24 results about "Map projection" patented technology

The application discloses a kind of unmanned aerial vehicle image and multi-modal map area cutting method and system based on attitude information, first obtain the unmanned aerial vehicle image containing EXIF metadata, extract GPS information and attitude parameter, calculate image ground real projection center point longitude and latitude in combination with sensor parameter graph;Again, according to pixel size, sensor physical size etc., calculate ground resolution and geographical coverage, correct the projection angle to get four real longitude and latitude, then four corner coordinates are converted to map projection coordinate system, generate cutting window in combination with base map geographic reference information, high-precision cutting is carried out in infrared, visible light map base map respectively, corresponding result is carried out after spatial alignment and consistency verification, and relevant data is saved in JSON format structure.The method realizes accurate area matching and cutting, improves the spatial accuracy and processing efficiency of multi-source remote sensing data fusion and target identification, and is suitable for remote sensing surveying and mapping, resource investigation and emergency monitoring and other scenes.

The invention belongs to the technical field of astronomical image data processing, particularly relates to an astronomical image data set labeling method, and aims to solve the problem that existing single threshold segmentation-based labeling and star map projection-based labeling are difficult to meet the requirement of a depth model for a high-quality data set. According to the method, on the basis of threshold segmentation labeling and star map projection labeling, a first labeling result and a difference set are adopted as a labeling result A for an observation image large-probability detectable target, a second labeling result is adopted as a labeling result B for an observation image small-probability detectable target, and the labeling result A and the labeling result B are integrated to obtain a labeling result A and a labeling result B; and obtaining a final labeling result. According to the method, the integrity of target labeling can be improved, the probability of missing labeling and wrong labeling can be reduced, the actual fitting degree of the labeling result and the image can be met, unification of integrity and accuracy is achieved, and the depth model performance can be improved through the manufactured data set.

The invention discloses an unmanned aerial vehicle image and multi-modal map area cutting method and system based on attitude information, and the method comprises the steps: firstly obtaining an unmanned aerial vehicle image containing EXIF metadata, extracting GPS information and attitude parameters, and calculating the latitude and longitude of a real projection center point of the image ground in combination with sensor parameters; calculating ground resolution and geographical coverage according to pixel size, sensor physical size and the like, correcting projection angles to obtain real longitudes and latitudes of four corners, transferring coordinates of the four corners to a map projection coordinate system, generating a cutting window by combining geographical reference information of the base map, and performing high-precision cutting in the base map of the infrared and visible light map respectively to obtain a three-dimensional image; after a corresponding result is obtained, space alignment and consistency verification are carried out, and related data are stored in a JSON format in a structured mode. The method realizes accurate region matching and cutting, improves spatial precision and processing efficiency of multi-source remote sensing data fusion and target identification, and is suitable for various scenes such as remote sensing surveying and mapping, resource investigation, emergency monitoring and the like.

The application belongs to the technical field of point cloud processing, and discloses a multi-modal semantic mapping method and system based on a master-slave architecture. The method comprises the following steps: S1, extracting feature points in point cloud data and calculating the covariance matrix of the neighborhood point cloud of each feature point; S2, solving the optimal pose corresponding to the minimum of the target function; S3, converting the obtained point cloud data into a world coordinate system using the optimal pose, fusing all frame point cloud data in the world coordinate system to form a three-dimensional point cloud map, projecting the three-dimensional point cloud map to a camera coordinate system, and inputting the three-dimensional point cloud map projected to the camera coordinate system into a semantic segmentation neural network to obtain the semantic label corresponding to each point cloud in the three-dimensional point cloud map, thereby achieving semantic mapping. Through the application, the problems of weak dynamic adaptability, insufficient model generalization ability and long-term running precision decay of the traditional three-dimensional semantic mapping method in a dynamic complex scene are solved.

The invention relates to a multi-robot relative positioning method for a field environment, and the method comprises the steps: constructing a local point cloud map, removing ground point cloud, obtaining a non-ground local point cloud map, projecting the non-ground local point cloud map to a bird's-eye view, and obtaining a multi-frame bird's-eye view space height distribution diagram as a historical frame; screening a candidate loopback frame; screening out an effective loopback frame from the plurality of candidate loopback frames, and obtaining a relative pose of the robot between the current frame and the effective loopback frame as a loopback constraint; removing abnormal values in the loopback constraint set to obtain a reliable loopback constraint set; loopback factors are generated based on the reliable loopback constraint set, and a joint factor graph is constructed; and carrying out adaptive weight adjustment on the loopback factors in the joint factor graph, removing the loopback factors of which the weights are lower than a threshold value, updating the joint factor graph, and updating pose estimation results and global consistent trajectory estimation results of all robots at the same time.

Systems and methods for autonomous vehicle path planning are described herein. An example vehicle includes an image sensor to obtain an image of a scene of an area surrounding the vehicle. The vehicle also includes navigation system circuitry to: analyze the image and generate a semantically segmented image that identifies one or more types of features in the image; project the semantically segmented image to a two-dimensional (2D) map projection; convert the 2D map projection into a cost map; and determine a path for the vehicle based on the cost map.

The present disclosure relates to a hemi-cube map projection format in an imaging environment. According to one embodiment, mechanisms for facilitating a hemi-cube map projection format imaging environment are described. The method of embodiments as described herein includes capturing, by a camera coupled to one or more processors, an image having image content, wherein the image content represented by the image is omnidirectional such that the image content, while representing less than a sphere, is mapped on a sphere; mapping the image to a cube representation based on six faces of the cube, wherein one or more of the six faces are classified as inactive regions such that the one or more faces remain unoccupied or partially occupied; and arranging the six faces in a compact representation based on the cube representation by avoiding inclusion of the inactive regions.

This invention discloses an automatic obstacle avoidance method for exterior wall spraying robots based on lidar and BIM, belonging to the field of exterior wall spraying robot technology. It solves the problem that existing exterior wall spraying robots cannot automatically avoid obstacles such as windows or balconies. This invention obtains a point cloud map of the exterior wall through a BIM model and projects the point cloud map into a grid map for planning operations. Based on a two-step point cloud registration method using feature extraction, the lidar point cloud is registered with the point cloud map. This not only realizes the localization of the exterior wall spraying robot, but also obtains information on obstacles such as windows and balconies. This not only improves the accuracy and efficiency of spraying operations, but also reduces human intervention and lowers operational risks, especially in high-altitude operations, greatly improving safety.

The invention provides a mining area point cloud map projection method and device and electronic equipment, and relates to the technical field of mine unmanned driving. The method comprises the following steps: acquiring local point cloud window data to be registered and global reference pose data; the local point cloud window data is window data of mining area local point cloud generated based on simultaneous localization and mapping (SLAM); determining a target time offset between the local point cloud window data and the global reference pose data; performing registration processing on the local point cloud window data and a global reference map according to the target time offset and the global reference pose data to generate a corresponding accurate transformation matrix; and projecting the local point cloud window data to the global coordinate system according to the accurate transformation matrix, and generating corresponding target point cloud map data. According to the method, global point cloud map data for global navigation and scheduling can be generated. And meanwhile, the map projection efficiency is also improved.

This invention relates to the field of lawn mowing robot technology, and more particularly to a method for improving the single-point GNSS positioning accuracy of lawn mowing robots by integrating boundary information. The method includes the following steps: S1, calculating the coordinates of the lawn boundary; S2, constructing a state transition probability using the difference between the displacement vector of the map projection point and the displacement vector of the trajectory point; S3, if the number of state transitions that do not meet the constraints in the most recent n state transitions is greater than m, then it is determined that an obstacle boundary has been detected; S4, if the number of obstacle boundary maps equals the number of obstacle boundaries, modifying the state transition probability to the original equation; S5, constructing the coordinates of the obstacle boundary by using the difference between the position and heading of the starting trajectory point around the obstacle boundary and the current trajectory point. This invention solves the problem of how robots can independently acquire map information, and the long-term drift of single-point GNSS positioning, which leads to repeated mowing or missed mowing of lawns during lawn mowing.

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to generate an observed overhead feature map from an overhead image of a geographic area; generate a ground-view feature map from a ground-view image captured by a camera within the geographic area, the camera oriented at least partially horizontally while capturing the ground-view image; project the ground-view feature map to an overhead view based on a geometric relationship, resulting in a projected overhead feature map; determine a rotation of the camera relative to the overhead image based on the projected overhead feature map and the observed overhead feature map; and determine a translation of the camera relative to the overhead image based on the projected overhead feature map and the observed overhead feature map.

Methods, systems, devices, and non-transitory computer readable media for determining landmark visibility and generating annotations are provided. The disclosed technology can include receiving map data comprising three-dimensional models of structures in a physical environment. Portions of the three-dimensional models of structures that are visible from map projection cells associated with the physical environment can be determined. Visibility data associated with portions of the three-dimensional models that are visible from each of the map projection cells and comprising visibility cells corresponding to the map projection cells can be generated. View data associated with a visual representation of the physical environment from a location can be received. Based on the visibility data and view data, the visibility cell associated with the location in the physical environment can be determined. Based on point of interest data, points of interest associated with the visibility cells can be determined and annotations can be generated.

In various examples, detecting occluded objects within images or other sensor data representations for autonomous or semi-autonomous systems and applications is described herein. Systems and methods described herein may determine when objects are occluded at portions of images using various techniques. For example, an image may be processed in order to determine classifications associated with objects depicted by the image and, the classifications, along with labels that are projected on the image using a map, may then be used to determine whether one or more of the objects are occluded in the image. For another example, a map may be used to determine first distances to points within an environment and a point cloud may be used to determine second distances to the points within the environment. The distances may then be used to determine whether one or more objects are occluded within the image.

The embodiment of the invention provides a motor vehicle mapping and positioning method and device and a computer readable storage medium. The method comprises the following steps: obtaining a look-around spliced two-dimensional diagram based on video images of multiple paths of vehicle-mounted cameras; performing semantic segmentation on the road marks in the look-around spliced two-dimensional graph to obtain line segment template images and parking space template images; performing image processing on the line segment template image and the parking space template image to obtain an initial two-dimensional semantic image; performing pixel clustering and parameterization processing on the initial two-dimensional semantic image to obtain a target two-dimensional semantic image; projecting the target two-dimensional semantic image to a vehicle coordinate system based on the speedometer pose to obtain an initial local map, and clustering and fusing continuous multiple frames of initial local maps to obtain a precise local map; projecting the accurate local map to a longitude and latitude coordinate system to obtain a target local map, and further obtaining a lightweight road semantic map; and matching and positioning the motor vehicle. According to the embodiment of the invention, mapping and positioning can be realized in a scene with less textures.

The application discloses a kind of based on visual map mathematical basis design method, computer equipment and storage medium, wherein method includes following steps: S1, import the base map data of map, and input range coordinate, determine the rectangular frame range of the map to be output, obtain range base map data;S2, according to the range base map data obtained in step S1, calculate and obtain initial mathematical basis information, wherein, initial mathematical basis information includes initial map projection, initial projection parameter, initial paper size and initial scale;S3, according to the mathematical basis information obtained in step S2, the base map data of map is visualized drawing;S4, according to the demand, the map page after visualized drawing in step S3 is adjusted by operating personnel, and save adjusted mathematical basis information;S5, using the mathematical basis information adjusted in step S4, the base map data is handled, and the handled base map data is stored to be used as map data to be laid out.

The present application belongs to the technical field of astronomical image data processing, and particularly relates to a kind of astronomical image data set marking method, to solve the problem that the single threshold segmentation marking and star map projection marking based on existing cannot meet the demand of high-quality data set for deep model.The present application is based on threshold segmentation marking and star map projection marking, and the first marking result and difference set are used as marking result A for the target that can be detected with high probability in observation image, the second marking result is used as marking result B for the target that can be detected with low probability in observation image, and the final marking result is obtained by integrating marking result A and marking result B.The present application can improve the integrity of target marking, reduce the probability of missing and wrong marking, meet the actual fit degree of marking result and image, realize the unity of integrity and accuracy, and improve the performance of deep model for the data set produced.

The invention discloses a dynamic field domain contour constraint-based topological primitive mapping synchronous positioning method, which comprises the following steps of: acquiring a multi-view image by adopting an underwater camera, performing topological primitive-based initialized map representation on a target field domain according to the multi-view image, and defining a topological primitive as a three-dimensional Gaussian geometry; inputting the parameterized three-dimensional Gaussian geometry into an Al-pha B l endi ng algorithm for depth order map projection to obtain a rendered map with color, depth and contour information; setting the pose of the first frame of image of the underwater camera as a unit matrix, inputting the pose of the previous frame of underwater camera into a constant-speed projection algorithm from the second frame to obtain the pose of the current frame, screening effective boundary pixel points based on contour information in a rendering map, and optimizing the pose of the underwater camera in a mode of minimizing rendering errors; a three-dimensional Gaussian geometry is dynamically added according to the contour boundary sparsity difference and depth error of the rendering map of the adjacent frames, and the coverage range of the rendering map is expanded; the three-dimensional Gaussian geometry parameters are selectively optimized based on the key frame view cone overlapping degree, and the mapping precision is improved.

The invention belongs to the technical field of geographic information, and discloses a method for enhancing road network semantic information of a tile map, which comprises the following steps of: processing vector road network data, generating road sections and corresponding road codes, and calculating a minimum enclosing rectangle of each road section; map projection correction is carried out on the tile map data, map layer overlapping is carried out on the tile map data and a buffer area of the vector road network, tile map pictures corresponding to road segments are generated, and text recognition is carried out on the tile map pictures by using a PP-OCR method; carrying out geometric feature calculation and semantic feature calculation on the basis of the preprocessed data; and based on the geometric features and the semantic features, matching the road name text in the tile map with a vector road network. According to the invention, high-precision complementation of the road names is realized.

The application provides a navigation route display method and device, electronic equipment, medium and program product. The method comprises the following steps: displaying a navigation route in a drawing area by using a first fixed scale; in response to a zoom operation of a user, a second fixed scale indicated by the zoom operation is obtained; if the first fixed scale is different from the second fixed scale, a target bounding box including the navigation route under the second fixed scale is obtained; according to the target bounding box and the drawing area, a map center point under the second fixed scale is obtained; and the navigation route is displayed in the drawing area by using the second fixed scale according to the map center point and a map projection center point. The application realizes navigation route display according to a fixed scale indicated by a zoom operation of a user.

The invention discloses an iOS end background map display method and system based on picture tiles and a medium. The method comprises the steps that the map tiles of a to-be-displayed map area in a picture format are acquired; on the basis of longitude linear mapping and latitude Mercator projection, geographic tile coordinates of any point in the map tiles are converted into screen pixel coordinates in a display screen; and carrying out smooth movement on the screen pixel coordinate of any point in a display screen based on a smooth movement algorithm. Based on the data processing flow, a background map display scheme without depending on a GPU interface provided by the invention realizes that a program can be continuously rendered when a background screen is locked, so that map projection is not interrupted.

The utility model relates to a multipurpose globe model and a map projection device. The multipurpose globe model comprises a semicircular flat plate, an arched flat plate, a circular flat plate, a stabilizing plate and a spherical shell sleeve, a long groove and a short groove are formed in the edge of the circular flat plate and are arranged in the diameter direction of the circular flat plate, a long clamping groove and a short clamping groove are formed in the linear edge of the semicircular flat plate and are both perpendicular to the linear edge of the semicircular flat plate, the long clamping groove coincides with the circle center of the semicircular flat plate, and the short clamping groove coincides with the circle center of the semicircular flat plate. The number of the clamping short grooves is two, the two clamping short grooves are symmetrical about the center of the clamping long groove, the semicircular flat plate and the arched flat plate are clamped on the circular flat plate to form a sphere, the spherical shell sleeve covers the surface of the sphere, and the spherical shell sleeve can achieve state conversion from a plane to a three-dimensional state and from the three-dimensional state to the plane state, so that corresponding knowledge is mastered. The sphere can be converted from a plane component to a three-dimensional component and from the three-dimensional component to the plane component.

Methods, systems, devices, and non-transitory computer readable media for determining landmark visibility and generating annotations are provided. The disclosed technology can include receiving map data comprising three-dimensional models of structures in a physical environment. Portions of the three-dimensional models of structures that are visible from map projection cells associated with the physical environment can be determined. Visibility data associated with portions of the three-dimensional models that are visible from each of the map projection cells and comprising visibility cells corresponding to the map projection cells can be generated. View data associated with a visual representation of the physical environment from a location can be received. Based on the visibility data and view data, the visibility cell associated with the location in the physical environment can be determined. Based on point of interest data, points of interest associated with the visibility cells can be determined and annotations can be generated.

The application discloses a kind of image processing technical field's based on cube projection format's double generator panorama image repair method, to solve the problem of image repair in prior art will have artifact, distortion and over-smoothing etc., it includes obtaining panorama image to be repaired, and its format is converted into cube map projection format;The front, rear, left and right four faces of panorama image to be repaired are spliced, and the rectangular image to be repaired is obtained;The rectangular image to be repaired is repaired using four-face generator, and the reconstructed rectangular image is obtained;The reconstructed rectangular image is spliced with upper and lower two faces according to channel, and the multi-channel image to be repaired is obtained;The image to be repaired is repaired using six-face generator, and the reconstructed panorama image is obtained;The format of reconstructed panorama image is converted into equirectangular projection format, which is the panorama image after repair.The application can ensure that the content of repair area is reasonable, and reduce the phenomenon of artifact, distortion and over-smoothing in repair area.

The application discloses a semantic map database applied to a unmanned aerial vehicle and a semantic segmentation image generation method, relates to the unmanned aerial vehicle image processing field, and wherein the semantic map database generation method comprises the following steps: S1, performing semantic segmentation on a scene according to a satellite map; S2, storing the segmentation result in a tile form to form a semantic map database; and based on the semantic map database, the semantic segmentation image generation method applied to the unmanned aerial vehicle is proposed; the application stores the segmentation result in a tile form similar to the satellite map, avoids real-time semantic segmentation of the unmanned aerial vehicle during flight, and improves the stability of semantic segmentation; meanwhile, the semantic map is projected onto an observation camera image plane to generate a real-time semantic segmentation image; and the generated semantic segmentation image can directly query the position and contour of any segmentation target in a world coordinate system.