Vector data and panoramic data information alignment marking method and system, terminal and medium

Abstract

The application provides a kind of vector data and the information alignment marking method, system, terminal and medium of panoramic data;Wherein, information alignment marking method includes: obtaining the vector data and panoramic data to be aligned;The space range corresponding to vector data and panoramic data is same;Elevation assignment is carried out to vector data, and the coordinate system of vector data and panoramic data is unified to carry out space alignment;Based on the information of vector data, the panoramic data after space alignment is marked. By aligning and superimposing vector data to panoramic data, the detailed information of each geographical feature can be displayed by panoramic data, and the convenience and practicality of panoramic data are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of information management, and particularly relates to a method and system for aligning and labeling information of geographic spatial vector data and panoramic data, a terminal and a medium. BACKGROUND

[0002] Panoramic data is immersive image data with 360° surround view generated by splicing and fusing multi-view images. Typical presentation forms include spherical panorama and cubic panorama. Such images can realize free browsing and interaction of a scene by combining virtual roaming technology, and thus are widely used in street view maps, virtual tourism and other fields.

[0003] However, the commonly used panoramic data is mainly limited to roaming browsing function, and generally lacks detailed information labeling and display capability of various geographic elements, which is difficult to meet the needs of users to obtain accurate information of specific targets. Therefore, the current related researches on three-dimensional reconstruction, position information extraction and geometric measurement based on panoramic data usually need to realize relative measurement such as distance, area, volume calculation and deformation monitoring based on local coordinate system, and combine with collinear condition equation, kernel line constraint and bundle adjustment method for derivation, which greatly limits the application of panoramic data in the field of traffic infrastructure measurement which requires high absolute position and accurate data. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide a method and system for aligning and labeling information of vector data and panoramic data, which can solve the problem that the panoramic data cannot meet the needs of obtaining detailed information of geographic elements in the prior art.

[0005] To achieve the above-mentioned purposes and other related purposes, the present application first provides a method for aligning and labeling information of vector data and panoramic data, which comprises: obtaining vector data and panoramic data to be aligned; the spatial range corresponding to the vector data and the panoramic data is the same; obtaining the height corresponding to each vector element in the vector data, and assigning the corresponding vector elements in the vector data to value the vector data in height, and unify the coordinate systems of the vector data and the panoramic data for spatial alignment; based on the information of the vector data, the panoramic data after spatial alignment is labeled.

[0006] In one embodiment of the present invention, after spatially aligning the vector data and the panoramic data, alignment correction is further performed on the vector data and the panoramic data, including: obtaining the position difference of each geographic feature point in the vector data and the panoramic data based on preset geographic feature points; if each position difference is less than a preset tolerance threshold, the alignment correction of the vector data and the panoramic data is stopped; otherwise, a correction angle is calculated based on each position difference to correct the vector data and the panoramic data, and based on the corrected vector data and the panoramic data, the coordinate positions of each geographic feature point in the coordinate system of the vector data and the coordinate system of the panoramic data are re-obtained for alignment correction.

[0007] In one embodiment of the present invention, the coordinate system of the vector data is the Earth coordinate system, and the coordinate system of the panoramic data is the spherical coordinate system. The step of unifying the coordinate systems of the vector data and the panoramic data for spatial alignment includes: converting the spherical coordinates of each vector element in the vector data to Cartesian coordinates; obtaining the Cartesian coordinates of the observation points in the panoramic data; obtaining the position vectors of each vector element in the vector data based on the Cartesian coordinates of the observation points in the panoramic data; obtaining a rotation matrix based on the coordinate system of the panoramic data; and obtaining the coordinates of each vector element in the coordinate system of the panoramic data based on the position vectors of each vector element and the rotation matrix.

[0008] In one embodiment of the present invention, assigning elevation values ​​to the vector data includes: obtaining elevation data based on the spatial range of the vector data; and adding elevation values ​​to each vector element in the vector data based on the elevation data.

[0009] In one embodiment of the present invention, the method for acquiring the vector data includes: acquiring the spatial range of the panoramic data; calculating the spatial range of the minimum bounding rectangle based on the spatial range of the panoramic data, and extracting each vector element within the spatial range of the minimum bounding rectangle to form the vector data.

[0010] In one embodiment of the present invention, after annotating the spatially aligned panoramic data, the method further includes: based on the annotated panoramic data, using a pyramid slicing algorithm to cut it into tiles of each preset level for publication on a browser.

[0011] In one embodiment of the present invention, before publishing on the browser, the tiles of each preset level are rendered as image format.

[0012] Secondly, this application provides an information alignment and annotation system for vector data and panoramic data, including a data acquisition module, a spatial alignment module, and an annotation module; the data acquisition module is used to acquire vector data and panoramic data to be aligned; the spatial ranges corresponding to the vector data and the panoramic data are the same; the spatial alignment module is used to assign elevation values ​​to the vector data and unify the coordinate systems of the vector data and the panoramic data for spatial alignment; the annotation module is used to annotate the spatially aligned panoramic data based on the information of the vector data.

[0013] Thirdly, this application provides a terminal, including: a processor and a memory, wherein the memory and the processor are communicatively connected;

[0014] The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory, so that the terminal performs the information alignment and annotation method for vector data and panoramic data as described above.

[0015] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a processor, implements the information alignment and annotation method for vector data and panoramic data as described above.

[0016] As described above, the information alignment and annotation method, system, terminal, and medium for vector data and panoramic data described in this application acquire vector data within the same spatial range as the panoramic data and align and overlay the vector data onto the panoramic data, thereby enabling the panoramic data to display detailed information of various geographic elements, improving the convenience and practicality of the panoramic data, and expanding the application scope of the panoramic data. Attached Figure Description

[0017] Figure 1 The diagram shown is a flowchart illustrating a method for aligning and annotating vector data and panoramic data according to an embodiment of this application.

[0018] Figure 2 The diagram shows a flowchart illustrating a method for acquiring vector data as described in an embodiment of this application.

[0019] Figure 3 The diagram shows a flowchart illustrating the elevation assignment process for vector data as described in an embodiment of this application.

[0020] Figure 4 The diagram shown is a schematic representation of a method for transforming the coordinate system of a vector number according to an embodiment of this application.

[0021] Figure 5The diagram shows a flowchart illustrating the alignment and correction process between vector data and panoramic data as described in an embodiment of this application.

[0022] Figure 6 The diagram shown is a structural schematic of an information alignment and annotation system for vector data and panoramic data as described in an embodiment of this application.

[0023] Figure 7 The diagram shown is a structural schematic of a terminal as described in an embodiment of this application.

[0024] Explanation of reference numerals in the attached figures

[0025] 41: Data acquisition module; 42: Spatial alignment module; 43: Labeling module; 50: Terminal; 51: Processor; 52: Memory; 521: Operating system; 522: Application program; 53: User interface; 54: Network interface; 55: Bus system. Detailed Implementation

[0026] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0027] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. Therefore, the drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0028] Existing panoramic data lacks detailed annotations of various geographic elements, making it difficult for users to obtain accurate information about their targets. This hinders research on panoramic data, such as 3D reconstruction, location information extraction, and geometric measurement, and affects its application in fields such as transportation infrastructure measurement.

[0029] To address the technical problems existing in the prior art, the following embodiments of this application provide a method, system, terminal, and medium for aligning and annotating information between vector data and panoramic data. By acquiring vector data within the same spatial range and annotating the information of the vector data onto the panoramic data, the panoramic data can display detailed information of various geographic elements, enabling users to extract accurate information of targets from the panoramic data, improving the convenience of panoramic data, and thus expanding the application areas of panoramic data.

[0030] The following embodiments of this application provide a method, system, terminal, and medium for aligning and annotating information between vector data and panoramic data, including but not limited to annotating detailed information of vector data onto panoramic data. The following description will take the annotation of panoramic data based on the geographic feature information in the vector data as an example.

[0031] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0032] like Figure 1 As shown, this embodiment provides a method for aligning and annotating vector data with panoramic data, including:

[0033] S100: Acquire vector data and panoramic data to be aligned.

[0034] The panoramic data is formed by stitching together multiple single-scene images collected by a drone. Specifically, those skilled in the art should know the specific execution methods and principles for stitching together multiple single-scene images to form panoramic data, which will not be specifically explained in this embodiment.

[0035] Vector data and panoramic data correspond to the same spatial range, which facilitates the alignment of vector data with panoramic data and the annotation of information.

[0036] It should be noted that, in order to annotate the required information using vector data, the vector data needs to have the corresponding information added or confirmed before acquisition. For example, the vector data includes annotations or values ​​for each geographic feature and information such as the regional extent of the polygon geographic features, where the regional extent of the polygon geographic features can be identified by covering them with the same color.

[0037] In some alternative implementations, such as Figure 2 As shown, the methods for acquiring vector data include:

[0038] S101, the spatial range for acquiring panoramic data.

[0039] Specifically, the spatial range of panoramic data is the sum of the surface spatial range of each individual scene image collected.

[0040] S102, based on the spatial range of the panoramic data, calculate the spatial range of the minimum bounding rectangle, and extract each vector element within the spatial range of the minimum bounding rectangle to form vector data.

[0041] The spatial range of the minimum bounding rectangle is the smallest rectangular area covering the panoramic data. Specifically, the two boundary positions of the panoramic data in the first direction and the two boundary positions in the second direction are obtained respectively. Based on these four boundary positions, the spatial range of the minimum bounding rectangle is extracted. It should be noted that the first direction and the second direction are perpendicular to each other, and the boundary positions are the outermost positions of the panoramic data in the corresponding directions. For example, if the first direction is north-south and the second direction is east-west, then the two boundary positions in the first direction are the southernmost and northernmost positions of the panoramic data, and the two boundary positions in the second direction are the easternmost and northernmost westernmost positions of the panoramic data. Based on these four positions, the spatial range of the minimum bounding rectangle can be extracted.

[0042] Based on the spatial range of the minimum bounding rectangle, all vector features within that range are extracted to form vector data.

[0043] Each vector element represents the vectorized storage of information about a geographic feature. This information includes, but is not limited to, spatial location, geometric shape, and attribute characteristics, ensuring that the resulting vector data contains the corresponding information. Specifically, those skilled in the art can obtain the information corresponding to each geographic feature based on the information required for panoramic data annotation.

[0044] Based on this, panoramic data and vector data are acquired, and panoramic data is annotated with information from vector data to obtain panoramic data with detailed annotations, which is beneficial to expanding the application scope of panoramic data.

[0045] S200 assigns elevation values ​​to vector data and unifies the coordinate systems of vector data and panoramic data for spatial alignment.

[0046] Specifically, vector data and panoramic data are converted into the same coordinate system, and the panoramic data and vector data are aligned based on the coordinate origin and coordinate axes, so that the geographic features in the panoramic data and vector data overlap, so as to make the panoramic data labeled based on the geographic feature information in the vector data.

[0047] It should be noted that panoramic data is three-dimensional spatial data and contains height information. To facilitate the alignment of panoramic data and vector data, height information needs to be added to the vector data, that is, the height information of each vector element in the vector data. Specifically, this is done by assigning elevation values ​​to the vector data to add height information during the vector data conversion process.

[0048] In some alternative implementations, such as Figure 3 As shown, the elevation assignment for vector data includes:

[0049] S211, based on the spatial range of vector data, obtains elevation data.

[0050] Elevation data is used to represent the height information of various geographic features. For example, the elevation data is DEM (Digital Elevation Model) data with a resolution of 5m.

[0051] S212, based on elevation data, adds elevation values ​​to each vector element in the vector data.

[0052] Specifically, based on elevation data, the height corresponding to each vector element in the vector data is obtained, i.e., the elevation value, so as to assign a value to each vector element in the vector data, thereby adding height information to each vector element, so as to obtain the height of each element in the vector data and improve the accuracy of subsequent spatial alignment.

[0053] It should be noted that the coordinate system of the vector data is the Earth coordinate system, that is, the origin is the center of the Earth, the x-axis points to the intersection of the equator and the prime meridian (0° longitude), the y-axis points to the direction of the 90° east longitude meridian, and the z-axis points to the North Pole.

[0054] For example, the elevation data is DEM data with a resolution of 5m. When the vector data lacks height information, the elevation data is used to add height information above the ground to the corresponding position of the vector data, thereby changing the radius value of the vector data and adding height information to the vector data.

[0055] Furthermore, the spherical coordinate system for panoramic data is a right-handed coordinate system with the observation point as the origin and the x-axis pointing in the observation direction. The observation point represents the observation location during panoramic data capture, i.e., the geographical location of the data acquisition personnel or camera. The observation direction represents the initial observation viewpoint of the panoramic data. For example, the observation direction of the panoramic data is due north.

[0056] To spatially align vector and panoramic data, it is necessary to unify their coordinate systems. For example, the Earth coordinate system of the vector data is converted to a spherical coordinate system consistent with that of the panoramic data. Specifically, based on the observation points and directions corresponding to the panoramic data, and the coordinates of each vector element in the vector data after elevation assignment, the coordinate system of the vector data is converted to the spherical coordinate system of the panoramic data to achieve consistency.

[0057] In some alternative implementations, such as Figure 4 As shown, converting the coordinate system of the vector data to a spherical coordinate system consistent with the panoramic data includes:

[0058] S221 converts the spherical coordinates of each vector element in the vector data into rectangular coordinates.

[0059] Specifically, the spherical coordinates of each vector element are represented as follows: ,in, This represents the radius of each vector element, i.e., the distance between each vector element and the center of the Earth. The zenith angle is the angle between the direction from the Earth's center to each vector element and the positive z-axis. The azimuth angle is the angle between the direction from the Earth's center to each vector element and the xy plane.

[0060] Based on this, the spherical coordinates of each vector element are calculated as follows: ,in:

[0061]

[0062]

[0063]

[0064] S222, obtain the rectangular coordinates of the observation points of the panoramic data, and obtain the position vectors of each vector element in the vector data based on the rectangular coordinates of the observation points of the panoramic data.

[0065] Specifically, the rectangular coordinates of the observation points in the panoramic data in the Earth coordinate system are obtained, and the position vectors corresponding to each vector element are obtained by combining the rectangular coordinates of each vector element in the Earth coordinate system.

[0066] For example, for any vector feature, if the rectangular coordinates of the panoramic observation point in the Earth coordinate system are... The rectangular coordinates of this vector feature in the Earth coordinate system The corresponding position vector is: .

[0067] S223: Based on the coordinate system of the panoramic data, obtain the rotation matrix; and based on the position vectors of each vector element, combine with the rotation matrix to obtain the coordinates of each vector element in the coordinate system of the panoramic data.

[0068] The rotation matrix is ​​used to characterize the rotation of the vector data by unifying the Earth coordinate system with the panoramic coordinate system.

[0069] Furthermore, based on the positive directions of each coordinate axis in the panoramic data coordinate system and the positive directions of each coordinate axis in the Earth coordinate system, the first rotation angle, the second rotation angle, and the third rotation angle are obtained respectively to rotate each position vector and obtain the coordinates of each vector element in the panoramic data coordinate system.

[0070] For example, the first rotation angle is the angle between the z-axis of the panoramic data coordinate system and the z-axis of the Earth coordinate system, the second rotation angle is the angle between the x-axis of the panoramic data coordinate system and the x-axis of the Earth coordinate system, and the third rotation angle is the angle between the y-axis of the panoramic data coordinate system and the y-axis of the Earth coordinate system. Based on this, the rotation matrix is ​​calculated as follows:

[0071]

[0072]

[0073]

[0074]

[0075] in, The first rotation angle, This represents the rotation along the z-axis in the Earth coordinate system. The second rotation angle, This represents the rotation along the x-axis in the Earth coordinate system. The third rotation angle, This represents the rotation along the y-axis in the Earth coordinate system.

[0076] Based on this, the position vectors are transformed by a rotation matrix to obtain the vectors from the observation point to each vector element, and the coordinates of each vector element in the spherical coordinate system of the panoramic data are obtained based on these vectors.

[0077] Specifically, the transformation method for each position vector is as follows:

[0078]

[0079] Furthermore, the vector These serve as the rectangular coordinates of each vector element within the coordinate system of the panoramic data. Based on these rectangular coordinates, the spherical coordinates of each vector element within the panoramic data coordinate system can be obtained, thus unifying the coordinate systems of the vector data and the panoramic data, and achieving spatial alignment between the vector data and the panoramic data.

[0080] Specifically, spherical coordinates for:

[0081]

[0082]

[0083]

[0084] in, For vectors The components of the x-axis in the panoramic data coordinate system, For vectors The components of the y-axis in the panoramic data coordinate system, For vectors The component of the z-axis in the panoramic data coordinate system.

[0085] Based on this, each vector element is represented using the coordinate system of the panoramic data to achieve a unified coordinate system between the vector and panoramic data. Furthermore, by overlaying the vector and panoramic data using the unified spherical coordinate system, spatial alignment between the vector and panoramic data can be achieved.

[0086] S300, based on information from vector data, annotates spatially aligned panoramic data.

[0087] Specifically, based on the geographic feature information of each vector element, the corresponding geographic features in the panoramic data are labeled, enabling the panoramic data to display detailed information of each geographic feature and thus expanding the application scope of the panoramic data. For example, the vector data is converted into a bitmap, and the information of each geographic feature in the vector data is read and called using krpano software to be overlaid on the panoramic data for display, thereby achieving the labeling of the panoramic data.

[0088] Imagery is obtained by annotating panoramic data based on the attribute information of each vector element, with different colors representing different attributes of each vector element. Based on this, users can intuitively and quickly obtain the extent of geographic elements for each attribute from the annotated panoramic data.

[0089] Furthermore, the annotated panoramic data is published online to facilitate user browsing and viewing. Specifically, a pyramid slicing algorithm is used to cut the panoramic data into tiles of various preset levels, which are then published in the browser. Even further, each preset level of tile is rendered as an image for publication, ensuring cross-platform compatibility of the panoramic data. For example, each tile is rendered based on the WebGL rendering standard, and krpano is used to dynamically encapsulate each tile as a Web component for component-based integration and publication in the browser.

[0090] In order to reduce the amount of data in the annotated panoramic data, the geographic feature information of each vector feature is converted into GeoJSON-LD format for storage, and a bidirectional index is established between the geographic feature information of each vector feature and the corresponding tiles after the panoramic data is cut, so that the geographic feature information of each vector feature can be obtained synchronously when requesting tiles.

[0091] Based on this, this embodiment annotates the geographic feature information of each vector element in the vector data into the panoramic data, so that the panoramic data can display detailed information of each geographic element, thus giving the panoramic data a better display effect and helping to expand the application scenarios of panoramic data.

[0092] It should be noted that, to ensure the accuracy of the geographic feature information annotation in the panoramic data, it is necessary to ensure the degree of overlap between the vector data and the panoramic data after spatial alignment. Therefore, in this embodiment, to improve the degree of overlap between the vector data and the panoramic data, alignment correction is performed on the vector data and the panoramic data after step S200. Specifically, as follows... Figure 5 As shown, it includes:

[0093] S231, based on the preset geographic feature points, obtain the position difference of each geographic feature point in the vector data and panoramic data respectively.

[0094] Each geographic feature point is a pre-selected geographic element. The location difference is used to characterize the distance between the geographic feature points and their positions in vector data and panoramic data.

[0095] Specifically, for any geographic feature point, its position in the vector data and its position in the panoramic data are obtained. Based on the spatially aligned and overlapping vector and panoramic data, the distance between the geographic feature point's position in the vector data and its position in the panoramic data is obtained, and this distance is used as the position difference.

[0096] S232, if all position differences are less than the preset tolerance threshold, then stop the alignment correction of vector data and panoramic data; otherwise, calculate the correction angle based on each position difference to correct the vector data and panoramic data, and repeat step S231 based on the corrected vector data and panoramic data.

[0097] Among them, the tolerance threshold is used to characterize the maximum positional difference of each geographic element in the vector data and the panoramic data when the degree of overlap between the vector data and the panoramic data meets the annotation requirements of the panoramic data.

[0098] Based on this, when the positional differences are all less than the preset tolerance threshold, the degree of overlap between the vector data and the panoramic data meets the annotation requirements of the panoramic data, and the alignment correction stops. Otherwise, the vector data and the panoramic data are rotated to improve the degree of overlap between them.

[0099] The correction angle is the angle value required to rotate both the vector data and the panoramic data. For example, keeping the panoramic data angle unchanged, the vector data is rotated by the correction angle to improve the overlap between the vector data and the panoramic data.

[0100] In some optional implementations, the correction angle is calculated as follows:

[0101]

[0102] in, To characterize the correction angle, To represent the total number of geographical feature points, To characterize the location differences corresponding to each geographic feature point, it should be noted that It has positive and negative values, which are used to characterize the positional relationship between each geographic feature point in vector data and panoramic data. For example, when the position of a geographic feature point in vector data is to the left of its position in panoramic data, A positive number is generated when the location of the geographic feature point in the vector data is to the right of its location in the panoramic data. It is a negative number. This is used to characterize the distance from each geographical feature point to the observation point.

[0103] Furthermore, It has positive and negative properties, when When the value is positive, the vector data rotates to the right. When the value is negative, the vector data rotates to the left.

[0104] Based on this, by obtaining the positional differences of each geographic feature point in vector data and panoramic data, alignment correction is performed to improve the overlap between vector data and panoramic data, thereby enhancing the accuracy of geographic feature information labeling in panoramic data.

[0105] like Figure 6 As shown, this embodiment provides an information alignment and annotation system for vector data and panoramic data, including a data acquisition module 41, a spatial alignment module 42, and an annotation module 43.

[0106] The data acquisition module 41 is used to acquire vector data and panoramic data to be aligned; the vector data and panoramic data correspond to the same spatial range.

[0107] The spatial alignment module 42 is used to assign elevation values ​​to the vector data and unify the coordinate systems of the vector data and the panoramic data for spatial alignment.

[0108] The annotation module 43 is used to annotate the spatially aligned panoramic data based on information from the vector data.

[0109] Based on the same technical concept, the information alignment and annotation method for vector data and panoramic data provided in this embodiment of the invention can be implemented on the terminal side or the server side.

[0110] like Figure 7The diagram illustrates an optional hardware structure of a terminal according to an embodiment of the present invention. The terminal 50 can be a mobile phone, computer device, tablet device, personal digital processing device, factory back-end processing device, etc. The terminal 50 includes at least one processor 51, a memory 52, at least one network interface 54, and a user interface 53. The various components in the device are coupled together via a bus system 55. It is understood that the bus system 55 is used to realize communication between these components. In addition to a data bus, the bus system 55 also includes a power bus, a control bus, and a status signal bus.

[0111] The user interface 53 may include a monitor, keyboard, mouse, trackball, clicker, button, touchpad, or touch screen.

[0112] It is understood that memory 52 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM) or programmable read-only memory (PROM), used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM) and synchronous static random access memory (SSRAM). The memory characterized in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable categories of memory.

[0113] In this embodiment of the invention, the memory 52 is used to store various types of data to support the operation of the terminal. Examples of this data include: any executable program for operation on the terminal 50, such as the operating system 521 and application programs 522; the operating system 521 contains various system programs, such as the framework layer, core library layer, driver layer, etc., for implementing various basic services and handling hardware-based tasks. Application programs 522 may contain various applications, such as media players, browsers, etc., for implementing various application services. The information alignment and annotation method for vector data and panoramic data provided in this embodiment of the invention can be included in application programs 522.

[0114] The methods disclosed in the above embodiments of the present invention can be applied to processor 51, or implemented by processor 51. Processor 51 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in processor 51 or by instructions in the form of software. The processor mentioned above may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Processor 51 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present invention. Processor 51 may be a microprocessor or any conventional processor, etc. The steps of the accessory optimization method provided in the embodiments of the present invention can be directly reflected as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, which is located in a memory. The processor reads the information in the memory and combines it with its hardware to complete the steps of the aforementioned method.

[0115] In an exemplary embodiment, terminal 50 may be used by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), or complex programmable logic devices (CPLDs) to execute the aforementioned method.

[0116] This invention also provides a computer-readable storage medium storing a computer program that, when invoked by a processor, implements the information alignment and annotation method for vector data and panoramic data provided by this invention.

[0117] Computer-readable storage media can be tangible devices capable of holding and storing instructions used by an instruction execution device. Computer-readable storage media can be, for example, (but not limited to) electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, and mechanical encoding devices.

[0118] The computer-readable program represented herein can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network, to an external computer or external storage device. A network adapter card or network interface in each computing / processing device receives computer-readable program instructions from the network and forwards these instructions to the computer-readable storage medium in the respective computing / processing device.

[0119] In summary, this application obtains information from vector data within the same spatial range and annotates it onto panoramic data, thereby displaying detailed information of each geographic element on the panoramic data. This facilitates users in extracting accurate target information from the panoramic data, improves the convenience of panoramic data, and promotes its widespread application.

[0120] The descriptions of the processes or structures corresponding to the above figures each have their own emphasis. For parts of a process or structure that are not described in detail, please refer to the relevant descriptions of other processes or structures.

[0121] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A method for aligning and annotating vector data with panoramic data, comprising: Obtain the vector data and panoramic data to be aligned; The vector data and the panoramic data correspond to the same spatial range; The height corresponding to each vector element in the vector data is obtained, and values ​​are assigned to each corresponding vector element in the vector data to assign elevation values ​​to the vector data. The coordinate systems of the vector data and the panoramic data are then unified for spatial alignment. Based on the information from the vector data, the spatially aligned panoramic data is labeled.

2. The method according to claim 1, characterized in that, After spatially aligning the vector data and the panoramic data, alignment correction is also performed on the vector data and the panoramic data, including: Based on preset geographic feature points, the positional differences of each geographic feature point in the vector data and the panoramic data are obtained respectively; If all the position differences are less than a preset tolerance threshold, then the alignment correction of the vector data and the panoramic data is stopped; otherwise, based on the position differences, a correction angle is calculated to correct the vector data and the panoramic data, and based on the corrected vector data and the panoramic data, the coordinate positions of each geographic feature point in the coordinate system of the vector data and the coordinate system of the panoramic data are re-acquired for alignment correction.

3. The method according to claim 1, characterized in that, The coordinate system of the vector data is the Earth coordinate system, and the coordinate system of the panoramic data is the spherical coordinate system. Unifying the coordinate systems of the vector data and the panoramic data for spatial alignment includes: Convert the spherical coordinates of each vector element in the vector data to rectangular coordinates; Obtain the rectangular coordinates of the observation points in the panoramic data, and based on the rectangular coordinates of the observation points in the panoramic data, obtain the position vectors of each vector element in the vector data; Based on the coordinate system of the panoramic data, the rotation matrix is ​​obtained; and based on the position vectors of each vector element, combined with the rotation matrix, the coordinates of each vector element in the coordinate system of the panoramic data are obtained.

4. The method according to claim 1, characterized in that, Assigning elevation values ​​to the vector data includes: Based on the spatial range of the vector data, obtain the elevation data; Based on the elevation data, elevation values ​​are added to each vector element in the vector data.

5. The method according to claim 1, characterized in that, The methods for acquiring the vector data include: Obtain the spatial range of the panoramic data; Based on the spatial range of the panoramic data, the spatial range of the minimum bounding rectangle is calculated to extract each vector element within the spatial range of the minimum bounding rectangle, thereby forming the vector data.

6. The method according to claim 1, characterized in that, After labeling the spatially aligned panoramic data, the process further includes: using a pyramid slicing algorithm to cut the labeled panoramic data into tiles of various preset levels for publication on a browser.

7. The method according to claim 6, characterized in that, Before publishing to the browser, the tiles of each preset level are rendered as image format.

8. A system for aligning and annotating vector data with panoramic data, characterized in that, It includes a data acquisition module, a spatial alignment module, and a labeling module; The data acquisition module is used to acquire vector data and panoramic data to be aligned; the vector data and the panoramic data correspond to the same spatial range; The spatial alignment module is used to obtain the height corresponding to each vector element in the vector data, assign values ​​to each corresponding vector element in the vector data to assign elevation values ​​to the vector data, and unify the coordinate system of the vector data and the panoramic data to perform spatial alignment. The annotation module is used to annotate the spatially aligned panoramic data based on the information in the vector data.

9. A terminal, characterized in that, include: A processor and a memory, wherein the memory and the processor are communicatively connected; The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to enable the terminal to perform the information alignment and annotation method for vector data and panoramic data as described in any one of claims 1-7.

10. A computer storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the information alignment and annotation method for vector data and panoramic data as described in any one of claims 1-7.

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