Three-dimensional radar model construction method and related device

Abstract

The invention discloses a three-dimensional radar model construction method and a related device, and the method comprises the steps: firstly obtaining a plurality of shape feature points for identifying a radar coverage area through computer equipment, then layering the shape feature points according to the height, and obtaining a three-dimensional radar model through the number of the shape feature points contained in a height layer with the most shape feature points; the method comprises the steps of firstly, determining the number of shape feature points needing to be added on each height layer, secondly, adding the shape feature points in an area conforming to the edge change trend of the radar coverage range to enable the number of the shape feature points of each layer to be the same so as to improve the building efficiency of a model, and then building a three-dimensional model of the radar coverage range layer by layer between different height layers. Therefore, boundary distortion and blurring caused by too few shape feature points are avoided, the boundary smoothness of the three-dimensional model is increased, the stereoscopic impression and reality sense of the three-dimensional model are improved, and a better visual effect is achieved.

Description

Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a three-dimensional radar model construction method and related devices. Background Art

[0002] Radar is a technology that uses electromagnetic waves to detect the position and shape of objects. Radar coverage refers to the area of ​​objects detected by radar technology. By constructing a three-dimensional model of the shape of the radar coverage, the radar coverage can be intuitively displayed, enhancing the understanding and analysis of radar coverage by humans or machines.

[0003] Due to the interference of terrain features such as mountains and hills or the geomagnetic field, radar signals are often blocked, reflected or lost during radar detection, resulting in blind spots in radar coverage and complex structures. At present, based on professional radar algorithms, three-dimensional coordinate data that represents the actual radar coverage can be obtained, so as to perform a three-dimensional visualization of the radar coverage. However, in related technologies, the three-dimensional display effect of radar coverage with complex structures is poor. Summary of the invention

[0004] In view of this, the present application provides a three-dimensional model construction method and related devices, which improve the construction efficiency of the three-dimensional model by adding shape feature points in the area with edge changes that conform to the radar coverage range, and at the same time improve the accuracy and three-dimensional sense of the model to achieve better visual effects.

[0005] To solve the above problems, the technical solutions provided by this application are as follows:

[0006] On the one hand, the present application provides a method for constructing a three-dimensional radar model, comprising:

[0007] Acquire a plurality of shape feature points for identifying a radar coverage range, wherein the three-dimensional coordinates of the shape feature points are used to identify a shape of the radar coverage range;

[0008] According to the height data of the three-dimensional coordinates, the plurality of shape feature points are divided into N feature point layers, and the shape feature points in the same feature point layer have the same height data;

[0009] Determine a maximum value of shape feature points included in a single feature point layer in the N feature point layers, and determine a completion target according to the maximum value;

[0010] Determining the number of shape feature points to be added to each feature point layer according to the completion target;

[0011] The N feature point layers are padded with shape feature points based on the padded number, and for the i-th feature point layer, the shape feature points corresponding to the padded number are added in the target area of ​​the i-th feature point layer, where the target area is an area on the plane where the i-th feature point layer is located that conforms to the edge change trend of the shape feature points in the i-th feature point layer;

[0012] A three-dimensional model for identifying the radar coverage range is constructed according to the N feature point layers after the feature points are filled.

[0013] In a possible implementation, the target area includes gaps between shape feature points of the i-th shape feature point layer, and adding a corresponding number of shape feature points to the target area of ​​the i-th feature point layer includes:

[0014] A corresponding number of shape feature points for filling are evenly added in the gaps between the shape feature points in the i-th shape feature point layer.

[0015] In a possible implementation manner, before adding a corresponding number of shape feature points to the target area of ​​the i-th feature point layer, the method further includes:

[0016] When adjacent shape feature points in the i-th feature point layer are all on corresponding arcs and the distance between the adjacent shape feature points is less than a preset threshold, the target area between the adjacent shape feature points is determined to be the corresponding arc; otherwise, the target area between the adjacent shape feature points is determined to be the straight line segment between the adjacent shape feature points, the center of the arc is determined by the three-dimensional coordinates of the shape feature points and the height of the i-th shape feature point layer, and the length of the radius of the arc is the maximum distance between the center and the shape feature points in the i-th shape feature point layer.

[0017] In a possible implementation manner, adding a corresponding number of shape feature points to the target area of ​​the i-th feature point layer includes:

[0018] When the target area between adjacent shape feature points in the i-th shape feature point layer is the corresponding circular arc, adding the shape feature point in the corresponding circular arc;

[0019] When the target area between adjacent shape feature points in the i-th shape feature point layer is a straight line segment between the adjacent shape feature points, the shape feature points are added to the straight line segment between the adjacent shape feature points.

[0020] In a possible implementation, constructing a three-dimensional model for identifying the radar coverage range according to the N feature point layers after the feature points are padded includes:

[0021] Constructing the bottom surface of the radar coverage range according to the shape feature points of the first feature point layer after filling;

[0022] Select two shape feature points in the adjacent feature point layers of the padded N feature point layers, respectively, and construct meshes between the adjacent feature point layers layer by layer, wherein the vertices of the meshes are the shape feature points in the adjacent feature point layers;

[0023] A three-dimensional model of the radar coverage area is constructed based on the grid.

[0024] On the other hand, the present application provides a three-dimensional radar model construction device, the device comprising an acquisition unit, a division unit, a determination unit, an addition unit, and a construction unit:

[0025] The acquisition unit is used to divide the multiple shape feature points into N feature point layers according to the height data of the three-dimensional coordinates, and the shape feature points in the same feature point layer have the same height data;

[0026] The determining unit is used to determine the maximum value of the shape feature points contained in a single feature point layer in the N feature point layers, and determine the completion target according to the maximum value;

[0027] The determining unit is further used to determine the number of shape feature points to be added to each feature point layer according to the completion target;

[0028] The adding unit is used to fill in the shape feature points of the N feature point layers based on the filling quantity, and for the i-th feature point layer, add the shape feature points of the corresponding filling quantity in the target area of ​​the i-th feature point layer, wherein the target area is an area on the plane where the i-th feature point layer is located that conforms to the edge change trend of the shape feature points in the i-th feature point layer;

[0029] The construction unit is used to construct a three-dimensional model for identifying the radar coverage range according to the N feature point layers after the feature points are filled.

[0030] In a possible implementation manner, the target area includes gaps between shape feature points of the i-th shape feature point layer, and the adding unit is further configured to:

[0031] A corresponding number of shape feature points for filling are evenly added in the gaps between the shape feature points in the i-th shape feature point layer.

[0032] In a possible implementation manner, the determining unit is further configured to:

[0033] When adjacent shape feature points in the i-th feature point layer are all on corresponding arcs and the distance between the adjacent shape feature points is less than a preset threshold, the target area between the adjacent shape feature points is determined to be the corresponding arc; otherwise, the target area between the adjacent shape feature points is determined to be the straight line segment between the adjacent shape feature points, the center of the arc is determined by the three-dimensional coordinates of the shape feature points and the height of the i-th shape feature point layer, and the length of the radius of the arc is the maximum distance between the center and the shape feature points in the i-th shape feature point layer.

[0034] In a possible implementation manner, the adding unit is further used for:

[0035] When the target area between adjacent shape feature points in the i-th shape feature point layer is the corresponding circular arc, adding the shape feature point in the corresponding circular arc;

[0036] When the target area between adjacent shape feature points in the i-th shape feature point layer is a straight line segment between the adjacent shape feature points, the shape feature points are added to the straight line segment between the adjacent shape feature points.

[0037] In a possible implementation, the construction unit is further used to:

[0038] Constructing the bottom surface of the radar coverage range according to the shape feature points of the first feature point layer after filling;

[0039] Select two shape feature points in the adjacent feature point layers of the padded N feature point layers, respectively, and construct meshes between the adjacent feature point layers layer by layer, wherein the vertices of the meshes are the shape feature points in the adjacent feature point layers;

[0040] A three-dimensional model of the radar coverage area is constructed based on the grid.

[0041] In another aspect, the present application provides a computer device, the computer device comprising a processor and a memory:

[0042] The memory is used to store computer programs;

[0043] The processor is configured to execute the method according to the computer program.

[0044] In yet another aspect, the present application provides a computer-readable medium for storing a computer program, wherein the computer program implements the method when executed by a computer device.

[0045] In yet another aspect, the present application provides a computer program product comprising a computer program, characterized in that when the computer program product is run on a computer device, the computer device is enabled to perform the method.

[0046] It can be seen that this application has the following beneficial effects:

[0047] First, multiple feature points for identifying the radar coverage are obtained, wherein the multiple feature points use three-dimensional coordinates to jointly represent the shape of the radar coverage. Then, according to the height of the radar coverage, the multiple feature points are divided into feature point layers with different heights. After that, the number of feature points to be added to each feature point layer is determined according to the number of feature points in the feature point layer with the most feature points, so that feature points are added to the area that conforms to the edge change trend, so that the number of feature points in each feature point layer is the same. Finally, a three-dimensional model of the radar coverage is constructed according to the feature point layers with the same number of feature points. Therefore, by adding feature points in the area that conforms to the edge change trend, when constructing a three-dimensional model, the boundary distortion or blurring caused by too few feature points can be avoided, and the boundary smoothness of the radar coverage can be increased, thereby improving the accuracy and fineness of the model, so that the three-dimensional model can achieve a better visual effect. In addition, the addition of feature points makes the number of feature points in each layer the same. When constructing a three-dimensional model layer by layer according to the feature point layer, the complexity of the model topology can be simplified and the construction efficiency of the three-dimensional model can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 A flowchart of a three-dimensional radar model construction method provided in an embodiment of the present application;

[0050] Figure 2a An irregularly shaped radar coverage provided in an embodiment of the present application;

[0051] Figure 2b A distribution diagram of shape feature points in a plane area at an i-th height within a radar coverage area provided in an embodiment of the present application;

[0052] Figure 3 A three-dimensional model of radar coverage provided in an embodiment of the present application;

[0053] Figure 4A schematic diagram of a three-dimensional radar model building device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. 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 creative work are within the scope of protection of this application.

[0055] As described in the background technology, due to the influence of geomagnetism and terrain, the radar coverage area presents a complex structure, which makes it difficult to construct a three-dimensional model of the radar coverage area, resulting in poor three-dimensional display effect of the radar coverage area.

[0056] The present application provides a three-dimensional radar model construction method, which divides multiple feature points that identify the shape of a radar coverage range into feature point layers with different heights according to height, and then determines the number of feature points that need to be added to each feature point layer, and adds a corresponding number of feature points to the areas that meet the edge change trend in each feature point layer, so that when the three-dimensional model is constructed layer by layer according to the feature point layers, the smoothness of the boundary of the radar coverage range can be increased, the accuracy and fineness of the model can be improved, and the three-dimensional model can achieve a better visual effect.

[0057] The method provided in this application can be applied to fields such as meteorology and environmental monitoring, as well as construction and infrastructure. By visualizing the three-dimensional model of the radar coverage area, the deployment of the radar system can be optimized and the accuracy and efficiency of radar technology detection can be improved.

[0058] The solution provided in the embodiments of the present application relates to technologies in the field of radar technology, which will be specifically described through the following embodiments.

[0059] See also Figure 1 As shown, it is a flowchart of a three-dimensional radar model construction method provided in an embodiment of the present application. In this embodiment, it can be executed by a computer device as an example.

[0060] S101: Acquire a plurality of shape feature points for identifying a radar coverage range.

[0061] The three-dimensional coordinates of the shape feature points are used to identify the shape of the radar coverage area.

[0062] The radar coverage indicates the area where the radar detects the target, and the shape of the radar coverage indicates the geometric distribution of the radar detection target. The shape of the radar coverage can be a regular solid geometry, such as a sphere, ellipsoid, cylinder, cone, etc., or an irregular shape with a complex structure after being disturbed by the terrain and geomagnetism.

[0063] Shape feature points are key points that describe the shape of the radar coverage area, and their three-dimensional coordinates are formed based on the shape of the radar coverage area. When generating multiple shape feature points of the radar coverage area, professional radar algorithms select specific points in the radar coverage area as the origin of the three-dimensional coordinate system for measurement and modeling. For example, for a regular ellipsoid, the geometric center of the ellipsoid can be selected as the origin. For irregular solid geometry, a specific point on its bottom surface can be selected as the origin of the three-dimensional coordinate system based on its geographical location.

[0064] The computer device may obtain three-dimensional coordinates of a plurality of shape feature points capable of representing the shape of the radar coverage area, thereby modeling the radar coverage area.

[0065] S102: Divide the plurality of shape feature points into N feature point layers according to the height data of the three-dimensional coordinates.

[0066] Among them, shape feature points in the same feature point layer have the same height data.

[0067] When detecting an object area through radar technology, the radar wave expands outward at an angle with the radar antenna as the center point, so that within the same angle range, the radar coverage range of different altitude layers has similar coverage characteristics. When constructing a three-dimensional model, stratifying the radar coverage range according to altitude can provide accurate target location and altitude information, enhancing the authenticity and three-dimensionality of the model.

[0068] The three-dimensional coordinates of the shape feature point represent the position of the shape feature point in the shape of the radar coverage area, including the height corresponding to the shape feature point in the shape of the radar coverage area.

[0069] According to the height data of the three-dimensional coordinates of the shape feature points, the shape of the radar coverage area can be layered according to the height to form N feature point layers, so that the shape feature points with the same height data are distributed in the feature point layers of the corresponding heights.

[0070] As an example, the shape of the radar coverage is a cone, and the height of the cone is 200 meters. When the shape feature points of the cone are generated by a professional radar algorithm, the minimum measurement unit is set to 1 meter, and the center point of the cone is selected as the origin of the three-dimensional coordinate system. The vertical distance from the bottom of the cone to its vertex is used as the height in the three-dimensional coordinate. When stratifying according to height, the height can be divided into 200 layers according to the minimum unit to form 200 feature point layers. The shape feature points with the same height are in the feature point layers of the corresponding heights. For example, the height of the shape feature points of the first layer is 0, the height of the shape feature points of the second layer is 1 meter, and so on. The height of the shape feature points of the 200th layer is 199 meters. The three-dimensional model constructed in this way shows similar regularity in the distribution of shape feature points at each height layer, and has a clear three-dimensional sense, making the model more realistic and vivid.

[0071] S103: Determine the maximum value of the shape feature points contained in a single feature point layer among the N feature point layers, and determine the completion target according to the maximum value.

[0072] The completion target is the target number of shape feature points required in each feature point layer when constructing a three-dimensional model of the radar coverage area.

[0073] The shape of the radar coverage area has a complex structure. After the obtained shape feature points are layered, the number of feature points in each feature point layer is not consistent.

[0074] The computer device can set a completion target based on the numerical value of the shape feature points contained in the feature point layer containing the most shape feature points. According to user needs, the computer device can use the numerical value as the completion target, or set a numerical value greater than the numerical value as the completion target, so that the three-dimensional model can achieve higher accuracy.

[0075] As an example, the second feature point layer contains the largest number of shape feature points, which is 5000. The computer device can set 5000 as the completion target. When the user pursues a higher resolution in model construction, the computer device can set two or three times of 5000 as the completion target.

[0076] In the present application, by setting a completion target for each feature point layer, the number of shape feature points in each layer can be made consistent. When constructing a three-dimensional model of the radar coverage range through the padded feature point layer, the topological structure of the model can be simplified and the construction efficiency can be improved.

[0077] S104: Determine the number of shape feature points to be added in each feature point layer according to the completion target.

[0078] The number of shape feature points to be added is the difference between the number of the complement target and the number of shape feature points of the layer. The computer device can complement the shape feature points of each feature point layer according to the complement target.

[0079] S105: Complementing the shape feature points of N feature point layers based on the complementing quantity, and for the i-th feature point layer, adding shape feature points of the corresponding complementing quantity in the target area of ​​the i-th feature point layer.

[0080] The target area is an area on the plane where the i-th feature point layer is located that conforms to the edge change trend of the shape feature points in the i-th feature point layer.

[0081] As an example, the shape of the radar coverage is an ellipsoid, the area on the plane where the i-th feature point layer is located that conforms to the edge change area is the boundary of the ellipse, and the number of shape feature points to be added in the i-th feature point layer is 100, then 100 shape feature points are added to the boundary of the ellipse corresponding to the i-th feature point layer.

[0082] As another example, the shape of the radar coverage is cylindrical, the area on the plane where the i-th feature point layer is located that conforms to the edge change area is the boundary of the circle, and the number of shape feature points to be added in the i-th feature point layer is 100, then 100 shape feature points are added to the boundary of the circle corresponding to the i-th feature point layer.

[0083] Increasing the number of shape feature points by adding them in the area that conforms to the edge change trend not only conforms to the actual situation of the radar coverage, but also improves the data density of the feature points, thereby generating a smoother three-dimensional surface when constructing a three-dimensional model of the radar coverage.

[0084] S106: Constructing a three-dimensional model for identifying the radar coverage range according to the N feature point layers after the feature points are filled.

[0085] Based on the shape feature points in the completed feature point layer, a three-dimensional model can be constructed through polygonal modeling or surface modeling to display the radar coverage.

[0086] Therefore, by adding feature points in areas that conform to the edge change trend in planes with different heights, the density of feature points can be increased while retaining the authenticity of the radar coverage. Therefore, when constructing a three-dimensional model, the smoothness of the boundary of the radar coverage can be increased based on the denser feature points, thereby improving the accuracy and resolution of the model and achieving a more realistic visual effect of the radar coverage.

[0087] When adding shape feature points in the feature point layer, in order to avoid the shape feature points after filling being too dense or sparse, all the shape feature points to be added cannot be added between two adjacent shape feature points.

[0088] In this embodiment, the target area includes the gaps between the shape feature points of the i-th shape feature point layer, and the corresponding number of shape feature points to be filled are evenly added to the gaps between the shape feature points of the i-th shape feature point layer.

[0089] The gap between shape feature points of the i-th shape feature point layer refers to the target area between every two adjacent shape feature points. The number of shape feature points to be added in the i-th feature point layer is b, and the number of gaps between shape feature points in the feature point layer is a. Then the computer device determines that the number of gaps between every two adjacent shape feature points is If b%a=c is not 0, the c shape feature points are respectively inserted into any gaps, so that the inserted shape feature points are more evenly distributed in the target area of ​​the i-th layer.

[0090] As an example, the number of shape feature points to be added in the second feature point layer is 105, and the shape feature points of this layer have 10 gaps. After calculation, the computer device inserts 10 shape feature points in the 10 gaps respectively, and at the same time randomly inserts the remaining 5 shape feature points into any 5 of the 10 gaps.

[0091] By evenly adding shape feature points in the gaps between shape feature points, the distribution of the filled shape feature points can be made more uniform, avoiding overlapping, blurring or missing local details of the model caused by too dense or sparse shape feature points, thereby improving the overall detail expression capabilities of various parts of the 3D model.

[0092] Due to the interference of terrain or geomagnetism, the radar coverage has a complex structure. The areas of edge change trends of shape feature points in different feature point layers may have different distributions. The computer equipment needs to determine the areas that meet the edge change trends in each feature point layer according to the positions of the shape feature points, and then add shape feature points in the area to construct a three-dimensional model of the actual coverage range.

[0093] In this embodiment, before adding the corresponding number of shape feature points to the target area of ​​the i-th feature point layer, when adjacent shape feature points in the i-th feature point layer are all on the corresponding arcs and the distance between adjacent shape feature points is less than a preset threshold, the target area between the adjacent shape feature points is determined to be the corresponding arc; otherwise, the target area between the adjacent shape feature points is determined to be the straight line segment between the adjacent shape feature points, the center of the arc is determined by the three-dimensional coordinates of the shape feature points and the height of the i-th shape feature point layer, and the length of the radius of the arc is the maximum distance between the center and the shape feature points in the i-th shape feature point layer.

[0094] The three-dimensional coordinates of the shape feature points are generated on a local coordinate system. In order to facilitate the construction of a three-dimensional model to display the shape of the radar coverage, the origin of the local coordinate system can be set to the center point of the bottom surface of the radar coverage. The bottom surface of the radar coverage is in a plane with a height of 0. On planes of different heights, the radar coverage has similar coverage characteristics. When the computer equipment constructs the radar coverage in three dimensions, it is necessary to determine the area that meets the edge change trend of the radar coverage in the adjacent shape feature points according to the three-dimensional coordinates of the shape feature points in the i-th feature point layer, so as to add shape feature points in the target area between the adjacent shape feature points in the feature point layer.

[0095] Specifically, the computer device determines a circle center coordinate according to the vertical height from the center point of the bottom surface to the i-th feature point layer, and uses the line segment of a shape feature point in the feature point layer that is farthest from the circle center as the radius to construct a circle on the two-dimensional plane. When the distribution of adjacent shape feature points in the feature point layer is such that the adjacent shape feature points are all on the boundary of the circle, and the distance between adjacent feature points is less than a preset threshold, the computer device determines that the edge change trend between adjacent feature points is an arc shape. However, due to the influence of terrain and geomagnetism, the boundary of the radar coverage range may not be the curved surface shape emitted by the radar wave, but the polygonal boundary shape presented after the radar signal is blocked. Therefore, when the distribution of adjacent shape feature points in the feature point layer is in other forms, the computer device determines that the edge change trend between adjacent shape feature points is a straight line segment between adjacent shape feature points.

[0096] As an example, Figure 2a As shown in the figure, it is an irregular radar coverage. After being affected by the terrain, the original conical radar coverage is partially blocked on the side. Figure 2bThe distribution of shape feature points in the i-th feature point layer of the shape of the radar coverage range. The computer device determines the z coordinate of the center of the circle as (0,0,h) through the origin (0,0,0) of the three-dimensional coordinate system and the height h corresponding to the i-th feature point layer, and draws a circle with the maximum distance x between the center of the circle and the shape feature points in the feature point layer as the length of the radius, and then determines the target area between adjacent feature points in turn. For example, two adjacent shape feature points labeled 1 and 2 are both located on the drawn circle, and the distance between them is close, and there is no possibility of sudden change in the boundary of the radar coverage range. Therefore, the computer device determines that the target area between the feature points labeled 1 and 2 is arc a, and the shape feature points labeled 3 and 4 are not located on the drawn circle. The computer device determines that the target area between the feature points labeled 3 and 4 is straight line b, which just meets the requirements. Figure 2a The shape of the radar coverage area.

[0097] In this way, the area between every two adjacent feature points in each feature point layer that conforms to the edge change trend of the radar coverage can be determined through the position of the shape feature points in each feature point layer, thereby avoiding adding shape feature points at the wrong position.

[0098] When the computer device determines the target area between adjacent feature points, shape feature points can be added to the target area. In this embodiment, when the target area between adjacent shape feature points in the i-th shape feature point layer is a corresponding arc, shape feature points are added to the corresponding arc; when the target area between adjacent shape feature points in the i-th shape feature point layer is a straight line segment between adjacent shape feature points, shape feature points are added to the straight line segment of adjacent shape feature points.

[0099] Specifically, when the computer device adds the corresponding number of shape feature points to be completed, it cannot add them at the position where the shape feature points already exist, and can only choose to add them between adjacent shape feature points. When it is determined that the target area between adjacent feature points is an arc or a straight line segment, the computer device adds shape feature points on the corresponding arc or straight line segment between adjacent shape feature points in the feature point layer until the corresponding number of shape feature points for the layer are added.

[0100] As an example, Figure 2b As shown, after determining that the target area between the shape feature points labeled 1 and 2 is arc a, the computer device inserts shape feature points on arc a, and after determining that the target area between the shape feature points labeled 2 and 3 is straight line b, the shape feature points are inserted on straight line b. In this way, all the shape feature points corresponding to the complementary number of the feature point layer can be inserted into the area that conforms to the edge change trend.

[0101] By inserting the corresponding number of shape feature points of this layer in the area between adjacent shape feature points that conforms to the edge change trend, all the shape feature points added in this layer can be made to conform to the boundary change trend of the actual radar coverage range, thereby more accurately constructing a three-dimensional model of the radar coverage range.

[0102] The three-dimensional model of the radar coverage area can be implemented by building it layer by layer. In this embodiment, it can be divided into the following steps S107-S109.

[0103] S107: Constructing the bottom surface of the radar coverage area according to the filled shape feature points of the first feature point layer.

[0104] The first feature point layer refers to the plane where the bottom surface of the radar coverage area is located. When constructing the bottom surface, the computer device can use the triangle or polygon method to generate a triangular surface to constitute the bottom surface of the radar coverage area.

[0105] S108: Select two shape feature points in the adjacent feature point layers of the padded N feature point layers respectively, and construct meshes between the adjacent feature point layers layer by layer, where the vertices of the meshes are the shape feature points in the adjacent feature point layers.

[0106] The computer device stores all the shape feature points in an array layer by layer from the 1st feature point layer to the Nth feature point layer, that is, in the order of the feature point layers from bottom to top, and then selects two shape feature points in the adjacent feature point layers in turn according to the order of the feature point layers from bottom to top to form an index array of the shape feature points, and then connects the shape feature points stored in the array according to the index array to form a grid, so that all the shape feature points are located at the vertices of the grid and are connected through the edges of the grid.

[0107] As an example, the shape feature points of the radar coverage area are divided into two feature point layers. After completion, there are six shape feature points in total. The first layer: A (0, 0, 0), B (1, 0, 0), C (1, 1, 0); the second layer: D (0, 0, 1), E (1, 0, 1), F (1, 1, 1).

[0108] The computer device stores the shape feature points as a one-dimensional array a. The format of array a is as follows:

[0109] a=[A0, A0, A0, B1, B0, B0, C1, C1, C0, D0, D0, D0, E1, E0, E1, F1, F1, F1],

[0110] In order to construct the index array, the computer device labels the shape feature points of each layer in order from bottom to top. The labels of A, B, and C in the first layer are 0, 1, and 2 respectively, and the labels of D, E, and F in the second layer are 3, 4, and 5 respectively. The index array b is generated by selecting shape feature points (A, B, D, E), (E, F, B, C), and (F, D, C, A) in the adjacent feature point layers. The format of array b is as follows:

[0111] b=[0,1,3,1,3,4,1,2,4,2,4,5,2,0,5,0,5,3],

[0112] Afterwards, the computer device can connect the shape feature points layer by layer through the index array to form multiple grids, so that all the shape feature points are located at the vertices of the grid.

[0113] S109: Build a three-dimensional model of the radar coverage area based on the grid.

[0114] The components of a three-dimensional model include points, edges, and faces. A face is a planar area composed of multiple points and edges, usually a triangle or a quadrilateral. The grid generated layer by layer by the computer device forms countless triangular faces to build the side of the radar range, and then in the Nth feature point layer, the top surface of the radar coverage range is constructed based on the triangular faces generated by the grid, thereby completing the radar coverage range, that is, the construction of the radar envelope surface. Afterwards, the computer device can evenly draw the envelope line through the constructed radar envelope surface to enhance the visualization effect of the three-dimensional model, such as Figure 3 Shown is a three-dimensional model of radar coverage.

[0115] In this way, the three-dimensional model of the radar coverage area, which is built layer by layer through grids between adjacent feature point layers, can present a better three-dimensional effect, so that users can quickly obtain accurate depth information of the radar coverage area.

[0116] refer to Figure 4 As shown, a three-dimensional radar model construction device 400 provided in an embodiment of the present application includes an acquisition unit 401, a division unit 402, a determination unit 403, an addition unit 404, and a construction unit 405:

[0117] The acquisition unit is used to divide the multiple shape feature points into N feature point layers according to the height data of the three-dimensional coordinates, and the shape feature points in the same feature point layer have the same height data;

[0118] The determining unit is used to determine the maximum value of the shape feature points contained in a single feature point layer in the N feature point layers, and determine the completion target according to the maximum value;

[0119] The determining unit is further used to determine the number of shape feature points to be added to each feature point layer according to the completion target;

[0120] The adding unit is used to fill in the shape feature points of the N feature point layers based on the filling quantity, and for the i-th feature point layer, add the shape feature points of the corresponding filling quantity in the target area of ​​the i-th feature point layer, wherein the target area is an area on the plane where the i-th feature point layer is located that conforms to the edge change trend of the shape feature points in the i-th feature point layer;

[0121] The construction unit is used to construct a three-dimensional model for identifying the radar coverage range according to the N feature point layers after the feature points are filled.

[0122] Therefore, by adding feature points in areas that conform to the edge change trend in planes with different heights, the density of feature points can be increased while retaining the authenticity of the radar coverage. Therefore, when constructing a three-dimensional model, the smoothness of the boundary of the radar coverage can be increased based on the denser feature points, thereby improving the accuracy and resolution of the model and achieving a more realistic visual effect of the radar coverage.

[0123] In a possible implementation manner, the target area includes gaps between shape feature points of the i-th shape feature point layer, and the adding unit is further configured to:

[0124] A corresponding number of shape feature points for filling are evenly added in the gaps between the shape feature points in the i-th shape feature point layer.

[0125] By evenly adding shape feature points in the gaps between shape feature points, the distribution of the filled shape feature points can be made more uniform, avoiding overlapping, blurring or missing local details of the model caused by too dense or sparse shape feature points, thereby improving the overall detail expression capabilities of various parts of the 3D model.

[0126] In a possible implementation manner, the determining unit is further configured to:

[0127] When adjacent shape feature points in the i-th feature point layer are all on corresponding arcs and the distance between the adjacent shape feature points is less than a preset threshold, the target area between the adjacent shape feature points is determined to be the corresponding arc; otherwise, the target area between the adjacent shape feature points is determined to be the straight line segment between the adjacent shape feature points, the center of the arc is determined by the three-dimensional coordinates of the shape feature points and the height of the i-th shape feature point layer, and the length of the radius of the arc is the maximum distance between the center and the shape feature points in the i-th shape feature point layer.

[0128] In this way, the area between every two adjacent feature points in each feature point layer that conforms to the edge change trend of the radar coverage can be determined through the position of the shape feature points in each feature point layer, thereby avoiding adding shape feature points at the wrong position.

[0129] In a possible implementation manner, the adding unit is further used for:

[0130] When the target area between adjacent shape feature points in the i-th shape feature point layer is the corresponding circular arc, adding the shape feature point in the corresponding circular arc;

[0131] When the target area between adjacent shape feature points in the i-th shape feature point layer is a straight line segment between the adjacent shape feature points, the shape feature points are added to the straight line segment between the adjacent shape feature points.

[0132] By inserting the corresponding number of shape feature points of this layer in the area between adjacent shape feature points that conforms to the edge change trend, all the shape feature points added in this layer can be made to conform to the boundary change trend of the actual radar coverage range, thereby more accurately constructing a three-dimensional model of the radar coverage range.

[0133] In a possible implementation, the construction unit is further used to:

[0134] Constructing the bottom surface of the radar coverage range according to the shape feature points of the first feature point layer after filling;

[0135] Select two shape feature points in the adjacent feature point layers of the padded N feature point layers, respectively, and construct meshes between the adjacent feature point layers layer by layer, wherein the vertices of the meshes are the shape feature points in the adjacent feature point layers;

[0136] A three-dimensional model of the radar coverage area is constructed based on the grid.

[0137] In this way, the three-dimensional model of the radar coverage area, which is built layer by layer through grids between adjacent feature point layers, can present a better three-dimensional effect, so that users can quickly obtain accurate depth information of the radar coverage area.

[0138] Based on the above embodiments, an embodiment of the present application provides a computer device, including:

[0139] Memory for storing computer programs;

[0140] A processor is used to implement the steps of the above-mentioned three-dimensional radar model construction method when executing the computer program.

[0141] On the basis of the above-mentioned embodiments, the embodiments of the present application further provide a computer-readable medium, on which a computer program is stored, and when the computer program is processed and executed, the steps of the above-mentioned three-dimensional radar model construction method are implemented.

[0142] On the basis of the above embodiments, the embodiments of the present application further provide a computer program product including a computer program, which, when executed on a computer device, enables the computer device to execute the steps of the three-dimensional radar model construction method.

[0143] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0144] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-dimensional radar model construction method, characterized in that: The method comprises: Acquire a plurality of shape feature points for identifying a radar coverage range, wherein the three-dimensional coordinates of the shape feature points are used to identify a shape of the radar coverage range; According to the height data of the three-dimensional coordinates, the plurality of shape feature points are divided into N feature point layers, and the shape feature points in the same feature point layer have the same height data; Determine a maximum value of shape feature points included in a single feature point layer in the N feature point layers, and determine a completion target according to the maximum value; Determining the number of shape feature points to be added to each feature point layer according to the completion target; The N feature point layers are padded with shape feature points based on the padded number, and for the i-th feature point layer, the shape feature points corresponding to the padded number are added in the target area of ​​the i-th feature point layer, where the target area is an area on the plane where the i-th feature point layer is located that conforms to the edge change trend of the shape feature points in the i-th feature point layer; A three-dimensional model for identifying the radar coverage range is constructed according to the N feature point layers after the feature points are filled.

2. The method according to claim 1, characterized in that: The target area includes gaps in the shape feature points of the i-th shape feature point layer, and adding a corresponding number of shape feature points to the target area of ​​the i-th feature point layer comprises: A corresponding number of shape feature points for filling are evenly added in the gaps between the shape feature points in the i-th shape feature point layer.

3. The method according to claim 1, characterized in that Before adding a corresponding number of shape feature points to the target area of ​​the i-th feature point layer, the method further includes: When adjacent shape feature points in the i-th feature point layer are all on corresponding arcs and the distance between the adjacent shape feature points is less than a preset threshold, the target area between the adjacent shape feature points is determined to be the corresponding arc; otherwise, the target area between the adjacent shape feature points is determined to be the straight line segment between the adjacent shape feature points, the center of the arc is determined by the three-dimensional coordinates of the shape feature points and the height of the i-th shape feature point layer, and the length of the radius of the arc is the maximum distance between the center and the shape feature points in the i-th shape feature point layer.

4. The method according to claim 3, characterized in that The adding of the corresponding number of shape feature points to the target area of ​​the i-th feature point layer comprises: When the target area between adjacent shape feature points in the i-th shape feature point layer is the corresponding circular arc, adding the shape feature point in the corresponding circular arc; When the target area between adjacent shape feature points in the i-th shape feature point layer is a straight line segment between the adjacent shape feature points, the shape feature points are added to the straight line segment between the adjacent shape feature points.

5. The method according to claim 1, characterized in that The constructing of a three-dimensional model for identifying the radar coverage range according to the N feature point layers after the feature points are padded includes: Constructing the bottom surface of the radar coverage range according to the shape feature points of the first feature point layer after filling; Select two shape feature points in the adjacent feature point layers of the padded N feature point layers, respectively, and construct meshes between the adjacent feature point layers layer by layer, wherein the vertices of the meshes are the shape feature points in the adjacent feature point layers; A three-dimensional model of the radar coverage area is constructed based on the grid.

6. A three-dimensional radar model construction device, characterized in that: The device includes an acquisition unit, a division unit, a determination unit, an addition unit, and a construction unit: The acquisition unit is used to divide the multiple shape feature points into N feature point layers according to the height data of the three-dimensional coordinates, and the shape feature points in the same feature point layer have the same height data; The determining unit is used to determine the maximum value of the shape feature points contained in a single feature point layer in the N feature point layers, and determine the completion target according to the maximum value; The determining unit is further used to determine the number of shape feature points to be added to each feature point layer according to the completion target; The adding unit is used to fill in the shape feature points of the N feature point layers based on the filling quantity, and for the i-th feature point layer, add the shape feature points of the corresponding filling quantity in the target area of ​​the i-th feature point layer, wherein the target area is an area on the plane where the i-th feature point layer is located that conforms to the edge change trend of the shape feature points in the i-th feature point layer; The construction unit is used to construct a three-dimensional model for identifying the radar coverage range according to the N feature point layers after the feature points are filled.

7. The device according to claim 6, characterized in that The target area includes gaps between shape feature points in the i-th shape feature point layer, and the adding unit is further configured to uniformly add a corresponding number of shape feature points to fill in the gaps between shape feature points in the i-th shape feature point layer.

8. A computer device, characterized in that: The computer device comprises a processor and a memory: The memory is used to store computer programs; The processor is configured to execute the method according to any one of claims 1 to 5 according to the computer program.

9. A computer-readable medium, characterized in that The computer-readable medium is used to store a computer program, and when the computer program is executed by a computer device, the method according to any one of claims 1 to 5 is implemented.

10. A computer program product comprising a computer program, characterized in that When the method is executed on a computer device, the computer device is enabled to execute the method according to any one of claims 1 to 5.

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