Positioning layer splicing method and device, electronic equipment and storage medium

Abstract

This application discloses a method, apparatus, electronic device, and storage medium for stitching positioning layers. The method includes determining a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset origin of the reference positioning layer; determining an offset parameter between the reference positioning layer and the positioning layer to be stitched according to the preset reference coordinate system; adding a corresponding offset parameter to the positioning layer to be stitched according to the offset parameter between the positioning layer to be stitched and the reference positioning layer to obtain a positioning layer with added offset parameters; and stitching the reference positioning layer and the positioning layer with added offset parameters according to the preset origin of the reference positioning layer to obtain a target positioning layer. This application is applicable to stitching positioning layers in large areas or areas that are far apart, improving efficiency while ensuring convenience in engineering use.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a positioning layer stitching method, device, electronic device, and storage medium. Background Technology

[0002] In autonomous driving positioning systems, point cloud information from LiDAR is typically matched with a pre-made point cloud positioning layer to output absolute positioning information.

[0003] In related technologies, the creation of positioning layers requires the prior collection of sensor information. When the area to be collected is large, it is difficult to collect all the data at once due to the large amount of data in a single data packet. Therefore, multiple collections are required, which results in multiple positioning layers. In addition, multiple positioning layers are also created for locations that are far away.

[0004] Therefore, it is necessary to stitch multiple positioning layers together to generate a final positioning layer containing each positioning layer to be stitched together, in order to improve project efficiency. Summary of the Invention

[0005] This application provides a method, apparatus, electronic device, and storage medium for stitching positioning layers to improve the stitching efficiency of positioning layers.

[0006] The embodiments of this application adopt the following technical solutions:

[0007] In a first aspect, embodiments of this application provide a method for stitching positioning layers, wherein the method includes:

[0008] Determine a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin;

[0009] Based on the preset reference coordinate system, determine the offset parameters between the reference positioning layer and the positioning layer to be stitched;

[0010] Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add the corresponding offset parameters to the positioning layer to be stitched to obtain the positioning layer with the added offset parameters.

[0011] Based on the origin of the preset reference positioning layer, the reference positioning layer and the positioning layer with added offset parameters are spliced ​​together to obtain the target positioning layer.

[0012] Secondly, embodiments of this application also provide a positioning layer stitching device, wherein the device includes: a first determining module, configured to determine a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin; a second determining module, configured to determine an offset parameter between the reference positioning layer and the positioning layer to be stitched according to the preset reference coordinate system; an adding module, configured to add a corresponding offset parameter to the positioning layer to be stitched according to the offset parameter between the positioning layer to be stitched and the reference positioning layer, to obtain a positioning layer with added offset parameters; and a stitching module, configured to stitch the reference positioning layer and the positioning layer with added offset parameters according to the preset reference positioning layer origin, to obtain a target positioning layer.

[0013] Thirdly, embodiments of this application also provide an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, which, when executed, cause the processor to perform the above-described method.

[0014] Fourthly, embodiments of this application also provide a computer-readable storage medium that stores one or more programs, which, when executed by an electronic device including multiple applications, cause the electronic device to perform the above-described method.

[0015] The above-described technical solutions adopted in the embodiments of this application can achieve the following beneficial effects:

[0016] By determining the reference positioning layer, the offset parameters of the positioning layer to be stitched are obtained, and the offset parameters are added to the positioning layer to be stitched, resulting in a positioning layer with the added offset parameters. Following the preset origin of the reference positioning layer, the reference positioning layer and the positioning layer with the added offset parameters are stitched together to finally obtain the target positioning layer. This application is applicable to stitching positioning layers in large areas or areas that are far apart, improving efficiency while ensuring ease of use in engineering projects. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is a schematic diagram of the positioning layer stitching method in the embodiments of this application;

[0019] Figure 2 This is a schematic diagram of the positioning layer splicing device in the embodiments of this application;

[0020] Figure 3This is a schematic diagram illustrating the implementation principle of the positioning layer stitching method in the embodiments of this application;

[0021] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0024] This application provides a method for stitching positioning layers, such as... Figure 1 The diagram illustrates the positioning layer stitching process in this embodiment of the application. The positioning layer stitching method includes at least the following steps S110 to S140:

[0025] Step S110: Determine the reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin.

[0026] The reference positioning layer can be randomly selected from multiple positioning layers to be stitched together.

[0027] Since multiple positioning layers to be stitched may belong to a large area or to areas that are far apart, they need to be stitched together one by one.

[0028] The selected reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin. The preset reference coordinate system is a known coordinate system. The preset reference positioning layer origin needs to be used as the origin of the final stitched positioning layer. Therefore, after determining the reference positioning layer, the preset reference coordinate system and the preset reference positioning layer origin can be determined. Both of these parameters are required for subsequent layer stitching.

[0029] Step S120: Determine the offset parameters between the reference positioning layer and the positioning layer to be stitched according to the preset reference coordinate system.

[0030] Based on the preset reference coordinate system described in the above steps, the offset parameters between the positioning layer to be stitched and the reference positioning layer are determined. That is, the offset parameters of the positioning layer to be stitched are calculated using the reference positioning layer as the standard.

[0031] Furthermore, by transforming the offset parameter with the preset reference coordinate system, the offset parameter of the positioning layer to be stitched can be determined.

[0032] Step S130: Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add corresponding offset parameters to the positioning layer to be stitched to obtain the positioning layer with added offset parameters.

[0033] Adding offset parameters based on the offset parameters between the positioning layer to be stitched and the reference positioning layer prepares the point cloud stitching process. Offset parameters are added for each positioning layer that needs to be stitched.

[0034] Step S140: According to the origin of the preset reference positioning layer, the reference positioning layer and the positioning layer with added offset parameters are spliced ​​together to obtain the target positioning layer.

[0035] Based on the preset reference positioning layer origin obtained from the aforementioned steps, the point cloud data in the positioning layer is stitched together. The reference positioning layer is used as the reference, and other positioning layers with added offset parameters are superimposed and stitched together to obtain the target positioning layer, which is the final positioning layer result.

[0036] In one embodiment of this application, the plurality of positioning layers to be stitched include positioning layers within a preset area region and / or a preset distance range region, wherein the positioning layers include at least a laser point cloud data positioning layer.

[0037] In practice, multiple positioning layers to be spliced ​​may include a preset area. For example, multiple positioning layers may be created for locations with a large area.

[0038] In practice, the multiple positioning layers to be stitched together include a preset distance range area. For example, multiple positioning layers are made for different locations (different locations) that are far apart.

[0039] For large-area positioning layers that are stitched together, storing and using only one stitched positioning layer is crucial for the engineering implementation of autonomous driving positioning systems.

[0040] In one embodiment of this application, each of the positioning layers to be stitched further includes xyz coordinate information from the laser point cloud 3D map and the latitude and longitude coordinates of the origin of the current positioning layer. The rectangular coordinate system of the xyz coordinate information includes an origin and a direction; the origin is the latitude and longitude origin of the positioning layer, and the direction is northeast-southeast. The xyz coordinate information in the laser point cloud 3D map is 3D data information. Based on the acquired xyz coordinate information, the 3D structural information of the measured object can be directly obtained. This 3D structural information serves as the carrier of other geographic information, upon which subsequent data processing and handling can be carried out.

[0041] In specific implementation, each of the positioning layers to be stitched also includes xyz coordinate information in the laser point cloud 3D map. The xyz coordinate information of the laser point cloud 3D map data in each positioning layer to be stitched is used as one of the inputs, and the latitude and longitude coordinates of the origin of the current positioning layer are also used as latitude and longitude position information as one of the inputs.

[0042] Furthermore, the positioning layer stitching method in this application can encapsulate a visualization tool to facilitate the stitching of positioning layers by relevant personnel. This includes inputting the xyz coordinate information of the laser point cloud 3D map data and the latitude and longitude coordinates of the origin of the current positioning layer, and outputting the stitched positioning layer and the origin.

[0043] In one embodiment of this application, determining the reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin, includes: selecting any one layer as the reference positioning layer from a plurality of positioning layers; setting the origin of the preset reference positioning layer as the origin of the target positioning layer; and establishing the preset reference coordinate system based on the origin of the target positioning layer, wherein the preset reference coordinate system is a rectangular coordinate system.

[0044] In practice, any one of the several positioning layers can be selected as the reference positioning layer; no specific filtering based on certain conditions is required. For example... Figure 3 As shown, for example, select positioning layer-2 as the reference positioning layer.

[0045] The origin of the preset reference positioning layer is set as the origin of the target positioning layer, and then the preset reference coordinate system is established based on the origin of the target positioning layer. The preset reference coordinate system is a rectangular coordinate system, that is, the origin of the coordinates of the reference positioning layer is set as the origin of the final positioning layer after stitching, and the coordinates are saved to a file; then, a rectangular coordinate system is established with the latitude and longitude coordinates of the origin of the reference positioning layer as the origin of the coordinate system, and the x, y, and z directions are respectively northeast, zenith, and zenith, to obtain the enu system.

[0046] In one embodiment of this application, the positioning layer to be stitched includes a reference positioning layer and other positioning layers to be stitched. Determining the offset parameters between the reference positioning layer and the positioning layers to be stitched according to the preset reference coordinate system includes: obtaining the coordinate parameters of the origin of the other positioning layers to be stitched in the preset reference coordinate system; using the coordinate parameters in the preset reference coordinate system as the offset parameters between the reference positioning layer and the positioning layers to be stitched; adding corresponding offset parameters to the positioning layers to be stitched according to the offset parameters between the positioning layers to be stitched and the reference positioning layer to obtain a positioning layer with added offset parameters includes: adding corresponding offset parameters to each positioning layer to be stitched according to the offset parameters between the positioning layers to be stitched and the reference positioning layer.

[0047] In specific implementation, the coordinate parameters of the origin of the other positioning layers to be stitched are obtained in the preset reference coordinate system. These coordinate parameters are then used as the offset parameters between the reference positioning layer and the positioning layers to be stitched. Finally, based on the offset parameters between the positioning layers to be stitched and the reference positioning layer, corresponding offset parameters are added to each positioning layer to be stitched. In other words, through coordinate transformation, the offset parameters of each other positioning layer to be stitched are obtained as follows: Figure 3 As shown, for example, the coordinates of the origin of positioning layer-1 and positioning layer-3 in the ENU system are the offsets corresponding to each positioning layer to be stitched. Further, offsets are added to positioning layer-1 and positioning layer-3 respectively.

[0048] In one embodiment of this application, determining the offset parameters between the reference positioning layer and the positioning layer to be stitched according to the preset reference coordinate system further includes: stitching the reference positioning layer and the positioning layer with the added offset parameters respectively, using the preset reference coordinate system as a reference, to obtain the sum of the laser point cloud data.

[0049] In specific implementation, using the preset reference coordinate system as a reference, the reference positioning layer and the positioning layer with added offset parameters are respectively stitched together to obtain the sum of the laser point cloud data. For example... Figure 3 As shown, for example, the base layer (e.g., positioning layer-2) and other positioning layers with added offsets (e.g., offset positioning layer-1, offset positioning layer-3) are stitched together as point clouds.

[0050] In one embodiment of this application, the step of stitching the reference positioning layer and the positioning layer with added offset parameters according to the origin of the preset reference positioning layer to obtain the target positioning layer further includes: obtaining the target positioning layer after Voxel voxel downsampling processing.

[0051] In practice, considering the overlap of point cloud data and its large memory footprint, which makes it unsuitable for storage and use as a stitched localization layer, the target localization layer can be obtained through Voxel voxel downsampling.

[0052] In one embodiment of this application, a method for locating layer stitching is provided, wherein the method is used in a vehicle-road cooperative scenario, and the method includes:

[0053] Multiple positioning layers are obtained based on the vehicle-road cooperative scenario, which includes positioning layers generated from a preset area region and / or a preset distance range region;

[0054] Determine a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin;

[0055] Based on the preset reference coordinate system, determine the offset parameters between the reference positioning layer and the positioning layer to be stitched;

[0056] Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add the corresponding offset parameters to the positioning layer to be stitched to obtain the positioning layer with the added offset parameters.

[0057] Based on the origin of the preset reference positioning layer, the reference positioning layer and the positioning layer with added offset parameters are spliced ​​together to obtain the target positioning layer.

[0058] In one embodiment of this application, a positioning layer stitching method is provided for roadside units, the method comprising:

[0059] Multiple positioning layers are obtained based on roadside units, which include positioning layers generated from preset area regions and / or preset distance range regions;

[0060] Determine a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin;

[0061] Based on the preset reference coordinate system, determine the offset parameters between the reference positioning layer and the positioning layer to be stitched;

[0062] Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add the corresponding offset parameters to the positioning layer to be stitched to obtain the positioning layer with the added offset parameters.

[0063] Based on the origin of the preset reference positioning layer, the reference positioning layer and the positioning layer with added offset parameters are spliced ​​together to obtain the target positioning layer.

[0064] This application embodiment also provides a positioning layer splicing device 200, such as Figure 2 As shown, a schematic diagram of the positioning layer stitching device structure in an embodiment of this application is provided. The positioning layer stitching device 200 includes at least: a first determining module 210, a second determining module 220, an adding module 230, and a stitching module 240, wherein:

[0065] The first determining module 210 is used to determine the reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin.

[0066] The second determining module 220 is used to determine the offset parameters between the reference positioning layer and the positioning layer to be spliced ​​according to the preset reference coordinate system;

[0067] Adding module 230 is used to add corresponding offset parameters to the positioning layer to be stitched according to the offset parameters between the positioning layer to be stitched and the reference positioning layer, so as to obtain the positioning layer with added offset parameters;

[0068] The splicing module 240 is used to splice the reference positioning layer and the positioning layer with added offset parameters according to the origin of the preset reference positioning layer to obtain the target positioning layer.

[0069] In one embodiment of this application, the first determining module 210 is specifically used to: randomly select from multiple positioning layers to be stitched for the reference positioning layer.

[0070] Since multiple positioning layers to be stitched may belong to a large area or to areas that are far apart, they need to be stitched together one by one.

[0071] The selected reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin. The preset reference coordinate system is a known coordinate system. The preset reference positioning layer origin needs to be used as the origin of the final stitched positioning layer. Therefore, after determining the reference positioning layer, the preset reference coordinate system and the preset reference positioning layer origin can be determined. Both of these parameters are required for subsequent layer stitching.

[0072] In one embodiment of this application, the second determining module 220 is specifically used to: determine the offset parameters between the reference positioning layer and the positioning layer to be stitched, based on the preset reference coordinate system mentioned in the above steps. That is, using the reference positioning layer as a standard, the offset parameters of the positioning layer to be stitched are calculated.

[0073] Furthermore, by transforming the offset parameter with the preset reference coordinate system, the offset parameter of the positioning layer to be stitched can be determined.

[0074] In one embodiment of this application, the adding module 230 is specifically used to: add offset parameters according to the offset parameters between the positioning layer to be stitched and the reference positioning layer, that is, to prepare for point cloud stitching. Offset parameters are added for each positioning layer that needs to be stitched.

[0075] In one embodiment of this application, the stitching module 240 is specifically used to: stitch point cloud data in the positioning layer according to the preset reference positioning layer origin obtained in the aforementioned steps, wherein the reference positioning layer is used as the reference, and the target positioning layer is obtained by overlaying and stitching other positioning layers with added offset parameters, which is the final positioning layer result.

[0076] It is understood that the above-mentioned positioning layer stitching device can realize all the steps of the positioning layer stitching method provided in the foregoing embodiments. The relevant explanations of the positioning layer stitching method are applicable to the positioning layer stitching device, and will not be repeated here.

[0077] Figure 3 This is a schematic diagram illustrating the implementation principle of the positioning layer stitching method in this application embodiment. It shows the stitching process of multiple positioning layers. Taking the stitching of positioning layers in a long-distance area as an example, the point cloud data of the positioning layers can be collected by autonomous vehicles or by roadside units.

[0078] S1, Select a reference point; choose a positioning layer as the reference. Figure 3 The selected layer is the positioning layer-2.

[0079] S2, Set the origin: Set the origin of the reference positioning layer to the origin of the final positioning layer after stitching, and save the coordinates to a file.

[0080] S3. Establish a coordinate system. Take the coordinate points in S2 above as the origin of the coordinate system, and establish a rectangular coordinate system with the x, y, and z directions as northeast, zenith, and celestial respectively. This is called the enu system.

[0081] S4, coordinate transformation: Based on the coordinate transformation relationships, obtain the positioning information for each of the other layers to be stitched together. Figure 3The selected location layer-1 and location layer-3 have their coordinates in the ENU system. These coordinates represent the offset of each location layer to be stitched together.

[0082] S5, Add offsets, add offsets to positioning layer-1 and positioning layer-3 respectively.

[0083] S6, point cloud stitching, stitches the base layer (i.e., positioning layer-2) with other positioning layers with added offsets (i.e., offset positioning layer-1 and offset positioning layer-3) into a point cloud.

[0084] S7, Voxel downsampling, uses Voxel downsampling to homogenize the positioning layer, resulting in a stitched positioning layer.

[0085] S8 outputs the result, where the origin of the stitched positioning layer in S2 and the stitched positioning layer in S7 are the final positioning layer result.

[0086] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of this application. Please refer to it. Figure 4 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and memory. The memory may include main memory, such as high-speed random-access memory (RAM), or non-volatile memory, such as at least one disk drive. Of course, the electronic device may also include other hardware required for other business operations.

[0087] The processor, network interface, and memory can be interconnected via an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 4 The symbol is represented by a single double-headed arrow, but this does not mean that there is only one bus or one type of bus.

[0088] Memory is used to store programs. Specifically, programs may include program code, which includes computer operation instructions. Memory may include main memory and non-volatile memory, and provides instructions and data to the processor.

[0089] The processor reads the corresponding computer program from non-volatile memory into main memory and then executes it, forming a positioning layer stitching device at the logical level. The processor executes the program stored in memory and specifically performs the following operations:

[0090] Determine a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin;

[0091] Based on the preset reference coordinate system, determine the offset parameters between the reference positioning layer and the positioning layer to be stitched;

[0092] Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add the corresponding offset parameters to the positioning layer to be stitched to obtain the positioning layer with the added offset parameters.

[0093] Based on the origin of the preset reference positioning layer, the reference positioning layer and the positioning layer with added offset parameters are spliced ​​together to obtain the target positioning layer.

[0094] The above is as stated in this application. Figure 1 The method executed by the positioning layer stitching device disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software form. The processor can be a general-purpose processor, including a Central Processing Unit (CPU), a Network Processor (NP), etc.; it can also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module can reside in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0095] The electronic device can also perform Figure 1 The method for executing the positioning layer stitching device, and the implementation of the positioning layer stitching device in... Figure 1 The functions of the embodiments shown are not described in detail here.

[0096] This application also proposes a computer-readable storage medium that stores one or more programs, the programs including instructions that, when executed by an electronic device including multiple applications, enable the electronic device to perform... Figure 1 The method executed by the positioning layer stitching device in the illustrated embodiment is specifically used to perform the following:

[0097] Determine a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin;

[0098] Based on the preset reference coordinate system, determine the offset parameters between the reference positioning layer and the positioning layer to be stitched;

[0099] Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add the corresponding offset parameters to the positioning layer to be stitched to obtain the positioning layer with the added offset parameters.

[0100] Based on the origin of the preset reference positioning layer, the reference positioning layer and the positioning layer with added offset parameters are spliced ​​together to obtain the target positioning layer.

[0101] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0102] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0103] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0104] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0105] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0106] Memory may include non-persistent storage in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0107] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0108] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0109] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0110] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for stitching positioning layers, wherein, The method includes: Determine a reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin; The determination of the reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin, includes: selecting any one layer as the reference positioning layer from a plurality of positioning layers; setting the origin of the preset reference positioning layer as the origin of the target positioning layer; and establishing the preset reference coordinate system based on the origin of the target positioning layer, wherein the preset reference coordinate system is a rectangular coordinate system. Based on the preset reference coordinate system, determine the offset parameters between the reference positioning layer and the positioning layer to be stitched; Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add the corresponding offset parameters to the positioning layer to be stitched to obtain the positioning layer with the added offset parameters. Each of the positioning layers to be stitched also includes xyz coordinate information in the laser point cloud 3D map and the latitude and longitude coordinates of the origin of the current positioning layer. The rectangular coordinate system of the xyz coordinate information includes the origin and direction. The origin is the latitude and longitude origin of the positioning layer, and the direction is the northeast direction. The xyz coordinate information in the laser point cloud 3D map is the 3D data information. By splicing the reference positioning layer with the positioning layer with added offset parameters according to the origin of the preset reference positioning layer, a target positioning layer in a different location is obtained.

2. The method as described in claim 1, wherein, The multiple positioning layers to be stitched include positioning layers within a preset area region and / or a preset distance range region, and the positioning layers include at least a laser point cloud data positioning layer.

3. The method as described in claim 1, wherein: The positioning layers to be stitched include a reference positioning layer and other positioning layers to be stitched. Determining the offset parameters between the reference positioning layer and the positioning layers to be stitched, based on the preset reference coordinate system, includes: Based on the preset reference coordinate system, the coordinate parameters of the origin of the other positioning layers to be stitched are obtained in the preset reference coordinate system. The coordinate parameters of the positioning layer to be stitched in the preset reference coordinate system are used as the offset parameters of the positioning layer to be stitched from the reference positioning layer. The step of adding a corresponding offset parameter to the positioning layer to be stitched based on the offset parameter between the positioning layer to be stitched and the reference positioning layer to obtain a positioning layer with the added offset parameter includes: Based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, add corresponding offset parameters to each positioning layer to be stitched.

4. The method as described in claim 3, wherein, The step of determining the offset parameters between the reference positioning layer and the positioning layer to be stitched according to the preset reference coordinate system further includes: Using the preset reference coordinate system as a reference, the reference positioning layer and the positioning layer with added offset parameters are spliced ​​together to obtain the sum of the laser point cloud data.

5. The method as described in claim 1, wherein, The step of stitching the reference positioning layer and the positioning layer with added offset parameters together according to the origin of the preset reference positioning layer to obtain the target positioning layer further includes: After Voxel voxel downsampling, the target localization layer is obtained.

6. A positioning layer splicing device, wherein, The device includes: The first determining module is used to determine the reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin. The determination of the reference positioning layer, wherein the reference positioning layer includes at least a preset reference coordinate system and a preset reference positioning layer origin, includes: selecting any one layer as the reference positioning layer from a plurality of positioning layers; setting the origin of the preset reference positioning layer as the origin of the target positioning layer; and establishing the preset reference coordinate system based on the origin of the target positioning layer, wherein the preset reference coordinate system is a rectangular coordinate system. The second determining module is used to determine the offset parameters between the reference positioning layer and the positioning layer to be stitched according to the preset reference coordinate system. An add module is used to add corresponding offset parameters to the positioning layer to be stitched based on the offset parameters between the positioning layer to be stitched and the reference positioning layer, so as to obtain the positioning layer with the added offset parameters. Each of the positioning layers to be stitched also includes xyz coordinate information in the laser point cloud 3D map and the latitude and longitude coordinates of the origin of the current positioning layer. The rectangular coordinate system of the xyz coordinate information includes the origin and direction. The origin is the latitude and longitude origin of the positioning layer, and the direction is the northeast direction. The xyz coordinate information in the laser point cloud 3D map is the 3D data information. The stitching module is used to stitch the reference positioning layer and the positioning layer with added offset parameters according to the origin of the preset reference positioning layer to obtain the target positioning layer in a different location.

7. An electronic device, comprising: processor; as well as A memory configured to store computer-executable instructions, which, when executed, cause the processor to perform the method of any one of claims 1 to 5.

8. A computer-readable storage medium storing one or more programs, which, when executed by an electronic device including a plurality of applications, cause the electronic device to perform the method of any one of claims 1 to 5.

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