Map registration method and device, and computer readable storage medium

Abstract

The application provides a map registration method and device and a computer readable storage medium, relates to the technical field of maps, and can improve the efficiency of map auditing. The method comprises the following steps: acquiring map data of a to-be-audited map and map data of a plurality of standard maps; the zoom levels of each standard map are different; for each standard map in the plurality of standard maps, a standard map registration model between the standard map and a corresponding adjacent standard map of the standard map is determined; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of the homonym of a target point, and the to-be-audited map is registered with a target standard map; the target standard map is any one of the plurality of standard maps.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of map, and particularly to a map registration method and device and a computer readable storage medium. BACKGROUND

[0002] Map auditing refers to comparing and auditing a to-be-audited map with a standard map. If the to-be-audited map is correct relative to the standard map, it means that the to-be-audited map is correct, and can be issued subsequently. Figure One

[0003] In the process of map auditing, the to-be-audited map needs to be registered with the standard map so as to be scaled and moved synchronously. Since there are various levels of standard maps, the to-be-audited map needs to be registered with each standard map before being compared and audited with the standard map, which results in low efficiency of map auditing. SUMMARY

[0004] The present application provides a map registration method, device and computer readable storage medium, which can improve the efficiency of map auditing.

[0005] To achieve the above object, the present application adopts the following technical solutions:

[0006] In a first aspect, a map registration method is provided, which includes: obtaining map data of a to-be-audited map and map data of a plurality of standard maps; each standard map has a different zoom level; for each standard map in the plurality of standard maps, determining a standard map registration model between the standard map and a corresponding adjacent standard map of the standard map; the adjacent standard map has a zoom level adjacent to that of the standard map, and the standard map registration model is used to determine a coordinate value of a homonym point of a target point, the target point being a point in the standard map and the homonym point being a point in the adjacent standard map, or the target point being a point in the adjacent standard map and the homonym point being a point in the standard map, the standard map registration model including:

[0007]

[0008] wherein x c represents an X-axis coordinate value of the target point, y c represents a Y-axis coordinate value of the target point, x b represents an X-axis coordinate value of the homonym point of the target point, y b represents a Y-axis coordinate value of the homonym point of the target point, S represents a scale difference value of the adjacent standard map relative to the standard map, θ represents a rotation angle of the adjacent standard map relative to the standard map, t x represents a translation amount of the adjacent standard map relative to the standard map in the X-axis direction, and t y ​indicates a translation amount of the adjacent standard map relative to the standard map in the Y-axis direction;

[0009] registering the to-be-audited map with a target standard map; the target standard map is any one of the plurality of standard maps.

[0010] According to the scheme, the map data of the to-be-audited map and the map data of the plurality of standard maps with different zoom levels are acquired, and then for each of the plurality of standard maps, a standard map registration model between the standard map and the adjacent standard map corresponding to the standard map is determined. Since the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of the homonym of the target point, the target point being a point in the standard map and the homonym being a point in the adjacent standard map, or the target point being a point in the adjacent standard map and the homonym being a point in the standard map. Therefore, after the to-be-audited map is registered with any one of the plurality of standard maps, i.e., the target standard map, the to-be-audited map can be indirectly registered with other standard maps through the target standard map. That is, after a target point in the to-be-audited map is selected, the homonym of the target point in the target standard map can be determined first, and then the homonym in the adjacent standard map corresponding to the target standard map can be further determined due to the existence of the standard map registration model between the target standard map and the adjacent standard map. In this way, the homonym of the target point in each standard map can be determined, and the to-be-audited map does not need to be registered with each standard map, thereby improving the efficiency of map auditing.

[0011] In combination with the first aspect, in some embodiments of the first aspect, determining the standard map registration model between the standard map and the adjacent standard map corresponding to the standard map comprises: acquiring a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is a coordinate value of a first point in the standard map, the second coordinate value is a coordinate value of a second point in the standard map, the third coordinate value is a coordinate value of a homonym of the first point in the adjacent standard map, and the fourth coordinate value is a coordinate value of a homonym of the second point in the adjacent standard map; determining S, θ, t x , and t y in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value.

[0012] In combination with the first aspect, in some embodiments of the first aspect, determining S in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value comprises: determining S in the standard map registration model based on the following relationship:

[0013]

[0014] S represents a scale difference value of the adjacent standard map relative to the standard map, represents a first coordinate value, represents a second coordinate value, represents a third coordinate value, represents a fourth coordinate value, represents an X value in the first coordinate value, represents a Y value in the first coordinate value, represents an X value in the second coordinate value, represents a Y value in the second coordinate value, represents an X value in the third coordinate value, represents a Y value in the third coordinate value, represents an X value in the fourth coordinate value, represents a Y value in the fourth coordinate value.

[0015] In combination with the first aspect, in some embodiments of the first aspect, determining θ in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value comprises: determining θ in the standard map registration model based on the following relationship:

[0016]

[0017] wherein θ represents a rotation angle of the adjacent standard map relative to the standard map, represents an X value in the first coordinate value, represents a Y value in the first coordinate value, represents an X value in the second coordinate value, represents a Y value in the second coordinate value, represents an X value in the third coordinate value, represents a Y value in the third coordinate value, represents an X value in the fourth coordinate value, represents a Y value in the fourth coordinate value.

[0018] In combination with the first aspect, in some embodiments of the first aspect, determining t x and t y in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value comprises: determining t x and t y in the standard map registration model based on the following relationship:

[0019]

[0020] wherein S represents a scale difference value of the adjacent standard map relative to the standard map, and θ represents a rotation angle of the adjacent standard map relative to the standard map, represents an X value in the first coordinate value, represents a Y value in the first coordinate value, represents an X value in the third coordinate value, represents a Y value in the third coordinate value.

[0021] In some embodiments of the first aspect, after the to-be-audited map is registered with the target standard map, the method further comprises: determining a registration error value between the to-be-audited map and the standard map; and determining that the to-be-audited map is successfully registered when the registration error value is less than or equal to a preset threshold.

[0022] In the second aspect, a map registration device is provided for implementing the map registration method of the first aspect. The map registration device comprises modules, units or means for implementing the corresponding steps of the method, which can be implemented by hardware, software or by hardware executing corresponding software. The hardware or software comprises one or more modules or units corresponding to the above functions.

[0023] In some embodiments of the second aspect, the device comprises an acquisition module and a processing module. The acquisition module is configured to acquire map data of a to-be-audited map and map data of a plurality of standard maps. The scaling levels of the standard maps are different. The processing module is configured to determine, for each of the plurality of standard maps, a standard map registration model between the standard map and a corresponding adjacent standard map of the standard map. The scaling level of the adjacent standard map is adjacent to the scaling level of the standard map. The standard map registration model is used to determine coordinate values of a homonym of a target point. The target point is a point in the standard map, and the homonym is a point in the adjacent standard map, or the target point is a point in the adjacent standard map, and the homonym is a point in the standard map. The standard map registration model comprises:

[0024]

[0025] wherein x c represents an X-axis coordinate value of the target point, y c represents a Y-axis coordinate value of the target point, x b represents an X-axis coordinate value of the homonym of the target point, y b represents a Y-axis coordinate value of the homonym of the target point, S represents a scale difference value of the adjacent standard map relative to the standard map, θ represents a rotation angle of the adjacent standard map relative to the standard map, t x represents a translation amount of the adjacent standard map relative to the standard map in the X-axis direction, t yrepresents a translation amount of the adjacent standard map relative to the standard map in the Y-axis direction; the processing module is further configured to register the to-be-audited map with a target standard map; the target standard map is any one of the plurality of standard maps.

[0026] With reference to the second aspect, in some embodiments of the second aspect, the processing module, in the determination of the standard map registration model between the standard map and the corresponding adjacent standard map of the standard map, is configured to: obtain a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is a coordinate value of a first point in the standard map, the second coordinate value is a coordinate value of a second point in the standard map, the third coordinate value is a coordinate value of a homonym of the first point in the adjacent standard map, and the fourth coordinate value is a coordinate value of a homonym of the second point in the adjacent standard map; and determine S, θ, and t in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x and t y .

[0027] With reference to the second aspect, in some embodiments of the second aspect, the processing module, in the determination of S in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value, is configured to determine S in the standard map registration model based on the following relationship:

[0028]

[0029] wherein S represents a scale difference value of the adjacent standard map relative to the standard map, represents the first coordinate value, represents the second coordinate value, represents the third coordinate value, represents the fourth coordinate value, represents an X value in the first coordinate value, represents a Y value in the first coordinate value, represents an X value in the second coordinate value, represents a Y value in the second coordinate value, represents an X value in the third coordinate value, represents a Y value in the third coordinate value, represents an X value in the fourth coordinate value, represents a Y value in the fourth coordinate value.

[0030] With reference to the second aspect, in some embodiments of the second aspect, the processing module, in the determination of θ in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value, is configured to determine θ in the standard map registration model based on the following relationship:

[0031]

[0032] wherein S represents a scale difference value of the adjacent standard map relative to the standard map, and θ represents a rotation angle of the adjacent standard map relative to the standard map, represents an X value in the first coordinate value, represents a Y value in the first coordinate value, represents an X value in the second coordinate value, represents a Y value in the second coordinate value, represents an X value in the third coordinate value, represents a Y value in the third coordinate value, represents an X value in the fourth coordinate value, represents a Y value in the fourth coordinate value.

[0033] With reference to the second aspect, in some embodiments of the second aspect, the processing module, configured to determine t x and t y in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value, comprises: determining t x and t y in the standard map registration model based on the following relationship:

[0034]

[0035] wherein S represents a scale difference value of the adjacent standard map relative to the standard map, and θ represents a rotation angle of the adjacent standard map relative to the standard map, represents an X value in the first coordinate value, represents a Y value in the first coordinate value, represents an X value in the third coordinate value, represents a Y value in the third coordinate value.

[0036] With reference to the second aspect, in some embodiments of the second aspect, after the map to be audited is registered with the target standard map, the processing module is further configured to: determine a registration error value between the map to be audited and the standard map; and determine that the map to be audited is successfully registered in a case where the registration error value is less than or equal to a preset threshold.

[0037] The third aspect provides a map registration apparatus, comprising: at least one processor, and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method provided in the first aspect and any possible implementation thereof.

[0038] The fourth aspect provides a computer-readable storage medium, when instructions in the computer-readable storage medium are executed by a processor of a map registration apparatus, the map registration apparatus is enabled to perform the method provided in the first aspect and any possible implementation thereof.

[0039] In a fifth aspect, a computer program product containing instructions, which when executed on a computer, enable the computer to carry out the method according to the first aspect as such or any possible implementation thereof.

[0040] The technical effects brought by the embodiments of the second aspect to the fifth aspect can be referred to the technical effects brought by the embodiments of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 A schematic diagram of an architecture of a map registration system provided by the present application is shown in the figure;

[0042] Figure 2 A schematic diagram of a flow of a map registration method provided by the present application is shown in the figure;

[0043] Figure 3 A schematic diagram of a flow of another map registration method provided by the present application is shown in the figure;

[0044] Figure 4 A schematic diagram of a flow of another map registration method provided by the present application is shown in the figure;

[0045] Figure 5 A schematic diagram of a structure of a map registration device provided by the present application is shown in the figure;

[0046] Figure 6 A schematic diagram of a structure of another map registration device provided by the present application is shown in the figure. DETAILED DESCRIPTION

[0047] In the description of the present application, unless otherwise specified, "a plurality of" means two or more than two. "At least one of the following" or similar expressions means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0048] In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the same items or similar items with basically the same functions and effects are distinguished by using "first", "second", etc. The skilled in the art can understand that "first", "second", etc. do not limit the quantity and execution order, and "first", "second", etc. also do not necessarily mean different.

[0049] Meanwhile, in the embodiments of the present application, the word "exemplary" or "for example" is used to mean "an example of" or "an example, only. Any embodiment or design described herein as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the exemplary or for example embodiments are presented so as to enable a clear and concise disclosure of the application. Described herein are example embodiments of the application.

[0050] It can be understood that, the "embodiments" mentioned in the specification throughout mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that, in various embodiments of the present application, the size of the sequence of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0051] It can be understood that, in the present application, "when", "if" and "if" all refer to the corresponding processing under certain objective circumstances, not the time limit, and also does not require the judgment action when implementing, nor means that there are other limitations.

[0052] It can be understood that, in some optional features of the embodiments of the present application, in some scenarios, they can be implemented independently without relying on other features, such as the scheme they are currently based on, to solve the corresponding technical problems and achieve the corresponding effects. In some scenarios, they can be combined with other features according to demand. Correspondingly, the devices given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0053] In the present application, except for special description, the same or similar parts between various embodiments can be mutually referred. In the various embodiments of the present application, and the various implementation methods in each embodiment, if there is no special description and no logic conflict, the terms and / or descriptions between different embodiments, and between various implementation methods in each embodiment are consistent and can be mutually referred. The technical features in different embodiments, and in various implementation methods in each embodiment can be combined to form new embodiments, implementation manners, implementation methods, or implementation methods according to their inherent logical relationship. The following implementation manners of the present application do not constitute a limitation on the protection scope of the present application.

[0054] The map audit means comparing and auditing the to-be-audited map with the standard map. If the to-be-audited map is consistent with the standard map, it means that the to-be-audited map is correct, and the subsequent can be issued. Figure One

[0055] ​In the process of map auditing, the to-be-audited map needs to be registered with the standard map so that the to-be-audited map and the standard map can be synchronously zoomed and moved. Since the levels of the standard map are various, before comparing and auditing the to-be-audited map with each standard map, the to-be-audited map needs to be registered with the standard map. For example, if the number of to-be-audited maps and the number of standard maps are 10 respectively, each to-be-audited map needs to be registered with each standard map, and 100 registrations are needed, which results in low efficiency of map auditing.

[0056] To solve the problem, the application provides a map registration method, which comprises the following steps: obtaining map data of a to-be-audited map and map data of a plurality of standard maps; the zoom levels of each standard map are different; for each standard map in the plurality of standard maps, determining a standard map registration model between the standard map and a corresponding adjacent standard map of the standard map; the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of a homonym point of a target point, the target point is a point in the standard map and the homonym point is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the homonym point is a point in the standard map, and the standard map registration model comprises:

[0057]

[0058] wherein x c represents the X-axis coordinate value of the target point, y c represents the Y-axis coordinate value of the target point, x b represents the X-axis coordinate value of the homonym point of the target point, y b represents the Y-axis coordinate value of the homonym point of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x represents the translation amount of the adjacent standard map relative to the standard map in the X-axis direction, t y represents the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction.

[0059] registering the to-be-audited map with a target standard map; the target standard map is any one of the plurality of standard maps.

[0060] Based on the scheme, by acquiring the map data of the to-be-audited map and the map data of a plurality of standard maps with different zoom levels, then for each of the plurality of standard maps, a standard map registration model between the standard map and the adjacent standard map corresponding to the standard map is determined, since the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of the homonym of the target point, the target point is a point in the standard map and the homonym is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the homonym is a point in the standard map, so that after the to-be-audited map is registered with any one of the plurality of standard maps, i.e. the target standard map, the to-be-audited map can be indirectly registered with other standard maps through the target standard map, that is, after a target point is selected in the to-be-audited map, the homonym of the target point in the target standard map can be determined first, then since there is a standard map registration model between the target standard map and the adjacent standard map corresponding to the target standard map, the homonym in the adjacent standard map can be further determined, and so on, the homonym of the target point in each standard map can be determined, without the need to register the to-be-audited map with each standard map, thereby improving the efficiency of map auditing.

[0061] Figure 1 An architecture diagram of a map registration system provided in the present application, the technical scheme of the embodiment of the present application can be applied to Figure 1 The map registration system 10 includes a map registration device 11 and an electronic device 12, as shown in Figure 1

[0062] The map registration device 11 and the electronic device 12 are directly or indirectly connected, in the connection relationship, a wired connection can be used, or a wireless connection can be used, and the present application does not limit this.

[0063] The map registration device 11 and the electronic device 12 can interact with each other.

[0064] It should be noted that the map registration device 11 and the electronic device 12 can be independent devices, or can be integrated into the same device, and the present application does not make specific limitations.

[0065] When the map registration device 11 and the electronic device 12 are integrated into the same device, the communication mode between the map registration device 11 and the electronic device 12 is the communication between the internal modules of the device. In this case, the communication process between the two is the same as the communication process between the map registration device 11 and the electronic device 12 when they are independent of each other.

[0066] ​In the following embodiments provided by the present application, the present application takes the example of the map registration device 11 and the electronic device 12 being independently arranged with each other for description.

[0067] In actual application, the map registration method provided by the embodiments of the present application can be applied to the map registration device 11, and can also be applied to the device included in the map registration device 11.

[0068] In the following, the map registration method provided by the embodiments of the present application is described by taking the example of the map registration method being applied to the map registration device 11 in combination with the accompanying drawings.

[0069] Figure 2 A flowchart of a map registration method provided by the present application is shown in FIG. 1, which includes the following steps. Figure 2

[0070] S201, the map registration device acquires map data of a to-be-audited map and map data of a plurality of standard maps.

[0071] In this embodiment of the present application, the scale levels of the plurality of standard maps are different.

[0072] It should be noted that the map data can include a scale of the map, a size of the map, POI data of the map, base map data of the map, boundary data of the map, and vector data of the map. Of course, the map data can also include other data of the map, which is not limited in the present application.

[0073] For example, the scale level can include a national level, a provincial level, a municipal level, a county level, or a township level. Of course, the scale level can also include other levels, which is not limited in the present application.

[0074] As a possible implementation manner, in combination with Figure 1 , the map registration device receives a message from the electronic device, the message including the map data of the to-be-audited map and the map data of the plurality of standard maps, and the map registration device acquires the map data of the to-be-audited map and the map data of the plurality of standard maps from the message.

[0075] S202, the map registration device determines, for each of the plurality of standard maps, a standard map registration model between the standard map and a neighboring standard map corresponding to the standard map.

[0076] The scale level of the neighboring standard map is adjacent to the scale level of the standard map, the standard map registration model is used to determine a coordinate value of a homonym point of a target point, the target point is a point in the standard map and the homonym point is a point in the neighboring standard map, or the target point is a point in the neighboring standard map and the homonym point is a point in the standard map, and the standard map registration model includes:

[0077] ​

[0078] wherein, x c represents the X-axis coordinate value of the target point, y c represents the Y-axis coordinate value of the target point, x b represents the X-axis coordinate value of the homonym of the target point, y b represents the Y-axis coordinate value of the homonym of the target point, S represents the scale difference value of the adjacent standard map relative to the standard map, θ represents the rotation angle of the adjacent standard map relative to the standard map, t x represents the translation amount of the adjacent standard map relative to the standard map in the X-axis direction, t y represents the translation amount of the adjacent standard map relative to the standard map in the Y-axis direction.

[0079] For example, if the scale level includes the national level, the provincial level, the municipal level, the county level or the township level, if the scale level of the standard map is the provincial level, the scale level of the adjacent standard map corresponding to the standard map is the national level or the municipal level, and if the scale level of the standard map is the municipal level, the scale level of the adjacent standard map corresponding to the standard map is the provincial level or the county level.

[0080] It should be noted that the map registration device can determine the standard map registration model between each standard map and the adjacent standard map corresponding to the standard map in order of the scale level.

[0081] For example, if the scale level includes the national level, the provincial level, the municipal level, the county level or the township level, first, the map registration device takes the standard map with the township level as the first standard map, takes the standard map with the county level as the adjacent standard map of the first standard map, and determines the standard map registration model between the standard map with the township level and the standard map with the county level.

[0082] Secondly, the map registration device takes the standard map with the county level as the second standard map, since the standard map with the county level has two adjacent standard maps, i.e., the standard map with the township level and the standard map with the municipal level, the standard map registration model between the standard map with the township level and the standard map with the county level has been determined before, and it is not necessary to determine again, thus, the map registration device takes the standard map with the municipal level as the adjacent standard map of the second standard map, determines the standard map registration model between the standard map with the county level and the standard map with the municipal level, and so on, the map registration device determines the standard map registration model between each standard map and the adjacent standard map corresponding to the standard map.

[0083] Of course, the map registration device can also determine the standard map registration model between each standard map and the adjacent standard map corresponding to the standard map in disorder according to the order of the zoom levels, and the application does not make specific limitations thereto.

[0084] As a possible implementation manner, the map configuration device acquires the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value, and then determines S, θ, t in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value x And t y .

[0085] Wherein, the first coordinate value is the coordinate value of the first point in the standard map, the second coordinate value is the coordinate value of the second point in the standard map, the third coordinate value is the coordinate value of the homonymic point of the first point in the adjacent standard map, and the fourth coordinate value is the coordinate value of the homonymic point of the second point in the adjacent standard map.

[0086] It should be noted that the specific description of this possible implementation manner can refer to the related description of the subsequent specific embodiments of the application, which will not be described here for the time being.

[0087] S203, the map registration device registers the map to be audited with the target standard map.

[0088] Wherein, the target standard map is any one of the plurality of standard maps.

[0089] As a possible implementation manner, the map registration device uses a feature extraction algorithm to extract the feature points of the map to be audited and the feature points of the target standard map, and then calculates the similarity between the feature points of the map to be audited and the feature points of the target standard map, and then determines the homography matrix or the rigid body transformation according to the matching point pairs.

[0090] It should be noted that the above implementation manner is a general description of the scheme of registering the map to be audited with the target standard map, and the specific implementation of the implementation manner can refer to the existing scheme, which will not be described here.

[0091] After S203, the map to be audited and any one of the standard maps can be compared and audited. For example, notes are added on the map to be audited, and a region frame is set, and the application does not make specific limitations thereto.

[0092] Based on the scheme, by acquiring the map data of the to-be-audited map and the map data of a plurality of standard maps with different zoom levels, then for each of the plurality of standard maps, a standard map registration model between the standard map and the adjacent standard map corresponding to the standard map is determined, since the zoom level of the adjacent standard map is adjacent to the zoom level of the standard map, the standard map registration model is used to determine the coordinate value of the homonym of the target point, the target point is a point in the standard map and the homonym is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the homonym is a point in the standard map, so that after the to-be-audited map is registered with any one of the plurality of standard maps, i.e. the target standard map, the to-be-audited map can be indirectly registered with other standard maps through the target standard map, that is, after a target point is selected in the to-be-audited map, the homonym of the target point in the target standard map can be determined first, then since there is a standard map registration model between the target standard map and the adjacent standard map corresponding to the target standard map, the homonym in the adjacent standard map can be further determined, and so on, the homonym of the target point in each standard map can be determined, without registering the to-be-audited map with each standard map, thereby improving the efficiency of map auditing.

[0093] For example, if the number of to-be-audited maps and the number of standard maps are 10 respectively, only the registration of each standard map with the corresponding adjacent standard map is needed, i.e. registration 9 times, then the registration of each to-be-audited map with any one of the standard maps (target standard map) is needed, i.e. registration 10 times, a total of 19 times, compared with the 100 times of registration in the prior art, the number of registrations is greatly reduced, thereby improving the efficiency of map auditing.

[0094] The above is a general description of the map registration method provided by the present application, and the map registration method provided by the present application will be further described below with reference to the accompanying drawings.

[0095] In one design, Figure 3 The flowchart of another map registration method provided by the present application is shown in FIG. 2, and S202 provided by the embodiments of the present application can specifically include the following steps: Figure 3

[0096] S301, the map registration device acquires a first coordinate value, a second coordinate value, a third coordinate value and a fourth coordinate value.

[0097] The first coordinate value is the coordinate value of a first point in a standard map, the second coordinate value is the coordinate value of a second point in the standard map, the third coordinate value is the coordinate value of the homonym of the first point in an adjacent standard map, and the fourth coordinate value is the coordinate value of the homonym of the second point in the adjacent standard map. ​

[0098] As a possible implementation manner, the map registration apparatus selects the first point and the second point on the standard map to obtain the first coordinate value and the second coordinate value, and then determines a coordinate value of a homonym of the first point in the adjacent standard map based on the first coordinate value, i.e., a third coordinate value, and determines a coordinate value of a homonym of the second point in the adjacent standard map based on the second coordinate value, i.e., a fourth coordinate value.

[0099] It should be noted that in this possible implementation manner, the specific scheme in which the map registration apparatus determines the coordinate value of the homonym in the adjacent standard map based on the coordinate value can refer to an existing scheme, which will not be described herein.

[0100] S302, the map registration apparatus determines S, θ, and t in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value. x y .

[0101] As a possible implementation manner, the map registration apparatus determines S in the standard map registration model based on the following relationship:

[0102]

[0103] θ in the standard map registration model is determined based on the following relationship:

[0104]

[0105] t in the standard map registration model is determined based on the following relationship: x y

[0106]

[0107] wherein S represents a scale difference value of the adjacent standard map relative to the standard map, θ represents a rotation angle of the adjacent standard map relative to the standard map, represents the first coordinate value, represents the second coordinate value, represents the third coordinate value, represents the fourth coordinate value, represents an X value in the first coordinate value, represents a Y value in the first coordinate value, represents an X value in the second coordinate value, represents a Y value in the second coordinate value, represents an X value in the third coordinate value, represents a Y value in the third coordinate value, represents an X value in the fourth coordinate value, ​​​represents a Y value in the fourth coordinate value.

[0108] The map registration device brings the first coordinate value, the second coordinate value, the third coordinate value and the fourth coordinate value into the respective relationship formulas, to obtain S, θ, t x and t y in the standard map registration model, and to determine the standard map registration model between the standard map and the adjacent standard map corresponding to the standard map.

[0109] In one design, Figure 4 A flowchart of another map registration method provided by the present application is shown in FIG. 3. After S203, the map registration method provided by the present application can further include the following steps, as shown in FIG. 3. Figure 4

[0110] S401, the map registration device determines a registration error value between the to-be-audited map and the standard map.

[0111] It should be noted that the greater the registration error value, the more accurate the registration of the to-be-audited map and the standard map, and the smaller the registration error value, the less accurate the registration of the to-be-audited map and the standard map.

[0112] As a possible implementation manner, the map registration device determines the registration error value between the to-be-audited map and the standard map through a robust test model.

[0113] It should be noted that this possible implementation manner can refer to an existing scheme, and the present application will not be described herein.

[0114] S402, the map registration device determines that the to-be-audited map is successfully registered in a case where the registration error value is less than or equal to a preset threshold.

[0115] It should be noted that the preset threshold can be 150, 200, 250, 300, and of course, the preset threshold can be other numerical values, and the present application does not make a specific limitation thereon.

[0116] Further, in a case where the registration quality index is greater than the preset threshold, it is determined that the to-be-audited map and the standard map are not successfully registered, and need to be registered again.

[0117] ​In this way, the effect of map registration can be verified, and in the case of a small registration error of map registration, map auditing can be performed again, thereby further improving the efficiency of map auditing. The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of the map registration device performing the map registration method. In order to realize the above functions, the map registration device includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the embodiments of the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is realized in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0118] The embodiments of the present application can divide the functional modules of the map registration device according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated in one processing module. The above integrated module can be realized in the form of hardware or software functional module. Optionally, the division of the modules in the embodiments of the present application is illustrative, and is only a logical functional division. In actual implementation, there can be another division manner. In addition, the "module" here can refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory executing one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0119] In the case of adopting functional module division, Figure 5 A structural schematic diagram of a map registration device is shown. As Figure 5 shown, the map registration device 50 includes an acquisition module 501 and a processing module 502.

[0120] In some embodiments, the map registration device 50 can also include a storage module (not shown) for storing program instructions and data. Figure 5

[0121] In the case of realizing the functions of the above functional modules in the form of hardware, Figure 6 Another structural schematic diagram of a map registration device is shown. As Figure 6 shown, the map registration device 60 includes a processor 601, a memory 602, and a bus 603. The processor 601 and the memory 602 can be connected through the bus 603.

[0122] ​The processor 601 is a control center of the map registration device 60, and can be one processor or a collective term of multiple processing elements. For example, the processor 601 can be a general central processing unit (CPU), or other general-purpose processor, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0123] As an embodiment, the processor 601 can include one or more CPUs, such as the CPU 0 and the CPU 1 shown in FIG. 6. Figure 6

[0124] The memory 602 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited thereto.

[0125] As a possible implementation, the memory 602 can exist independently of the processor 601, and the memory 602 can be connected to the processor 601 through the bus 603, for storing instructions or program code. When the processor 601 invokes and executes the instructions or program code stored in the memory 602, the map registration method provided in the embodiments of the present application can be implemented.

[0126] In another possible implementation, the memory 602 can also be integrated with the processor 601.

[0127] The bus 603 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is used in FIG. 6, but this does not mean that there is only one bus or only one type of bus. Figure 6

[0128] ​​It should be noted that Figure 6 The illustrated structure does not constitute a limitation on the map registration device 60. In addition to the components shown, the map registration device 60 can include more or fewer components than shown, or combine some components, or different component arrangements. Figure 6 The map registration device 60 can include more or fewer components than shown, or combine some components, or different component arrangements.

[0129] As an example, in combination with Figure 5 , the functions implemented by the acquisition module 501 and the processing module 502 in the map registration device 50 are the same as the functions of the processor 601 in Figure 6 .

[0130] Optionally, as shown in Figure 6 , the map registration device 60 provided by the embodiments of the present application can further include a communication interface 604.

[0131] The communication interface 604 is used to connect with other devices through a communication network. The communication network can be an Ethernet, a wireless access network, a wireless local area network (WLAN), etc. The communication interface 604 can include a receiving unit for receiving data, and a sending unit for sending data.

[0132] In a possible implementation, in the map registration device 60 provided by the embodiments of the present application, the communication interface 604 can also be integrated in the processor 601, which is not specifically limited by the embodiments of the present application.

[0133] As a possible product form, the map registration device of the embodiments of the present application can also be implemented using one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuit, or any combination of circuits capable of performing the various functions described throughout this application.

[0134] Through the above description of the embodiments, those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional units is exemplified. In actual application, the above-mentioned functions can be completed by different functional units according to needs, that is, the internal structure of the device is divided into different functional units to complete all or part of the functions described above. The specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here.

[0135] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions, when executed, cause a computer to perform each step in the method procedure shown in the above method embodiment.

[0136] The embodiment of the present application provides a computer program product containing instructions, which, when executed on a computer, cause the computer to perform each step in the method procedure shown in the above method embodiment.

[0137] The embodiment of the present application provides a chip system, comprising: a processor and an interface circuit; the interface circuit is configured to receive a computer program or instructions and transmit to the processor; the processor is configured to execute the computer program or instructions, so that the chip system performs each step in the method procedure shown in the above method embodiment.

[0138] The computer readable storage medium may, for example, be, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or apparatus, or any combination of the above. More specific examples (a non-exhaustive list) of the computer readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a register, a hard disk, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any other suitable combination of the above, or any other physical medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by the computer. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. Of course, the storage medium can be a component of the processor. Suitable processors include, by way of example, both general and special purpose microprocessors. Suitable computer-readable storage media include, by way of example, both volatile and non-volatile media, removable and non-removable media, and implicit and explicit media. By way of example, and not limitation, computer-readable storage media include volatile media, such as random access memory (RAM), non-volatile media, such as read-only memory (ROM), and other storage media including, but not limited to, programmable read-only memory (PROM), electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, compact disc read-only memory (CD-ROM), digital versatile disk (DVD), and other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage, or other magnetic storage devices, or any other storage medium that can be used to store desired program code in the form of instructions or data structures and that can be accessed by a computer.

[0139] Since the map registration device, the computer readable storage medium, and the computer program product provided by the embodiment can be applied to the above-mentioned map registration method provided by the embodiment, the technical effects that can be obtained thereby can also be referred to the above-mentioned method embodiment, and the embodiment of the present application will not be described here again.

[0140] Although the application has been described in connection with the embodiments thereof with reference to the various drawings, it will be understood that other variations and modifications of the details, and specific examples can be resorted to by those skilled in the art without departing from the spirit and scope of the application. In its broadest form, the application is directed to all new and useful processes, machines, articles of manufacture, compositions of matter, and methods that fall within the scope of the claims. The specification and drawings are, accordingly, to be regarded as illustrative rather than restrictive. For a better understanding of the application, its operating advantages, and the specific objects attained by its uses, reference should be made to the drawings and to the implementation in the claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite articles "a" or "an" do not exclude a plurality. A single processor or other unit can fulfill the functions of several items recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0141] Although the application has been described in connection with specific embodiments thereof, it will be understood that it is capable of modifications and alternative constructions and combinations of parts herein described, drawing upon the spirit and scope of the application as expressed in the claims. Accordingly, the description and drawings are to be regarded as illustrative in nature and not as restrictive. Obviously, modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A map registration method, characterized in that, The method includes: Obtain map data for the map to be reviewed and map data for multiple standard maps; each standard map has a different zoom level; For each of a plurality of standard maps, a standard map registration model is determined between the standard map and its adjacent standard maps. The zoom levels of the adjacent standard maps are adjacent to the zoom levels of the standard map. The standard map registration model is used to determine the coordinate values ​​of the corresponding points of a target point, wherein the target point is a point in the standard map and the corresponding point is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the corresponding point is a point in the standard map. The standard map registration model includes: Where, x c The x-axis coordinate of the target point is represented by the y-axis coordinate. c The x-axis coordinate of the target point is represented by x. b The x-axis coordinates of the corresponding points of the target point are represented by the y-axis coordinates. b The Y-axis coordinate of the corresponding point of the target point is represented by S, the scale difference between the adjacent standard map and the standard map is represented by θ, and the rotation angle of the adjacent standard map relative to the standard map is represented by t. x t represents the translation amount of the adjacent standard map relative to the standard map in the X-axis direction. y This indicates the amount of translation of the adjacent standard map relative to the standard map in the Y-axis direction; The map to be reviewed is registered with the target standard map; the target standard map is any one of the multiple standard maps.

2. The method according to claim 1, characterized in that, The step of determining the standard map registration model between the standard map and its adjacent standard maps includes: Obtain a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is the coordinate value of a first point in the standard map, the second coordinate value is the coordinate value of a second point in the standard map, the third coordinate value is the coordinate value of a point with the same name as the first point in an adjacent standard map, and the fourth coordinate value is the coordinate value of a point with the same name as the second point in an adjacent standard map; Based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value, determine S, θ, and t in the standard map registration model. x and t y .

3. The method according to claim 2, characterized in that, Determining S in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value includes: S in the standard map registration model is determined based on the following relationship: Wherein, S represents the scale difference between the adjacent standard map and the standard map. This represents the first coordinate value. This represents the second coordinate value. This represents the third coordinate value. This represents the fourth coordinate value. This represents the X value in the first coordinate system. This represents the Y value in the first coordinate value. This represents the X value in the second coordinate system. This represents the Y value in the second coordinate system. This represents the X value in the third coordinate value. This represents the Y value in the third coordinate value. This represents the X value in the fourth coordinate value. This represents the Y value in the fourth coordinate value.

4. The method according to claim 2, characterized in that, Determining θ in the standard map registration model based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value includes: θ in the standard map registration model is determined based on the following relationship: Where θ represents the rotation angle of the adjacent standard map relative to the standard map. This represents the X value in the first coordinate system. This represents the Y value in the first coordinate value. This represents the X value in the second coordinate system. This represents the Y value in the second coordinate system. This represents the X value in the third coordinate value. This represents the Y value in the third coordinate value. This represents the X value in the fourth coordinate value. This represents the Y value in the fourth coordinate value.

5. The method according to claim 2, characterized in that, Based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value, t in the standard map registration model is determined. x and t y ,include: The t in the standard map registration model is determined based on the following relationship. x and t y : Where S represents the scale difference between the adjacent standard map and the standard map, and θ represents the rotation angle of the adjacent standard map relative to the standard map. This represents the X value in the first coordinate system. This represents the Y value in the first coordinate value. This represents the X value in the third coordinate value. This represents the Y value in the third coordinate value.

6. The method according to any one of claims 1-5, characterized in that, After registering the map to be reviewed with the target standard map, the method further includes: Determine the registration error value between the map to be reviewed and the standard map; If the registration error value is less than or equal to a preset threshold, the map to be reviewed is determined to have been successfully registered.

7. A map registration device, characterized in that, The device includes: an acquisition module and a processing module; The acquisition module is used to acquire map data of the map to be reviewed and map data of multiple standard maps; each standard map has a different zoom level; The processing module is used to determine, for each of a plurality of standard maps, a standard map registration model between the standard map and its adjacent standard maps; the zoom levels of the adjacent standard maps are adjacent to the zoom levels of the standard map; the standard map registration model is used to determine the coordinate values ​​of the corresponding points of a target point, wherein the target point is a point in the standard map and the corresponding point is a point in the adjacent standard map, or the target point is a point in the adjacent standard map and the corresponding point is a point in the standard map; the standard map registration model includes: Where, x c The x-axis coordinate of the target point is represented by the y-axis coordinate. c The x-axis coordinate of the target point is represented by x. b The x-axis coordinates of the corresponding points of the target point are represented by the y-axis coordinates. b The Y-axis coordinate of the corresponding point of the target point is represented by S, the scale difference between the adjacent standard map and the standard map is represented by θ, and the rotation angle of the adjacent standard map relative to the standard map is represented by t. x t represents the translation amount of the adjacent standard map relative to the standard map in the X-axis direction. y This indicates the amount of translation of the adjacent standard map relative to the standard map in the Y-axis direction; The processing module is further configured to register the map to be reviewed with a target standard map; the target standard map is any one of the plurality of standard maps.

8. The apparatus according to claim 7, characterized in that, The processing module is used to determine the standard map registration model between the standard map and adjacent standard maps corresponding to the standard map, including: Obtain a first coordinate value, a second coordinate value, a third coordinate value, and a fourth coordinate value; the first coordinate value is the coordinate value of a first point in the standard map, the second coordinate value is the coordinate value of a second point in the standard map, the third coordinate value is the coordinate value of a point with the same name as the first point in an adjacent standard map, and the fourth coordinate value is the coordinate value of a point with the same name as the second point in an adjacent standard map; Based on the first coordinate value, the second coordinate value, the third coordinate value, and the fourth coordinate value, determine S, θ, and t in the standard map registration model. x and t y .

9. A map registration device, characterized in that, The map registration device includes a processor coupled to a memory for storing programs or instructions that, when executed by the processor, cause the device to perform the method as described in any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 6.

Images