111 results about "Grid mapping" patented technology

The invention provides a method and a system for actively monitoring, regulating and controlling a clean room, which are characterized in that environmental parameters in the clean room and spatial state information of a dynamic object are acquired through cooperation of a fixedly arranged sensor and a sensor carried by a mobile device, and the environmental parameters comprise airflow velocity, temperature and humidity, pressure difference, particulate matter concentration, illuminance and the like; the dynamic objects comprise positions of the personnel and the equipment and geometric models of the personnel and the equipment. And cleaning and fusing the collected data to generate a standardized parameter sequence with a time label, and constructing a three-dimensional dynamic environment model by combining a clean room structure and dynamic object information to realize grid mapping and visual management of environment parameters in the model. And on the basis of the model, an environment state change trend is predicted, risk grade evaluation is executed, a hierarchical regulation and control instruction is generated, closed-loop regulation and control and parameter adaptive adjustment of the clean room environment are finally realized, and the intelligent and refined level of clean room environment regulation and control is improved.

The invention belongs to the technical field of electronic equipment thermal management, and discloses an electronic equipment thermal field rapid prediction method for multi-physical field strong coupling. According to the method, a layered heat source intensity distribution model is constructed, a grid mapping relation topological graph technology and a boundary node energy conservation compensation mechanism are developed, a multi-time scale coupling transfer function is designed, and a dynamic adjustment strategy based on phase deviation analysis is introduced. According to the method, the non-uniform heat source distribution and thermal diffusion dynamic characteristics under the high-frequency condition are accurately captured, the energy consistency of multi-physical field coupling is ensured, the thermal field prediction precision is improved, particularly, the method has outstanding advantages in the aspect of phase and amplitude prediction of transient thermal response, and meanwhile calculation resource consumption is greatly reduced.

The invention discloses a water pollution cross-domain traceability method based on multi-chain collaboration and stable isotope source analysis, and relates to the technical field of water environment monitoring, the method comprises the following steps: pollution source chemical fingerprint construction: collecting an environmental water sample and a potential pollution source sample in a drainage basin; adopting a mass spectrometer to detect stable isotope compositions such as delta 13C, delta 15N, delta 18O and the like in the pollutants; and performing morphological division on the pollutants by using a morphological grading extraction technology. Homology judgment precision is greatly improved through isotope and morphological analysis; cross-chain credible collaboration is achieved, multi-party data interaction is achieved, and timeliness and accuracy of pollution tracing are guaranteed; the space-time model traceability is combined with an evolution path and gridding mapping, so that the pollution inversion accuracy is improved; and ecological compensation support provides a quantitative basis for pollution intensity and diffusion range so as to support a compensation model.

The invention discloses an offshore wind turbine structure health monitoring method and system, and the method comprises the steps: an offline stage: constructing a strain snapshot matrix through finite element simulation, extracting a low-dimensional feature subspace basis matrix through intrinsic orthogonal decomposition, and mapping a structural grid into a graph; and meanwhile, Fourier feature mapping of node coordinates is carried out, and after splicing with reconstructed strain features, a spectrogram neural network based on Chebyshev graph convolution is trained. In the online monitoring stage, according to unilateral sparse strain data collected in real time, a modal coefficient is rapidly solved through a mask matrix and a pre-stored basis matrix, full-field strain is preliminarily reconstructed, then the trained network model is input, and a high-fidelity full-field displacement field and a high-fidelity full-field stress field are deduced in real time. The method can effectively adapt to any change of sensor layout, real-time and accurate reconstruction of full-field physical response of a complex structure is achieved under the harsh condition of single-side sparse measurement, and the problem that a traditional technology depends on fixed point distribution and double-side measurement is solved.

The invention relates to the technical field of computer vision and automatic driving, in particular to a self-supervised aerial view perception method fusing Gaussian spattering and time sequence modeling, electronic equipment and a readable storage medium, and the method comprises the following steps: S1, constructing a BEV model; s2, feature grid mapping is carried out; s3, rendering a two-dimensional image; s4, performing self-supervised learning and optimization; s5, downstream task application; according to the method, BEV features are mapped into three-dimensional Gaussian parameters, end-to-end self-supervised learning is achieved through differential rendering, the method is applied to downstream tasks, and three-dimensional target detection, semantic segmentation or occupancy prediction are carried out; downstream tasks are trained and reasoned through self-supervision loss, no manual data annotation is needed, the data construction cost is remarkably reduced, and meanwhile the perception performance and generalization ability of the model in an automatic driving scene are improved.

The invention relates to a port water area ship navigation risk distribution calculation and visualization method and device based on AIS and GIS data fusion, and the method comprises the following steps: 110, obtaining ship AIS data, and carrying out the preprocessing of the ship AIS data, thereby obtaining the preprocessed ship AIS data, and the preprocessing comprises the standardization, feature extraction and abnormal point detection; step 120, carrying out port water area grid construction, and carrying out grid mapping and legality screening on the preprocessed ship AIS data; step 130, performing port water area static risk assessment, port water area dynamic risk assessment and port water area propagation risk assessment on the port water area, and performing port water area comprehensive risk assessment on the basis to obtain an assessment result; and step 140, drawing a port water area risk thermodynamic diagram based on the evaluation result to realize risk distribution visualization. According to the invention, efficient and scientific decision support can be provided for port safety management.

The application discloses a curved surface structure zero state form finding method, comprising the following steps: (1) a model is established based on a design configuration, and deformation data is obtained by simulating the whole construction process; (2) a zero state configuration is deduced reversely: key node deformation values are extracted, arches are started, a simulation is re-performed after a linear model is fitted and adjusted, and iteration correction is performed until deformation error meets the requirement, and a zero state installation configuration is obtained; and (3) construction data is generated by extracting component line shapes and node coordinates. The application innovatively adopts an integral curvature adjustment strategy to replace a traditional node coordinate local adjustment mode, and through reverse deduction of 'construction simulation-control point arching-curved surface fitting-grid mapping', the problem of curved surface discontinuity caused by the traditional reverse superposition method is solved, construction precision and efficiency are significantly improved, and the application is suitable for intelligent construction of complex curved surface space grid structures.

The invention belongs to the technical field of spatial data processing, and particularly discloses a multi-source remote sensing data gridding construction and processing method and system, a terminal and a medium. Comprising the following steps: acquiring remote sensing image data, vector data, point cloud data and TIN data to form a standardized data set; performing three-dimensional layered mesh generation on the target area to generate an initial multi-level mesh set; performing geometric superposition and coverage judgment on the standardized data set to form an element-grid mapping set; performing double-engine coding and decoding on the grid units in the mapping set, generating a unique grid code, and establishing a code-space range mapping table; constructing a three-dimensional space topological structure; obtaining a space intersection result, a space union result and a space difference result; a multi-scale grid set is generated, and a unified gridding integrated data set is formed. Through gridding fusion and self-adaptive multi-scale processing of multi-source data, integrated expression and efficient organization of multi-source remote sensing data in a three-dimensional space are realized.

The invention discloses a generalized energy storage equivalence model construction method based on multi-type micro-grid mapping, and relates to the technical field of energy storage model construction, and the method comprises the steps: dividing an energy storage unit into a plurality of equivalence model candidate structures through a graph neural network model based on an electrical topological graph and a node state of an energy storage system; model parameters are quickly initialized and calibrated online based on meta learning; deep reinforcement learning dynamic decision structure switching and parameter optimization are introduced; and adopting Monte Carlo Dropout to evaluate the parameter confidence and trigger model rollback, and outputting a final energy storage equivalent model. According to the method, the accuracy and robustness of the model under the dynamic working condition are improved, the uncertainty in the modeling process can be sensed in real time, rollback correction is actively carried out, the reliability and engineering availability of model output are ensured, and the method is particularly suitable for energy storage system modeling and control scenes with high requirements for the response speed, the adaptive capacity and the operation stability.

The invention relates to the technical field of physical property testing, and discloses a mobile phone appearance multi-angle automatic detection system and method based on a multi-face reflection structure, and the system comprises a panorama collection unit which obtains an original panorama image formed by a to-be-detected mobile phone through a multi-face panorama reflection mechanism; the reference data storage unit is used for storing standardized three-dimensional model data of the mobile phone to be tested; the central processing unit is used for establishing the three-dimensional model data as a space measurement reference, constructing an optical path mapping matrix according to the distribution parameters, mapping a surface grid of the three-dimensional model data to a camera coordinate system to determine geometric distortion sampling coordinates, extracting pixels to complete space topology reconstruction, and generating a standardized surface expansion view; according to the invention, nonlinear perspective distortion in reflection imaging is eliminated, tight alignment of pixel sites and physical topology is realized, and physical balance with objective scales is provided for quantitative analysis of flaws.

The invention discloses an urban traffic signal lamp adaptive control method based on artificial intelligence, and the method comprises the steps: firstly converting vehicle data into a fluid field matrix through employing a space grid mapping technology, calculating a virtual fluid dynamic pressure index combining kinetic energy density and acceleration divergence, so as to represent a congestion evolution direction; the system identifies a fluid infinitesimal state, generates a game weight, monitors back propagation characteristics of a dynamic pressure shock wave, sends a phase pre-wake-up request to an upstream intersection, edge computing nodes construct a game revenue function based on a node reputation value and downstream impedance, and searches an optimal timing strategy through distributed interaction. And the system triggers asynchronous signal switching according to the deviation between the optimal strategy and the current state, and executes phase difference nonlinear compensation. According to the method, through quantification of the traffic flow state and the cooperative game, potential congestion sources are effectively identified, non-cooperative behaviors of nodes are inhibited, and real-time blocking of burst shock waves and dynamic coordination of regional signals are realized.

The application discloses a handheld spectrum analyzer real-time spectrum signal processing system and processing method, the system comprises a pre-processing unit, an ADC unit, an FPGA and an ARM which are connected in sequence, the FPGA comprises a digital down conversion unit, a multi-rate decimation filter unit, a real-time FFT operation unit and a real-time detection unit which are connected in sequence, and a grid mapping unit, a vector connection unit and a fluorescence statistical unit which are connected with the real-time FFT operation unit in sequence, the ARM comprises a real-time spectrum diagram and waterfall diagram unit which is connected with the real-time detection unit, and a fluorescence display unit which is connected with the fluorescence statistical unit. The application adopts parallel frame real-time detection and vector connection-based digital fluorescence statistical method to compress multiple spectrum data, reduces the requirement of a large number of spectrum data on screen refreshing, adopts vector connection to make fluorescence statistics, so that the measured signal is easier to distinguish, and the application meets the test requirement of a handheld instrument.

The invention discloses a territorial space current situation evaluation model method fusing multi-source heterogeneous data, which comprises the following steps of: generating grid units based on topological boundary constraints of an administrative region, and establishing a multi-level index of the grid units of the administrative region through STree; integrating the topological boundary constraint and a point-grid mapping technology to realize that vector space file elements and a table generate a spatial index relationship in the grid unit; according to the grid units and the spatial index relationship, performing label index calculation in the grid by utilizing a labeling calculation tool with natural resource business semantics and fuzzy spatial semantics to obtain a grid label table; and calculating a label index weight based on a CRITIC algorithm fused with the spatial weight matrix, and obtaining a natural resource comprehensive evaluation according to the label index and the label index weight. According to the method, multiple space collaborative evaluation according to the industry field can be supported, and the space calculation scale is effectively unified.

In various embodiments, a scene reconstruction model generates three-dimensional (3D) representations of scenes. The scene reconstruction model computes a first 3D feature grid based on a set of red, blue, green, and depth (RGBD) images associated with a first scene. The scene reconstruction model maps the first 3D feature grid to a first 3D representation of the first scene. The scene reconstruction model computes a first reconstruction loss based on the first 3D representation and the set of RGBD images. The scene reconstruction model modifies at least one of the first 3D feature grid, a first pre-trained geometry decoder, or a first pre-trained texture decoder based on the first reconstruction loss to generate a second 3D representation of the first scene.

This invention discloses a method, system, and medium for data mapping between a solid geometric model and an unstructured mesh, relating to the field of nuclear reactor core coupling programming technology. By converting the CSG geometric entity into a coupling intermediate mesh (unstructured mesh), and using the coupling intermediate mesh as an intermediary between the CSG geometric entity and other professional unstructured meshes, high-precision coupled data transmission and coupled calculation between the CSG geometric entity and other professional unstructured meshes can be achieved through mesh mapping and other methods, based on the geometric correspondence between the CSG geometric entity and the coupling intermediate mesh.

A grid map includes a first-layer map including multiple first grids and a second-layer map including multiple second grids. The number of the multiple second grids is greater than the number of the multiple first grids and multiple second grids are mapped by each first grid. When the multiple second grids mapped by the first grid have a same attribute value, the attribute value is stored in the first grid. The first grid is alternatively configured to store index information, and the index information is configured to point to a data structure of the plurality of second grids mapped by the first grid.

The invention relates to the technical field of ship traffic management and marine monitoring, and discloses a multi-source data-based false AIS signal detection method, which comprises the following steps of: firstly, extracting a historical track to construct a coverage grid mapping table containing radar detection attributes; receiving real-time data and dividing the real-time data into an AIS to-be-detected group and a radar truth value group; non-radar blind area targets are screened according to the mapping table; retrieving an associated target in the radar truth value group to execute existence reverse verification; a dynamic time warping algorithm is adopted to align time sequences and calculate feature differences, and fine comparison verification is executed; constructing a neighborhood flow field model, and executing flow field consistency verification according to the motion vector deviation; and outputting a false AIS signal list in combination with multi-stage verification results. According to the method, through physical coverage modeling and environmental dynamics constraint, high-simulation-degree false signals in a radar blind area can be effectively identified, so that the false alarm rate is reduced.

The application discloses an aircraft structured grid generation method and device based on dipole regulation, equipment and a storage medium, relates to the technical field of aircraft, and comprises the following steps: mapping a non-structured grid of an aircraft to a plane space corresponding to a parameter domain to obtain a parameter domain plane grid, and determining a compression ratio value between the non-structured grid and the parameter domain plane grid; determining a target feature point set based on the angle values of each dihedral angle in the parameter domain plane grid; generating an initial scalar field based on the compression ratio value, and superimposing a dipole field corresponding to a target dipole on the initial scalar field to form a target scalar field; adjusting a feature parameter corresponding to a target contour line in the target scalar field until the distance between the target contour line and each feature point in the target feature point set meets a preset condition, and then determining the adjusted target contour line as a target feature line to generate a target grid line of the aircraft. In this way, the aircraft structured grid with good orthogonality can be obtained.

The invention relates to the field of big data, artificial intelligence and unmanned aerial vehicle remote sensing, and particularly discloses a space-time alignment and collaborative analysis method for air-ground multi-source heterogeneous data fusion, which comprises the following steps: accessing 5G-A data, unmanned aerial vehicle images and positioning meteorological data online, cleaning and enhancing, and unifying UTC time and WGS-84 coordinates to eliminate space-time reference difference; based on reference time delay and cross-correlation fine tuning, PCHIP is adopted to interpolate low-frequency signaling to a high-frequency image sequence, then pre-training rotation / translation parameters are utilized to complete space registration and grid mapping, and a computable real-time space-time diagram is generated to be compatible with different space granularities. On the space-time diagram, firstly, through gating attention fusion signaling and the sensations, forming sensations joint features, then carrying out cross-modal interaction fusion with the image, inputting ST-GCN to extract space-time dependence, and outputting abnormal alarm and trajectory prediction; when it is monitored that the data quality is reduced, an adaptive weight strategy is triggered to adjust the fusion weight online, and reasoning is carried out again.

This application relates to the field of open-pit mining technology, and provides an adaptive open-pit geological spatial grid mapping method and system. In this method, based on the Hough space curve of the geographic coordinates of open-pit geological exploration boreholes, a first kernel density estimation curve for the boreholes is determined. After constructing a linear space for the boreholes based on the first kernel density estimation curve, the geographic coordinates of the boreholes are converted into linear spatial coordinates, and a second kernel density estimation curve for the boreholes is determined based on the linear spatial coordinates. A peak matrix is ​​constructed based on the coordinate axis values ​​corresponding to the peak values ​​of the second kernel density estimation curve, and the adaptive grid position of the boreholes is determined based on the linear spatial coordinates and the peak matrix. This achieves an adaptive open-pit exploration borehole grid and determines the position of each open-pit geological exploration borehole within the grid, providing a new means for three-dimensional geological modeling of open-pit mines and meeting the practical needs of combining open-pit geological exploration with three-dimensional geological modeling.

The application discloses a kind of wisdom energy multi-energy evaluation visualization system and method for industry, it is related to energy big data visualization cross technical field, including, acquisition multi-source heterogeneous data and pre-processing, by space-time hash coding method, generate high-dimensional energy data of space-time alignment;Based on three-dimensional manifold coordinate model, the equipment energy efficiency parameter is converted into equivalent energy quality field, by energy field reconstruction and geometric optimization method, generate curved manifold space and identify optimal transmission path and distortion intensity cloud chart;Based on distortion intensity cloud chart, generate thermal color scale by thermal color scale mapping algorithm, and the three-dimensional gradient field distribution of equivalent energy quality field is rendered using ray tracing method, generate visual energy evaluation interface.The application generates space and time hash code by space-time hash coding method, establishes equipment-grid mapping relationship in combination with GeoHash coding, realizes the accurate space-time alignment of multi-source heterogeneous data.

The invention discloses a method for forecasting stress and fatigue life of an articulated joint of a marine emergency bridge under a moving load. A wave-bridge action numerical model is established in fluid software, and an external drainage basin and bridge motion numerical model is constructed according to computational fluid mechanics (fluid). Finite element calculation is carried out under the same model proportion, and the fluid and the finite element model have the same size and the same position in the coordinate system of the fluid and the finite element model. And constraining the finite element model, and further applying a moving load. And operating the fluid software, and mapping the pressure data of the fluid software to the finite element software. And feeding back the movement of the bridge and the deformation of the joint structure obtained in finite element analysis in the finite element software to the fluid solver through a grid mapping technology so as to update grid data in the fluid solver. By forecasting the deformation of the hinge joint of the marine emergency bridge in a multi-field coupling environment, more accurate reference data is provided for the design of the joint of the marine emergency bridge.

The invention relates to the technical field of aero-engines, and discloses an unsteady aerodynamic force analysis method and system considering blade mistuning, and the method comprises the steps: constructing a multi-channel grid model comprising two adjacent rotor blades and a flow channel between the two adjacent rotor blades, and obtaining a dangerous mode and a dangerous pitch diameter of the rotor blades through an influence coefficient method; under the condition of considering the detuning amount of the rotor blade, based on a dynamic grid mapping method, an unsteady flow field of the rotor blade under a dangerous pitch diameter of a dangerous mode is calculated, based on a dynamic mode decomposition method, an agent model between unsteady aerodynamic force and vibration displacement of the blade is constructed, and through carrying out structural dynamics simulation analysis on the rotor blade, a dynamic model is established. According to the method, the unsteady aerodynamic force and vibration displacement information of the rotor blade are obtained, the blade unsteady aerodynamic force change caused by frequency detuning of the rotor blade of the gas compressor can be accurately simulated, and accurate unsteady aerodynamic force is provided for multi-physical field solution of the rotor blade.

The present application belongs to the technical field of oil and gas field development geology, and particularly relates to a stratum intelligent layering modeling method and a modeling system based on two-step adaptive spatial correction. The present application specifically comprises: step 1, obtaining a multi-well original logging data set and performing physical boundary clipping and adaptive morphological filtering pretreatment; step 2, performing feature reference alignment, constructing a first-stage weak constraint model, and extracting anchor points of each well marker layer; step 3, performing spatial dimension isochronous grid mapping, integrating depth waveform fingerprint features and cycle detection features, and constructing a second-stage high-precision stratum division decision model integrating interface sensitive weight loss; step 4, using a global path optimization algorithm to perform logical post-processing on the prediction sequence of the decision model, and outputting the final stratum layering result. The present application solves the depth drift and numerical non-stationary problems in cross-well stratum identification, and significantly improves the layering accuracy and geological logic consistency.

The application discloses a soil and rock dam deformation field reconstruction method based on a diffusion model, belongs to the field of water conservancy engineering safety monitoring and engineering intelligent analysis, and comprises the following steps: constructing a soil and rock dam random finite element deformation field data set, performing grid mapping, geometric mask processing and global normalization on the deformation field sample, and forming a two-dimensional deformation field training sample; training the diffusion model by using the training sample, wherein an active sampling strategy is adopted in the training stage, and high-information samples are preferentially selected according to sample information quantity to participate in training; in the sampling stage, sparse monitoring data is mapped to a section grid coordinate, a monitoring consistency loss function is constructed, and the gradient thereof is embedded into an inverse diffusion sampling process as a guide item to dynamically correct the sampling state, and a reconstructed deformation field is generated. The application can realize high-precision and real-time deformation field reconstruction of a key section of a soil and rock dam under a sparse monitoring condition, and significantly improves the expression ability of the model to a complex deformation mode and the diversity of generated results.

The application relates to the technical field of aero-engines and discloses an analysis method and system of unsteady aerodynamic force considering blade mistuning, wherein a multi-channel grid model containing two adjacent rotor blades and flow channels between the two rotor blades is constructed, an influence coefficient method is used to obtain dangerous modes and dangerous diameters of the rotor blades; under the condition of considering mistuning amounts of the rotor blades, an unsteady flow field of the rotor blades under the dangerous modes and the dangerous diameters is calculated based on a dynamic grid mapping method, a proxy model between unsteady aerodynamic force of the blades and vibration displacement is constructed based on a dynamic mode decomposition method, and unsteady aerodynamic force and vibration displacement information of the rotor blades are obtained by carrying out structural dynamics simulation analysis of the rotor blades, so that the unsteady aerodynamic force change of the blades caused by frequency mistuning of the compressor rotor blades can be accurately simulated, and accurate unsteady aerodynamic force is provided for multi-physical field solving of the rotor blades.

The invention relates to the technical field of intelligent ports and environmental protection, and discloses a coal port production and emission monitoring method based on multi-source heterogeneous data fusion, and the method comprises the steps: obtaining the production monitoring data and emission monitoring data of a port; performing time granularity unification and space gridding mapping processing on the data to realize alignment of the multi-source heterogeneous data in a time-space dimension; based on the aligned data, constructing a dynamic mapping model for representing the relationship between production and emission through a machine learning algorithm; utilizing the dynamic mapping model to predict a future emission trend according to production monitoring data or a future production operation plan; and when the predicted future emission trend exceeds a preset control threshold value, a linkage control instruction is generated and issued to the associated environmental protection equipment. According to the invention, active early warning and automatic control of environmental emission are realized, and scientificity and efficiency of port environmental protection management are improved.

The invention belongs to the technical field of port machinery automation control, and relates to a port container tire crane walking driving control method. According to the method, the steering compensation amount and the differential compensation amount corresponding to the transverse deviation and the course angle deviation of the tire crane are calculated in real time through the state space grid mapping technology, meanwhile, the health state level of each tire is evaluated based on the tread depth and the accumulated running time, and a differential distribution strategy is constructed. Under the physical execution constraint condition, the compensation amount is distributed according to the principle that the tires in the high health state bear dominant distribution, the tires in the middle health state bear basic distribution, and the tires in the low health state bear auxiliary distribution or do not bear, and dual safety guarantee is carried out in combination with environment safety monitoring and a tire physical constraint verification mechanism. According to the method, the problems of low control precision, unbalanced tire wear and potential safety hazards caused by uneven tire states in the traveling process of the traditional tire crane are effectively solved, and the automatic guide precision and stability of the tire crane are improved.

The invention discloses a corn yield high-temperature loss prediction method based on machine learning, particularly relates to the technical field of high-temperature loss prediction, and realizes refined, dynamic and spatialized prediction of corn yield high-temperature loss by constructing a machine learning prediction system based on high-temperature-drought composite coupling characteristics. The method effectively captures the interaction of high temperature and drought stress under an unsteady climate condition, quantifies the composite stress characteristics through the joint analysis of a high temperature stress function and a drought response matrix, reduces the misjudgment caused by characteristic aliasing through nonlinear orthogonal decomposition and mutual information analysis, and improves the reliability of the system. According to the method, a deep learning model is trained, network parameters are optimized and prediction deviation is dynamically corrected by using a composite stress confusion distortion index constraint deep learning model, stable and robust prediction of the yield loss under an extreme climate condition is realized, and meanwhile, through feature contribution degree analysis and spatial grid mapping, the spatial and temporal distribution of the yield loss under a composite stress condition can be visually displayed.

The invention discloses a coordinate mapping thermodynamic diagram generation method and device based on grid optimization, equipment and a medium, and the method comprises the steps: carrying out the grid drawing of a target image after the calibration of a camera, and mapping the grid to a world coordinate, and enabling the target image to be obtained through the shooting of the camera; detecting a foot point of the first target based on deep learning, and acquiring an image coordinate of the foot point in the target picture; determining a first grid to which the foot point belongs based on the image coordinate of the foot point; mapping the image coordinates of the foot points to obtain world coordinates of the foot points; and determining a real mapping point location of the foot point according to a relationship between the first grid and the world coordinate of the foot point. The invention belongs to the field of computer vision. According to the invention, the mapping precision from the image coordinates to the world coordinate system can be improved.