CN109086277A - A kind of overlay region building ground drawing method, system, mobile terminal and storage medium - Google Patents
A kind of overlay region building ground drawing method, system, mobile terminal and storage medium Download PDFInfo
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Abstract
The present invention provides a kind of overlay region building ground drawing method, system, mobile terminal and storage medium.The present invention obtains the information Perception data of vehicle and extracts landmark information from information Perception data in map structuring mode, is based on SLAM algorithm, generates terrestrial reference map and vehicle driving trace according to the athletic posture of vehicle and the landmark information；The map of building by several times, compares overlay region similarity, is spliced after successful match；Circulation carries out map structuring process, forms locally or globally map.The map of building by several times is repeatedly matched according to landmark information, the building accuracy of map is continuously improved, while supporting compared with vehicular map and the download function of cloud.
Description
Technical field
The present invention relates to computer communication and network safety filed, more particularly to a kind of overlay region construct ground drawing method,
System, mobile terminal and storage medium.
Background technique
The increase of car ownership promotes the development of large parking lot, and since marching toward 21st century, ours is big
Type parking lot is more and more, and being growing for parking lot scale, brings a series of the problem of parking with picking up the car, has become
The social concern that each large- and-medium size cities generally face in world wide.
Firstly, increasing in city vehicle, under traffic congestion more serious situation, the parking difficulty in city is big
It is big to increase.Many drivers feel to be difficult to control the technology of parking.Secondly, on the one hand car owner is faced with because finding parking stall when parking
And the distance of cruising gradually increased, the walking distance that car owner walks out parking lot is on the other hand also increased, the body of car owner is increased
Power, time and energy cost；Meanwhile the parking stall of large parking lot is numerous and instruction is not clear enough, boundless and indistinct parking stall is caused to seeking vehicle
Great puzzlement.
In today that vehicle development is more and more flourishing, the intelligence of vehicle is a main trend of vehicle future development, in reality
During existing vehicle autonomous parking, vehicle how to be made to obtain the map in parking lot and be to be badly in need of to the vehicle location in parking lot
The technical issues of solution.
At present vehicle in outdoor map based on satellite positioning (including difference), satellite positioning mainly include GPS system,
Dipper system, GLONASS system and Galileo system.The shortcomings that satellite positioning, is easy to receive high-lager building and trees
It influences, is unable to reach perfect precision under many scenes.The use INS signal (autoacceleration of space map being built in vehicle chamber
The reading of meter, gyroscope, compass, pressure sensor etc.), or the navigation combined using inertial navigation signal with satellite system
System.Using SLAM technology, (Simultaneous Localization and Mapping is positioned and map structure some immediately
It builds).
At present using the concrete scheme of SLAM technology building indoor map, such as patent name are as follows: " building map structuring side
The patent document of method, system, mobile terminal and storage medium ", the technical solution of use are as follows: " be map structuring in any vehicle
When mode, the athletic posture and vehicle-surroundings image and from the vehicle-surroundings image zooming-out landmark information of vehicle are obtained；It is based on
SLAM algorithm generates terrestrial reference map and vehicle driving trace according to the athletic posture of vehicle and the landmark information；Detection can
Running region and according to the travelable Area generation grating map of the vehicle driving trace and detection；Vehicle is in parking lot
When driving, circulation carries out map structuring process to different zones, and formation locally or globally constructs map." in this scheme, do not need
With the athletic posture and vehicle-surroundings image of collecting vehicle acquisition vehicle, but the single user Che Cai by loading the onboard system
Collection.
Summary of the invention
In order to solve above-mentioned and other potential technical problems, the present invention provides a kind of overlay regions to construct map side
Method, system, mobile terminal and storage medium, first, in map structuring mode, map is generated according to building map overlay region,
The information Perception data of crossover region establish the Relative Transformation between multiple nodes and node based on keyframe (key frame)
Relationship, and the maintenance of key node is constantly carried out, guarantee the capacity of data, while guaranteeing precision, reduces calculation amount.
Second, system automatically generated grating map and terrestrial reference map do not depend on design drawing as basic map, and automation map generates
Process reduces manual intervention.Third, the information Perception data of the crossover region that system acquisition arrives are according to the number of dissimilar sensor
It is uniformly processed according to type, timestamp, coordinate system, and by the same coordinate point or coordinate of map in this data and Support Library
The model of range is compared, if the data in information Perception data and Support Library are inconsistent, system can report an error, then basis
Whether deep learning Network Recognition, which needs, is changed.4th, proposed SLAM algorithm include but is not limited to PTAM,
MonoSLAM, ORB-SLAM,RGBD-SLAM,RTAB-SLAM,LSD-SLAM.5th, there are two types of operating modes for system: building
Mode and station-keeping mode, both of which switching judge according to the received instruction of system and information Perception aggregation of data.6th, it can
In Vehicular screen and cell phone display 2D and/or 3D map and driving trace.
The method that map is constructed and updated according to overlay region, comprising the following steps:
S01: when any vehicle is map structuring mode, the information Perception data of vehicle are obtained and from information Perception data
Middle extraction landmark information；
S02: being based on SLAM algorithm, generates terrestrial reference map and vehicle according to the athletic posture of vehicle and the landmark information
Driving trace；
S03: for the map constructed by several times in step S02, compare overlay region similarity, spliced after successful match；
S04: circulation carries out map structuring process, forms locally or globally map.
It in this present embodiment,, can be by the map of gradation building when comparing the similarity of overlay region 100 in step S03
The information Perception data on boundary extract, and the landmark information 110 for being included in the information Perception data on boundary according to the map is in
Position, size in image, angle determine the absolute position of the landmark information, and the map that two or more are constructed by several times
According to the matching of the absolute position of one or more landmark informations 110, splicing, until obtaining global map.
Further, the map two or more constructed by several times is matched according to the absolute position of landmark information 110, is spelled
When connecing, if establishing 2D map, matching splicing, and preferably three ground are preferably carried out according to the absolute position of three landmark informations 110
Mark information 110 is not on same straight line.When the absolute position splicing of such three landmark informations 110, splicing can be limited
The freedom degree of map prevents map rotation shake.The coordinate information in the crossover region 100 in upper two embodiments can be
One coordinate points 101 or one piece of region with coordinate range.
Further, if establish 3D map, matching spelling is preferably carried out according to the absolute position of four landmark informations 110
It connects, and preferably three landmark informations 110 are in a dimension, another landmark information 110 is located at its excess-three landmark information
Different dimensions.When the absolute position splicing of such four landmark informations 110, the freedom degree of splicing map can be limited.
Further, can also be by building map compared with the vehicular map, it, will when the building map has update
The content of update is sent to the cloud server of the vehicular map, shows the building ground so that updating in the vehicular map
Figure.
Further, the information Perception data for the crossover region 100 that the S011: system acquisition in upper two embodiments is arrived according to
The data type of dissimilar sensor, timestamp 12, coordinate system 13 are uniformly processed；S012: and by this data and support
The same coordinate point 101 of map or 102 model of region of coordinate range are compared in library；S013: if information Perception data
When inconsistent with data in Support Library, system can report an error；S014: and then whether need to become according to deep learning Network Recognition
More.
Further, the embodiment of the present invention also provides a kind of building map structuring system, including acquisition processing module, uses
In when any vehicle is map structuring mode, obtains the information Perception data of vehicle and extract terrestrial reference from information Perception data
Information；Terrestrial reference mapping module generates terrestrial reference map and vehicle according to the information Perception data of vehicle for being based on SLAM algorithm
Driving trace；Comparison match module passes through the landmark information coordinate matching gradation structure of overlay region for comparing overlay region similarity
The map built, formation locally or globally construct map.
Further, further including grating map module, can travel region and root for can travel regional movement attitude detection
According to the travelable Area generation grating map of the vehicle driving trace and detection；Wherein, vehicle is in parking lot not same district
When driving, circulation constructs the grating map and the terrestrial reference map in domain, and formation locally or globally constructs map.
Further, further include map data update unit, for by the building map compared with the vehicular map,
When the building map has update, the content of update is sent to the cloud server of the vehicular map, so that the vehicle
It carries to update in map and shows the building map.The result of update can also be uploaded to cloud by map data update unit, with
Just other users are downloaded.Therefore the building map structuring of the present embodiment may be implemented to construct map structuring immediately.
Further, vehicle in parking lot different zones when driving, circulation is with constructing the grating map and the terrestrial reference
Figure, formation locally or globally construct map.
The embodiment of the present invention also provides a kind of mobile terminal, and the mobile terminal includes building map structure as described above
Build system.Above-mentioned that the building map structuring system is described in detail, details are not described herein.Wherein, the shifting
Dynamic terminal is, for example, mobile phone, PAD, or computer or server etc..
In another embodiment, mobile terminal includes processor and memory, and the memory is stored with program instruction, institute
It states processor operation program instruction and realizes step in method as described above.The mobile terminal is, for example, smart phone, vehicle
Mounted terminal etc..
The embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step in method as described above is realized when sequence is executed by processor.
As described above, of the invention has the advantages that
In map structuring mode, the information Perception data of crossover region between system acquisition vehicle, and map is generated with this, it hands over
Based on keyframe (key frame), the Relative Transformation established between multiple nodes and node closes the information Perception data in folded area
System, and the maintenance of key node is constantly carried out, guarantee the capacity of data, while guaranteeing precision, reduces calculation amount.System
System automatically generates grating map and terrestrial reference map, does not depend on design drawing as basic map, automates map generating process, subtract
Few manual intervention.Data type of the information Perception data for the crossover region that system acquisition arrives according to dissimilar sensor, time
Stamp, coordinate system are uniformly processed, and by the same coordinate point of map or the model of coordinate range in this data and Support Library
It is compared, if the data in information Perception data and Support Library are inconsistent, system can report an error, then according to deep learning net
Network recognizes the need for change.This system can be in Vehicular screen and cell phone display 2D plane map and driving trace.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is shown as flow diagram of the invention.
Fig. 2 is shown as the schematic diagram of crossover region in one embodiment of the invention.
Fig. 3 is shown as the schematic diagram of crossover region in another embodiment of the present invention.
Fig. 4 is shown as the schematic diagram of crossover region in another embodiment of the present invention.
Fig. 5 is shown as the schematic diagram of crossover region in another embodiment of the present invention.
Fig. 6 is shown as the flow chart that present invention building map is compared with known vehicular map.
Fig. 7 is shown as the frame diagram of information Perception data of the present invention.
Fig. 8 is shown as the flow chart detected when building map structuring to landmark information winding.
Fig. 9 is shown as the flow chart detected when constructing map structuring in another embodiment to landmark information winding.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper" in this specification, "lower", "left", "right", " centre " and " one " term, be also only
Convenient for being illustrated for narration, rather than to limit the scope of the invention, relativeness is altered or modified, in no essence
It changes under technology contents, when being also considered as the enforceable scope of the present invention.
Building map constructing method, system, mobile terminal and storage medium application provided by the present embodiment in interior with
And outdoor single-layer or multi-layer parking lot.
The method of building map structuring provided by the present embodiment uses SLAM algorithm, and map structuring part can be by
Different vehicles or equipment are completed.
Referring to Fig. 1, according to overlay region building and the method for update map, comprising the following steps:
S01: when any vehicle is map structuring mode, the information Perception data of vehicle are obtained and from information Perception data
Middle extraction landmark information；
S02: being based on SLAM algorithm, generates terrestrial reference map and vehicle according to the athletic posture of vehicle and the landmark information
Driving trace；
S03: for the map constructed by several times in step S02, compare overlay region similarity, spliced after successful match；
S04: circulation carries out map structuring process, forms locally or globally map.
Referring to fig. 2~Fig. 5 in step S03, when comparing the similarity of overlay region 100, can be incited somebody to action in this present embodiment
The information Perception data of the map boundary line of building extract by several times, the ground for being included in the information Perception data on boundary according to the map
Position that mark information 110 is in image, size, angle determine the absolute position of the landmark information, and by two or more
The map of building is according to the matching of the absolute position of one or more landmark informations 110, splicing by several times, until obtaining global map.
Further, when the map two or more constructed by several times matches according to the absolute position of landmark information 110, splices, if
2D map is established, matching splicing, and preferably three landmark informations are preferably carried out according to the absolute position of three landmark informations 110
110 are not on same straight line.When the absolute position splicing of such three landmark informations 110, splicing map can be limited
Freedom degree prevents map rotation shake.The coordinate information in the crossover region 100 in upper two embodiments can be a seat
Punctuate 101 or one piece of region with coordinate range.If establish 3D map, preferably according to the exhausted of four landmark informations 110
Matching splicing carried out to position, and preferably three landmark informations 110 are in a dimension, another landmark information 110 and remaining
Three landmark informations are located at different dimensions.When the absolute position splicing of such four landmark informations 110, splicing can be limited
The freedom degree of map.
It, in this present embodiment, can also be by building map compared with the vehicular map, on the building ground referring to Fig. 6
When figure has update, the content of update is sent to the cloud server of the vehicular map, so that updating in the vehicular map
Show the building map.When having known map to be positioned, building map structure can also be carried out using SLAM simultaneously
It builds.This map is compared with known vehicular map, is had occurred when it can be found that whether current environment is compared with map structuring with this
Change.The result of update can be uploaded to cloud, so as to other users downloading.In this present embodiment, in upper two embodiments
Data type of the information Perception data of crossover region 100 that arrive of S011: system acquisition according to dissimilar sensor, timestamp
12, coordinate system 13 is uniformly processed；S012: and by the same coordinate point 101 or coordinate of map in this data and Support Library
102 model of region of range is compared；S013: if the data in information Perception data and Support Library are inconsistent, system meeting
It reports an error；S014: and then whether need to change according to deep learning Network Recognition.
Referring to Fig. 7, in this present embodiment, the information Perception data in upper two embodiments are including but not limited to not
The data packet 11 of same type sensor, timestamp 12, coordinate system 13.In this present embodiment, the inhomogeneity in upper two embodiments
The data packet 11 of type sensor is vision guided navigation sensor 11a, light reflects navigation sensor 11b, ultrasonic wave navigation sensor 11c
Any one or more of signal collected data packet.System uses the data packet of vision guided navigation sensor 11a as information sense
Primary data, vision guided navigation sensor 11a includes the athletic posture sensor of imaging sensor and vehicle, by image information and movement
Posture information is compressed.
In this present embodiment, the system in upper two embodiments uses up the data packet of reflection navigation sensor 11b as letter
Perception data is ceased, it can be laser sensor or infrared sensor that light, which reflects navigation sensor 11b, by laser sensor or infrared
What sensor was perceived is compressed with the range information of external object.
In this present embodiment, the system in upper two embodiments uses the data packet of ultrasonic wave navigation sensor 11c as letter
Perception data is ceased, ultrasonic wave navigation sensor 11c is ultrasonic transmitter and ultrasonic receiver, by ultrasonic transmitter and is surpassed
Acoustic receiver range information generated is compressed.
In this present embodiment, the athletic posture of the vehicle includes location information and course angle.The movement appearance of vehicle can be by
Odometer speculates that the odometer includes four-wheel rotational pulse and steering wheel angle, can extrapolate vehicle and transport posture relatively
Variation.Specifically, (such as accelerated according to the speed parameter of steering wheel angle, wheel pulse, vehicle inertia measuring unit (IMU)
Degree, angular speed) and GPS obtain the athletic posture of the vehicle.The location information of vehicle, utilization orientation disk are obtained using GPS
Corner, wheel pulse, vehicle inertia measuring unit (IMU) speed parameter (such as acceleration, angular speed) obtain vehicle boat
To angle.Course angle can use angular speed meter calculate, can also by vehicular four wheels rotational pulse and steering wheel angle, can also be with
It is calculated, above-mentioned each data source can also be merged by Visual SLAM.It is available in this way to position and course angle
Prediction.Since the acquisition of course angle is by as it is known to those skilled in the art that details are not described herein.During SLAM, then
In conjunction with camera perception as a result, obtaining the update to position and course angle again.Prediction and update are the processes of continuous iteration.Institute
Stating landmark information includes but is not limited to the angular coordinate on parking stall, the stud edge edge in parking lot, column projection and anticollision strip
Edge.These the information that is marked in map refer specifically to the coordinate (x, y) on ground, also may include terrestrial reference direction (x, y,
theta).Wherein, the skill that specified landmark information is comparative maturity in field of image processing is extracted from the image of vehicle's surroundings
Art, details are not described herein.
In this present embodiment, the SLAM algorithm proposed include but is not limited to PTAM, MonoSLAM, ORB-SLAM,
RGBD-SLAM, RTAB-SLAM, LSD-SLAM, EXF family, particle filter (FastSLAM), figure optimization.It is mostly based on vision
The SLAM choice of technology SIFT, FAST etc landmark information.But these landmark informations are big by environmental change.Time invariance
It is bad.So can not be stored in map.The present embodiment using SLAM algorithm when constructing map, the landmark information packet of selection
Include the fixed point on parking stall, stud edge along and its in the projection on ground etc..The detection of the angular coordinate on parking stall can refer to existing
Any detection means in technology is the technology of this field comparative maturity.In this present embodiment, column Edge check uses
Landmark information in Visual SLAM has this feature of the anticollision strip of yellow black interval using parking lot major part column, extracts tool
Standby identical 2D coordinate, but the equally spaced feature of height is detected.
Referring to Fig. 8~Fig. 9, in this present embodiment, the building map constructing method further includes examining to landmark information winding
It surveys, specifically includes: S021: reducing the detection range of landmark information in the way of scan matching by the grating map；
S022: landmark information is further detected using the terrestrial reference map.The building map constructing method further includes believing terrestrial reference
Winding detecting step is ceased, because landmark information repeats in parking lot, it is wrong that the winding detection based on landmark information is easy to produce matching
Accidentally.
In another embodiment, winding detection can also specifically include: S031: pass through scanning using the grating map
The mode matched reduces the detection range of landmark information.It is detected by way of scan matching according to network map in large-scale dimension
Winding.S032: landmark information is further detected using the terrestrial reference map.Landmark information search range is reduced, then passes through ground
It marks the detection of information winding and carries out map global optimization.S033: by the building map compared with the vehicular map, in the structure
When building map has update, the content of update is sent to the cloud server of the vehicular map, so that in the vehicular map
It updates and shows the building map.Because landmark information repeats in parking lot, the winding detection based on landmark information is easy to produce
Matching error.The winding detection module specifically includes: first order detection unit, for passing through scanning using the grating map
Matched mode reduces the detection range of landmark information, is examined by way of scan matching according to network map in large-scale dimension
Survey time ring.Second level detection unit, for further being detected using the terrestrial reference map to landmark information.Landmark information is reduced to search
Rope range, then map global optimization is carried out by the detection of landmark information winding.
The embodiment of the present invention also provides a kind of building map structuring system, including acquisition processing module, for any
When vehicle is map structuring mode, obtains the information Perception data of vehicle and extract landmark information from information Perception data；Ground
Mapping module is marked, for being based on SLAM algorithm, generates terrestrial reference map and vehicle driving rail according to the information Perception data of vehicle
Mark；Comparison match module passes through the ground of the landmark information coordinate matching gradation building of overlay region for comparing overlay region similarity
Figure, formation locally or globally construct map.
In this present embodiment, further including grating map module, can travel region for can travel regional movement attitude detection
And according to the travelable Area generation grating map of the vehicle driving trace and detection；Wherein, vehicle in parking lot not
When driving with region, circulation constructs the grating map and the terrestrial reference map, and formation locally or globally constructs map.
In this present embodiment, further include map data update unit, be used for the building map and the vehicular map
Compare, when the building map has update, the content of update is sent to the cloud server of the vehicular map, so that institute
It states to update in vehicular map and shows the building map.The result of update can also be uploaded to cloud by map data update unit
End, so as to other users downloading.Therefore the building map structuring of the present embodiment may be implemented to construct map structuring immediately.
In this present embodiment, vehicle in parking lot different zones when driving, circulation constructs the grating map and described
Map is marked, formation locally or globally constructs map.
The embodiment of the present invention also provides a kind of mobile terminal, and the mobile terminal includes building map structure as described above
Build system.Above-mentioned that the building map structuring system is described in detail, details are not described herein.Wherein, the shifting
Dynamic terminal is, for example, mobile phone, PAD, or computer or server etc..In another embodiment, mobile terminal includes processor
And memory, the memory are stored with program instruction, the processor operation program instruction is realized in method as described above
The step of.The mobile terminal is, for example, smart phone, car-mounted terminal etc..
The embodiment provides a kind of computer readable storage mediums, are stored thereon with computer program, the journey
The step in method as described above is realized when sequence is executed by processor.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, includes that institute is complete without departing from the spirit and technical ideas disclosed in the present invention for usual skill in technical field such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. overlay region building and the method for updating map, which comprises the following steps:
S01: when any vehicle is map structuring mode, the information Perception data of vehicle is obtained and are mentioned from information Perception data
Take landmark information；
S02: being based on SLAM algorithm, generates terrestrial reference map and vehicle driving according to the athletic posture of vehicle and the landmark information
Track；
S03: for the map constructed by several times in step S02, compare overlay region similarity, spliced after successful match；
S04: circulation carries out map structuring process, forms locally or globally map.
2., can when comparing the similarity of overlay region the method according to claim 1, wherein in step S03
The cartographic information perception data of gradation building to be extracted, the terrestrial reference for being included in the information Perception data on boundary according to the map
Position that information is in image, size, angle determine the absolute position of the landmark information, and by two or more gradation structures
The map built matches according to the absolute position of one or more landmark informations, splices, until obtaining global map.
3. according to the method described in claim 2, it is characterized in that, if when establishing 2D map, by two or more gradation structures
The map built is according to absolute position matching, the splicing of three landmark informations, and up to obtaining global map, and preferably three terrestrial references are believed
Breath is not on same straight line；If establish 3D map, two or more maps constructed by several times are believed according to four terrestrial references
The absolute position of breath carries out matching splicing, and three landmark informations are in a dimension, another landmark information and its excess-three
Landmark information is located at different dimensions.
4. described in any item methods according to claim 1~3, which is characterized in that further include the map that will build with it is vehicle-mounted
The same coordinate point of map or the regional model of coordinate range are compared, if data are inconsistent, system can report an error；Then
Whether the step of changing is needed according to deep learning Network Recognition.
5. according to the method described in claim 4, it is characterized in that, can also be by the map built and the vehicular map ratio
Compared with, when the map built has update, by the content of update be sent to the vehicular map cloud server and under
It carries, so that updating display in vehicular map.
6. overlay region building and the system for updating map characterized by comprising
Acquisition processing module, for obtaining the information Perception data of vehicle and from letter when any vehicle is map structuring mode
Landmark information is extracted in breath perception data；
Terrestrial reference mapping module generates terrestrial reference map and vehicle according to the information Perception data of vehicle for being based on SLAM algorithm
Driving trace；
Comparison match module is constructed for comparing overlay region similarity by the landmark information coordinate matching of overlay region by several times
Map, formation locally or globally construct map.
7. system according to claim 6, which is characterized in that further include map data update unit, be used for the structure
Map is built compared with the vehicular map, when the building map has update, by the content of update be sent to it is described vehicle-mountedly
The cloud server of figure shows the building map so that updating in the vehicular map.
8. system according to claim 7, which is characterized in that further include map changing unit, by the map built with
The same coordinate point of vehicular map or the regional model of coordinate range are compared, if data are inconsistent, system can report an error；
Then whether needed to change building map according to deep learning Network Recognition.
9. a kind of mobile terminal, which is characterized in that the mobile terminal includes map structuring system as described above.
10. a kind of computer readable storage medium, is stored thereon with computer program, it is characterised in that: the program is by processor
The step in method according to any one of claims 1 to 5 is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710440699.7A CN109086277B (en) | 2017-06-13 | 2017-06-13 | Method, system, mobile terminal and storage medium for constructing map in overlapping area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710440699.7A CN109086277B (en) | 2017-06-13 | 2017-06-13 | Method, system, mobile terminal and storage medium for constructing map in overlapping area |
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| CN109959937A (en) * | 2019-03-12 | 2019-07-02 | 广州高新兴机器人有限公司 | Localization method, storage medium and electronic equipment of the gallery environment based on laser radar |
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| CN110321398A (en) * | 2019-06-26 | 2019-10-11 | 浙江吉利控股集团有限公司 | A kind of dead space is parked method for building up, device and the terminal of map |
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| CN114862956A (en) * | 2022-07-07 | 2022-08-05 | 中国长江三峡集团有限公司 | Scanning equipment mobile positioning method and system suitable for tunnel construction |
| JP7290785B1 (en) | 2022-07-07 | 2023-06-13 | 中国長江三峡集団有限公司 | Mobile positioning method and system for scanning device applied to tunnel construction |
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