre-set mapping relationship between the vector map and the satellite map; combining one or more real satellite sub-maps with the initial satellite map to determine the real satellite map; and displaying the real satellite map. The present application can greatly enhance the user's visual perception and experience when using map applications by identifying areas without satellite maps in satellite maps, and mapping the areas through vector maps, thereby mapping the vector maps to satellite maps.

Description

Technical Field

[0001] The present application relates to the field of image recognition, and in particular to a method and terminal device for identifying an area without a satellite map and restoring a satellite map. Background Art

[0002] With the popularization and development of smart terminal devices, a large number of applications (APPs) can be run in smart terminal devices on the market. Some APPs, such as sports and navigation, need to use map functions, so they are embedded with map engines, such as Amap, Google Maps, Baidu Maps, etc. These map engines provide satellite map layer functions. However, for various reasons, there are no satellite maps in some areas.

[0003] Satellite maps can also be called "satellite remote sensing images" or "satellite images". As the name implies, satellite maps require the use of satellites as a medium. Satellites detect the reflection of electromagnetic waves by objects on the earth's surface and the electromagnetic waves they emit in space, thereby extracting information about these objects and completing long-distance object identification. Then, these electromagnetic wave information is converted and identified to obtain the corresponding image, that is, the satellite map. Figure 1 It can be seen that satellite maps provide users with real feedback of the earth's surface appearance. Obviously, unlike traditional maps, the surface appearance seen on satellite maps is real and real-time. Therefore, the scope of use of satellite maps is very wide. For example, since satellite maps are real geographical features taken by satellites, they can be used to detect ground information, as well as geographical locations, terrain, etc. At the same time, they can also be used in urban and rural planning, global positioning system (GPS) navigation systems, etc. to plan routes. If satellite maps are monitored in real time, they can also be used in disaster prevention and relief deployment, disaster monitoring, etc., in order to monitor natural disasters, etc.

[0004] But reference Figure 2 The schematic diagram of the area without satellite map shows that some areas do not have satellite map in the satellite map, that is, Figure 2 This will cause users to be unable to know the actual situation of the area. For users, not being able to clearly understand the actual image of the area will seriously affect the user experience. Summary of the invention

[0005] The embodiment of the present application provides a method for restoring a satellite map. By identifying the area without a satellite map in the satellite map, and mapping the area through a vector map, the vector map is mapped to a satellite map, thereby restoring the satellite map in the area without a satellite map. By restoring the area without a satellite map to the area with a satellite map in the above manner, the visual perception and experience of the user when using map applications can be greatly improved.

[0006] In a first aspect, a method for restoring a satellite map is provided, the method being applied to a terminal device, the method comprising: obtaining an initial satellite map, wherein the initial satellite map includes a non-satellite map area; splitting the initial satellite map according to preset specifications to determine at least one initial satellite sub-map; for each initial satellite sub-map, determining the initial satellite sub-map RGB value of the initial satellite sub-map; when the initial satellite sub-map RGB value and the reference RGB value meet a preset condition, determining that the initial satellite sub-map corresponding to the initial satellite sub-map RGB value is a non-satellite map area, wherein the reference RGB value is the RGB value of the non-satellite map area; for each non-satellite map area, obtaining a vector map corresponding to the non-satellite map area; mapping the vector map to a real satellite sub-map according to a preset mapping relationship between the vector map and the satellite map; combining one or more real satellite sub-maps with the initial satellite map to determine a real satellite map; and displaying a real satellite map. The present application can greatly enhance the visual perception and experience of users when using map applications by identifying a non-satellite map area in a satellite map, and mapping the area through a vector map to map the vector map to a satellite map.

[0007] In one possible implementation, determining the initial satellite submap RGB value of the initial satellite submap includes: determining the initial satellite submap single-pixel RGB value of each pixel point in the initial satellite submap; accumulating the initial satellite submap single-pixel RGB values ​​of each pixel point to determine the initial satellite submap full-pixel RGB value; and using the initial satellite submap full-pixel RGB value as the initial satellite submap RGB value.

[0008] In a possible implementation, using the full-pixel RGB value of the initial satellite submap as the RGB value of the initial satellite submap also includes: determining the average RGB value of a single pixel of the initial satellite submap based on the full-pixel RGB value of the initial satellite submap and the total number of screen pixels; and using the average RGB value of a single pixel of the initial satellite submap as the RGB value of the initial satellite submap.

[0009] In one possible implementation, satisfying the preset conditions includes: weighting the initial satellite sub-map RGB value and the reference RGB value; the absolute value of the difference between the weighted initial satellite sub-map RGB value and the weighted reference RGB value is less than or equal to the preset error threshold; or the absolute value of the square difference between the weighted initial satellite sub-map RGB value and the weighted reference RGB value is less than or equal to the preset error threshold. The present application can accurately determine whether the area displayed by the sub-map is a non-satellite map area by comparing the relationship between the RGB value of the sub-map and the reference RGB value.

[0010] In one possible implementation, the absolute value of the difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to a preset error threshold, including: the absolute value of the difference between the red (red, R) value in the weighted initial satellite submap RGB value and the R value in the weighted reference RGB value is less than or equal to the preset error R value threshold; and the absolute value of the difference between the green (green, G) value in the weighted initial satellite submap RGB value and the G value in the weighted reference RGB value is less than or equal to the preset error G value threshold; and the absolute value of the difference between the blue (blue, B) value in the weighted initial satellite submap RGB value and the B value in the weighted reference RGB value is less than or equal to the preset error B value threshold. The present application can more accurately determine the area without satellite map by comparing the relationship between the three values ​​of R, G, and B in the submap and the three values ​​of R, G, and B of the reference.

[0011] In one possible implementation, the absolute value of the square difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to a preset error threshold, including: the absolute value of the square difference between the R value in the weighted initial satellite submap RGB value and the R value in the weighted reference RGB value is less than or equal to the preset error R value threshold; and the absolute value of the square difference between the G value in the weighted initial satellite submap RGB value and the G value in the weighted reference RGB value is less than or equal to the preset error G value threshold; and the absolute value of the square difference between the B value in the weighted initial satellite submap RGB value and the B value in the weighted reference RGB value is less than or equal to the preset error B value threshold. The present application can more accurately determine the area without satellite map by comparing the relationship between the three values ​​of R, G, and B in the submap and the three values ​​of R, G, and B of the reference.

[0012] In one possible implementation, according to a preset mapping relationship between a vector map and a satellite map, the vector map is mapped to a real satellite sub-map, including: determining the vector map single pixel RGB value of each pixel in the vector map; for each pixel, according to a preset vector map and map element correspondence table, determining the map element corresponding to the vector map single pixel RGB value; according to a preset satellite map and map element correspondence table, determining the real satellite map single pixel RGB value corresponding to the map element; according to the real satellite map single pixel RGB value of each pixel, generating a real satellite sub-map of a satellite map-free area. The present application can accurately restore the satellite map of the area by mapping the vector map to the map element, and then mapping the map element to the satellite map.

[0013] In a possible implementation, before determining that the initial satellite sub-map is a non-satellite map area, the method further includes: acquiring a preset reference RGB value.

[0014] In one possible implementation, before determining that the initial satellite sub-map is a no-satellite map area, the method also includes: a baseline no-satellite map; determining a baseline no-satellite map single-pixel RGB value for each pixel point in the baseline no-satellite map; accumulating the baseline no-satellite map single-pixel RGB values ​​of each pixel point to determine the baseline no-satellite map full-pixel RGB value; and using the baseline no-satellite map full-pixel RGB value as the baseline RGB value.

[0015] In a possible implementation, using the full-pixel RGB value of the benchmark satellite-free map as the benchmark RGB value also includes: determining an average RGB value of a single pixel of the benchmark satellite-free map based on the total RGB value of the pixels and the total number of screen pixels; and using the average RGB value of a single pixel of the benchmark satellite-free map as the benchmark RGB value.

[0016] In one possible implementation, combining one or more real satellite sub-maps with the initial satellite map to determine the real satellite map includes: replacing the corresponding non-satellite map area in the initial satellite map with one or more real satellite sub-maps to determine the real satellite map; or covering the corresponding non-satellite map area in the initial satellite map with one or more real satellite sub-maps to determine the real satellite map. The present application combines the generated satellite map with the initial satellite map to repair the non-satellite map area in the initial satellite map, so that the user's visual experience and user experience can be greatly improved when using it.

[0017] In a possible implementation, the method further includes: determining the total number of screen pixels of the terminal device.

[0018] In a second aspect, a terminal device for recovering a satellite map is provided, the terminal device comprising: a processor for coupling with a memory, and reading and executing instructions stored in the memory; executing instructions when the processor is running, so that the processor is used to obtain an initial satellite map, wherein the initial satellite map includes a non-satellite map area; splitting the initial satellite map according to preset specifications to determine at least one initial satellite sub-map; for each initial satellite sub-map, determining an initial satellite sub-map RGB value of the initial satellite sub-map; when the initial satellite sub-map RGB value and a reference RGB value meet a preset condition, determining that the initial satellite sub-map corresponding to the initial satellite sub-map RGB value is a non-satellite map area, wherein the reference RGB value is an RGB value of the non-satellite map area; for each non-satellite map area, obtaining a vector map corresponding to the non-satellite map area; mapping the vector map to a real satellite sub-map according to a preset mapping relationship between the vector map and the satellite map, combining one or more real satellite sub-maps with the initial satellite map to determine a real satellite map; and a display for displaying the real satellite map. This application identifies the area without satellite maps in the satellite map, maps the area through a vector map, and maps the vector map to a satellite map, which can greatly enhance the user's visual perception and experience when using map applications.

[0019] In one possible implementation, the processor is further used to: determine the single-pixel RGB value of the initial satellite submap for each pixel point in the initial satellite submap; accumulate the single-pixel RGB values ​​of the initial satellite submap for each pixel point to determine the full-pixel RGB value of the initial satellite submap; and use the full-pixel RGB value of the initial satellite submap as the RGB value of the initial satellite submap.

[0020] In one possible implementation, the processor is further used to: determine the average RGB value of a single pixel of the initial satellite submap based on the full pixel RGB value of the initial satellite submap and the total number of screen pixels; and use the average RGB value of a single pixel of the initial satellite submap as the RGB value of the initial satellite submap.

[0021] In one possible implementation, the processor is further used to: weight the initial satellite sub-map RGB value and the reference RGB value; the absolute value of the difference between the weighted initial satellite sub-map RGB value and the weighted reference RGB value is less than or equal to a preset error threshold, and the preset condition is determined to be satisfied; or the absolute value of the square difference between the weighted initial satellite sub-map RGB value and the weighted reference RGB value is less than or equal to a preset error threshold, and the preset condition is determined to be satisfied. The present application can accurately determine whether the area displayed by the sub-map is a non-satellite map area by comparing the relationship between the RGB value of the sub-map and the reference RGB value.

[0022] In one possible implementation, the processor is also used to: the absolute value of the difference between the R value in the weighted initial satellite submap RGB value and the R value in the weighted benchmark RGB value is less than or equal to the preset error R value threshold; and the absolute value of the difference between the G value in the weighted initial satellite submap RGB value and the G value in the weighted benchmark RGB value is less than or equal to the preset error G value threshold; and the absolute value of the difference between the B value in the weighted initial satellite submap RGB value and the B value in the weighted benchmark RGB value is less than or equal to the preset error B value threshold; determine that the preset conditions are met. The present application can more accurately determine the area without satellite maps by comparing the relationship between the three values ​​of R, G, and B in the submap and the three values ​​of R, G, and B of the benchmark.

[0023] In one possible implementation, the processor is also used to: the absolute value of the square difference between the R value in the weighted initial satellite submap RGB value and the R value in the weighted benchmark RGB value is less than or equal to the preset error R value threshold; and the absolute value of the square difference between the G value in the weighted initial satellite submap RGB value and the G value in the weighted benchmark RGB value is less than or equal to the preset error G value threshold; and the absolute value of the square difference between the B value in the weighted initial satellite submap RGB value and the B value in the weighted benchmark RGB value is less than or equal to the preset error B value threshold; determine that the preset conditions are met. The present application can more accurately determine the area without satellite maps by comparing the relationship between the three values ​​of R, G, and B in the submap and the three values ​​of R, G, and B of the benchmark.

[0024] In one possible implementation, the processor is further used to: determine the vector map single pixel RGB value of each pixel in the vector map; for each pixel, determine the map element corresponding to the vector map single pixel RGB value according to a preset vector map and map element correspondence table; determine the real satellite map single pixel RGB value corresponding to the map element according to a preset satellite map and map element correspondence table; generate a real satellite sub-map of the area without satellite map according to the real satellite map single pixel RGB value of each pixel. The present application can accurately restore the satellite map of the area by mapping the vector map to the map element, and then mapping the map element to the satellite map.

[0025] In a possible implementation manner, the processor is further configured to: obtain a preset reference RGB value.

[0026] In one possible implementation, the processor is also used to: map a baseline without satellite; determine the single-pixel RGB value of the baseline without satellite map for each pixel in the baseline without satellite map; accumulate the single-pixel RGB values ​​of the baseline without satellite map for each pixel to determine the full-pixel RGB value of the baseline without satellite map; and use the full-pixel RGB value of the baseline without satellite map as the baseline RGB value.

[0027] In a possible implementation, the processor is further configured to: determine an average RGB value of a single pixel of a reference satellite-free map according to a pixel sum RGB value and a total number of screen pixels; and use the average RGB value of a single pixel of the reference satellite-free map as a reference RGB value.

[0028] In one possible implementation, the processor is further used to: replace the corresponding non-satellite map area in the initial satellite map with one or more real satellite sub-maps to determine the real satellite map; or cover the corresponding non-satellite map area in the initial satellite map with one or more real satellite sub-maps to determine the real satellite map. The present application combines the generated satellite map with the initial satellite map to repair the non-satellite map area in the initial satellite map, so that the user's visual experience and user experience can be greatly improved when using it.

[0029] In a possible implementation manner, the processor is further configured to: determine the total number of screen pixels of the terminal device.

[0030] According to a third aspect, a computer-readable storage medium is provided, in which instructions are stored, wherein when the instructions are executed on a terminal, the terminal executes any one of the methods in the first aspect.

[0031] According to a fourth aspect, a computer device storing instructions is provided, which, when executed on a terminal, enables the terminal to execute any one of the methods in the first aspect.

[0032] The present application discloses a method for restoring satellite maps, which determines which areas are areas without satellite maps by identifying RGB values ​​in satellite maps, and maps the areas without satellite maps through vector maps, determines corresponding map elements by identifying RGB values ​​in vector maps, and reversely maps RGB values ​​of corresponding elements in satellite maps according to map elements, thereby restoring satellite maps in areas without satellite maps. Restoring areas without satellite maps to areas with satellite maps in the above manner can greatly enhance the visual perception and experience of users when using map applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a schematic diagram of a satellite map;

[0034] Figure 2This is a schematic diagram of the area without satellite map;

[0035] Figure 3 This is a vector map diagram;

[0036] Figure 4 A schematic diagram of a terminal device architecture provided in an embodiment of the present application;

[0037] Figure 5 A flowchart of a method for restoring a satellite map provided in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of identifying a non-satellite map area provided in an embodiment of the present application;

[0039] Figure 7 A schematic diagram of satellite map recovery provided in an embodiment of the present application;

[0040] Figure 8 A schematic diagram of a terminal device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0042] The application scenarios of this application mainly involve situations where satellite maps may be needed in daily life. For example, users need to use satellite maps to intuitively understand the actual situation of some areas. However, due to the fact that some areas in the current satellite maps do not have satellite maps, that is, satellite maps are missing. When the area where the user wants to view the satellite map happens to be missing satellite maps, it will seriously affect the user's experience.

[0043] Usually, the map APP installed on the terminal device can provide users with vector maps for use. Vector maps can also be called two-dimensional vector maps, such as Figure 3The schematic diagram of the vector map shown. It can be seen that the vector map is a flat electronic map, such as Baidu Maps and Google Maps commonly used in daily life. When using the vector map, the user can arbitrarily enlarge or reduce the displayed vector map according to the actual situation, which can be achieved by adjusting the scale. For example, the enlargement or reduction of the vector map is achieved by adjusting the size of the scale. When the vector map is enlarged or reduced, the level of detail of the displayed content in the corresponding map area displayed on the display screen is also different. In an example, when the scale ratio is 1 cm: 20 kilometers, the level of detail of the displayed content may only be the important trunk lines and individual famous attractions, infrastructure and / or large-scale mountains and rivers in the display area. However, when the scale ratio is 1 cm: 500 meters (m), the level of detail of the displayed content can be various restaurants, hotels, schools, subway stations, subway lines and / or various roads in the display area. Obviously, when the scale ratio is smaller, more detailed content can be displayed, and when the scale ratio is larger, a larger range of areas can be displayed. In some cases, such as when a new shopping mall, restaurant or venue opens in a certain area, users can also mark the corresponding places on the vector map at any time to update the vector map. Therefore, the update frequency of vector maps is usually higher than that of satellite maps.

[0044] It can be seen that if users need to use satellite maps, such as for municipal planning or when preparing for some deployments, they may face the problem that satellite maps do not exist in some areas due to outdated versions, which seriously affects user use.

[0045] However, the existing map apps do not have the function of restoring satellite maps. Therefore, in order to solve the above problems, this application provides a method for restoring satellite maps, which mainly identifies the area without satellite maps, and then performs vector map mapping on the area without satellite maps. According to the R, G, and B values ​​of each pixel point corresponding to the vector map, it is determined which map elements the area may be, and then based on the R, G, and B values ​​of the satellite map corresponding to the map element, the restored satellite map is mapped, thereby achieving satellite map restoration in the area without satellite maps.

[0046] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application.

[0047] Figure 4 A schematic diagram of a terminal device architecture provided in an embodiment of the present application.

[0048] The present application provides a schematic diagram of the architecture of a terminal device, which may include an application layer, an architecture layer (framework), a map service, and a kernel layer. It is understood that the terminal device involved in the present application may include, but is not limited to, a mobile phone, a smart TV, a smart speaker, a wearable device, a tablet computer, a desktop computer, a handheld computer, a notebook computer, an ultra-mobile personal computer (ultra-mobile personal computer, UMPC), a netbook, a personal digital assistant (personal digital assistant, PDA), a laptop computer (laptop), a mobile computer, an augmented reality (augmented reality, AR) device, a virtual reality (virtual reality, VR) device, an artificial intelligence (artificial intelligence, AI) device, a vehicle-mounted device, a smart home device and / or a smart city device, and any terminal device or portable terminal device. It is understood that the terminal device involved in the present application is a terminal device with a display screen.

[0049] Among them, the application layer includes a map application (application, APP). It can be understood that the map APP of the present application can be a sports or navigation APP, that is, the map APP of the present application is an APP with functions such as map browsing and navigation. The map engine software development kit (software development kit, SDK) is pre-configured in the above-mentioned map APP, so that when the user uses the map function through the map APP, the map APP can call the map service (service) application programming interface (application programming interface, API) located in the framework layer through the map engine SDK. Of course, in some examples, the framework layer can also include any other service APIs that may be used, such as display service APIs, etc. The API in the framework layer can call the corresponding service. For example, the map service API can call the map service, and the map service then drives the physical antenna through the hardware antenna driver located in the kernel layer to achieve positioning or transmit data.

[0050] It is understandable that the APP layer may also include any other possible APPs, which in some examples may be called by the map APP to implement corresponding functions; the framework layer may also include any other possible service APIs or some possible managers, etc., so that some APPs in the APP layer can call them. The kernel layer may also include other hardware drivers that may be needed to drive the corresponding hardware.

[0051] Figure 5 A flow chart of a method for restoring a satellite map provided in an embodiment of the present application.

[0052] Combination Figure 4 The terminal device architecture diagram shown in the figure, for the map APP, the present application also provides a method for restoring the satellite map, which can be executed by the map APP, and the method may include the following steps:

[0053] S501, obtaining an initial satellite map, wherein the initial satellite map includes an area without a satellite map.

[0054] In one example, the terminal device first needs to obtain an initial satellite map. The initial satellite map includes areas with satellite maps and / or areas without satellite maps. In some examples, the terminal device can obtain the initial satellite map through a map engine SDK built into the map APP.

[0055] In one example, S501 can be actively triggered by the map APP when the installation is complete, or it can be periodically actively triggered according to a preset frequency, for example, the period can be one week, one month, or half a month, etc. Of course, in some examples, the user can also actively trigger the execution by clicking the corresponding button displayed in the map APP, and this application does not limit this.

[0056] It is understandable that the map APP needs to first obtain the pre-stored initial satellite map in order to perform subsequent steps.

[0057] S502: Split the initial satellite map according to preset specifications to determine at least one initial satellite sub-map.

[0058] The terminal device splits the initial satellite map obtained in S501. In one example, the splitting can be performed according to a preset specification, wherein the preset specification can be 25×25, 25×50, 88×72, 160×120, etc. It can be understood that the units of the preset specifications are all pixels, that is, 25×25 is a specification of 25 horizontal pixels and 25 vertical pixels.

[0059] In some examples, for the convenience of calculation, the values ​​of horizontal pixels and vertical pixels can usually be set to the same value to facilitate subsequent calculations by the terminal device. Of course, in some examples, the values ​​of horizontal pixels and vertical pixels can be arbitrarily set according to actual conditions, and this application does not limit this.

[0060] Obviously, the purpose of the terminal device splitting the initial satellite map according to preset specifications is to perform separate calculations on each smaller initial satellite sub-map, so that the area without satellite maps can be determined more accurately in the future, and the resources occupied during calculation can be reduced, while reducing the amount of calculations, shortening the calculation time and improving the calculation speed.

[0061] S503: For each initial satellite sub-map, determine an initial satellite sub-map RGB value of the initial satellite sub-map.

[0062] The terminal device determines an initial satellite sub-map RGB value of each presented satellite sub-map determined in S502.

[0063] As a color standard in the industry, the RGB color model obtains different colors by changing the three color channels of R, G, and B, and superimposing them on each other. It can be understood that R, G, and B in RGB represent the colors of the three channels of red, green, and blue, respectively. This standard covers almost all colors that human vision can perceive. Among them, RGB is designed based on the principle of color luminescence. In other words, its color mixing method can be compared to three lights, red, green, and blue. When their light overlaps with each other, the colors are mixed, and their brightness is equal to the sum of the brightness of the three lights. Obviously, the more lights are on, the higher the degree of mixing, and the higher the brightness after mixing, that is, additive mixing.

[0064] In one example, when the red, green and blue lights are superimposed, the brightest superimposed area of ​​the three central colors is white. It can be seen that the characteristic of additive mixing is that the more you superimpose, the brighter it is. Among them, in the three color channels of red, green and blue, each color can be divided into 256 levels of brightness. In one example, when the brightness level of a certain color is 0, it can be understood that the "light" corresponding to this color is the weakest, that is, it can also be understood that the light corresponding to this color is turned off. In another example, when the brightness level of a certain color is 255, it can be understood that the "light" corresponding to this color is the strongest, and it can also be understood that the light corresponding to this color is fully turned on.

[0065] In some examples, when the brightness levels of R, G, and B are the same, gray tones with different grayscale values ​​are generated. Among them, when the brightness levels of the three colors are all 0, it is the darkest black tone; when the brightness levels of the three colors are all 255, it is the brightest white tone. RGB colors can be called additive colors because the terminal device can produce white by superimposing R, G, and B together (that is, all light is reflected back to the eye). Additive colors can be used for lighting, televisions, and computer monitors. For example, the display produces color by emitting light through red, green, and blue phosphors. Most of the visible spectrum can be displayed by mixing red, green, and blue light in different proportions and intensities. For example, if red, green, and blue overlap, yellow, cyan, and purple can be produced.

[0066] Therefore, the present application can determine the area without satellite maps by identifying the RGB values ​​in the satellite maps.

[0067] In one example, the terminal device determines the single-pixel RGB value of the initial satellite submap for each pixel in the initial satellite submap. Then, the single-pixel RGB value of the initial satellite submap of each pixel in the initial satellite submap is accumulated to determine the full-pixel RGB value of the initial satellite submap, i.e., sum0(RGB). In one example, the terminal device can directly use the full-pixel RGB value of the initial satellite submap as the initial satellite submap RGB value of the initial satellite submap. Of course, in another example, the terminal device can also determine the total number of screen pixels X of the display screen, and then the terminal device determines the average RGB value of each single pixel in the initial satellite submap based on the full-pixel RGB value of the initial satellite submap and the total number of screen pixels X, which can also be called the average single-pixel RGB value of the initial satellite submap of the initial satellite submap. Then, the terminal device uses the average single-pixel RGB value of the initial satellite submap as the initial satellite submap RGB value of the initial satellite submap.

[0068] S504: When the initial satellite sub-map RGB value and the reference RGB value meet a preset condition, the initial satellite sub-map corresponding to the initial satellite sub-map RGB value is determined to be a non-satellite map area, wherein the reference RGB value is the RGB value of the non-satellite map area.

[0069] The terminal device compares the initial satellite sub-map RGB value determined in S503 with the reference RGB value to determine whether the preset condition is met. When the initial satellite sub-map RGB value and the reference RGB value meet the preset condition, it can be determined that the initial satellite sub-map corresponding to the initial satellite sub-map RGB value is a non-satellite map area.

[0070] In one example, the reference RGB value may be pre-set and stored on the terminal device. Of course, it may also be pre-set and stored in the cloud or other devices, which is not limited in this application. Therefore, the terminal device needs to obtain the pre-set reference RGB value before executing S504.

[0071] In another example, the reference RGB value can also be calculated by the terminal device based on the reference satellite-free map. For example, the terminal device can obtain the reference satellite-free map. For example, the terminal device can obtain the reference satellite-free map through the map engine SDK configured in the map APP. It can be understood that the reference satellite-free map is a pre-set standard satellite-free map. Then, the terminal device determines the single-pixel RGB value of the reference satellite-free map for each pixel in the reference satellite-free map. Then, the single-pixel RGB value of the reference satellite-free map determined for each pixel is accumulated to determine the full-pixel RGB value of the reference satellite-free map, that is, sum reference (RGB). In some examples, the terminal device can directly use the full-pixel RGB value of the reference satellite-free map as the reference RGB value. Of course, in other examples, the terminal device can also combine the full-pixel RGB value of the reference satellite-free map and the total number of screen pixels X to determine the average RGB value of each pixel, for example, it can be called the average RGB value of the single-pixel of the reference satellite-free map. Then, the terminal device uses the average RGB value of the single-pixel of the reference satellite-free map as the reference RGB value.

[0072] It is understandable that if the terminal device has determined the total number of screen pixels X in S503, the total number of screen pixels X can be directly used in S504 without determining it again. If the terminal device has not determined the total number of screen pixels X before S504, the terminal device can determine the total number of screen pixels X before executing S504, so as to calculate the average RGB value of a single pixel of the baseline satellite-free map.

[0073] In one example, the initial satellite sub-map RGB value and the reference RGB value can also be weighted according to actual conditions. For example, if the recognition accuracy of the satellite map area is low, the weight of the initial satellite sub-map RGB value can be appropriately reduced, and / or the weight of the reference RGB value can be increased, so as to expand the recognition range of the satellite map area. On the contrary, if the recognition accuracy of the satellite map area is high, the weight of the initial satellite sub-map RGB value can be appropriately increased, and / or the weight of the reference RGB value can be reduced, so as to narrow the recognition range of the satellite map area. In some examples, the preset conditions satisfied above can include: the absolute value of the difference between the weighted initial satellite sub-map RGB value and the weighted reference RGB value is less than or equal to the preset error threshold; or the absolute value of the square difference between the weighted initial satellite sub-map RGB value and the weighted reference RGB value is less than or equal to the preset error threshold. Of course, in some other examples, calculation can also be performed in any other alternative manner. It can be understood that the above determination of satisfying the preset conditions can be understood as calculating the similarity between the initial satellite sub-map and the reference satellite map.

[0074] Since the RGB value contains three values ​​of R, G, and B with different meanings, the RGB value can also be written as RGB (R, G, B), where R, G, and B represent the R value, G value, and B value of the pixel, respectively. Therefore, it can be determined whether the preset conditions are met for each value of R, G, and B. In an example, it can be determined that the absolute value of the difference between the R value in the weighted initial satellite submap RGB value and the R value in the weighted reference RGB value is less than or equal to the preset error R value threshold; and the absolute value of the difference between the G value in the weighted initial satellite submap RGB value and the G value in the weighted reference RGB value is less than or equal to the preset error G value threshold; and the absolute value of the difference between the B value in the weighted initial satellite submap RGB value and the B value in the weighted reference RGB value is less than or equal to the preset error B value threshold. Of course, in other examples, it can be determined that the absolute value of the square difference between the R value in the weighted initial satellite submap RGB value and the R value in the weighted benchmark RGB value is less than or equal to the preset error R value threshold; and the absolute value of the square difference between the G value in the weighted initial satellite submap RGB value and the G value in the weighted benchmark RGB value is less than or equal to the preset error G value threshold; and the absolute value of the square difference between the B value in the weighted initial satellite submap RGB value and the B value in the weighted benchmark RGB value is less than or equal to the preset error B value threshold.

[0075] Of course, if you want to reduce the accuracy of identifying the no-satellite map, you can also determine that the initial satellite sub-map corresponding to the RGB value of the initial satellite sub-map is a no-satellite map area when one or more of R, G, and B meet the corresponding preset conditions.

[0076] It is understandable that the specific value of the error threshold can be set arbitrarily according to actual conditions, and this application does not limit it here.

[0077] In a more specific example, Figure 6 The schematic diagram of identifying a non-satellite map area provided by an embodiment of the present application is shown. It can be seen that the terminal device needs to determine the RGB value in the reference image, that is, the reference RGB value; and determine the RGB value of the current image, that is, the initial satellite submap RGB value of each initial satellite submap. Then, the above two values ​​are compared, that is, the determination Figure 6 In one example, each initial satellite submap needs to be compared with a reference image. The reference image may also be referred to as a reference satellite-free map. The reference RGB value is represented by sumreference(RGB), and the initial satellite submap RGB value of the initial satellite submap is represented by sum0(RGB). By calculating |sumreference(RGB)-sum0(RGB)|≤θ. θ is a pre-set error threshold. It can be understood that θ may include θ R ,θ G and θ B , namely, the error R value threshold, the error G value threshold and the error B value threshold.

[0078] In one example, if one or more satellite-free map areas are identified, S505 may be performed for each satellite-free map area. Of course, if no satellite-free map area is identified, the process may be terminated directly without performing subsequent steps.

[0079] S505: For each area without a satellite map, obtain a vector map corresponding to the area without a satellite map.

[0080] When the terminal device identifies one or more areas without satellite maps through S504, the terminal device obtains a vector map corresponding to each identified area without satellite maps. In one example, the terminal device can obtain the vector map corresponding to the area without satellite maps through a preset map engine SDK.

[0081] S506: Map the vector map into a real satellite sub-map according to a preset mapping relationship between the vector map and the satellite map.

[0082] The terminal device maps the vector map obtained in S505 into a real satellite map, for example, a real satellite sub-map, according to a preset mapping relationship between the vector map and the satellite map.

[0083] In one example, the preset mapping relationship between vector map and satellite map can be to first map out each map element in the vector map through a vector map and map element correspondence table, and then map each map element in the mapped vector map into a satellite map through a satellite map and map element correspondence table.

[0084] For example, the terminal device can determine the single pixel RGB value of the vector map for each pixel in the vector map. Then, for each pixel in the vector map, the map element corresponding to the single pixel RGB value of the vector map of the pixel is determined according to a preset vector map and map element correspondence table. After that, the terminal device determines the single pixel RGB value of the real satellite map corresponding to the map element according to a preset satellite map and map element correspondence table. Then, the real satellite sub-map of the satellite map-free area is generated by the single pixel RGB value of the real satellite map of each pixel.

[0085] In an example, the correspondence table between the vector map and the map elements may be as shown in Table 1.

[0086]

[0087] Table 1

[0088] It is understandable that the correspondence between the vector map and the map element is determined based on the actual vector map. Usually, the RGB values ​​corresponding to each map element in the vector map developed by different map APP developers are unified. Of course, in order to adapt to all vector maps, there can be multiple correspondence tables between vector maps and map elements in this application to adapt to all vector maps.

[0089] In another example, the satellite map and map element correspondence table may be as shown in Table 2.

[0090]

[0091] Table 2

[0092] It is understandable that the correspondence between the vector map and the map elements can be arbitrarily set according to the actual situation, that is, the RGB values ​​corresponding to each map element in the vector map can be arbitrarily modified according to the actual situation. Of course, in order to unify the visual experience of the restored satellite map, this application can also extract the RGB value of each map element in the initial satellite map, and use the RGB value as the specific value of RGB in Table 2.

[0093] Of course, since some map elements in the satellite map may have different shadows, Table 2 in this application may include multiple different RGB values ​​for a certain map element, such as those shown in Table 3.

[0094] Water system (plane) 223 128 126 Water system (ripple) 200 150 144 Land (Shady side) 111 252 173 Land (Sanyang-myeon) 150 200 150

[0095] Table 3

[0096] Of course, the terminal device can also obtain the height value of the non-satellite map area through satellite positioning or establish a connection with the server, such as the altitude, etc. Then, based on different height values ​​and preset map element color distribution rules, the corresponding map elements are restored and displayed in different shadows.

[0097] It is understandable that the values ​​shown in Table 1, Table 2 and Table 3 are only exemplary and are not intended to specifically limit the RGB values ​​of each map element.

[0098] In one example, the above-mentioned vector map and map element correspondence table and the satellite map and map element correspondence table can be pre-stored in the map engine SDK.

[0099] It is understandable that for vector maps, in order to distinguish different map elements corresponding to different areas, in addition to intuitively displaying the true shape of each map element in the area, different map elements can also be reflected by different colors. For example, lake areas can be represented by sky blue, the sea can be represented by dark blue, and forests or green areas can be represented by green. Further, light green can be used to represent grasslands, dark green can be used to represent forests, and brown can be used to represent mountainous areas, and so on. Therefore, color has also become important information for distinguishing different map elements in vector maps. Therefore, the present application determines the RGB value of each pixel in the vector map to reflect the possible map element of the pixel, and then infers the corresponding satellite map through the map element, thereby realizing the recovery of the satellite map.

[0100] S507: Combine one or more real satellite sub-maps with the initial satellite map to determine a real satellite map.

[0101] After determining the real satellite sub-map corresponding to each of the one or more non-satellite map areas, the terminal device can combine it with the initial satellite map to restore the non-satellite map area in the initial satellite map and obtain the real satellite map.

[0102] In one example, the terminal device may replace the corresponding no-satellite map area in the initial satellite map with one or more real satellite sub-maps to determine the real satellite map. Of course, in some examples, one or more real satellite sub-maps may also be overlaid on the corresponding no-satellite map area in the initial satellite map to determine the real satellite map. It is understandable that one or more real satellite sub-maps may also be combined with the initial satellite map in any other equivalent manner. For example, some map apps have a map modification function or a custom map function, and the terminal device may restore the satellite map through the above functions, which is not limited in this application.

[0103] For example Figure 7 As shown in the schematic diagram of satellite map restoration, it can be seen that through the above S505 to S507, that is, by identifying the area without satellite map and combining the vector map corresponding to the area as a reference, the satellite map of the area is restored.

[0104] S508, displaying a real satellite map.

[0105] After the terminal device recovers the real satellite map, it can display the real satellite map on the display so that the user can perform corresponding operations.

[0106] This application identifies areas without satellite maps by comparing the RGB values ​​of the initial satellite sub-map with the RGB values ​​of the baseline non-satellite map. Then, for each area without satellite maps, the corresponding vector map is found, and the corresponding map elements are inferred from the RGB values ​​of each pixel in the vector map, and then the corresponding satellite map RGB values ​​are inferred from the map elements, thereby achieving the purpose of restoring the satellite map. The restored satellite map is then combined with the initial satellite map to obtain a real satellite map, so that users can perform corresponding operations based on the real satellite map, greatly improving the user's visual experience and user experience.

[0107] Figure 8 A schematic diagram of a terminal device provided in an embodiment of the present application.

[0108] like Figure 8 As shown, a terminal device 800 is provided, and the terminal device 800 may include a processor 810, an external memory interface 820, an internal memory 821, a universal serial bus (USB) interface 830, a charging management module 840, a power management module 841, a battery 842, an antenna 1, an antenna 2, a mobile communication module 850, a wireless communication module 860, a display screen 870, a positioning module 880, and a subscriber identity module (SIM) card interface 890, etc.

[0109] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the terminal device 800. In other embodiments of the present application, the terminal device 800 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0110] The processor 810 may include one or more processing units, for example, the processor 810 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0111] The controller can generate operation control signals according to the instruction operation code and timing signal to complete the control of instruction fetching and execution.

[0112] The processor 810 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 810 is a cache memory. The memory may store instructions or data that the processor 810 has just used or cyclically used. If the processor 810 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 810, and thus improves the efficiency of the system.

[0113] In some embodiments, the processor 810 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, and / or a universal serial bus (USB) interface, etc.

[0114] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present invention is only a schematic illustration and does not constitute a structural limitation on the terminal device 800. In other embodiments of the present application, the terminal device 800 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0115] The external memory interface 820 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the terminal device 800. The external memory card communicates with the processor 810 through the external memory interface 820 to implement a data storage function. For example, files such as audio data are stored in the external memory card.

[0116] The internal memory 821 may be used to store computer executable program codes, and the executable program codes include instructions. The internal memory 821 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc. The processor 810 executes various functional applications and data processing of the terminal device 800 by running instructions stored in the internal memory 821 and / or instructions stored in a memory provided in the processor.

[0117] The display screen 870 may include one or more, for example, N. In one example, a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), etc. may be used.

[0118] The positioning module 880 can be used to locate the terminal device 800, for example, by using GPS, BDS, Galileo satellite navigation system, GLONASS, etc.

[0119] The SIM card interface 890 may be used to connect a SIM card.

[0120] The terminal device 800 may also include any sensors that may be required, such as an infrared sensor, a gyroscope, etc.

[0121] The terminal device 800 provided in this application can realize the above Figures 4 to 7 For any function of the collaborative device in the example, the specific implementation method can refer to the Figures 4 to 7 The corresponding description in will not be repeated here.

[0122] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software 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 be beyond the scope of this application.

[0123] A person skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing a processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state drive, a magnetic tape, a floppy disk, an optical disc, and any combination thereof.

[0124] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for restoring a satellite map, characterized in that: The method is applied to a terminal device, and the method comprises: Acquire an initial satellite map, wherein the initial satellite map includes an area without a satellite map; Splitting the initial satellite map according to preset specifications to determine at least one initial satellite sub-map; For each of the initial satellite submaps, determining an initial satellite submap RGB value of the initial satellite submap; When the initial satellite sub-map RGB value and the reference RGB value meet a preset condition, it is determined that the initial satellite sub-map corresponding to the initial satellite sub-map RGB value is a non-satellite map area, wherein the reference RGB value is the RGB value of the non-satellite map area; For each of the areas without satellite maps, obtaining a vector map corresponding to the area without satellite maps; According to a preset mapping relationship between the vector map and the satellite map, the vector map is mapped into a real satellite sub-map; Combining one or more of the real satellite sub-maps with the initial satellite map to determine a real satellite map; Displays the real satellite map.

2. The method according to claim 1, characterized in that Determining the initial satellite submap RGB value of the initial satellite submap includes: Determine the initial satellite submap single pixel RGB value of each pixel in the initial satellite submap; Accumulate the single-pixel RGB value of the initial satellite submap of each pixel point to determine the full-pixel RGB value of the initial satellite submap; The full-pixel RGB value of the initial satellite sub-map is used as the RGB value of the initial satellite sub-map.

3. The method according to claim 2, characterized in that The using the full pixel RGB value of the initial satellite submap as the RGB value of the initial satellite submap further comprises: Determine the average RGB value of a single pixel of the initial satellite submap according to the full pixel RGB value of the initial satellite submap and the total number of screen pixels; The average RGB value of a single pixel of the initial satellite sub-map is used as the RGB value of the initial satellite sub-map.

4. The method according to any one of claims 1 to 3, characterized in that: The satisfying of the preset conditions includes: Weighting the initial satellite sub-map RGB value and the reference RGB value; The absolute value of the difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to a preset error threshold; or The absolute value of the square difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to the preset error threshold.

5. The method according to claim 4, characterized in that The absolute value of the difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to a preset error threshold, including: The absolute value of the difference between the red (R) value in the weighted initial satellite sub-map RGB value and the R value in the weighted reference RGB value is less than or equal to a preset error R value threshold; and, The absolute value of the difference between the weighted green (G) value in the initial satellite sub-map RGB value and the weighted G value in the reference RGB value is less than or equal to a preset error G value threshold; and, The absolute value of the difference between the weighted blue (B) value in the initial satellite sub-map RGB value and the weighted B value in the reference RGB value is less than or equal to a preset error B value threshold.

6. The method according to claim 4, characterized in that The absolute value of the square difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to a preset error threshold, including: The absolute value of the square difference between the weighted red (R) value in the initial satellite sub-map RGB value and the weighted R value in the reference RGB value is less than or equal to a preset error R value threshold; and, The absolute value of the square difference between the weighted green (G) value in the initial satellite sub-map RGB value and the weighted G value in the reference RGB value is less than or equal to a preset error G value threshold; and, The absolute value of the square difference between the weighted blue (B) value in the initial satellite sub-map RGB value and the weighted B value in the reference RGB value is less than or equal to a preset error B value threshold.

7. The method according to any one of claims 1 to 6, characterized in that: Mapping the vector map into a real satellite sub-map according to a preset mapping relationship between the vector map and the satellite map includes: Determine the vector map single pixel RGB value of each pixel in the vector map; For each pixel point, determine the map element corresponding to the single pixel RGB value of the vector map according to a preset vector map and map element correspondence table; According to a preset satellite map and map element correspondence table, determine the real satellite map single pixel RGB value corresponding to the map element; The real satellite sub-map of the satellite-free map area is generated according to the single-pixel RGB value of the real satellite map of each pixel.

8. The method according to any one of claims 1 to 7, characterized in that: Before determining that the initial satellite sub-map is a non-satellite map area, the method further includes: The preset reference RGB value is obtained.

9. The method according to any one of claims 1 to 7, characterized in that: Before determining that the initial satellite sub-map is a non-satellite map area, the method further includes: Get a baseline satellite-free map; Determine a single pixel RGB value of the baseline satellite-free map for each pixel in the baseline satellite-free map; Accumulate the single-pixel RGB value of the benchmark satellite-free map at each pixel point to determine the full-pixel RGB value of the benchmark satellite-free map; The full-pixel RGB value of the benchmark satellite-free map is used as the benchmark RGB value.

10. The method according to claim 9, characterized in that The using the full pixel RGB value of the reference satellite-free map as the reference RGB value also includes: Determine the average RGB value of a single pixel of the baseline satellite-free map according to the pixel sum RGB value and the total number of screen pixels; The average RGB value of a single pixel of the benchmark satellite-free map is used as the benchmark RGB value.

11. The method according to any one of claims 1 to 10, characterized in that: The combining one or more of the real satellite sub-maps with the initial satellite map to determine the real satellite map comprises: The step of replacing the corresponding non-satellite map area in the initial satellite map with one or more of the real satellite sub-maps to determine the real satellite map; or The one or more real satellite sub-maps are covered on the corresponding non-satellite map area in the initial satellite map to determine the real satellite map.

12. The method according to claim 3 or 10, characterized in that: The method further includes: determining the total number of screen pixels of the terminal device.

13. A terminal device for restoring satellite maps, characterized in that: The terminal device comprises: The processor is coupled to the memory and is configured to read and execute instructions stored in the memory; The processor executes the instructions when it is running, so that the processor is used to obtain an initial satellite map, wherein the initial satellite map includes a non-satellite map area; split the initial satellite map according to preset specifications to determine at least one initial satellite sub-map; for each of the initial satellite sub-maps, determine the initial satellite sub-map RGB value of the initial satellite sub-map; when the initial satellite sub-map RGB value and the reference RGB value meet a preset condition, determine that the initial satellite sub-map corresponding to the initial satellite sub-map RGB value is a non-satellite map area, wherein the reference RGB value is the RGB value of the non-satellite map area; for each of the non-satellite map areas, obtain a vector map corresponding to the non-satellite map area; according to a preset mapping relationship between the vector map and the satellite map, map the vector map to a real satellite sub-map; combine one or more of the real satellite sub-maps with the initial satellite map to determine a real satellite map; A display is used to display the real satellite map.

14. The terminal device according to claim 13, characterized in that: The processor is further configured to: Determine the initial satellite submap single pixel RGB value of each pixel in the initial satellite submap; Accumulate the single-pixel RGB value of the initial satellite submap of each pixel point to determine the full-pixel RGB value of the initial satellite submap; The full-pixel RGB value of the initial satellite sub-map is used as the RGB value of the initial satellite sub-map.

15. The terminal device according to claim 14, characterized in that: The processor is further configured to: Determine the average RGB value of a single pixel of the initial satellite submap according to the full pixel RGB value of the initial satellite submap and the total number of screen pixels; The average RGB value of a single pixel of the initial satellite sub-map is used as the RGB value of the initial satellite sub-map.

16. The terminal device according to any one of claims 13 to 15, characterized in that: The processor is further configured to: Weighting the initial satellite sub-map RGB value and the reference RGB value; The absolute value of the difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to a preset error threshold, and it is determined that the preset condition is met; or The absolute value of the square difference between the weighted initial satellite submap RGB value and the weighted reference RGB value is less than or equal to the preset error threshold, and it is determined that the preset condition is met.

17. The terminal device according to claim 16, characterized in that: The processor is further configured to: The absolute value of the difference between the red (R) value in the weighted initial satellite sub-map RGB value and the R value in the weighted reference RGB value is less than or equal to a preset error R value threshold; and, The absolute value of the difference between the weighted green (G) value in the initial satellite sub-map RGB value and the weighted G value in the reference RGB value is less than or equal to a preset error G value threshold; and, The absolute value of the difference between the weighted blue (B) value in the initial satellite sub-map RGB value and the weighted B value in the reference RGB value is less than or equal to a preset error B value threshold; It is determined that the preset condition is met.

18. The terminal device according to claim 16, characterized in that: The processor is further configured to: The absolute value of the square difference between the weighted red (R) value in the initial satellite sub-map RGB value and the weighted R value in the reference RGB value is less than or equal to a preset error R value threshold; and, The absolute value of the square difference between the weighted green (G) value in the initial satellite sub-map RGB value and the weighted G value in the reference RGB value is less than or equal to a preset error G value threshold; and, The absolute value of the square difference between the weighted blue (B) value in the initial satellite sub-map RGB value and the weighted B value in the reference RGB value is less than or equal to a preset error B value threshold; It is determined that the preset condition is met.

19. The terminal device according to any one of claims 13 to 18, characterized in that: The processor is further configured to: Determine the vector map single pixel RGB value of each pixel in the vector map; For each pixel point, determine the map element corresponding to the single pixel RGB value of the vector map according to a preset vector map and map element correspondence table; According to a preset satellite map and map element correspondence table, determine the real satellite map single pixel RGB value corresponding to the map element; The real satellite sub-map of the satellite-free map area is generated according to the single-pixel RGB value of the real satellite map of each pixel.

20. The terminal device according to any one of claims 13 to 19, characterized in that: The processor is further configured to: The preset reference RGB value is obtained.

21. The terminal device according to any one of claims 13 to 19, characterized in that: The processor is further configured to: Get a baseline satellite-free map; Determine a single pixel RGB value of the baseline satellite-free map for each pixel in the baseline satellite-free map; Accumulate the single-pixel RGB value of the benchmark satellite-free map at each pixel point to determine the full-pixel RGB value of the benchmark satellite-free map; The full-pixel RGB value of the benchmark satellite-free map is used as the benchmark RGB value.

22. The terminal device according to claim 21, characterized in that: The processor is further configured to: Determine the average RGB value of a single pixel of the baseline satellite-free map according to the pixel sum RGB value and the total number of screen pixels; The average RGB value of a single pixel of the benchmark satellite-free map is used as the benchmark RGB value.

23. The terminal device according to any one of claims 13 to 22, characterized in that: The processor is further configured to: The step of replacing the corresponding non-satellite map area in the initial satellite map with one or more of the real satellite sub-maps to determine the real satellite map; or The one or more real satellite sub-maps are covered on the corresponding non-satellite map area in the initial satellite map to determine the real satellite map.

24. The terminal device according to claim 15 or 22, characterized in that: The processor is further configured to determine the total number of screen pixels of the terminal device.

25. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, characterized in that: When the instruction is executed on a terminal, the terminal is caused to execute the method according to any one of claims 1 to 12.

26. A computer device storing instructions, which, when executed on a terminal, enables the terminal to execute the method according to any one of claims 1 to 12.

Images