Zebra crossing drawing method and device, electronic equipment and computer program product

Abstract

The embodiment of the present disclosure discloses a zebra crossing drawing method and device, electronic equipment and computer program product, the method comprises: obtaining the outer contour of the to-be-drawn zebra crossing; determining the strip direction of the to-be-drawn zebra crossing according to the direction of the lane line closest to the outer contour of the to-be-drawn zebra crossing; drawing a strip in the outer contour of the to-be-drawn zebra crossing according to the strip direction of the to-be-drawn zebra crossing, and obtaining a target zebra crossing drawn. The technical solution can automatically generate a zebra crossing containing a strip according to the outer contour of the zebra crossing, which can greatly save the cost of manual drawing, not only improve the drawing quality of the zebra crossing drawing, but also improve the working efficiency of the zebra crossing drawing, and can meet the needs of smart city services for fine rendering.

Description

Technical Field

[0001] This disclosure relates to the field of traffic data processing technology, specifically to a zebra crossing drawing method, apparatus, electronic device, and computer program product. Background Technology

[0002] With societal development and progress, the number of vehicles on the road is increasing, and road conditions are becoming more complex. Many users rely on electronic maps for guidance, making the accurate rendering of traffic lines in electronic maps crucial. For example, zebra crossings in high-precision maps are complex to create, requiring not only the outer outline but also the internal stripes. This high production cost means that current technology can only provide the outer outline, which is insufficient for the detailed rendering needs of services like smart cities. Therefore, a technical solution is urgently needed to automatically generate zebra crossings with internal stripes based on their outer outline. Summary of the Invention

[0003] This disclosure provides a zebra crossing drawing method, apparatus, electronic device, and computer program product.

[0004] Firstly, this disclosure provides a method for drawing zebra stripes.

[0005] Specifically, the zebra crossing drawing method includes:

[0006] Obtain the outer contour of the zebra crossing to be drawn;

[0007] The direction of the zebra crossing stripe to be drawn is determined based on the direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn.

[0008] According to the direction of the zebra crossing stripe to be drawn, a stripe is drawn within the outer contour of the zebra crossing to be drawn, thus obtaining the completed target zebra crossing.

[0009] In one embodiment of this disclosure, determining the strip direction of the zebra crossing to be drawn based on the direction of the lane line closest to the outer contour of the zebra crossing to be drawn includes:

[0010] Determine the lane line that is closest to the outer contour of the zebra crossing to be drawn;

[0011] The direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn is taken as the strip direction of the zebra crossing to be drawn.

[0012] In one embodiment of this disclosure, determining the lane line closest to the outer contour of the zebra crossing to be drawn includes:

[0013] Determine the center point of the outer contour of the zebra crossing to be drawn, and the lane lines around the outer contour of the zebra crossing to be drawn;

[0014] Starting from the center point, draw a perpendicular line to the lane lines surrounding the outer contour of the zebra crossing to be drawn;

[0015] The lane line corresponding to the shortest vertical line is taken as the lane line that is closest to the outer contour of the zebra crossing to be drawn.

[0016] In one embodiment of this disclosure, before drawing the stripe within the outer contour of the zebra stripe according to the stripe direction to be drawn, the method further includes:

[0017] Remove noise points from the outer contour of the zebra stripe to be drawn.

[0018] In one embodiment of this disclosure, removing noise points from the outer contour of the zebra stripe to be drawn includes:

[0019] Determine the center point of the outer contour of the zebra stripe to be drawn;

[0020] Calculate the distance between the outline points of the zebra crossing to be drawn and the center point;

[0021] Remove contour points whose distance from the center point exceeds a first preset length.

[0022] In one embodiment of this disclosure, removing noise points from the outer contour of the zebra stripe to be drawn includes:

[0023] Line fitting is performed based on the contour points of the zebra crossing to be drawn to obtain the contour fitting line of the zebra crossing to be drawn.

[0024] Remove contour points whose distance from the contour fitting line exceeds a second preset length.

[0025] In one embodiment of this disclosure, drawing a stripe within the outer contour of the zebra crossing to be drawn according to the stripe direction includes:

[0026] Determine the center line of the zebra stripe according to the direction of the stripe to be drawn;

[0027] With the center line of the strip as the center, extend a preset distance to both sides to obtain the side lines of the strip;

[0028] A stripe is generated based on the side line of the stripe and the outer contour between the intersection of the side line of the stripe and the outer contour of the zebra stripe to be drawn.

[0029] In one embodiment of this disclosure, determining the center line of the zebra stripe based on its direction includes:

[0030] Determine the longest side of the outer contour of the zebra stripe to be drawn that is perpendicular to the stripe direction of the zebra stripe to be drawn;

[0031] The longest side is divided into equal parts by a preset interval for interpolation, resulting in multiple interpolation points;

[0032] Draw a ray along the stripe direction of the zebra stripe to be drawn from the interpolation point to the outer contour of the zebra stripe to be drawn, and obtain the intersection point of the ray and the outer contour of the zebra stripe to be drawn.

[0033] Connect the interpolation points and their corresponding intersections to obtain the strip centerline.

[0034] In one embodiment of this disclosure, after generating the stripe, the process further includes:

[0035] Fill the strip with a preset color.

[0036] Secondly, this disclosure provides a zebra crossing drawing device.

[0037] Specifically, the zebra crossing drawing device includes:

[0038] The acquisition module is configured to acquire the outer contour of the zebra crossing to be drawn.

[0039] The determination module is configured to determine the stripe direction of the zebra crossing to be drawn based on the direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn.

[0040] The drawing module is configured to draw stripes within the outer contour of the zebra crossing to be drawn according to the stripe direction of the zebra crossing to be drawn, thereby obtaining the drawn target zebra crossing.

[0041] Thirdly, embodiments of this disclosure provide an electronic device, including a memory and a processor. The memory stores one or more computer instructions that support a zebra crossing drawing device in executing the zebra crossing drawing method described above. The processor is configured to execute the computer instructions stored in the memory. The zebra crossing drawing device may also include a communication interface for communicating with other devices or communication networks.

[0042] Fourthly, embodiments of this disclosure provide a computer-readable storage medium for storing computer instructions used by a zebra crossing drawing apparatus, including computer instructions for executing the above-described zebra crossing drawing method in connection with the zebra crossing drawing apparatus.

[0043] Fifthly, embodiments of this disclosure provide a computer program product, including a computer program / instructions, wherein the computer program / instructions, when executed by a processor, implement the above-described zebra stripe drawing method.

[0044] The technical solutions provided in this disclosure may have the following beneficial effects:

[0045] The aforementioned technical solution determines the direction of the zebra crossing stripes based on the outer contour of the zebra crossing, and further completes the drawing of the zebra crossing stripes according to the direction of the zebra crossing stripes, thereby obtaining the zebra crossing. This technical solution can automatically generate zebra crossings containing stripes based on the outer contour of the zebra crossing, which can greatly save manual drawing costs, not only improve the drawing quality of zebra crossings, but also improve the work efficiency of zebra crossing drawing, and can meet the needs of smart city and other services for refined rendering.

[0046] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the embodiments of this disclosure. Attached Figure Description

[0047] Other features, objects, and advantages of embodiments of this disclosure will become more apparent from the following detailed description of non-limiting implementations, taken in conjunction with the accompanying drawings. In the drawings:

[0048] Figure 1 A flowchart illustrating a zebra crossing drawing method according to an embodiment of the present disclosure is shown;

[0049] Figure 2A A schematic diagram of the outer contour of a zebra crossing to be drawn according to an embodiment of the present disclosure is shown;

[0050] Figure 2B A schematic diagram showing the longest side and interpolation points of the outer contour of a zebra crossing to be drawn according to an embodiment of the present disclosure;

[0051] Figure 2C A schematic diagram of the center line of a strip according to an embodiment of the present disclosure is shown;

[0052] Figure 2D A schematic diagram of the strip side line according to an embodiment of the present disclosure is shown;

[0053] Figure 2E A schematic diagram of a zebra stripe according to an embodiment of the present disclosure is shown;

[0054] Figure 3 A structural block diagram of a zebra crossing drawing apparatus according to an embodiment of the present disclosure is shown;

[0055] Figure 4 This is a schematic diagram of the structure of a computer system suitable for implementing the zebra stripe drawing method according to an embodiment of the present disclosure. Detailed Implementation

[0056] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of the exemplary embodiments have been omitted from the drawings.

[0057] In embodiments disclosed herein, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, numbers, steps, behaviors, components, portions or combinations thereof disclosed herein, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, portions or combinations thereof are present or added.

[0058] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings and examples.

[0059] The technical solution provided in this disclosure determines the direction of the zebra crossing stripes based on the outer contour of the zebra crossing, and further completes the drawing of the zebra crossing stripes according to the direction of the zebra crossing stripes, thereby obtaining the zebra crossing. This technical solution can automatically generate zebra crossings containing stripes based on the outer contour of the zebra crossing, which can greatly save manual drawing costs, not only improve the drawing quality of zebra crossings, but also improve the work efficiency of zebra crossing drawing, and can meet the needs of smart city and other services for refined rendering.

[0060] Figure 1 A flowchart illustrating a zebra crossing drawing method according to an embodiment of the present disclosure is shown, as follows: Figure 1 As shown, the zebra crossing drawing method includes the following steps S101-S103:

[0061] In step S101, the outer contour of the zebra stripe to be drawn is obtained;

[0062] In step S102, the strip direction of the zebra crossing to be drawn is determined according to the direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn;

[0063] In step S103, stripes are drawn within the outer contour of the zebra crossing to be drawn according to the stripe direction, thus obtaining the completed target zebra crossing.

[0064] As mentioned above, with social development and progress, there are more and more vehicles on the road, and road conditions are becoming increasingly complex. Many users rely on electronic maps for guidance when traveling, making the accurate rendering of traffic lines in electronic maps crucial. For example, zebra crossings in high-precision maps are complex to create, requiring not only the outer outline but also the internal stripes. This results in high production costs. Currently, existing technologies can only provide the drawing of the zebra crossing's outer outline, which clearly cannot meet the needs of smart city services for detailed rendering. Therefore, there is an urgent need for a technical solution that automatically generates zebra crossings containing stripes based on their outer outline.

[0065] Considering the aforementioned problems, this embodiment proposes a zebra crossing drawing method. This method determines the direction of the zebra stripes based on the outer contour of the zebra crossing, and further draws the zebra stripes according to their direction, thus obtaining the zebra crossing. This technical solution can automatically generate zebra crossings containing stripes based on the outer contour of the zebra crossing, significantly reducing manual drawing costs. It not only improves the drawing quality of zebra crossings but also increases the efficiency of zebra crossing drawing, meeting the needs of smart city and other services for refined rendering.

[0066] In one embodiment of this disclosure, the zebra crossing drawing method can be applied to computers, computing devices, electronic devices, servers, service clusters, etc., that are capable of drawing zebra crossings.

[0067] In one embodiment of this disclosure, the zebra crossing outline to be drawn refers to the outer contour line of the zebra crossing including stripes, which may be composed of multiple outer contour points, each with corresponding position coordinate information. In one embodiment of this disclosure, the zebra crossing outline to be drawn can be obtained by staff based on acquired traffic point cloud data, wherein the traffic point cloud data refers to a collection of three-dimensional point data of the actual traffic road surface collected by a three-dimensional laser scanning instrument, or it may be obtained and input by users or other resources.

[0068] In one embodiment of this disclosure, the direction of the zebra crossing stripe to be drawn refers to the direction of the stripe of a certain width within the zebra crossing itself. Since the overall direction of the zebra crossing is perpendicular to the direction of the nearest lane line, and the direction of the stripe within the zebra crossing is perpendicular to the overall direction of the zebra crossing, the direction of the stripe within the zebra crossing is parallel to the direction of the nearest lane line. Therefore, the direction of the stripe within the zebra crossing can be determined based on the direction of the lane line closest to the outer contour of the zebra crossing.

[0069] In the above implementation, the outer contour of the zebra crossing to be drawn is first obtained, and then the strip direction of the zebra crossing to be drawn is determined according to the direction of the lane line closest to the outer contour of the zebra crossing to be drawn. Finally, the strip is drawn in the outer contour of the zebra crossing to be drawn according to the strip direction of the zebra crossing to be drawn, and the target zebra crossing is finally drawn.

[0070] In one embodiment of this disclosure, step S102, namely, determining the strip direction of the zebra crossing to be drawn based on the direction of the lane line closest to the outer contour of the zebra crossing to be drawn, may include the following steps:

[0071] Determine the lane line that is closest to the outer contour of the zebra crossing to be drawn;

[0072] The direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn is taken as the strip direction of the zebra crossing to be drawn.

[0073] As mentioned above, since the overall direction of a zebra crossing is perpendicular to the direction of the nearest lane line, and the direction of the inner stripes of the zebra crossing is perpendicular to the overall direction of the zebra crossing, the direction of the inner stripes of the zebra crossing is parallel to the direction of the nearest lane line. Therefore, in this embodiment, the direction of the lane line closest to the outer contour of the zebra crossing to be drawn can be used as the strip direction of the zebra crossing to be drawn.

[0074] In one embodiment of this disclosure, the step of determining the lane line closest to the outer contour of the zebra crossing to be drawn may include the following steps:

[0075] Determine the center point of the outer contour of the zebra crossing to be drawn, and the lane lines around the outer contour of the zebra crossing to be drawn;

[0076] Starting from the center point, draw a perpendicular line to the lane lines surrounding the outer contour of the zebra crossing to be drawn;

[0077] The lane line corresponding to the shortest vertical line is taken as the lane line that is closest to the outer contour of the zebra crossing to be drawn.

[0078] In this embodiment, when determining the lane line closest to the outer contour of the zebra crossing to be drawn, firstly, the center point of the outer contour of the zebra crossing to be drawn is determined based on the coordinate values ​​of the points that make up the outer contour of the zebra crossing to be drawn, and the lane lines around the outer contour of the zebra crossing to be drawn are also determined. Then, starting from the center point, perpendicular lines are drawn to the lane lines around the outer contour of the zebra crossing to be drawn, and the intersection points of the perpendicular lines and the lane lines are obtained. Then, based on the coordinate values ​​of the center point and the coordinate values ​​of the intersection points of the perpendicular lines, the length of the perpendicular line between the center point and the intersection points of the perpendicular lines is calculated. The lane line corresponding to the shortest perpendicular line can be considered as the lane line closest to the outer contour of the zebra crossing to be drawn.

[0079] In one embodiment of this disclosure, before the step of drawing the stripe within the outer contour of the zebra stripe according to the stripe direction, step S103 may further include the following steps:

[0080] Remove noise points from the outer contour of the zebra stripe to be drawn.

[0081] As mentioned above, the outer contour of the zebra crossing to be drawn can be drawn by staff based on the acquired traffic point cloud data, or it can be obtained and input by users or other resources. Therefore, the shape of the outer contour of the zebra crossing to be drawn may be irregular and may contain some noise points that are far away from the outer contour of the zebra crossing to be drawn. Therefore, in this embodiment, it is necessary to identify and remove the noise points in the outer contour of the zebra crossing to be drawn in order to obtain a relatively regular outer contour of the zebra crossing to be drawn.

[0082] In one embodiment of this disclosure, noise points in the outer contour of the zebra crossing to be drawn can be identified and removed based on the center point of the outer contour. Specifically, in this embodiment, the step of removing noise points from the outer contour of the zebra crossing to be drawn may include the following steps:

[0083] Determine the center point of the outer contour of the zebra stripe to be drawn;

[0084] Calculate the distance between the outline points of the zebra crossing to be drawn and the center point;

[0085] Remove contour points whose distance from the center point exceeds a first preset length.

[0086] In this embodiment, the center point of the zebra crossing outer contour to be drawn is first determined based on the coordinate values ​​of the contour points of the zebra crossing outer contour to be drawn; then the distance between the contour points of the zebra crossing outer contour to be drawn and the center point is calculated respectively; then contour points whose distance from the center point exceeds a first preset length are removed as noise points of the zebra crossing outer contour to be drawn.

[0087] In another embodiment of this disclosure, noise points in the outer contour of the zebra crossing to be drawn can also be identified and removed by means of line fitting. That is, in this embodiment, the step of removing noise points in the outer contour of the zebra crossing to be drawn may include the following steps:

[0088] Line fitting is performed based on the contour points of the zebra crossing to be drawn to obtain the contour fitting line of the zebra crossing to be drawn.

[0089] Remove contour points whose distance from the contour fitting line exceeds a second preset length.

[0090] In this embodiment, firstly, line fitting is performed based on the contour points of the zebra crossing to be drawn to obtain the contour fitting line of the zebra crossing to be drawn; then, the distance between the contour points of the zebra crossing to be drawn and the contour fitting line is calculated; finally, contour points whose distance from the contour fitting line exceeds a second preset length are removed as noise points of the zebra crossing to be drawn.

[0091] In one embodiment of this disclosure, step S103, which involves drawing a stripe within the outer contour of the zebra crossing according to the stripe direction, may include the following steps:

[0092] Determine the center line of the zebra stripe according to the direction of the stripe to be drawn;

[0093] With the center line of the strip as the center, extend a preset distance to both sides to obtain the side lines of the strip;

[0094] A stripe is generated based on the side line of the stripe and the outer contour between the intersection of the side line of the stripe and the outer contour of the zebra stripe to be drawn.

[0095] As mentioned above, zebra stripes have a certain width. Therefore, when drawing stripes within the outer contour of the zebra stripe to be drawn, the center line of the stripe can be determined first based on the direction of the stripe. Then, using the center line as the center, the stripe can be extended to both sides by a preset distance to obtain the corresponding side lines. Finally, the side lines of the stripe and the outer contour lines between the intersections of the side lines and the outer contour of the zebra stripe to be drawn are connected sequentially to generate a stripe with a certain width. The preset distance can be set according to the needs of actual application; for example, the preset distance can be set to half the width of the stripe.

[0096] In one embodiment of this disclosure, the step of determining the center line of the zebra stripe based on its direction may include the following steps:

[0097] Determine the longest side of the outer contour of the zebra stripe to be drawn that is perpendicular to the stripe direction of the zebra stripe to be drawn;

[0098] The longest side is divided into equal parts by a preset interval for interpolation, resulting in multiple interpolation points;

[0099] Draw a ray along the stripe direction of the zebra stripe to be drawn from the interpolation point to the outer contour of the zebra stripe to be drawn, and obtain the intersection point of the ray and the outer contour of the zebra stripe to be drawn.

[0100] Connect the interpolation points and their corresponding intersections to obtain the strip centerline.

[0101] In this embodiment, when determining the center line of the zebra crossing stripe according to its stripe direction, the longest side perpendicular to the stripe direction of the zebra crossing stripe is first determined in the outer contour of the zebra crossing stripe to draw a more complete zebra crossing stripe. Then, the longest side is interpolated at a preset interval to obtain multiple interpolation points. The preset interval can be set according to the actual application needs. For example, the preset interval can be set as the sum of the stripe width and the distance between adjacent stripes. Then, a ray is drawn from the interpolation points along the stripe direction of the zebra crossing stripe to the outer contour of the zebra crossing stripe to obtain the intersection point of the ray with the outer contour of the zebra crossing stripe to be drawn. Finally, the interpolation points and the corresponding intersection points are connected to obtain the center line of the corresponding stripe, and finally, the center lines of multiple stripes within the outer contour of the zebra crossing stripe to be drawn are obtained.

[0102] In one embodiment of this disclosure, after the step of generating the stripes, the following steps may be included:

[0103] Fill the strip with a preset color.

[0104] To make the zebra stripes more distinct, in this embodiment, the resulting zebra stripes can be filled with a preset color. For example, the zebra stripes can be filled with white.

[0105] The following example illustrates how to draw zebra stripes.

[0106] Figure 2A This diagram illustrates the outer contour of a zebra crossing to be drawn according to an embodiment of the present disclosure. Figure 2A The zebra crossing outline to be drawn is shown below. First, the longest side perpendicular to the direction of the zebra crossing stripe is determined. Then, the longest side is interpolated at preset intervals to obtain multiple interpolation points. In this example, assuming the stripe width is 45 cm and the distance between adjacent stripes is also 45 cm, the preset interval can be set as the sum of the stripe width and the distance between adjacent stripes, i.e., 45 + 45 = 90 cm. The determined longest side and the interpolated points are shown below. Figure 2B As shown; then, through the interpolation point, draw a ray along the stripe direction of the zebra stripe to be drawn, towards the outer contour of the zebra stripe to be drawn, obtaining the intersection point of the ray and the outer contour of the zebra stripe to be drawn; then connect the interpolation point and the corresponding intersection point to obtain the center line of the stripe, as shown. Figure 2C As shown by the dotted line; then, taking the center line of the strip as the center, extend it to both sides by a preset distance to obtain the side lines of the strip. In this example, the preset distance is set to half the width of the strip, that is, 45 / 2 = 22.5 cm. Figure 2D The solid lines on both sides of the dashed line are shown; then, based on the side lines of the strip and the outer contour line between the intersection of the side lines of the strip and the outer contour of the zebra stripe to be drawn, a stripe is generated and filled with white to obtain the zebra stripe stripe, as shown. Figure 2E As shown.

[0107] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein.

[0108] Figure 3 The diagram shows a structural block diagram of a zebra crossing drawing apparatus according to an embodiment of the present disclosure. This apparatus can be implemented as part or all of an electronic device through software, hardware, or a combination of both. Figure 3 As shown, the zebra stripe drawing device includes:

[0109] The acquisition module 301 is configured to acquire the outer contour of the zebra stripe to be drawn.

[0110] The determining module 302 is configured to determine the strip direction of the zebra crossing to be drawn based on the direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn.

[0111] The drawing module 303 is configured to draw stripes within the outer contour of the zebra crossing to be drawn according to the stripe direction of the zebra crossing to be drawn, thereby obtaining the drawn target zebra crossing.

[0112] As mentioned above, with social development and progress, there are more and more vehicles on the road, and road conditions are becoming increasingly complex. Many users rely on electronic maps for guidance when traveling, making the accurate rendering of traffic lines in electronic maps crucial. For example, zebra crossings in high-precision maps are complex to create, requiring not only the outer outline but also the internal stripes. This results in high production costs. Currently, existing technologies can only provide the drawing of the zebra crossing's outer outline, which clearly cannot meet the needs of smart city services for detailed rendering. Therefore, there is an urgent need for a technical solution that automatically generates zebra crossings containing stripes based on their outer outline.

[0113] In view of the above problems, this embodiment proposes a zebra crossing drawing device. This device determines the direction of the zebra stripes based on the outer contour of the zebra crossing, and further draws the zebra stripes according to the direction of the zebra stripes, thus obtaining the zebra crossing. This technical solution can automatically generate zebra crossings containing stripes based on the outer contour of the zebra crossing, which can greatly save manual drawing costs, improve the drawing quality of zebra crossings, and increase the work efficiency of zebra crossing drawing, meeting the needs of smart city and other services for refined rendering.

[0114] In one embodiment of this disclosure, the zebra crossing drawing device can be a computer, computing device, electronic device, server, service cluster, etc., capable of performing zebra crossing drawing.

[0115] The technical features and their corresponding explanations and descriptions involved in the above-described device embodiments are the same as, corresponding to, or similar to the technical features and their corresponding explanations and descriptions involved in the above-described method embodiments. For the technical features and their corresponding explanations and descriptions involved in the above-described device embodiments, please refer to the technical features and their corresponding explanations and descriptions involved in the above-described method embodiments. This disclosure will not repeat them here.

[0116] This disclosure also discloses an electronic device, which includes a memory and a processor; wherein...

[0117] The memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement any of the above method steps.

[0118] Figure 4 This is a schematic diagram of the structure of a computer system suitable for implementing the zebra stripe drawing method according to an embodiment of the present disclosure.

[0119] like Figure 4 As shown, the computer system 400 includes a processing unit 401, which can execute various processes described above based on a program stored in a read-only memory (ROM) 402 or a program loaded from a storage section 408 into a random access memory (RAM) 403. The RAM 403 also stores various programs and data required for the operation of the computer system 400. The processing unit 401, ROM 402, and RAM 403 are interconnected via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0120] The following components are connected to I / O interface 405: an input section 406 including a keyboard, mouse, etc.; an output section 407 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN card, modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to I / O interface 405 as needed. A removable medium 411, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 410 as needed so that computer programs read from it can be installed into storage section 408 as needed. The processing unit 401 can be implemented as a CPU, GPU, TPU, FPGA, NPU, etc.

[0121] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a readable medium thereof, the computer program containing program code for performing the zebra crossing drawing method. In such embodiments, the computer program can be downloaded and installed from a network via communication section 409, and / or installed from removable medium 411.

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0123] The units or modules described in the embodiments of this disclosure can be implemented in software or hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0124] In another aspect, embodiments of this disclosure also provide a computer-readable storage medium, which may be a computer-readable storage medium included in the apparatus described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to perform the methods described in embodiments of this disclosure.

[0125] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for drawing zebra stripes, comprising: Obtain the outer contour of the zebra crossing to be drawn; Determine the center point of the outer contour of the zebra crossing to be drawn, and the lane lines around the outer contour of the zebra crossing to be drawn; Starting from the center point, draw a perpendicular line to the lane lines surrounding the outer contour of the zebra crossing to be drawn; The lane line corresponding to the shortest vertical line is taken as the lane line that is closest to the outer contour of the zebra crossing to be drawn; The direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn is taken as the strip direction of the zebra crossing to be drawn. According to the direction of the zebra crossing stripe to be drawn, a stripe is drawn within the outer contour of the zebra crossing to be drawn, thus obtaining the completed target zebra crossing.

2. The method according to claim 1, further comprising, before drawing the stripe within the outer contour of the zebra stripe according to the stripe direction of the zebra stripe to be drawn: Remove noise points from the outer contour of the zebra stripe to be drawn.

3. The method according to claim 2, wherein removing noise points from the outer contour of the zebra stripe to be drawn comprises: Determine the center point of the outer contour of the zebra stripe to be drawn; Calculate the distance between the outline points of the zebra crossing to be drawn and the center point; Remove contour points whose distance from the center point exceeds a first preset length.

4. The method according to claim 3, wherein removing noise points from the outer contour of the zebra stripe to be drawn comprises: Line fitting is performed based on the contour points of the zebra crossing to be drawn to obtain the contour fitting line of the zebra crossing to be drawn. Remove contour points whose distance from the contour fitting line exceeds a second preset length.

5. The method according to any one of claims 1-4, wherein drawing a stripe within the outer contour of the zebra stripe to be drawn according to the stripe direction of the zebra stripe to be drawn comprises: Determine the center line of the zebra stripe according to the direction of the stripe to be drawn; With the center line of the strip as the center, extend a preset distance to both sides to obtain the side lines of the strip; A stripe is generated based on the side line of the stripe and the outer contour between the intersection of the side line of the stripe and the outer contour of the zebra stripe to be drawn.

6. The method according to claim 5, wherein determining the center line of the zebra stripe according to the stripe direction to be drawn comprises: Determine the longest side of the outer contour of the zebra stripe to be drawn that is perpendicular to the stripe direction of the zebra stripe to be drawn; The longest side is divided into equal parts by a preset interval for interpolation, resulting in multiple interpolation points; Draw a ray along the stripe direction of the zebra stripe to be drawn from the interpolation point to the outer contour of the zebra stripe to be drawn, and obtain the intersection point of the ray and the outer contour of the zebra stripe to be drawn. Connect the interpolation points and their corresponding intersections to obtain the strip centerline.

7. The method according to claim 5, further comprising, after generating the strips: Fill the strip with a preset color.

8. A zebra crossing drawing device, comprising: The acquisition module is configured to acquire the outer contour of the zebra crossing to be drawn. The determination module is configured to determine the center point of the outer contour of the zebra crossing to be drawn, and the lane lines around the outer contour of the zebra crossing to be drawn; and draw a perpendicular line from the center point to the lane lines around the outer contour of the zebra crossing to be drawn. The lane line corresponding to the shortest vertical line is taken as the lane line that is closest to the outer contour of the zebra crossing to be drawn; The direction of the lane line that is closest to the outer contour of the zebra crossing to be drawn is taken as the strip direction of the zebra crossing to be drawn. The drawing module is configured to draw stripes within the outer contour of the zebra crossing to be drawn according to the stripe direction of the zebra crossing to be drawn, thereby obtaining the drawn target zebra crossing.

9. An electronic device, characterized in that, The method includes a memory and at least one processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the at least one processor to implement the steps of the method according to any one of claims 1-7.

10. A computer program product comprising a computer program / instructions, wherein, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-7.

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