Point cloud map rendering method, device, equipment and storage medium

Abstract

The present disclosure provides a rendering method, device, equipment and storage medium for a point cloud map. The present disclosure relates to the field of computer technology, specifically to the field of computer vision and data processing, and can be applied to map rendering scenarios. The specific implementation scheme is: determine a target space of a road surface close to a target road in a point cloud map, and the target space contains the bottom point cloud of the boundary isolation facility of the target road; record the point cloud in the target space as a target point cloud; in the rendering scene of the point cloud map, render the target point cloud as a target color, wherein the target color is different from the original color of the target point cloud. The above method filters out a target point cloud of a road surface close to a road and containing the bottom point cloud of a boundary isolation facility from a point cloud map, and differentially renders the colors of the target point cloud and the top point cloud of the boundary isolation facility, so that the user can visually distinguish the top point cloud of the boundary isolation facility, thereby accurately determining the location of the road boundary.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to the fields of computer vision and data processing, and can be applied to map rendering scenarios. Background Art

[0002] When marking roads in a point cloud map, it is usually necessary to distinguish different areas on the road based on the color of the point cloud. For example, a user marks the location of a lane line in the point cloud map by observing the point cloud location with the point cloud color corresponding to the lane line.

[0003] However, in some point cloud maps, the point cloud color of the road boundary is very close to the point cloud color of the road surface, which makes it impossible for users to intuitively and accurately distinguish the point clouds of the two areas, increasing the difficulty of marking road boundaries in point cloud maps. Summary of the invention

[0004] The present invention provides a point cloud map rendering method, device, equipment and storage medium.

[0005] According to a first aspect of the present disclosure, a method for rendering a point cloud map is provided, comprising:

[0006] Determine a target space of a road surface close to a target road in the point cloud map, wherein the target space includes a bottom point cloud of a boundary isolation facility of the target road;

[0007] Record the point cloud in the target space as the target point cloud;

[0008] In a rendering scene of the point cloud map, a target point cloud is rendered as a target color, wherein the target color is different from an original color of the target point cloud.

[0009] According to a second aspect of the present disclosure, a point cloud map rendering device is provided, comprising:

[0010] A target space determination module is used to determine a target space of a road surface close to a target road in a point cloud map, wherein the target space includes a bottom point cloud of a boundary isolation facility of the target road;

[0011] A target point cloud recording module is used to record the point cloud in the target space as a target point cloud;

[0012] The map rendering module is used to render the target point cloud into a target color in a rendering scene of the point cloud map, wherein the target color is different from the original color of the target point cloud.

[0013] According to a third aspect of the present disclosure, there is provided an electronic device, including:

[0014] at least one processor; and a memory communicatively coupled to the at least one processor;

[0015] Among them, the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the point cloud map rendering method provided by the first aspect above.

[0016] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the point cloud map rendering method provided by the first aspect above.

[0017] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program, which, when executed by a processor, implements the point cloud map rendering method provided in the first aspect.

[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description.

[0019] The beneficial effects of the technical solution provided by the present disclosure are:

[0020] In the technical solution disclosed in the present invention, a target point cloud that is close to the road surface and contains the bottom point cloud of the boundary isolation facility is screened out from the point cloud map. In the rendering scene of the point cloud map, the colors of the target point cloud and the top point cloud of the boundary isolation facility are rendered differently, so that users can visually distinguish the top point cloud of the boundary isolation facility, thereby accurately determining the location of the road boundary. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0022] Figure 1 A schematic diagram of a process of rendering a point cloud map provided by an embodiment of the present disclosure is shown;

[0023] Figure 2 A schematic diagram showing a flow chart of another method for rendering a point cloud map provided by an embodiment of the present disclosure;

[0024] Figure 3 A schematic diagram of a target space provided by an embodiment of the present disclosure is shown;

[0025] Figure 4 A schematic diagram of point cloud distribution around a target lane segment in a rendering scenario provided by an embodiment of the present disclosure is shown;

[0026] Figure 5A schematic diagram of point cloud distribution around another target lane segment in a rendering scenario provided by an embodiment of the present disclosure is shown;

[0027] Figure 6 A schematic diagram showing point data in a display interface in a rendering scenario provided by an embodiment of the present disclosure is shown;

[0028] Figure 7 A schematic diagram of a point cloud map rendering device provided by an embodiment of the present disclosure is shown;

[0029] Figure 8 A schematic block diagram of an example electronic device that can be used to implement the point cloud map rendering method provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0030] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0031] When marking roads in a point cloud map, it is usually necessary to distinguish different areas on the road based on the color of the point cloud. For example, the user marks the location of the lane line in the point cloud map by observing the point cloud position with the point cloud color corresponding to the lane line. Generally speaking, the point cloud of the road surface is usually blue, and the color of the lane line on the road tends to be white. The user can clearly observe the point cloud that tends to be white in the point cloud map, and thus mark the location of the lane line based on the white point cloud.

[0032] However, in some point cloud maps, the color of the point cloud of the road boundary is very close to the color of the point cloud of the road surface. Generally speaking, boundary isolation facilities are set up at the road boundary, and the point cloud of the boundary isolation facilities is regarded as the point cloud of the road boundary. In some point cloud maps, the point cloud of the boundary isolation facilities and the point cloud of the road surface are both blue, which makes it impossible for users to intuitively and accurately distinguish the point clouds of the two areas, increasing the difficulty of marking road boundaries in point cloud maps.

[0033] The point cloud map rendering method, device, equipment and storage medium provided by the embodiments of the present disclosure are intended to solve at least one of the above technical problems in the prior art.

[0034] Figure 1 A schematic diagram of a point cloud map rendering method provided by an embodiment of the present disclosure is shown. Figure 1 The method may mainly include the following steps:

[0035] S110: Determine a target space of a road surface close to a target road in the point cloud map.

[0036] In the disclosed embodiment, the point cloud map includes a point cloud of at least one real object (such as roads, buildings, and natural scenery, etc.). Here, the point cloud is a massive set of points that express the target spatial distribution and target surface characteristics in the same spatial reference system. The scanned data is recorded in the form of points, and each point contains three-dimensional coordinates. In addition to the geometric position, the point cloud also has color information. Color information is usually obtained by acquiring a color image through a camera, and then the color information (RGB) of the pixel at the corresponding position is assigned to the corresponding point in the point cloud. The acquisition of intensity information is the echo intensity collected by the laser scanner receiving device. This intensity information is related to the surface material, roughness, incident angle direction of the target, as well as the emission energy of the instrument and the laser wavelength.

[0037] Boundary isolation facilities can be guardrails, roadbeds, green belts, etc. set at the boundaries of roads. The disclosed embodiment regards the point cloud of the boundary isolation facilities as the point cloud of the road boundary. It can be understood that the boundary isolation facilities are usually higher than the road surface of the target road. The boundary isolation facilities include a bottom point cloud close to the bottom of the boundary isolation facilities and a top point cloud close to the top of the boundary isolation facilities. The bottom point cloud of the boundary isolation facilities is close to the road surface of the target road. Here, the target space determined in step S110 is close to the road surface of the target road, and the target space contains the bottom point cloud of the boundary isolation facilities of the target road, while the top point cloud of the boundary isolation facilities is not inside the target space.

[0038] Optionally, the target space determined in step S110 may completely cover the road surface of the target road. Alternatively, the target space may only cover a portion of the road surface of the target road, thereby saving computational effort. For example, when the disclosed embodiment determines the target space of the road surface close to the target road in the point cloud map, at least one target lane segment may be determined in the point cloud map, and the target space of the road surface close to the target road is obtained by expanding outward based on the target lane segment. Here, the target lane segment is a sub-segment in the outermost lane line of the target road adjacent to the boundary isolation facility of the target road.

[0039] S120: Recording the point cloud in the target space as the target point cloud.

[0040] As described above, each target lane segment in the point cloud map corresponds to a target space. Therefore, the embodiment of the present disclosure can record the point cloud in the target space corresponding to the target lane segment as the target point cloud associated with the target lane segment.

[0041] S130: In the rendering scene of the point cloud map, rendering the target point cloud into a target color.

[0042] The disclosed embodiment defines the scene in which the color of the point cloud in the point cloud map needs to be rendered as the rendering scene of the point cloud map. For example, the display scene of the point cloud map can be defined as the rendering scene of the point cloud map, and the rendering scene is entered after the point cloud map is opened. In the rendering scene, the target point cloud determined in the above steps can be rendered as the target color. Here, the target color is different from the original color of the target point cloud. For example, the original color of the target point cloud is blue, and the target color of the target point cloud is gray, then the target point cloud is rendered as the target color in step S130. It should be noted that in step S130, other point clouds except the target point cloud are still rendered as the corresponding original colors. For example, for the top point cloud set by the boundary isolation, it is still rendered with the original color of the top point cloud, so that the color of the top point cloud set by the boundary isolation is visually differentiated from the color of the point cloud in the target space.

[0043] As mentioned above, each target lane segment has an associated target point cloud. Optionally, in a rendering scene of a point cloud map, the disclosed embodiment can identify a target lane segment of the point cloud map and render the target point cloud associated with the target lane segment into a target color.

[0044] Figure 2 A schematic diagram of a process of rendering another point cloud map provided by an embodiment of the present disclosure is shown. Figure 2 The method may mainly include the following steps:

[0045] S210: Determine at least one target lane segment in the point cloud map.

[0046] In the disclosed embodiment, the point cloud map includes a point cloud of at least one real object (such as roads, buildings, and natural scenery, etc.). Here, the point cloud is a massive set of points that express the target spatial distribution and target surface characteristics in the same spatial reference system. The scanned data is recorded in the form of points, and each point contains three-dimensional coordinates. In addition to the geometric position, the point cloud also has color information. Color information is usually obtained by acquiring a color image through a camera, and then the color information (RGB) of the pixel at the corresponding position is assigned to the corresponding point in the point cloud. The acquisition of intensity information is the echo intensity collected by the laser scanner receiving device. This intensity information is related to the surface material, roughness, incident angle direction of the target, as well as the emission energy of the instrument and the laser wavelength.

[0047] The target lane line segment is a sub-segment in the outermost lane line of the target road adjacent to the boundary isolation facility of the target road. The outermost lane line is at least one of the leftmost lane line and the rightmost lane line of the target road. Generally speaking, the point cloud of the road surface is usually blue, and the color of the lane line in the road tends to be white. The user can clearly observe the point cloud tending to white in the point cloud map, so that the outermost exit lane line can be marked in advance based on the white point cloud, so as to determine at least one target lane line segment in the outermost exit lane line in step S210.

[0048] The present disclosure can segment the outermost lane line of the target road according to a preset length, and define each segment as a target lane line segment. Determining the corresponding target space based on a single target lane line segment can ensure that the target space is more consistent with the actual distribution of the number of points of the corresponding target road portion, so that the target space can more accurately contain the desired point cloud inside it.

[0049] Boundary isolation facilities can be guardrails, roadbeds, and green belts set at the boundaries of roads. In the disclosed embodiment, the point cloud of the boundary isolation facilities is regarded as the point cloud of the road boundary. It can be understood that the boundary isolation facilities are usually higher than the road surface of the target road. The boundary isolation facilities include a bottom point cloud close to the bottom of the boundary isolation facilities and a top point cloud close to the top of the boundary isolation facilities. The bottom point cloud of the boundary isolation facilities is close to the road surface of the target road.

[0050] S220: Expand outward based on the target lane segment to obtain a target space of a road surface close to the target road.

[0051] It should be noted here that the target space is close to the road surface of the target road, and the target space contains the bottom point cloud of the boundary isolation facilities of the target road, while the top point cloud of the boundary isolation facilities is not inside the target space. As mentioned above, the sub-segment in the outermost lane line of the target road of the target lane segment, since the outermost lane line is adjacent to the boundary isolation facilities of the target road, a smaller target space expanded outward based on the target lane segment can include the bottom point cloud of the boundary isolation facilities, which can reduce the size range of the target space. Specifically, the width of the projection of the target space on the target road is smaller than the width of the target road. Since the size range of the target space is small, the number of point clouds in the target space can be reduced, thereby reducing the amount of calculation in subsequent steps.

[0052] In the disclosed embodiment, the shape and size of the target space can be determined according to the actual design needs, for example, the target space can be cylindrical or rectangular. Optionally, when the disclosed embodiment is based on the target lane segment to expand outward to obtain the target space of the road surface close to the target road, four boundary surfaces can be determined at preset distances in the four directions of the upper, lower, left and right of the target lane segment, and the space enclosed by the four boundary surfaces corresponding to the target lane segment and corresponding to the head and tail of the target lane segment is determined as the target space of the road surface close to the target road. Among them, the boundary surfaces above and below the target lane segment are horizontal planes, and the boundary surfaces on the left and right sides of the target lane segment are vertical planes. It should be noted that the disclosed embodiment defines the plane parallel to the road surface of the target road as a horizontal plane, and the plane perpendicular to the road surface of the target road as a vertical plane, and the distance between each boundary surface and the target lane segment can be determined according to the actual design needs.

[0053] Figure 3 A schematic diagram of a target space provided by an embodiment of the present disclosure is shown, such as Figure 3 As shown, line segment L1 is a target lane line segment in the outermost lane line of the target lane, plane S1 is the boundary surface above the target lane line segment, plane S2 is the boundary surface below the target lane line segment, plane S3 is the boundary surface on the left side of the target lane line segment, plane S4 is the boundary surface on the right side of the target lane line segment, and plane S5 is the boundary surface on the right side of the target lane line segment. T is the distance between plane S1 and line segment L1, O D is the distance between plane S2 and line segment L1, O L is the distance between plane S3 and line segment L1, O R is the distance between plane S4 and line segment L1.

[0054] O T , O D , O L and O R The specific value of can be determined according to the actual design requirements. Specifically, O T The boundary surface above the target lane segment should be lower than the top point cloud of the boundary isolation facility; D The boundary surface below the target lane segment should be lower than the bottom point cloud of the target road; when the target lane segment is a sub-segment of the leftmost lane line, O L The distance between the target lane segment and the boundary surface on its left should be greater than the distance between the target lane segment and the boundary isolation facility; when the target lane segment is a sub-segment of the rightmost lane line, O R The distance between the target lane segment and the boundary surface on its right should be greater than the distance between the target lane segment and the boundary isolation facility.

[0055] S230: Record the point cloud in the target space corresponding to the target lane segment as the target point cloud associated with the target lane segment.

[0056] It should be noted here that the embodiment of the present disclosure may not determine the associated target point cloud for each target lane segment in advance, so in subsequent steps, it may be necessary to determine the target point cloud associated with the target lane segment in real time in the rendering scene.

[0057] S240: In the rendering scene of the point cloud map, a target lane segment of the point cloud map is identified, and a target point cloud associated with the target lane segment is rendered in a target color.

[0058] In the embodiment of the present disclosure, the scene in which the color of the point cloud in the point cloud map needs to be rendered is defined as the rendering scene of the point cloud map. For example, the display scene of the point cloud map can be defined as the rendering scene of the point cloud map, and the rendering scene is entered after the point cloud map is opened. In the rendering scene, the target lane segment in the point cloud map contained in the face interface can be identified, and the target point cloud associated with the target lane segment determined in the above steps is rendered as the target color. Here, the target color is different from the original color of the target point cloud. For example, the original color of the target point cloud is blue, and the target color of the target point cloud is gray. Then, in step S240, the target point cloud associated with the target lane segment is rendered as the target color. It should be noted that in step S240, other point clouds except the target point cloud associated with the target lane segment are still rendered as the corresponding original colors. For example, for the top point cloud set by the boundary isolation, it is still rendered with the original color of the top point cloud, so that the color of the top point cloud set by the boundary isolation is visually differentiated from the color of the point cloud in the target space.

[0059] Figure 4 A schematic diagram of point cloud distribution around a target lane segment in a rendering scenario provided by an embodiment of the present disclosure is shown. Figure 5 FIG. 4 shows another schematic diagram of point cloud distribution around a target lane segment in a rendering scenario provided by an embodiment of the present disclosure, wherein: Figure 4 For a bird's-eye view, Figure 5 is a side view. Figure 4 In the figure, the solid black line is the target lane segment, the dotted box is the target space, the hollow dots are the target point cloud rendered in the target color, and the solid dots are the top point cloud of the boundary isolation facility in the original color. Figure 5 In the figure, the dotted box is the target space, the hollow dots are the target point cloud rendered in the target color, and the solid dots are the top point cloud of the boundary isolation facility in the original color.

[0060] Optionally, in the rendering scenario of the point cloud map, the embodiment of the present disclosure determines the viewing angle center of the point cloud map in the display interface; based on the viewing angle center and the preset size parameters, determines the target map range in the point cloud map; identifies the target lane segment within the target map range; and renders the target point cloud associated with the target lane segment within the target map range as the target color. The embodiment of the present disclosure will perform differential rendering of the target point cloud in a smaller target map range, reduce the amount of calculation required for the rendering process and improve rendering efficiency while meeting the user's usage requirements. Here, the viewing angle center can be the coordinate center in the display interface, and the shape and size of the target map range can be determined according to actual design needs, for example, the shape of the target map range can be circular or square. It can be understood that when the shape of the target map range is circular, the preset size parameter of the target map range is the radius; when the shape of the target map range is square, the preset size parameter of the target map range is the side length. Figure 6 FIG. 1 is a schematic diagram showing point data in a display interface in a rendering scenario provided by an embodiment of the present disclosure, such as Figure 6 As shown, the viewing angle center is the coordinate center in the display interface (the white dot in the figure), the shape of the target map range is a square (the white box in the figure), and the target point cloud associated with the target lane segment within the square is rendered in the target color.

[0061] Optionally, in an embodiment of the present disclosure, when a change is detected in a target lane segment (for example, the direction of the segment is modified), its corresponding target space can be re-determined based on the corresponding steps in the above content, and the point cloud in the new target space can be recorded as the target point cloud associated with the target lane segment.

[0062] Based on the same principle as the above-mentioned point cloud map rendering method, the present disclosure provides a point cloud map rendering device. Figure 7 A schematic diagram of a point cloud map rendering device provided by an embodiment of the present disclosure is shown. Figure 7 As shown, the point cloud map rendering device 700 includes a target space determination module 710 , a target point cloud recording module 720 and a map rendering module 730 .

[0063] The target space determination module 710 is used to determine a target space of a road surface close to a target road in a point cloud map, wherein the target space includes a bottom point cloud of a boundary isolation facility of the target road.

[0064] The target point cloud recording module 720 is used to record the point cloud in the target space as the target point cloud.

[0065] The map rendering module 730 is used to render the target point cloud into a target color in the rendering scene of the point cloud map, wherein the target color is different from the original color of the target point cloud.

[0066] In the embodiment of the present disclosure, when the target space determination module 710 is used to determine the target space of the road surface close to the target road in the point cloud map, it is specifically used to:

[0067] Determine at least one target lane segment in the point cloud map, wherein the target lane segment is a sub-segment of an outermost lane segment of the target road adjacent to a boundary isolation facility of the target road;

[0068] The target space of the road surface close to the target road is obtained by expanding outward based on the target lane segment.

[0069] In the embodiment of the present disclosure, the width of the projection of the target space on the target road is smaller than the width of the target road.

[0070] In the embodiment of the present disclosure, when the target space determination module 710 is used to obtain the target space of the road surface close to the target road by expanding outward based on the target lane segment, it is specifically used to:

[0071] At preset distances in the upper, lower, left, and right directions of the target lane segment, four boundary surfaces are determined, wherein the boundary surfaces above and below the target lane segment are horizontal surfaces, and the boundary surfaces on the left and right sides of the target lane segment are vertical surfaces;

[0072] A space enclosed by four boundary surfaces corresponding to the target lane segment and corresponding to the beginning and the end of the target lane segment is determined as a target space close to the road surface of the target road.

[0073] In the disclosed embodiment, the boundary surface above the target lane segment is lower than the top point cloud of the boundary isolation facility.

[0074] In the disclosed embodiment, the boundary surface below the target lane segment is lower than the bottommost point cloud of the target road.

[0075] In the disclosed embodiment, the distance between the target lane segment and the boundary surface on its left is greater than the distance between the target lane segment and the boundary isolation facility. Alternatively, the distance between the target lane segment and the boundary surface on its right is greater than the distance between the target lane segment and the boundary isolation facility.

[0076] In the disclosed embodiment, when the target point cloud recording module 720 is used to record the point cloud in the target space as a target point cloud, it is specifically used to: record the point cloud in the target space corresponding to the target lane segment as the target point cloud associated with the target lane segment.

[0077] In the embodiment of the present disclosure, when the map rendering module 730 is used to render the target point cloud into the target color in the rendering scene of the point cloud map, it is specifically used to: in the rendering scene of the point cloud map, identify the target lane segment of the point cloud map, and render the target point cloud associated with the target lane segment into the target color.

[0078] In the embodiment of the present disclosure, the map rendering module 730 is used to identify the target lane segment of the point cloud map in the rendering scene of the point cloud map, and render the target point cloud associated with the target lane segment into the target color, specifically for:

[0079] In a rendering scene of a point cloud map, determining a viewing center of the point cloud map in a display interface;

[0080] Based on the viewing center and preset size parameters, the target map range is determined in the point cloud map;

[0081] Identify the target lane segment within the target map range;

[0082] Render the target point cloud associated with the target lane segments within the target map range in the target color.

[0083] It can be understood that the above-mentioned modules of the rendering device of the point cloud map in the embodiment of the present disclosure have the function of implementing the corresponding steps of the above-mentioned point cloud map rendering method. This function can be implemented by hardware, or it can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions. The above-mentioned modules can be software and / or hardware, and the above-mentioned modules can be implemented separately or integrated by multiple modules. For the functional description of each module of the above-mentioned point cloud map rendering device, please refer to the corresponding description of the above-mentioned point cloud map rendering method, which will not be repeated here.

[0084] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0085] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0086] Figure 8A schematic block diagram of an example electronic device that can be used to implement an embodiment of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0087] like Figure 8 As shown, the device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0088] A number of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0089] The computing unit 801 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 801 performs the various methods and processes described above, such as the rendering method of the point cloud map. For example, in some embodiments, the rendering method of the point cloud map may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 808. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the rendering method of the point cloud map described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the rendering method of the point cloud map in any other appropriate manner (e.g., by means of firmware).

[0090] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0091] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0092] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0093] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0094] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0095] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0096] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0097] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A method for rendering a point cloud map, comprising: Determine a target space of a road surface close to a target road in the point cloud map, wherein the target space includes a bottom point cloud of a boundary isolation facility of the target road; Determining the target space of the road surface close to the target road in the point cloud map includes: Determine at least one target lane segment in the point cloud map, wherein the target lane segment is a sub-segment of an outermost lane segment of the target road adjacent to a boundary isolation facility of the target road; The target space of the road surface close to the target road is obtained by expanding outwards based on the target lane segment, including: Determine four boundary surfaces at preset distances in four directions of up, down, left, and right of the target lane segment; Determine a space enclosed by four boundary surfaces corresponding to the target lane segment and corresponding to the beginning and the end of the target lane segment as a target space close to the road surface of the target road; Recording the point cloud in the target space as a target point cloud; In a rendering scene of the point cloud map, the target point cloud is rendered as a target color, wherein the target color is different from an original color of the target point cloud.

2. The method according to claim 1, wherein: A width of a projection of the target space on the target road is smaller than a width of the target road.

3. The method according to claim 1, wherein: The boundary surfaces above and below the target lane segment are horizontal surfaces, and the boundary surfaces on the left and right sides of the target lane segment are vertical surfaces.

4. The method according to claim 3, comprising at least one of the following: The boundary surface above the target lane segment is lower than the top point cloud of the boundary isolation facility; The boundary surface below the target lane segment is lower than the bottommost point cloud of the target road.

5. The method according to claim 3, wherein the distance between the target lane segment and the boundary surface to its left is greater than the distance between the target lane segment and the boundary isolation facility; Alternatively, the distance between the target lane segment and the boundary surface on its right is greater than the distance between the target lane segment and the boundary isolation facility.

6. The method according to claim 1, wherein recording the point cloud in the target space as a target point cloud comprises: The point cloud in the target space corresponding to the target lane segment is recorded as the target point cloud associated with the target lane segment.

7. The method according to claim 6, wherein in the rendering scene of the point cloud map, rendering the target point cloud into a target color comprises: In the rendering scene of the point cloud map, the target lane segment of the point cloud map is identified, and the target point cloud associated with the target lane segment is rendered in a target color.

8. The method according to claim 7, wherein: The step of identifying the target lane segment of the point cloud map in the rendering scene of the point cloud map and rendering the target point cloud associated with the target lane segment into a target color includes: In a rendering scene of the point cloud map, determining a viewing angle center of the point cloud map in a display interface; Based on the viewing angle center and preset size parameters, determining a target map range in the point cloud map; Identifying the target lane segment within the target map range; The target point cloud associated with the target lane segment within the target map range is rendered in a target color.

9. A point cloud map rendering device, comprising: A target space determination module is used to determine a target space of a road surface close to a target road in a point cloud map, wherein the target space includes a bottom point cloud of a boundary isolation facility of the target road; when the target space determination module is used to determine a target space of a road surface close to a target road in a point cloud map, it is specifically used to: Determine at least one target lane segment in the point cloud map, wherein the target lane segment is a sub-segment of an outermost lane segment of the target road adjacent to a boundary isolation facility of the target road; The target space of the road surface close to the target road is obtained by expanding outwards based on the target lane segment, including: Determine four boundary surfaces at preset distances in four directions of up, down, left, and right of the target lane segment; Determine a space enclosed by four boundary surfaces corresponding to the target lane segment and corresponding to the beginning and the end of the target lane segment as a target space close to the road surface of the target road; A target point cloud recording module, used for recording the point cloud in the target space as a target point cloud; A map rendering module is used to render the target point cloud into a target color in a rendering scene of the point cloud map, wherein the target color is different from an original color of the target point cloud.

10. The device according to claim 9, wherein: A width of a projection of the target space on the target road is smaller than a width of the target road.

11. The device according to claim 9, wherein: The boundary surfaces above and below the target lane segment are horizontal surfaces, and the boundary surfaces on the left and right sides of the target lane segment are vertical surfaces.

12. The device according to claim 11, comprising at least one of the following: The boundary surface above the target lane segment is lower than the top point cloud of the boundary isolation facility; The boundary surface below the target lane segment is lower than the bottommost point cloud of the target road.

13. The device according to claim 11, wherein the distance between the target lane segment and the boundary surface to its left is greater than the distance between the target lane segment and the boundary isolation facility; Alternatively, the distance between the target lane segment and the boundary surface on its right is greater than the distance between the target lane segment and the boundary isolation facility.

14. The device according to claim 9, wherein the target point cloud recording module, when used to record the point cloud in the target space as the target point cloud, is specifically used to: The point cloud in the target space corresponding to the target lane segment is recorded as the target point cloud associated with the target lane segment.

15. The device according to claim 14, wherein the map rendering module, when used to render the target point cloud into a target color in a rendering scene of the point cloud map, is specifically used to: In the rendering scene of the point cloud map, the target lane segment of the point cloud map is identified, and the target point cloud associated with the target lane segment is rendered in a target color.

16. An electronic device, comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 8.

17. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 8.

18. A computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method according to any one of claims 1 to 8.

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