Map information updating method, device, computer equipment and storage medium

Abstract

The present application relates to a map information updating method, apparatus, computer equipment and storage medium. The method comprises: obtaining a real-scene image to be processed, the real-scene image to be processed carrying street location information; determining the location information to be updated of the object to be updated in the real-scene image to be processed based on the street location information; comparing the location information to be updated with a preset map model to determine the target location area corresponding to the location information to be updated in the preset map model; obtaining a target receiving surface based on the target location area, and extracting the image to be updated corresponding to the object to be updated from the real-scene image to be processed; in response to an update operation on the image to be updated, updating the image to be updated to the target receiving surface to obtain an updated map model. This method can achieve map information updates that take into account both timeliness and restoration.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a map information updating method, apparatus, computer equipment, and storage medium. Background Art

[0002] With the development of computer technology, map information update technology has emerged. Map information update technology refers to updating map display information. Common map information updates include updating the business information at the bottom of the street in the map.

[0003] In traditional technology, three-dimensional maps can import general building data such as white models, oblique photography images, and building information models as basic map elements for updating. For example, oblique photography images can be used to construct oblique model maps.

[0004] However, in traditional methods, although white models have high update timeliness, their restoration of the real world is low. Although oblique photography images and building information models have high restoration of the real world, their update and maintenance costs are high, the data acquisition cycle is long, and there is a problem of low update timeliness. Summary of the Invention

[0005] Based on this, it is necessary to provide a map information updating method, device, computer equipment and storage medium that can take into account both timeliness and restoration in order to address the above technical problems.

[0006] A method for updating map information, comprising:

[0007] Acquire a real scene image to be processed, where the real scene image to be processed carries street location information;

[0008] Determining the updated position information of the object to be updated in the real scene image to be processed according to the street position information;

[0009] Comparing the location information to be updated with a preset map model, and determining a target location area corresponding to the location information to be updated in the preset map model;

[0010] Obtain the target image receiving surface according to the target position area, and extract the image to be updated corresponding to the object to be updated from the real scene image to be processed;

[0011] In response to the update operation of the image to be updated, the image to be updated is updated to the target receiving surface to obtain an updated map model.

[0012] A map information updating device, comprising:

[0013] An acquisition module is used to acquire a real scene image to be processed, where the real scene image to be processed carries street location information;

[0014] A processing module, configured to determine, based on the street location information, location information of an object to be updated in the real scene image to be processed;

[0015] a comparison module, configured to compare the location information to be updated with a preset map model, and determine a target location area corresponding to the location information to be updated in the preset map model;

[0016] An extraction module is used to obtain a target image receiving surface according to a target position area, and to extract an image to be updated corresponding to the object to be updated from the real scene image to be processed;

[0017] The updating module is used to respond to the updating operation of the image to be updated, update the image to be updated to the target receiving surface, and obtain an updated map model.

[0018] A computer device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0019] Acquire a real scene image to be processed, where the real scene image to be processed carries street location information;

[0020] Determining the updated position information of the object to be updated in the real scene image to be processed according to the street position information;

[0021] Comparing the location information to be updated with a preset map model, and determining a target location area corresponding to the location information to be updated in the preset map model;

[0022] Obtain the target image receiving surface according to the target position area, and extract the image to be updated corresponding to the object to be updated from the real scene image to be processed;

[0023] In response to the update operation of the image to be updated, the image to be updated is updated to the target receiving surface to obtain an updated map model.

[0024] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the following steps:

[0025] Acquire a real scene image to be processed, where the real scene image to be processed carries street location information;

[0026] Determining the updated position information of the object to be updated in the real scene image to be processed according to the street position information;

[0027] Comparing the location information to be updated with a preset map model, and determining a target location area corresponding to the location information to be updated in the preset map model;

[0028] Obtain the target image receiving surface according to the target position area, and extract the image to be updated corresponding to the object to be updated from the real scene image to be processed;

[0029] In response to the update operation of the image to be updated, the image to be updated is updated to the target receiving surface to obtain an updated map model.

[0030] The above-mentioned map information updating method, device, computer equipment and storage medium can determine the position information of the object to be updated based on the street position information carried by the real-scene image to be processed by obtaining the real-scene image to be processed, and then determine the target position area by comparing the position information to be updated with the preset map model, obtain the target receiving surface based on the target position area, extract the image to be updated corresponding to the object to be updated from the real-scene image to be processed, and update the image to be updated to the target receiving surface in response to the update operation of the image to be updated to obtain the updated map model. During the whole process, the object to be updated and the image to be updated are obtained by using the real-scene image to be processed with high authenticity, and the preset map model is updated in real time by using the object to be updated and the image to be updated, so as to achieve map information update that takes into account both timeliness and restoration. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 1 is a flow chart of a method for updating map information in one embodiment;

[0032] Figure 2 is a schematic diagram of a map information updating method in one embodiment;

[0033] Figure 3 is a flowchart of a map information updating method according to another embodiment;

[0034] Figure 4 This is a diagram showing an application scenario of a map information updating method in one embodiment;

[0035] Figure 5 is a structural block diagram of a map information updating device in one embodiment;

[0036] Figure 6 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0038] In one embodiment, Figure 1As shown, a method for updating map information is provided. This embodiment uses the method applied to a terminal as an example for illustration. It is understandable that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0039] Step 102: Acquire a real scene image to be processed, where the real scene image to be processed carries street location information.

[0040] The real-scene image to be processed refers to a captured real-scene image that includes the object to be updated. The captured real-scene image refers to a real-scene image captured by an image acquisition device with high fidelity. For example, the captured real-scene image may specifically refer to a street image captured by a camera. The object to be updated refers to the map information on the street that needs to be updated. For example, the object to be updated may specifically refer to a street-level business. Street location information refers to the geographic location information of the street. For example, street location information may specifically refer to the longitude and latitude information of the street.

[0041] Specifically, when map information needs to be updated, the terminal obtains the real scene images captured by the image capture device and selects the real scene images to be processed from the real scene images.

[0042] Step 104 : determining the to-be-updated position information of the to-be-updated object in the to-be-processed real scene image according to the street position information.

[0043] The location information to be updated refers to the geographical location information of the object to be updated. For example, the location information to be updated may specifically refer to the longitude and latitude information of the object to be updated.

[0044] Specifically, after obtaining the real-scene image to be processed, the terminal will display the real-scene image to be processed, respond to the user's pixel selection operation on the real-scene image to be processed, determine the pixel coordinates of the object to be updated in the real-scene image to be processed, and determine the updated position information of the object to be updated based on the pixel coordinates and street location information.

[0045] Step 106 : Compare the location information to be updated with the preset map model to determine the target location area corresponding to the location information to be updated in the preset map model.

[0046] The term "preset map model" refers to a map model constructed based on a preset geographic location correspondence. For example, the preset map model may specifically refer to a photographic map model constructed from oblique photographic images. The preset geographic location correspondence refers to the correspondence between data points in the preset map model and actual geographic locations, where actual geographic locations may specifically refer to longitude and latitude. The target location area refers to the area corresponding to the location information to be updated. The display area of ​​the object to be updated in the preset map model, where each object to be updated can be displayed in the preset map model.

[0047] Specifically, after obtaining the location information to be updated, the terminal compares the location information to be updated with the preset map model, and determines the target location area corresponding to the location information to be updated in the preset map model based on the preset geographical location correspondence when constructing the preset map model.

[0048] Step 108 : obtaining a target image receiving surface according to the target position area, and extracting an image to be updated corresponding to the object to be updated from the real scene image to be processed.

[0049] The target receiving surface refers to the projection surface of the object to be updated in the preset map model, and the image to be updated refers to the map information to be updated extracted from the real scene image to be processed.

[0050] Specifically, after obtaining the target position area, the terminal will respond to the user's operation of drawing the receiving surface based on the target position area, obtain the target receiving surface corresponding to the target position area, and respond to the user's image selection operation on the real scene image to be processed, extracting the image to be updated corresponding to the object to be updated from the real scene image to be processed. It should be noted that after obtaining the target receiving surface and the image to be updated, the terminal will also encode the target receiving surface and the image to be updated to form a corresponding relationship between the target receiving surface and the image to be updated, so that the user can update the image to be updated to the corresponding target receiving surface based on the corresponding relationship.

[0051] Furthermore, when the object to be updated is a street-level merchant, after extracting the image to be updated, the terminal will also classify the image to be updated according to the merchant type, so as to collect statistics on the street-level merchants. For example, when classifying, you can first classify into major categories and then into minor categories. For example, common major categories may be transportation, catering services, shopping services, life services, financial services, companies and enterprises, etc. Common minor categories may be car sales, restaurants, supermarkets, travel agencies, business halls, hospitals, etc. It should be noted that when updating the map information, the street-level merchant information will be updated synchronously.

[0052] Step 110 , in response to the update operation on the image to be updated, the image to be updated is updated to the target receiving surface to obtain an updated map model.

[0053] Specifically, after obtaining the target receiving surface and the image to be updated, the terminal will respond to the user's update operation on the image to be updated, update the image to be updated to the target receiving surface, implement map information update, and obtain an updated map model.

[0054] The above-mentioned map information updating method, by obtaining the real-scene image to be processed, can determine the position information of the object to be updated based on the street position information carried by the real-scene image to be processed, and then can determine the target position area by comparing the position information to be updated with the preset map model, obtain the target receiving surface based on the target position area, extract the image to be updated corresponding to the object to be updated from the real-scene image to be processed, respond to the update operation of the image to be updated, update the image to be updated to the target receiving surface, and obtain the updated map model. In the whole process, the object to be updated and the image to be updated are obtained by using the real-scene image to be processed with high authenticity, and the preset map model is updated in real time by using the object to be updated and the image to be updated, so as to realize the real-time update of the preset map model, thereby realizing the map information update that takes into account both timeliness and restoration.

[0055] In one embodiment, obtaining the real scene image to be processed includes:

[0056] Obtaining collected real-scene images and road status information;

[0057] The collected real scene images are filtered according to the road status information to obtain the real scene images to be processed.

[0058] The captured real-world image refers to a highly realistic real-world image captured by an image acquisition device. For example, the captured real-world image can specifically refer to a street image captured by a camera. Road status information describes the road status of each road, specifically whether the road contains the object to be updated.

[0059] Specifically, the captured real-life images and road status information are pre-collected and stored in a preset database. When a map update is required, the terminal retrieves the captured real-life images and road status information from the preset database, identifies the roads containing the objects to be updated based on the road status information, and selects the real-life images to be processed that contain the objects to be updated from the captured real-life images. Furthermore, after selecting the real-life images to be processed that contain the objects to be updated, the terminal performs image preprocessing on the real-life images to eliminate irrelevant information from the real-life images to restore useful real-life information.

[0060] For example, in this embodiment, the object to be updated may specifically refer to a merchant at the bottom. The collected real-life images and road status information have been previously collected by the user and stored in a preset database. When map information needs to be updated, the terminal can import trajectory data indicating the path where the collected real-life images and road status information are stored in the preset database. Based on the trajectory data, the collected real-life images and road status information are downloaded from the preset database. The roads including the merchant at the bottom are determined based on the road status information, and the real-life images to be processed that include the merchant at the bottom are filtered out from the collected real-life images. For example, the road status information may also have been previously uploaded to the terminal for storage and can be directly obtained by the terminal. In this case, the trajectory data is only used to indicate the path where the collected real-life images are stored in the preset database.

[0061] In this embodiment, by acquiring the collected real scene images and road status information, the collected real scene images are screened according to the road status information to obtain the real scene images to be processed, thereby achieving the acquisition of the real scene images to be processed.

[0062] In one embodiment, determining the to-be-updated position information of the to-be-updated object in the to-be-processed real scene image based on the street position information includes:

[0063] In response to the pixel point selection operation of the real scene image to be processed, the pixel coordinates of the object to be updated are determined;

[0064] The location information to be updated is determined based on the pixel coordinates and street location information.

[0065] The pixel selection operation refers to a user selecting pixels from the real-scene image to be processed. For example, the pixel selection operation can be performed by the user clicking on the real-scene image to be processed using an input device. Pixel coordinates refer to the coordinates of the object to be updated on the real-scene image to be processed.

[0066] Specifically, the user will operate the input device to click on the real scene image to be processed to select pixels. The terminal responds to the pixel selection operation of the real scene image to be processed, and can determine the pixel coordinates of the object to be updated. After obtaining the pixel coordinates, the terminal can determine the relative position relationship between the object to be updated and the real scene image to be processed based on the pixel coordinates. Based on the relative position relationship and the street location information, the location information to be updated can be determined.

[0067] For example, the object to be updated can be the bottom merchant. When the user operates the input device to click on the real-scene image to be processed to select pixels, four pixel points corresponding to the bottom merchant will be selected. These four pixel points, namely pixel coordinates, can be used to represent the position of the bottom merchant in the real-scene image to be processed. The terminal will select the bottom merchant in the real-scene image to be processed based on these four pixel points, and determine the updated position information of the bottom merchant based on these four pixel points and the street location information.

[0068] In this embodiment, the pixel coordinates of the object to be updated are determined in response to the pixel point selection operation of the real scene image to be processed, and the position information to be updated can be determined based on the pixel coordinates and the street position information.

[0069] In one embodiment, extracting the image to be updated corresponding to the object to be updated from the real scene image to be processed includes:

[0070] In response to an image selection operation on the real scene image to be processed, extracting an image to be corrected corresponding to the object to be updated from the real scene image to be processed;

[0071] Perform image correction on the image to be corrected to obtain the image to be updated.

[0072] The image selection operation refers to the user's operation of intercepting the image to be processed, which is used to extract the image to be corrected corresponding to the object to be updated from the real scene image to be processed. The image to be corrected refers to the image corresponding to the object to be updated extracted from the real scene image to be processed.

[0073] Specifically, since the image acquisition angle of the image acquisition device is mostly inclined during image acquisition, after extracting the image to be corrected corresponding to the object to be updated from the real scene image to be processed, it is necessary to further perform image correction on the image to be corrected to obtain the image to be updated so that it can match the target receiving surface.

[0074] For example, extracting the image to be updated in this embodiment can be achieved by calling a preset image processing tool. By importing the real-scene image to be processed into the preset image processing tool and performing an image selection operation on the real-scene image to be processed within the preset image processing tool, the preset image processing tool can automatically obtain the image to be corrected, then perform image correction on the corrected image to obtain the image to be updated. It should be noted that the preset image processing tool here primarily processes the image to be corrected using a preset pixel interpolation algorithm.

[0075] In this embodiment, by responding to the image selection operation on the real scene image to be processed, the image to be corrected corresponding to the object to be updated is extracted from the real scene image to be processed, and image correction is performed on the image to be corrected to obtain the image to be updated. The acquisition of the image to be updated can be achieved through image correction.

[0076] In one embodiment, in response to an update operation on an image to be updated, after updating the image to be updated to a target receiving surface and obtaining an updated map model, the method further includes:

[0077] Periodically obtain real scene images to be processed;

[0078] Determine the object to be updated in the current period according to the real scene images to be processed acquired in the period, and extract the image to be updated in the current period corresponding to the object to be updated in the current period from the real scene images to be processed acquired in the period;

[0079] The map model is updated according to the image to be updated in the current cycle.

[0080] Here, "cycle" refers to a pre-set update cycle, which can be set as needed. It should be noted that the objects to be updated in the current cycle in the real-life imagery to be processed obtained during the cycle have not yet been updated to the updated map model. The objects to be updated in the current cycle refer to the objects that need to be updated in the real-life imagery to be processed obtained during the cycle. For example, the objects to be updated in the current cycle refer to the bottom merchants in the real-life imagery to be processed obtained during the cycle.

[0081] Specifically, the terminal will obtain the real-scene image to be processed from the preset database according to the preset update cycle, determine the position information to be updated of the object to be updated in the current cycle in the real-scene image to be processed obtained in the cycle according to the street position information carried by the real-scene image to be processed obtained in the cycle, compare the position information to be updated and the updated map model, determine the position area to be updated corresponding to the position information to be updated in the updated map model, when there is a receiving surface in the position area to be updated, extract the image to be updated of the current cycle corresponding to the object to be updated in the current cycle from the real-scene image to be processed obtained in the cycle, and update the image to be updated in the current cycle to the receiving surface, when there is no receiving surface in the position area to be updated, respond to the receiving surface drawing operation of the position area to be updated, obtain the corresponding receiving surface, extract the image to be updated of the current cycle corresponding to the object to be updated in the current cycle from the real-scene image to be processed obtained in the cycle, and update the image to be updated in the current cycle to the corresponding receiving surface.

[0082] In this embodiment, the objects to be updated in the current cycle are determined based on the real-scene images to be processed that are obtained periodically, and the images to be updated in the current cycle corresponding to the objects to be updated in the current cycle are extracted from the real-scene images to be processed that are obtained periodically. The update map model is updated based on the images to be updated in the current cycle, and the update map model can be updated using the real-scene images to be processed that are obtained periodically.

[0083] In one embodiment, after periodically acquiring the real scene image to be processed, in addition to the above-mentioned method of updating the updated map model, the server may also update the updated map model in the following manner:

[0084] Acquire real scene acquisition parameters corresponding to the periodically acquired real scene images to be processed;

[0085] According to the real scene acquisition parameters, coordinate correction is performed on the real scene image to be processed that is acquired periodically to obtain the target camera pose;

[0086] According to the target camera pose and the updated map model, the shading is obtained to update the detection area;

[0087] When there is a shading update in the shading update detection area, an updated shading image is extracted from the real scene image to be processed obtained periodically;

[0088] Texture remapping is performed on the updated shading image, and the updated map model is updated.

[0089] Among them, the real-scene acquisition parameters refer to the parameters of the real-scene image to be processed acquired during the acquisition cycle, including acquisition device parameters, acquisition coordinates, and acquisition time, among which the acquisition coordinates can specifically refer to geographic coordinates and acquisition device posture. For example, geographic coordinates can specifically refer to GPS (Global Positioning System) coordinates. Coordinate correction refers to the correction calculation of the acquisition coordinates of each image when it is acquired based on the image features, computer vision, least squares principle, optimization principle, etc. of the real-scene image to be processed acquired periodically, so that it is closest to the true value at the time of acquisition, among which the acquisition coordinates include geographic coordinates and acquisition device posture. The target camera posture refers to the corrected camera posture.

[0090] The texture update detection area refers to the area corresponding to the periodically acquired real-world image to be processed where texture updates may have occurred. This refers to the texture area represented by the periodically acquired real-world image to be processed. Further texture update detection is required to confirm whether a texture update has occurred in this area. Texture remapping involves mapping the updated texture image onto the updated map model to update the updated map model. The texture here refers to the bottom texture of the updated map model.

[0091] Specifically, when the real-scene image to be processed is obtained periodically, the server will obtain the real-scene acquisition parameters corresponding to the real-scene image to be processed obtained periodically, and perform acquisition simulation in the updated map model according to the acquisition coordinates in the real-scene acquisition parameters to obtain a simulated observation image. Then, by performing feature matching on the simulated observation image and the real-scene image to be processed obtained periodically, the acquisition coordinates of the real-scene image to be processed obtained during the acquisition period are corrected to obtain the target camera pose. Then, according to the target camera pose, the acquisition scene is restored to obtain the real-scene acquisition space range. The updated map model is compared with the real-scene acquisition space range to determine the background update detection area, and further determine whether there is a background update in the background update detection area. When there is a background update in the background update detection area, the updated background image is extracted from the real-scene image to be processed obtained periodically, texture remapping is performed on the updated background image, and the updated map model is updated.

[0092] Among them, the method of performing feature matching on the simulated observation image and the real scene image to be processed acquired periodically, correcting the acquisition coordinates when acquiring the real scene image to be processed acquired periodically, and obtaining the target camera pose can be: performing feature matching on the simulated observation image and the real scene image to be processed acquired periodically, determining multiple pairs of similar feature points of the simulated observation image and the real scene image to be processed acquired periodically, obtaining feature homonymous points, obtaining a coordinate transformation matrix based on multiple pairs of similar feature points in the feature homonymous points, obtaining a reprojection error based on the coordinate transformation matrix, adjusting the coordinate transformation matrix based on the reprojection error, and obtaining the target camera pose based on the latest coordinate transformation matrix and the acquisition coordinates when the reprojection error meets the preset conditions. Among them, the preset conditions can specifically be the convergence of the reprojection error. For example, the feature matching in this embodiment can specifically refer to SIFT (Scale-invariant feature transform, SIFT, scale-invariant feature transform) feature matching, and the feature homonymous points obtained are SIFT feature homonymous points.

[0093] Among them, the method for further determining whether there is a background update in the background update detection area can be: obtaining background feature data corresponding to the background update detection area and background feature data of the adjacent area, performing image feature matching on the periodically acquired real-scene image to be processed based on the background feature data and the background feature data of the adjacent area, and when the image features do not match, determining that there is a background update in the background update detection area.

[0094] The shading feature data refers to data used to characterize the characteristics of the shading update detection area, including the acquisition time, address, spatial location, geometric shape, shading character features, and shading image features. The adjacent area shading feature data refers to the shading feature data of the adjacent area corresponding to the shading update detection area. For example, when the shading update detection area is the bottom merchant area, the adjacent area can specifically refer to the adjacent bottom merchant area.

[0095] Specifically, the preset shading feature library stores the shading feature data of all shading areas in the updated regional model. After obtaining the shading update detection area, the server will obtain the corresponding shading feature data and the shading feature data of the adjacent area from the preset shading feature library based on the shading update detection area. After obtaining the shading feature data and the shading feature data of the adjacent area, the server will perform image feature matching on the periodically acquired real-scene images to be processed based on the shading feature data and the shading feature data of the adjacent area. When the image features do not match, it is determined that there is a shading update in the shading update detection area. Among them, the periodically acquired real-scene images to be processed include a target image area corresponding to the shading update detection area and an adjacent image area other than the target image area. When performing image feature matching, the server will match the target image area with the shading feature data, and match the adjacent image area with the shading feature data of the adjacent area.

[0096] When the adjacent image region matches the shading image features in the shading feature data of the adjacent region, and the target image region does not match the shading feature data, it is determined that the image features do not match, and a shading update has occurred in the shading update detection area. When the adjacent image region does not match the shading image features in the shading feature data of the adjacent region, it indicates a possible positioning error. In this case, subsequent processing will not be performed, and the process will return to the step of obtaining the real scene image to be processed. When the adjacent image region matches the shading image features in the shading feature data of the adjacent region, and the target image region matches the shading feature data, it is determined that the image features match, and no shading update has occurred in the shading update detection area.

[0097] For example, the shading may specifically refer to a bottom merchant. When the shading update detection area represents bottom merchant A, and bottom merchant A has adjacent merchants B and C, the periodically acquired real-scene images to be processed will contain a target image area corresponding to bottom merchant A, as well as adjacent image areas corresponding to merchants B and C. To determine whether a shading update has occurred in the shading update detection area, the server will first compare the shading image features of the adjacent image area with the shading image features in the corresponding adjacent area shading feature data to determine whether the current positioning is accurate. When the shading image features of the adjacent image area match the shading image features in the corresponding adjacent area shading feature data, the positioning is accurate. The server will then further compare the target image area with the shading feature data. If the target image area does not match the shading feature data, this indicates that a change has occurred to bottom merchant A, i.e., a shading update has occurred in the shading update detection area. If the target image area matches the shading feature data, this indicates that no change has occurred to bottom merchant A, i.e., no shading update has occurred in the shading update detection area. In one embodiment, in response to an update operation on an image to be updated, after updating the image to be updated to a target receiving surface and obtaining an updated map model, the method further includes:

[0098] In response to an object selection operation on an updated map model, determining a selected target object;

[0099] Displays the map information corresponding to the selected target object.

[0100] The object selection operation refers to the user selecting a query object in the updated map model. Map information refers to map attribute information related to the selected target object, including the selected target object's location information, image information, and adjacent object information. Adjacent object information primarily refers to the image information of adjacent objects. For example, if the selected target object is a bottom-level store, the map information may specifically refer to the bottom-level store's location information, image information, and image information of adjacent bottom-level stores.

[0101] Specifically, the terminal responds to the user's object selection operation for updating the map model, determines the selected target object, obtains corresponding map information from a preset database based on the selected target object, and displays the map information corresponding to the selected target object.

[0102] In this embodiment, by responding to the object selection operation on the updated map model, determining the selected target object, and displaying the map information corresponding to the selected target object, the display of map information can be achieved in response to the user operation.

[0103] In one embodiment, in response to an object selection operation for updating a map model, after determining a selected target object, the method further includes:

[0104] When a historical map information query request is received, historical map information is obtained and displayed according to the query parameters carried in the historical map information query request.

[0105] The historical map information query request refers to a request to query the historical map information for the location area corresponding to the selected target object within the query parameters. The historical map information here refers to historical information that has been modified. The query parameters can specifically be parameters representing time information. For example, when the selected target object is a bottom-level merchant, the historical map information primarily refers to the bottom-level merchant information for the location area within the query parameters, i.e., past bottom-level merchant information. For another example, the query parameter can specifically be an identifier representing time information.

[0106] Specifically, when receiving a historical map information query request, the terminal will query the preset database based on the query parameters carried in the historical map information query request and the selected target object, obtain the historical map information and display it. Figure 2 As shown, when the selected target object is the bottom merchant and the query parameter is July to August 2020, the historical map information displayed by the terminal is the bottom merchant information of the location area from July to August 2020. Furthermore, the terminal will also display the query timeline. Users can obtain the corresponding historical map information by clicking on the month on the timeline.

[0107] In this embodiment, when a historical map information query request is received, historical map information is obtained and displayed according to query parameters carried in the historical map information query request, thereby being able to display historical map information in response to user operations.

[0108] In one embodiment, Figure 3 As shown, a flowchart is used to illustrate the map information updating method of the present application, and the map information updating method specifically includes the following steps:

[0109] Step 302: Acquire the captured real scene image and road status information;

[0110] Step 304: Filter the collected real scene images according to the road state information to obtain the real scene images to be processed, where the real scene images to be processed carry street location information.

[0111] Step 306, in response to the pixel point selection operation of the real scene image to be processed, determining the pixel coordinates of the object to be updated;

[0112] Step 308, determining the location information to be updated based on the pixel coordinates and the street location information;

[0113] Step 310: comparing the location information to be updated with a preset map model to determine a target location area corresponding to the location information to be updated in the preset map model;

[0114] Step 312, obtaining a target image-bearing surface according to the target position area;

[0115] Step 314: In response to the image selection operation on the real scene image to be processed, extract the image to be corrected corresponding to the object to be updated from the real scene image to be processed;

[0116] Step 316, performing image correction on the image to be corrected to obtain an image to be updated;

[0117] Step 318, in response to the update operation on the image to be updated, the image to be updated is updated to the target receiving surface to obtain an updated map model;

[0118] Step 320 , in response to the object selection operation on the updated map model, determining a selected target object;

[0119] Step 322, displaying map information corresponding to the selected target object;

[0120] Step 324: when a historical map information query request is received, historical map information is obtained and displayed according to the query parameters carried in the historical map information query request;

[0121] Step 326, periodically acquiring the real scene image to be processed;

[0122] Step 328: determining the objects to be updated in the current period according to the real scene images to be processed acquired in the period, and extracting the images to be updated in the current period corresponding to the objects to be updated in the current period from the real scene images to be processed acquired in the period;

[0123] Step 330 : updating the map model according to the image to be updated in the current cycle.

[0124] It should be understood that, although the various steps in the various flow charts that the above-described embodiments relate to are shown in sequence according to the indications of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless clearly stated herein, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a portion of the steps in the various flow charts that the above-described embodiments relate to can include multiple steps or multiple stages, and these steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of the steps or stages in other steps or other steps.

[0125] This application also provides an application scenario, which applies the above-mentioned map information update method. Specifically, the application of the map information update method in this application scenario is as follows:

[0126] The terminal obtains the collected real-scene image and road status information, filters the collected real-scene image according to the road status information, and obtains the real-scene image to be processed, which carries the street location information. In response to the pixel point selection operation of the real-scene image to be processed, the pixel coordinates of the bottom merchant to be updated are determined, and the location information to be updated is determined according to the pixel coordinates and the street location information. The location information to be updated is compared with the preset map model to determine the target location area corresponding to the location information to be updated in the preset map model, and the target image receiving surface is obtained according to the target location area. In response to the image selection operation of the real-scene image to be processed, the image to be corrected corresponding to the bottom merchant to be updated is extracted from the real-scene image to be processed, and the image to be corrected is performed on the image to be corrected to obtain the bottom merchant to be updated. User image, respond to the update operation of the bottom merchant image to be updated, update the bottom merchant image to be updated to the target receiving surface, obtain the updated map model, respond to the object selection operation of the updated map model, determine the selected target bottom merchant, and display the map information corresponding to the selected target bottom merchant. When a historical map information query request is received, the historical map information is obtained and displayed according to the query parameters carried in the historical map information query request, and the real scene image to be processed is obtained periodically. According to the real scene image to be processed obtained periodically, the object to be updated in the current period is determined, and the image to be updated in the current period corresponding to the object to be updated in the current period is extracted from the real scene image to be processed obtained periodically, and the updated map model is updated according to the image to be updated in the current period.

[0127] like Figure 4 As shown, this application also provides an application scenario, which applies the above-mentioned map information update method. In this application scenario, it includes a data management platform and a data production platform. The map information update method of this application is mainly applied to the data production platform. Specifically, the application of this map information update method in this application scenario is as follows:

[0128] The user first operates on the data management platform, including data preparation, creating a new project, uploading road data and partition data to the project, creating a new project, obtaining road data and partition data, and assigning operator workspaces. Specifically, data preparation includes range data partitioning and road data processing standard fields, which mainly refers to obtaining road status information through preprocessing. Project refers to the area to be updated, which is mainly divided according to geographical areas. For example, the project can specifically refer to XX District, XX City, XX Province. Uploading road data and partition data to the project means uploading the road status information of the area to be updated. The project corresponds to the number of times the map information is updated. Each time the map information is updated, a new project needs to be created. Assigning an operator workspace means assigning the target area to be updated to the operator. The target area to be updated here refers to the next level area corresponding to the area to be updated.

[0129] After the allocation is completed, the operator will log in through the account, import the classification table and trajectory, and download the original street pictures of the partition. The classification table here refers to the table for classifying the bottom merchants, and the trajectory refers to the storage path of the original street pictures of the partition in the preset database. The download of the original street pictures of the partition can be achieved through the trajectory. The original street pictures of the partition are the real-life images collected in this application. After obtaining the original street image of the partition, the terminal will filter the downloaded image streets according to the road status information, select the real-life image to be processed with basement store data, draw the receiving surface at the corresponding position, edit the mapped receiving surface, and find a suitable image for frame drawing (that is, according to the street position information carried by the real-life image to be processed, determine the updated position information of the object to be updated in the real-life image to be processed, compare the updated position information with the preset map model, determine the target position area corresponding to the updated position information in the preset map model, obtain the target receiving surface according to the target position area, and extract the updated image corresponding to the object to be updated from the real-life image to be processed, respond to the update operation of the image to be updated, and update the image to be updated to the target receiving surface). After the frame drawing is completed, the terminal will classify the produced basement store receiving surface according to the classification table. After the receiving surface of the entire road is produced, submit the data to obtain the updated map model.

[0130] When the updated map model needs to be updated, a new project will be created within the project on the data management platform. The new project corresponds to the current map information update, and the user assigns an operator workspace. The operator logs in to the account on the terminal, downloads the last version of the updated map model, and imports the new track and classification table. The operator downloads the original block image of this version through the new track, and quickly refreshes the map of each road through the operating terminal. The update points that need to be updated are marked. After the refresh is completed, the marked update points are updated with a block diagram. The updated basement store shadow surface is classified according to the classification table. After the update and classification of the entire road shadow surface are completed, the data is submitted to realize the update of the updated map model. Among them, the update points that need to be updated can be basement stores that are newly added, expired, have changed locations, updated pictures, or updated stores.

[0131] In one embodiment, Figure 5 As shown, a map information updating device is provided, comprising: an acquisition module 502, a processing module 504, a comparison module 506, an extraction module 508 and an updating module 510, wherein:

[0132] An acquisition module 502 is used to acquire a real scene image to be processed, where the real scene image to be processed carries street location information;

[0133] A processing module 504 is configured to determine the updated position information of the object to be updated in the real scene image to be processed based on the street position information;

[0134] a comparison module 506 for comparing the location information to be updated with a preset map model, and determining a target location area corresponding to the location information to be updated in the preset map model;

[0135] Extraction module 508, used to obtain the target image receiving surface according to the target position area, and extract the image to be updated corresponding to the object to be updated from the real scene image to be processed;

[0136] The updating module 510 is used to respond to the update operation of the image to be updated, update the image to be updated to the target receiving surface, and obtain an updated map model.

[0137] The above-mentioned map information updating device, by obtaining the real-scene image to be processed, can determine the position information to be updated of the object to be updated based on the street position information carried by the real-scene image to be processed, and then can determine the target position area by comparing the position information to be updated with the preset map model, obtain the target receiving surface based on the target position area, extract the image to be updated corresponding to the object to be updated from the real-scene image to be processed, respond to the update operation of the image to be updated, update the image to be updated to the target receiving surface, and obtain the updated map model. During the whole process, the object to be updated and the image to be updated are obtained by using the real-scene image to be processed with high authenticity, and the preset map model is updated in real time by using the object to be updated and the image to be updated, so as to realize the update of the preset map model, thereby realizing the map information update that takes into account both timeliness and restoration.

[0138] In one embodiment, the acquisition module is further configured to acquire captured real-scene images and road status information, and filter the captured real-scene images according to the road status information to obtain real-scene images to be processed.

[0139] In one embodiment, the processing module is further configured to respond to a pixel point selection operation on the real scene image to be processed, determine pixel coordinates of the object to be updated, and determine the position information to be updated based on the pixel coordinates and the street position information.

[0140] In one embodiment, the extraction module is further configured to respond to an image selection operation on the real scene image to be processed, extract an image to be corrected corresponding to the object to be updated from the real scene image to be processed, perform image correction on the image to be corrected, and obtain an image to be updated.

[0141] In one embodiment, the update module is also used to periodically obtain real-scene images to be processed, determine the objects to be updated in the current period based on the real-scene images to be processed obtained in the period, and extract the images to be updated in the current period corresponding to the objects to be updated in the current period from the real-scene images to be processed obtained in the period, and update the update map model based on the images to be updated in the current period.

[0142] In one embodiment, the update module is also used to obtain real scene acquisition parameters corresponding to the periodically obtained real scene images to be processed, perform coordinate correction on the periodically obtained real scene images to be processed according to the real scene acquisition parameters, obtain the target camera pose, and obtain the background texture update detection area according to the target camera pose and the updated map model. When there is a background texture update in the background texture update detection area, an updated background texture image is extracted from the periodically obtained real scene images to be processed, texture remapping is performed on the updated background texture image, and the updated map model is updated.

[0143] In one embodiment, the map information updating device further includes a query module, which is used to respond to an object selection operation on the updated map model, determine a selected target object, and display map information corresponding to the selected target object.

[0144] In one embodiment, the query module is further configured to, upon receiving a historical map information query request, obtain and display the historical map information according to query parameters carried in the historical map information query request.

[0145] The specific definition of the map information updating device can be found in the definition of the map information updating method above and will not be repeated here. Each module in the aforementioned map information updating device may be implemented in whole or in part through software, hardware, or a combination thereof. Each of the aforementioned modules may be embedded in or independent of a processor in a computer device in hardware form, or may be stored in a memory in the computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0146] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a map information update method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad provided on the computer device housing, or an external keyboard, touchpad or mouse.

[0147] Those skilled in the art will understand that Figure 6 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0148] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0149] Acquire a real scene image to be processed, where the real scene image to be processed carries street location information;

[0150] Determine the updated position information of the object to be updated in the real scene image to be processed based on the street position information; compare the updated position information with the preset map model to determine the target position area corresponding to the updated position information in the preset map model;

[0151] Obtain the target image receiving surface according to the target position area, and extract the image to be updated corresponding to the object to be updated from the real scene image to be processed;

[0152] In response to the update operation of the image to be updated, the image to be updated is updated to the target receiving surface to obtain an updated map model.

[0153] In one embodiment, when the processor executes the computer program, the processor further implements the following steps: acquiring the collected real scene images and road status information, filtering the collected real scene images according to the road status information, and obtaining the real scene images to be processed.

[0154] In one embodiment, when the processor executes the computer program, it further implements the following steps: responding to the pixel point selection operation of the real scene image to be processed, determining the pixel coordinates of the object to be updated, and determining the position information to be updated based on the pixel coordinates and the street position information.

[0155] In one embodiment, when the processor executes the computer program, it further implements the following steps: responding to an image selection operation on the real scene image to be processed, extracting an image to be corrected corresponding to the object to be updated from the real scene image to be processed, performing image correction on the image to be corrected, and obtaining an image to be updated.

[0156] In one embodiment, when the processor executes the computer program, the following steps are further implemented: periodically acquiring real-scene images to be processed, determining objects to be updated in the current period based on the periodically acquired real-scene images to be processed, extracting images to be updated in the current period corresponding to the objects to be updated in the current period from the periodically acquired real-scene images to be processed, and updating the update map model based on the images to be updated in the current period.

[0157] In one embodiment, when the processor executes the computer program, it also implements the following steps: obtaining real scene acquisition parameters corresponding to the periodically acquired real scene images to be processed, performing coordinate correction on the periodically acquired real scene images to be processed according to the real scene acquisition parameters, obtaining a target camera pose, obtaining a background texture update detection area according to the target camera pose and the updated map model, and when a background texture update exists in the background texture update detection area, extracting an updated background texture image from the periodically acquired real scene images to be processed, performing texture remapping on the updated background texture image, and updating the updated map model.

[0158] In one embodiment, when the processor executes the computer program, it further implements the following steps: responding to an object selection operation for updating the map model, determining a selected target object, and displaying map information corresponding to the selected target object.

[0159] In one embodiment, when executing the computer program, the processor further implements the following steps: when receiving a historical map information query request, obtaining and displaying historical map information according to query parameters carried in the historical map information query request.

[0160] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0161] Obtaining a real scene image to be processed, where the real scene image to be processed carries street location information;

[0162] Determining the updated position information of the object to be updated in the real scene image to be processed according to the street position information;

[0163] Comparing the location information to be updated with a preset map model, and determining a target location area corresponding to the location information to be updated in the preset map model;

[0164] Obtain the target image receiving surface according to the target position area, and extract the image to be updated corresponding to the object to be updated from the real scene image to be processed;

[0165] In response to the update operation of the image to be updated, the image to be updated is updated to the target receiving surface to obtain an updated map model.

[0166] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: acquiring the collected real scene images and road status information, filtering the collected real scene images according to the road status information, and obtaining the real scene images to be processed.

[0167] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: in response to the pixel point selection operation of the real scene image to be processed, the pixel coordinates of the object to be updated are determined, and the position information to be updated is determined based on the pixel coordinates and the street position information.

[0168] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: in response to an image selection operation on the real scene image to be processed, an image to be corrected corresponding to the object to be updated is extracted from the real scene image to be processed, and image correction is performed on the image to be corrected to obtain the image to be updated.

[0169] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: periodically acquiring real-scene images to be processed, determining objects to be updated in the current period based on the periodically acquired real-scene images to be processed, extracting images to be updated in the current period corresponding to the objects to be updated in the current period from the periodically acquired real-scene images to be processed, and updating the update map model based on the images to be updated in the current period.

[0170] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: obtaining real scene acquisition parameters corresponding to the periodically acquired real scene images to be processed, performing coordinate correction on the periodically acquired real scene images to be processed according to the real scene acquisition parameters, obtaining a target camera pose, obtaining a background texture update detection area according to the target camera pose and the updated map model, and when a background texture update exists in the background texture update detection area, extracting an updated background texture image from the periodically acquired real scene images to be processed, performing texture remapping on the updated background texture image, and updating the updated map model.

[0171] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: responding to an object selection operation for updating the map model, determining a selected target object, and displaying map information corresponding to the selected target object.

[0172] In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when a historical map information query request is received, historical map information is obtained and displayed according to query parameters carried in the historical map information query request.

[0173] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0174] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0175] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A map information updating method, characterized in that: The method comprises: Acquire a real scene image to be processed, where the real scene image to be processed carries street location information; Determining, based on the street location information, location information to be updated of the object to be updated in the real scene image to be processed; Comparing the location information to be updated with a preset map model to determine a target location area corresponding to the location information to be updated in the preset map model; the preset map model is an oblique photographic map model constructed from oblique photographic images; A target receiving surface is obtained according to the target location area, and in response to an image selection operation on the real scene image to be processed, an image to be corrected corresponding to the object to be updated is extracted from the real scene image to be processed; the target receiving surface refers to a projection surface for receiving the object to be updated in the preset map model; Performing image correction on the image to be corrected to obtain an image to be updated, so that the image to be updated matches the target image-bearing surface; In response to an update operation on the image to be updated, the image to be updated is updated to the target image-bearing surface to obtain an updated map model.

2. The method according to claim 1, characterized in that The obtaining of the real scene image to be processed comprises: Obtaining collected real-scene images and road status information; The collected real scene images are screened according to the road state information to obtain real scene images to be processed.

3. The method according to claim 1, characterized in that Determining the updated position information of the object to be updated in the real scene image to be processed according to the street position information includes: In response to the pixel point selection operation on the real scene image to be processed, the pixel coordinates of the object to be updated are determined; The position information to be updated is determined according to the pixel coordinates and the street position information.

4. The method according to claim 1, wherein After the update operation on the image to be updated is performed and the image to be updated is updated to the target image receiving surface to obtain an updated map model, the method further includes: Periodically obtain real scene images to be processed; Determining an object to be updated in a current period according to the real scene images to be processed acquired in the period, and extracting an image to be updated in the current period corresponding to the object to be updated in the current period from the real scene images to be processed acquired in the period; The map model is updated according to the image to be updated in the current period.

5. The method according to claim 1, wherein After the update operation on the image to be updated is performed and the image to be updated is updated to the target image receiving surface to obtain an updated map model, the method further includes: In response to an object selection operation on an updated map model, determining a selected target object; Display map information corresponding to the selected target object.

6. The method according to claim 5, characterized in that The responding to the object selection operation for updating the map model, after determining the selected target object, further includes: When a historical map information query request is received, historical map information is obtained and displayed according to the query parameters carried in the historical map information query request.

7. A map information updating device, characterized in that: The device comprises: An acquisition module, configured to acquire a real scene image to be processed, wherein the real scene image to be processed carries street location information; A processing module, configured to determine, based on the street location information, location information of an object to be updated in the real scene image to be processed; a comparison module, configured to compare the location information to be updated with a preset map model, and determine a target location area corresponding to the location information to be updated in the preset map model; the preset map model is an oblique photographic map model constructed from oblique photographic images; an extraction module for obtaining a target receiving surface based on the target location area, and extracting an image to be corrected corresponding to the object to be updated from the real scene image to be processed in response to an image selection operation on the real scene image to be processed; the target receiving surface refers to a projection surface in the preset map model for receiving the object to be updated; performing image correction on the image to be corrected to obtain an image to be updated, so that the image to be updated matches the target receiving surface; The updating module is used to respond to the updating operation of the image to be updated, update the image to be updated to the target image-bearing surface, and obtain an updated map model.

8. The device according to claim 7, characterized in that The acquisition module is further configured to: acquire collected real-scene images and road status information; and filter the collected real-scene images according to the road status information to obtain real-scene images to be processed.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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