A rod-shaped object vector graphics generation method and device

Abstract

The present application discloses a rod-shaped object vector graphics generation method and device, which solves the problem that the prior art drawing of rod-shaped object vector graphics is affected by incomplete bottom or top point cloud collection. A rod-shaped object vector graphics generation method, used for high-precision maps of point cloud data, includes: obtaining point cloud data of the target area; responding to GUI to capture point cloud data points, determining the plane coordinates of the first point; the first point is any point in the middle point cloud of the rod-shaped object; determining the first elevation value of any point on the horizontal ground where the rod-shaped object is located, and determining the second point of the rod-shaped object on the ground through the first elevation value and the plane coordinates; determining the second elevation value of the third point at the top of the rod-shaped object according to the length of the rod-shaped object; and determining the rod-shaped object line with the second point and / or the third point. The present application can be compatible with some of the problems of its data and perform specific processing on rod-shaped objects, which can improve the efficiency and accuracy of acquisition production and ensure the current demand for high-precision maps for intelligent driving.

Description

Technical Field

[0001] The present application relates to the technical field of map and terrain processing, and in particular to a method and device for generating vector graphics of a rod-shaped object. Background Art

[0002] With the development of intelligent driving technology, the demand for navigation electronic maps continues to increase, which has led to the development of a high-precision map for autonomous or semi-autonomous driving, generally called a high-precision map. For example, a high-precision navigation electronic map of a road contains the geometry, attributes and relationships of the road network, lane network, road markings and road facilities, supports the access of dynamic road data, assists the autonomous intelligent movement of road vehicles and the refined management of road traffic, and is an electronic map or data set that can be used in conjunction with a general navigation electronic map. As a priori data serving autonomous driving, if real-time and dynamic data are not considered, it expresses map elements such as roads, lanes, roadside traffic signs and ground signs, and its geometric accuracy can be down to the centimeter level. And this is only its geometric accuracy. If we want to bring better predictions to intelligent driving, when only considering static data, we also need to know a lot of road and roadside sign information in advance. In addition to adding a large amount of plane and elevation element collection work, we also need to fill in complex semantic information. The production of high-precision map data is mainly based on the results of vehicle-mounted point cloud data. Although the collection accuracy and coverage of point cloud data are already very high during production, and there are also related software and hardware equipment for automatic collection or recognition, the complexity, clarity, and standardization of signs of real roads will bring problems to the original point cloud data results and the automatic collection and recognition based on them. It is very disturbing and cannot be completely automated, or it cannot be solved by automated tools at all. However, completely manual collection is very inefficient, and the timeliness of high-precision map data must be guaranteed. It is conceivable that the poles on the road may actually exist in bushes or flower beds, and it is difficult to truly draw their real bottoms. When scanning and collecting, the point cloud device will only scan half or more of the area of ​​the pole, and it may even cause the surface point cloud of the pole to be missing due to occlusion. Its top position may also be difficult to draw. Even if it is drawn, the lines connecting the upper and lower points are not vertical, which will affect the expression of the data, and the correction work is very complicated. Its work is a regular and frequent one, and the cost of investment will be very large. High-precision map data is crucial in intelligent driving technology, so how to ensure the accuracy of the data and improve the collection efficiency has become a key issue. Summary of the invention

[0003] The present application proposes a rod-shaped object vector graphics generation method and device, which solves the problem that the drawing of the rod-shaped object vector graphics in the prior art is affected by the incomplete collection of the bottom or top point cloud.

[0004] In a first aspect, an embodiment of the present application provides a method for generating a rod-shaped object vector graphics for a high-precision map of point cloud data, comprising:

[0005] Obtain point cloud data of the target area;

[0006] In response to the GUI capturing a point cloud data point, determining the plane coordinates of a first point; the first point is any point in the point cloud in the middle of the rod-shaped object;

[0007] Determine a first elevation value of any point on the horizontal ground where the rod-shaped object is located, and determine a second point on the ground where the rod-shaped object is located by using the first elevation value and the plane coordinates;

[0008] Determine the second elevation value of the third point at the top of the rod-shaped object according to the length of the rod-shaped object;

[0009] The shaft line is determined by the second point and / or the third point.

[0010] In one embodiment, determining the plane coordinates of the first point specifically comprises the steps of:

[0011] Determine the plane coordinates of the axis of the rod-shaped object according to the point cloud data of the rod-shaped object surface;

[0012] The plane coordinates of the axis of the rod are used as the plane coordinates of the first point.

[0013] Furthermore, determining the plane coordinates of the axis of the rod-shaped object specifically includes the following steps:

[0014] The average of all the point cloud plane coordinates at any horizontal height of the rod-shaped object is used to obtain a point as the axis point of the rod-shaped object.

[0015] In one embodiment, determining the third point specifically comprises the steps of:

[0016] Determine the category of the rod-shaped object, and obtain the attributes of the rod-shaped object according to the category of the rod-shaped object; the attributes of the rod-shaped object include a preset length of the rod-shaped object;

[0017] According to the length of the rod, a third point is obtained by extending upward from the second point perpendicularly to the horizontal plane.

[0018] In one embodiment, determining the third point specifically comprises the steps of:

[0019] According to the point cloud data on the rod surface, determine the elevation value at the highest point of the rod;

[0020] The third point is determined using the highest elevation value as the second elevation value.

[0021] In one embodiment, the method further comprises the steps of:

[0022] In response to drawing a rod-shaped object, determining the plane coordinates of the first points of all rod-shaped objects of the same type as the rod-shaped object in the target area;

[0023] Copy the drawn rod-shaped object to the plane coordinate position of each similar rod-shaped object.

[0024] In one of the embodiments, in response to the upper end of the rod-shaped object including a horizontally extending portion, the elevation value of the horizontally extending portion is used as the elevation value of the third point.

[0025] In a second aspect, the present application also provides a rod-shaped object vector graphics generating device, which is used to implement the high-precision map rod-shaped object vector graphics generating method based on point cloud data described in any one of the embodiments of the first aspect, comprising: an acquisition module, which is used to acquire point cloud data of a target area. A determination module, which is used to respond to the GUI capturing point cloud data points, determine the plane coordinates of the first point; and also to determine the first elevation value; and also to determine the length of the rod-shaped object. A generation module, which is used to determine the rod-shaped object line with the second point and / or the third point.

[0026] In a third aspect, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in any one of the embodiments of the first aspect.

[0027] In a fourth aspect, an embodiment of the present application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any one of the embodiments of the first aspect when executing the computer program.

[0028] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0029] The present application is able to accommodate some of the problems with its data and perform specific processing on rod-shaped objects, and can accurately determine the position of rod-shaped objects without being affected by ground debris, thereby enabling convenient drawing of plane or elevation traffic elements, improving the efficiency and accuracy of data collection and production, and significantly improving the efficiency of high-precision map data production, thereby ensuring the current demand for high-precision maps for intelligent driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0031] Figure 1 A schematic diagram of a commercial server system for the application scenario of this application;

[0032] Figure 2This is a flow chart of a method for generating vector graphics of a rod-shaped object according to an embodiment of the present application;

[0033] Figure 3 This is a flow chart of another method for generating vector graphics of a rod-shaped object according to an embodiment of the present application;

[0034] Figure 4 This is a flow chart of a third rod-shaped object vector graphics generation method according to an embodiment of the present application;

[0035] Figure 5 This is a structural diagram of a rod-shaped object vector graphics generating device according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0037] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0038] Figure 1 The commercial server system schematic diagram of the application scenario of this application includes: laser radar 300, road point cloud database 310, point cloud data processor 320, GUI operation interface and operation terminal 330, vehicle application terminal 340, at least one result map data set 350, navigation or automatic driving server 360.

[0039] In the present application, the vector graphics data of the road sign is generated by the point cloud data processor 320, and a code is set for each type of road sign graphic to represent the type of road sign feature in the high-precision map data. The vehicle-mounted application terminal 340 of the intelligent driving device retrieves its geometric information and some attribute information assigned to it at the spatial position, that is, a set of coordinate points and a set of attributes. The set of coordinate points includes the three-dimensional coordinates (XYZ) of each node, reflecting the terrain undulation and slope. The attribute information includes some spatial topological relationships and association relationships, which represent the adjacent relationship of the drawn line plus other attribute information. In the result map data set 350, these vector graphics data are stored through layers, each type of data belongs to a layer, and each layer has some attribute information. For cars, the vehicle-mounted application terminal needs to identify these data through specific layers. For example, the attribute information of a point symbol is "indicator light", and its graphic can be a point. Or, a point symbol, the attribute information contains features such as "indicator light", "surveillance camera" or "road sign", that is, the graphic usage information is stored in the attribute.

[0040] Geometric information and attribute information are static data used to describe the road signs, and intelligent driving is based on these static data. Features such as road equipment and sign information, such as the height, instructions, and warnings of the signs, are entered into the attributes. The intelligent driving system makes predictions based on the attribute values, such as displaying the arrow mark at the intersection in advance and the left turn sign in advance. As long as there is a correlation with the position of the left turn sign, the system will directly warn how many meters ahead you can turn left.

[0041] The navigation or autonomous driving server 360 is used to generate a map displayed during vehicle navigation, and then provide navigation services or autonomous driving services on the displayed map. The map displayed in real time during navigation on the road is a superposition of vector graphics data and map by location. The road data used for navigation and other topographic map data are displayed as its background data to the specific location, and the maps on both sides of the road can also be displayed.

[0042] The vehicle-mounted laser radar 300 scans the road to generate road point cloud data, and the point cloud data processor generates point cloud data results, which are stored in the road point cloud database 310. The method described in the present application mainly realizes the rapid collection of roadside pole-shaped marking lines based on the vehicle-mounted point cloud data results, so as to draw pole-shaped objects. The present invention does not rely solely on computers to identify and collect, but is based on rules, and the operator makes judgments, selects and sets relevant information to achieve rapid collection work in a human-computer interactive manner. The data is mainly classified from the accuracy requirements of high-precision map data. The ones with high geometric accuracy requirements are generally ground line elements, and the ones with high attribute accuracy requirements are mainly lines used for marking such as poles. Therefore, the high geometric accuracy requires that its position must be accurate, and for those with high attribute information, we can slightly reduce the accuracy of its appearance shape to improve the efficiency of collection.

[0043] Figure 2 This is a flow chart of a rod-shaped object vector graphics generation method according to an embodiment of the present application, which is used to generate a high-precision map containing rod-shaped objects based on point cloud data. It should be noted that the rod-shaped objects photographed by the point cloud car may be incomplete. For example, the point cloud cannot be obtained at the bottom or the top, and thus it is impossible to accurately collect them one by one; and for the same area or the same road, rod-shaped objects are actually divided into different categories, and the heights of the same category are generally the same. The device and method of the present application support the rapid generation of reliable rod-shaped object vector graphics data through an interactive operation mode. Specifically comprising steps: 110~150.

[0044] Step 110: Acquire point cloud data of the target area.

[0045] In one embodiment of the present application, the point cloud data of the target road is obtained by shooting with a point cloud car and stored in the road point cloud database 310, or further processed by a point cloud data processor. When the operator retrieves the point cloud data through the production application terminal, the point cloud data of the target road is obtained, and an image of the point cloud data is generated on the production application terminal or a GUI connected thereto, and then feedback from the GUI is received to generate geographic information vector map data.

[0046] Step 120 , in response to the GUI capturing a point cloud data point, determining the coordinates of a first point; the first point is any point in the point cloud in the middle of the rod-shaped object.

[0047] The coordinates at least include plane coordinates (XY). In the present application, the plane coordinates, i.e., the coordinates of the point on the horizontal plane, refer to the position of the projection on the horizontal plane.

[0048] It should be noted that the first point here is to capture manually or automatically on the point cloud image.

[0049] Manual capture here refers to manually selecting a point cloud data point in the point cloud image on the GUI interface to obtain the position and coordinates of the selected point; or manually selecting a spatial point adjacent to several point cloud data points, and the position and coordinates of the spatial point are obtained by interpolating the coordinates of the several point cloud data points.

[0050] It should be noted that when capturing point clouds, that is, if there is a hole in a certain section of the ground without point clouds, the coordinates of the selected point cannot be directly obtained. Instead, they will be calculated separately here. That is, whether the selected spatial points are one or more, if the point cloud coordinates of the selected points cannot be obtained, the coordinates that can be obtained from several nearby point cloud data points will be used for calculation, in order to make up for the problem that the point cloud data is incomplete and the position and coordinates of the selected points cannot be obtained.

[0051] The automatic capture here means automatically searching the image of the rod-shaped object in the point cloud image within the range set on the GUI interface, selecting any point therein, and obtaining the position and coordinates of the selected point. Alternatively, a spatial point whose distance statistics from the point cloud data points constituting the rod-shaped object meet the set range is automatically selected, and the position and coordinates of the spatial point are obtained by interpolating the coordinates of the several point cloud data points.

[0052] In one embodiment, in step 120, the plane coordinates of the first point are determined, such as Figure 3 As shown, the specific steps include:

[0053] Step 120 - 1 : In response to capturing the point cloud data points, determine the plane coordinates of the axis of the rod-shaped object according to the point cloud data of the rod-shaped object surface.

[0054] Furthermore, determining the plane coordinates of the axis of the rod-shaped object specifically includes the following steps:

[0055] Step 120 - 1 - 1 , calculate the average value of all the point cloud plane coordinates at any horizontal plane height of the rod-shaped object to obtain a point as the axis point of the rod-shaped object.

[0056] For example, the first point is arbitrarily selected where the point cloud of the outer circle of the rod is clear and complete. By responding to the GUI to select a position on the outer circle of the rod, the set range is determined, and the plane coordinates of the point cloud within a certain range above and below the horizontal plane where the first point is located are all involved in the calculation, and the coordinates of one point obtained after averaging are the center point of the rod. For another example, select an area where the point cloud coverage on the outer surface of the rod is relatively clear and complete, select a point through the GUI, and obtain the coordinates of multiple points within a certain interval on the horizontal plane around this point, for example, along a circle around the outer periphery of the rod, calculate the average coordinates, and determine them as the coordinates of the center point of the rod.

[0057] Step 120 - 2 , using the plane coordinates of the axis of the rod as the plane coordinates of the first point.

[0058] Step 130: determine a first elevation value of any point on the horizontal ground where the rod-shaped object is located, and determine a second point where the rod-shaped object is located on the ground by using the first elevation value and the plane coordinates.

[0059] The function of the second point is to obtain its bottom elevation, that is, to assign an elevation value.

[0060] For example, the second point selects the ground position of the bottom of the rod-shaped object. Since the point cloud of the bottom of the rod-shaped object is usually difficult to collect, the surrounding ground point cloud at the same horizontal plane as the bottom of the rod-shaped object can be selected to accurately collect the first elevation value of the second point.

[0061] It should be noted that any point on the horizontal ground here is captured manually or automatically on the point cloud image.

[0062] The manual capture here refers to manually selecting a point cloud data point at any point on the horizontal ground in the point cloud image on the GUI interface to obtain the first elevation value of the selected point; or manually selecting a spatial point adjacent to several point cloud data points on the horizontal ground, and the first elevation value of the spatial point is obtained by interpolating the elevation values ​​of the several point cloud data points.

[0063] The automatic capture here means automatically searching for any point on the ground near the rod in the point cloud image within the range set on the GUI interface and obtaining the first elevation value of the selected point. Or automatically selecting a spatial point near several point cloud data points on the horizontal ground, the first elevation value of which is obtained by interpolating the elevation values ​​of the several point cloud data points.

[0064] Step 140: Determine a second elevation value of a third point at the top of the rod according to the length of the rod.

[0065] In one embodiment, in step 140, determining the third point specifically includes steps 140-11 and 140-12:

[0066] Step 140 - 11 , determining the category of the rod-shaped object, and acquiring the attributes of the rod-shaped object according to the category of the rod-shaped object; the attributes of the rod-shaped object include a preset length of the rod-shaped object.

[0067] It should be noted that in step 140 - 11 , the operator may observe the point cloud image displayed on the GUI and visually determine the type of the rod-shaped object; or the rod-shaped object image may be automatically identified in the point cloud data to further determine the type of the rod-shaped object.

[0068] The category and attribute of the rod-shaped object can be obtained by clicking in a preset identification library / table and input into the system through the GUI. For another example, according to at least a part of the attribute values ​​provided by the operator through the GUI, the production operation terminal automatically queries the identification library / table to determine other attribute values ​​corresponding to the at least a part of the attribute values.

[0069] Step 140-12: according to the length of the rod, extend upward from the second point perpendicular to the horizontal plane to obtain a third point.

[0070] For example, the specification standards of various rod-shaped objects are found from the preset identification library / table in the map database, and the length attribute of a certain type of rod-shaped object is determined, thereby determining the height of the rod-shaped object of this type, and the elevation value of the third point is determined based on this height.

[0071] In another embodiment, in step 140, determining the third point specifically includes steps 140-21 and 140-22:

[0072] Step 140-21: determine the elevation value at the highest point of the rod-shaped object based on the point cloud data of the rod-shaped object surface.

[0073] It should be noted that in step 140-21, the operator may observe the point cloud image displayed on the GUI and visually select a point at the highest point on the rod-shaped object; or the highest point of the coordinate perpendicular to the horizontal plane in the rod-shaped object image may be automatically identified in the point cloud data.

[0074] That is to say, the highest point of the rod-shaped object here is captured manually or automatically on the point cloud image.

[0075] Manual capture here refers to manually selecting a point cloud data point at the highest point of a rod-shaped object in the point cloud image on the GUI interface to obtain the elevation value of the selected point; or manually selecting a spatial point near the highest point of a rod-shaped object, and the elevation value of the spatial point is obtained by interpolating the elevation values ​​of several point cloud data points around the spatial point.

[0076] The automatic capture here means to automatically search for the point cloud data point at the highest point of the rod in the point cloud image of the range set on the GUI interface and obtain the elevation value of the selected point. Or automatically select a spatial point near the highest point of the rod, and the elevation value of the spatial point is obtained by interpolating the elevation values ​​of several point cloud data points around the spatial point.

[0077] Step 140-22, determine the third point using the elevation value of the highest point as the second elevation value.

[0078] In response to the fact that the point cloud data collection of the highest point of the top of the rod-shaped object is relatively complete, the elevation value of the highest point of the rod-shaped object can be determined through the point cloud data as the second elevation value.

[0079] The third point is obtained by obtaining the elevation of the vertex of the rod, and the plane coordinates XY are the same as those of the first point. The elevation difference between the third point and the first point is the length of the rod.

[0080] It should be noted that, in this application, the third point is optional.

[0081] Step 150: Determine the rod line using the second point and / or the third point.

[0082] Determining the rod line includes generating a display graphic on the GUI. It should be noted that the rod line here is manually drawn through the GUI, or a line graphic of the rod line is automatically generated based on the manually captured first point, second point and / or third point and displayed through the GUI.

[0083] A graphic symbol is generated on the map. The bottom section of the rod has the same plane coordinates as the top section, but different elevation coordinates. When viewed from the orthographic perspective, it is actually a point, which is equivalent to a vertical line that is completely perpendicular to the horizontal plane. Therefore, on the map, the graphic symbol of the rod-shaped object is a point.

[0084] Vector graphics data is generated in the high-precision map data. In one embodiment, the target rod is a vertical line, and the rod line is expressed by a straight line connecting the elevation coordinates of the second point and the third point. A graph of the rod line is generated on the GUI, and / or geometric data representing the rod line is generated in the vector graphics data. During the operation, only the plane coordinates of the first point and the set length of the rod need to be set. With the plane coordinates of the first point as the axis, a straight line graph displayed on the GUI is automatically generated from the horizontal ground along the length of the rod to the direction perpendicular to the horizontal ground, and expressed by straight line drawing, thereby completing the drawing of the rod line.

[0085] The rod line is embedded into the map data set as a special feature symbol. The data cluster of this special feature symbol includes geometric expression information and attribute information, including: the coordinates of the second and third points, the height of the rod, and the elevation value of the ground where the rod is located.

[0086] The rod line is a connecting line that includes at least the second point or the third point. The data cluster of the rod line includes the horizontal coordinate data of the first point, which constitutes the geometric information of the road sign type feature. When the height coordinate of the second point is the same as the ground elevation value, the rod is a rod line generated by extending upward from the local surface.

[0087] The elevation coordinates of the second point are obtained from the ground elevation where the rod is located. By obtaining the coordinates of the surface scan point cloud data points in the vertical direction, the elevation value of the ground where the rod is located is obtained.

[0088] The point cloud data points captured in the vertical direction can be determined by the operator observing the surface point cloud image displayed on the GUI and visually determining the surface point cloud data points; or it can be automatically identified in the point cloud data which point cloud sets belong to the surface point cloud image. After capturing the point cloud data points on the surface, the Z value of the point cloud data points is assigned to the second point.

[0089] The third point is the highest point of the rod, and its elevation value is the height of the rod.

[0090] In order to generate vector graphics data of the rod-shaped object in the high-precision map, step 150 includes three optional solutions:

[0091] 1. Determine the rod line with the second point;

[0092] The rod line can be uniquely determined according to the elevation coordinates of the second point and the height attribute of the rod. For example, the elevation coordinates of the second point are determined by the elevation value of the ground, the height attribute of the current rod is obtained through the rod data in the target area database, and the rod line is uniquely determined by the elevation coordinates of the second point, the height attribute of the rod and the horizontal coordinates of the first point.

[0093] 2. Determine the rod line with the third point;

[0094] The rod line can be uniquely determined according to the elevation coordinates of the third point and the elevation value of the ground or the elevation value of the second point. For example, by capturing the third point at the highest point of the rod, the elevation coordinates of the third point are obtained, the elevation value of the ground is obtained according to the target area database, and the rod line is uniquely determined according to the elevation coordinates of the second point, the elevation value of the bottom surface, and the horizontal coordinates of the first point.

[0095] 3. Determine the rod line with the second and third points;

[0096] The pole line can be uniquely determined based on the elevation coordinates of the second point and the elevation coordinates of the third point.

[0097] For example, the elevation coordinates of the second point are determined by the elevation value of the bottom surface, and the third point at which the rod is highest is captured by point cloud capture, thereby obtaining the elevation coordinates of the third point. The rod line is uniquely determined by the elevation coordinates of the second point, the elevation coordinates of the third point and the horizontal coordinates of the first point.

[0098] Through the above scheme, a rod-shaped linear feature is formed, which is completely perpendicular to the horizontal plane.

[0099] In another embodiment, the length of the fixed rod can be obtained by adding a length parameter to a single rod, or by automatically extending the rods in a vertical direction in batches.

[0100] like Figure 4As shown, in one embodiment, the method further comprises the steps of:

[0101] Step 160: In response to drawing a rod-shaped object, determine the plane coordinates of the first points of all rod-shaped objects of the same type as the rod-shaped object in the target area.

[0102] Step 170: Copy the drawn rod-shaped object to the plane coordinate position of each similar rod-shaped object.

[0103] Since the properties of the same type of rod-shaped objects are the same, in response to the completion of drawing a rod-shaped object, and the ground level heights at various locations in the target area are similar, the plane coordinates are determined by determining the first point of each similar rod-shaped object. A drawn rod-shaped object is copied at each plane coordinate.

[0104] It should be noted that since the terrain in the target area may be undulating, the elevation of the horizontal ground may be different. Therefore, when copying the rod-shaped object, the elevation of the second point still needs to be considered.

[0105] The copying of the plurality of parallel rod-shaped lines includes copying the graphics of the rod-shaped objects in the GUI and / or copying the data representing the rod-shaped objects in the vector graphics data.

[0106] In one of the embodiments, in response to the upper end of the rod-shaped object including a horizontally extending portion, the elevation value of the horizontally extending portion is used as the elevation value of the third point.

[0107] Since the actual height of a pole-shaped object, such as a utility pole or a signal light pole, is the height of its horizontally extending portion according to its function, it is preferred to use the elevation value at the horizontally extending portion as the elevation value of the third point.

[0108] Figure 5 This is a structural diagram of a rod-shaped object vector graphics generation device according to an embodiment of the present application, which is used to implement the method for generating high-precision map rod-shaped object vector graphics based on point cloud data according to any embodiment of the first aspect, comprising:

[0109] The acquisition module 210 is used to acquire the point cloud data of the target area. The acquisition module can be a vehicle-mounted laser radar device 300, which acquires road point cloud data in real time; it can also be a software running module in a point cloud data server 320, a GUI operation interface or an operation terminal 330, which is used to store, read or edit the target road point cloud data.

[0110] The determination module 220 is used to determine the plane coordinates of the first point in response to the GUI capturing the point cloud data point; it is also used to determine the first elevation value; and it is also used to determine the length of the rod.

[0111] The generating module 230 is used to determine the rod line by using the first point, the second point and the third point.

[0112] Furthermore, the acquisition module also includes a first acquisition unit, which is used to acquire point cloud data of the target area.

[0113] Furthermore, the determination module includes a first determination unit, which is used to determine the plane coordinates of the first point in response to the GUI capturing the point cloud data point; is also used to determine the first elevation value; and is also used to determine the length of the rod-shaped object.

[0114] Furthermore, the drawing module includes a first drawing unit, which is used to determine the rod-shaped object line with the first point, the second point and the third point.

[0115] The determination module further includes a second determination unit, which is used to determine the plane coordinates of the axis of the rod-shaped object according to the point cloud data on the surface of the rod-shaped object.

[0116] Furthermore, the acquisition module further includes a second acquisition unit for acquiring the length of the rod-shaped object.

[0117] Furthermore, the drawing module further comprises a copying unit for copying the rod-shaped object to the plane coordinate position of each rod-shaped object of the same type.

[0118] The determination module further includes a third determination unit, which is used to determine the plane coordinates of all rod-shaped objects in the target area that are of the same type as the drawn rod-shaped object.

[0119] In one of the embodiments, it also includes a regional information database / result map database 240, and the geographic information database / result map database is used to store the ground feature data before and after the merger in the target area.

[0120] Combination Figure 1 Schematic diagram of a commercial server system for the application scenario of this application.

[0121] An embodiment of the present application also proposes a graphical processing system for geographic information data, which is used to implement the method described in any embodiment of the present application, including: a laser radar 300, a road point cloud database 310, a point cloud data processor 320, a GUI operation interface and operation terminal 330, an on-board application terminal 340, at least one result map data set 350, and a navigation or automatic driving server 360.

[0122] The road point cloud database 310 is used to store point cloud data of the target area.

[0123] The GUI operation interface and the operation terminal 330 are used to read the target road point cloud data, generate a point cloud image, input the set point cloud data points, display the data and / or graphics of the interpolated nodes; and / or trigger the acquisition module, determination module or generation module. The vehicle-mounted application terminal 340 is used to determine the spatial position, retrieve the vector graphics data of the road sign, including geometric information and attribute information; and is also used to display the map during vehicle navigation. The map displayed in real time during navigation on the road is the vector graphics data and the map superimposed together by position. The point cloud data processor 320 or the operation terminal 330 is used to respond to the instructions of the GUI, obtain the point cloud data of the target road, determine the plane coordinates of the rod-shaped object line, determine the elevation value of each coordinate point on the rod-shaped object through the point cloud data, and generate the rod-shaped object line; the point cloud data processor 320 is also used to obtain the point cloud data of the road scanned by the vehicle-mounted laser radar, obtain and / or generate the vector graphics data of the road sign, and generate a high-precision map containing the rod-shaped object. The result map data set is used to store high-precision maps, wherein the data includes target lane line or target road line related data, and also includes vector graphics data and map overlay data sets.

[0124] It should be understood that the above-mentioned specific related contents are only used for illustrative purposes and should not impose any limitation on the present application.

[0125] The specific method for implementing the functions of the above-mentioned modules is as described in the various method embodiments of the first aspect of the present application, and will not be repeated here.

[0126] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented 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.

[0127] Therefore, the present application also proposes a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in any embodiment of the present application is implemented.

[0128] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0129] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0130] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0131] Furthermore, the present application also proposes an electronic device (or computing device), comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method described in any embodiment of the present application when executing the computer program.

[0132] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory. Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium. Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. According to the definition in this article, computer-readable media does not include temporary computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0133] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0134] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A rod-shaped object vector graphics generation method, used to generate a high-precision map containing rod-shaped objects based on point cloud data, characterized in that: include: Obtain point cloud data of the target area; In response to the GUI capturing a point cloud data point, determining coordinates of a first point; Determine the plane coordinates of the axis of the rod-shaped object according to the point cloud data on the surface of the rod-shaped object; use the plane coordinates of the axis of the rod-shaped object as the plane coordinates of the first point; Determine a first elevation value of any point on the horizontal ground where the rod-shaped object is located, and determine a second point on the ground where the rod-shaped object is located by using the first elevation value and the plane coordinates; According to the length of the rod-shaped object, a third point is obtained by extending upward from the second point perpendicularly to the horizontal plane, and a second elevation value of the third point at the top of the rod-shaped object is determined; The second and third points define the rod line.

2. The rod-shaped object vector graphics generation method according to claim 1, characterized in that: The first point is any point in the point cloud in the middle of the rod-shaped object.

3. The rod-shaped object vector graphics generation method according to claim 1, characterized in that: Determining the third point specifically includes the following steps: The rod-shaped object category is determined, and the rod-shaped object attributes are acquired according to the rod-shaped object category; the rod-shaped object attributes include a preset rod-shaped object length.

4. The rod-shaped object vector graphics generation method according to claim 1, characterized in that: Determining the third point specifically includes the following steps: According to the point cloud data on the rod surface, determine the elevation value at the highest point of the rod; The third point is determined using the highest elevation value as the second elevation value.

5. The rod-shaped object vector graphics generation method according to claim 1, characterized in that: Also includes the steps: In response to drawing a rod-shaped object, determining the plane coordinates of the first points of all rod-shaped objects of the same type as the rod-shaped object in the target area; Copy the drawn rod-shaped object to the plane coordinate position of each similar rod-shaped object.

6. The rod-shaped object vector graphics generation method according to claim 1, characterized in that: In response to the upper end of the rod-shaped object including a horizontally extending portion, the elevation value at the horizontally extending portion is used as the elevation value of the third point.

7. The rod-shaped object vector graphics generation method according to claim 2, characterized in that: Determine the plane coordinates of the axis of the rod, specifically including the following steps: The average of all the point cloud plane coordinates at any horizontal height of the rod-shaped object is used to obtain a point as the axis point of the rod-shaped object.

8. A rod-shaped object vector graphics generating device, characterized in that: The method for generating a rod-shaped object vector graphics according to any one of claims 1 to 7 comprises: An acquisition module is used to acquire point cloud data of a target area; A determination module, for determining the plane coordinates of the first point in response to the GUI capturing the point cloud data point; and for determining the first elevation value; It is also used to determine the length of the rod; A generating module for determining a rod line using a second point and a third point; The device includes at least one module for determining a second point of the rod-shaped object on the ground using the first elevation value and the plane coordinates, and for obtaining a third point extending upward from the second point perpendicular to the horizontal plane according to the length of the rod-shaped object, and determining a second elevation value of the third point at the top of the rod-shaped object.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

10. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

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