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WO2019127437A1 - Procédé et appareil d'étiquetage de carte, et serveur infonuagique, terminal et programme d'application - Google Patents

Procédé et appareil d'étiquetage de carte, et serveur infonuagique, terminal et programme d'application Download PDF

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Publication number
WO2019127437A1
WO2019127437A1 PCT/CN2017/120036 CN2017120036W WO2019127437A1 WO 2019127437 A1 WO2019127437 A1 WO 2019127437A1 CN 2017120036 W CN2017120036 W CN 2017120036W WO 2019127437 A1 WO2019127437 A1 WO 2019127437A1
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WIPO (PCT)
Prior art keywords
map
related data
mapping
data
annotation
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PCT/CN2017/120036
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English (en)
Chinese (zh)
Inventor
林义闽
廉士国
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Cloudminds Shenzhen Robotics Systems Co Ltd
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Priority to PCT/CN2017/120036 priority Critical patent/WO2019127437A1/fr
Priority to CN201780002724.1A priority patent/CN108124479A/zh
Publication of WO2019127437A1 publication Critical patent/WO2019127437A1/fr
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases

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  • the present invention relates to the field of map annotation technology, and can be applied to the field of cloud robots, and particularly relates to a method, a device, a cloud server, a terminal, and an application program for map annotation.
  • the cloud robot is an intelligent robot that puts the cognitive system in the cloud, the body, the drive and the sensor are placed on the robot body, and connects the two through mobile communication; the cloud robot is the development direction of the intelligent humanoid robot.
  • the map and the information on the map for specific locations bring great convenience to people's daily life and production activities.
  • the map formation with road sign information mainly includes steps of data collection, offline drawing processing, and manual verification.
  • map manufacturers including Gaode and Baidu, adopt the scheme of manually marking the map, that is, manually adding the annotation information and post-checking after the map is completed.
  • the present application proposes a map labeling method, device, cloud server, terminal and application program.
  • the first aspect of the embodiment of the present application provides a method for map labeling (implemented on the cloud server side), including the following steps:
  • map annotation related data and construction related data Receiving map annotation related data and construction related data from the terminal; the map annotation related data and the mapping related data are collected by the terminal at the same geographical position at the same time, and the two are corresponding to each other;
  • the map annotation information is marked on the geographic location in the mapping result.
  • the second aspect of the embodiment of the present application provides a method for map labeling (implemented on the terminal side), including the following steps:
  • map annotation related data and construction related data through the human-machine interaction device; the map annotation related data and the mapping related data are collected by the human-computer interaction device in the same geographical location, and the two are corresponding to each other;
  • the map annotation information is marked on the geographic location in the mapping result.
  • the third aspect of the embodiment of the present application provides a device for map annotation (applied to the cloud server side), including:
  • a receiving module configured to receive map annotation related data and mapping related data from the terminal; the map annotation related data and the mapping related data are collected by the terminal at the same geographical location at the same time, and the two are corresponding to each other;
  • a first location module configured to perform mapping according to the mapping related data, and determine a geographic location according to the mapping result
  • a first label information module configured to determine map label information according to the map label related data
  • the first annotation processing module is configured to mark the map annotation information on the geographic location in the mapping result.
  • a fourth aspect of the embodiments of the present application provides a device for marking a map (applied to the terminal side), including:
  • An acquiring module configured to acquire map annotation related data and construction related data by using a human-machine interaction device; the map annotation related data and the mapping related data are collected by the human-machine interaction device in the same geographical location, and the two One-to-one correspondence;
  • a second location module configured to perform a mapping according to the mapping related data, and determine a geographic location according to the mapping result
  • a second label information module configured to determine map label information according to the map label related data
  • a second annotation processing module configured to mark the map annotation information on the geographic location in the mapping result.
  • a fifth aspect of the embodiments of the present application provides a cloud server, where the cloud server includes: a communication module, a memory, one or more processors; and one or more modules, where the one or more modules are stored in the In the memory, and configured to be executed by the one or more processors, the one or more modules include instructions for performing the various steps of the method provided by the first aspect above.
  • a sixth aspect of the embodiments of the present application provides an application program used in combination with the cloud server described above, the application program comprising a computer program embedded in a computer readable storage medium, the computer program comprising:
  • the server executes the instructions of the various steps in the method provided by the first aspect above.
  • a seventh aspect of the embodiments of the present application provides a terminal, where the terminal includes: a communication module, a memory, one or more processors; and one or more modules, where the one or more modules are stored in the memory And configured to be executed by the one or more processors, the one or more modules comprising instructions for performing the various steps of the method provided by the second aspect above.
  • An eighth aspect of the embodiments of the present application provides an application program for use in combination with the terminal, the application program comprising a computer program embedded in a computer readable storage medium, the computer program comprising: The instructions of the various steps in the method provided by the second aspect.
  • the method, device, cloud server and application program of the map labeling provided by the embodiment of the present application mark relevant data and construction related data by receiving a map from the terminal;
  • the data and the mapping related data are collected by the terminal at the same geographical location at the same time, and the two are in one-to-one correspondence; the mapping is performed according to the mapping related data, and the geographical location is determined according to the mapping result;
  • the map labeling related data determines the map labeling information; and the map labeling information is marked on the geographical location in the mapping result, and the related data and the mapping related data uploaded by the terminal may be processed to implement Map mapping and map annotation are performed at the same time, and can effectively improve the efficiency of map annotation.
  • the method, device, terminal and application program of the map labeling provided by the embodiment of the present application acquire the map label related data and the map related data through the human-machine interaction device;
  • the data and the mapping related data are collected by the human-computer interaction device in the same geographical location, and the two are in one-to-one correspondence; the mapping is performed according to the mapping related data, and the geographical location is determined according to the mapping result; Determining the map labeling information according to the map labeling related data; marking the map labeling information on the geographical location in the drawing result, so that the terminal can collect the map labeling related data and the drawing related by the human-machine interaction device
  • the data is processed by the map label related data and the map related data to realize the map drawing and the map labeling simultaneously, and the efficiency of the map labeling can be effectively improved.
  • FIG. 1 is a schematic flowchart 1 of a method for mapping a map (applied to a cloud server side) provided in an embodiment of the present application;
  • FIG. 2 is a schematic diagram 2 of a method for marking a map (applied to a terminal side) provided in an embodiment of the present application;
  • FIG. 3 is a schematic structural diagram 1 of a device for marking a map (applied to a cloud server side) provided in an embodiment of the present application;
  • FIG. 4 is a schematic structural diagram 2 of a device for marking a map (applied to a terminal side) provided in an embodiment of the present application;
  • FIG. 5 is a schematic structural diagram of a cloud server provided in an embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a terminal provided in an embodiment of the present application.
  • FIG. 7 is a first embodiment of a method for map labeling provided in an embodiment of the present application.
  • FIG. 8 is a second embodiment of a method for map labeling provided in an embodiment of the present application.
  • FIG. 9 is a third embodiment of a method for map labeling provided in an embodiment of the present application.
  • the present application provides a solution for simultaneously performing map mapping and road sign addition.
  • the embodiment of the present application proposes a method for map labeling, and the method for labeling the map can be applied to the cloud server side, which will be described below.
  • FIG. 1 is a schematic flowchart of a method for applying a map annotation to a cloud server side provided in the embodiment of the present application. As shown in FIG. 1 , the method for marking the map may include the following steps:
  • Step 101 Receive map annotation related data and construction related data from the terminal; the map annotation related data and the mapping related data are collected by the terminal at the same geographical location at the same time, and the two are corresponding to each other;
  • Step 102 Perform a mapping according to the data related to the mapping, and determine a geographic location according to the result of the mapping;
  • Step 103 Determine map annotation information according to the map label related data
  • Step 104 Label the map label information on the geographic location in the mapping result.
  • the terminal in the embodiment of the present application may refer to various robots, guide helmets, or other terminals that can participate in map annotation.
  • the terminal here may include a camera, a function module that can be used for positioning, such as GPS, WIFI, and the like, and a human-machine interaction device connected thereto.
  • the human-computer interaction device may be a microphone, a keyboard, a mouse, a touch screen, or the like, and may input the map label related data to the terminal by receiving a user's instruction (which may include voice, image, text, etc.).
  • the camera can also input the collected map annotation related data (image) as a human-machine interaction device to the terminal.
  • the camera or the positioning function module can also collect the drawing related data for drawing.
  • the cloud server side receives the map data and the mapping related data collected by the terminal at the same geographical location from the terminal side, and processes the related data and the mapping related data of the map by step 102 and step 103 respectively to determine and The current map labels the relevant data and the map-related information corresponding to the map-related data, and finally, the map label information is marked on the geographic location in the map-forming result, and the map and map label are completed. .
  • step 102 and step 103 The execution of step 102 and step 103 is performed in no particular order, and may also be performed simultaneously.
  • the method for map labeling receives relevant data and construction related data by using a map from the terminal; the map labeling related data and the related data of the mapping
  • the terminal is collected at the same geographical location at the same time, and the two are corresponding to each other; the mapping is performed according to the construction related data, and the geographic location is determined according to the mapping result; and the map annotation is determined according to the map labeling relevant data.
  • the information is marked on the geographical location in the result of the mapping, and the related data and the related data of the mapping uploaded by the terminal may be processed to realize the mapping of the map and the marking of the map simultaneously. And can effectively improve the efficiency of map annotation.
  • mapping according to the data related to the drawing may specifically include:
  • the parsing algorithm is used to process the parsed data, and the motion track of the terminal is obtained to construct a map.
  • mapping data related to the image, the latitude and longitude coordinates, the height coordinate, the direction data, and the like need to be correspondingly analyzed, and then the vSLAM (visual simultaneous localization and mapping) may be used.
  • SFM visual real-time positioning and map construction
  • mapping algorithm based on other sensors to obtain the motion trajectory of the terminal.
  • the specific mapping algorithm is not specifically limited here.
  • determining the map annotation information according to the map labeling related data may specifically include:
  • the map label related data includes at least one of voice data, image data, text data, and touch track data;
  • the map annotation information is determined according to the analysis result.
  • the map annotation information is determined according to the map label related data, and the map input information input to the terminal by the camera, the microphone, the touchpad, the mouse, the keyboard, and the like may be correspondingly analyzed, and then the map annotation is determined according to the analysis result. information.
  • the embodiment of the present application further provides a device for map labeling. Since the principle of solving the problem of these devices is similar to the method for map labeling that can be applied to the cloud server side, the implementation of these devices can be referred to the method. The implementation, repetitions will not be repeated.
  • FIG. 3 shows an apparatus that can be applied to a cloud server side map annotation provided in the embodiment of the present application.
  • the apparatus marked by the map may include:
  • the receiving module 301 is configured to receive map annotation related data and mapping related data from the terminal; the map annotation related data and the mapping related data are collected by the terminal at the same geographical location at the same time, and the two are corresponding to each other. ;
  • the first location module 302 is configured to perform mapping according to the mapping related data, and determine a geographic location according to the mapping result;
  • the first label information module 303 is configured to determine map label information according to the map label related data
  • the first annotation processing module 304 is configured to mark the map annotation information on the geographic location in the mapping result.
  • the first location module may be specifically configured to parse the mapping related data; and the parsing algorithm is used to process the parsed data to obtain a motion trajectory of the terminal to construct a graph.
  • the first label information module may be specifically configured to parse the map label related data; the map label related data includes at least one of voice data, image data, text data, and touch track data; The analysis result determines the map annotation information.
  • a cloud server for performing a method for map annotation is also provided in the embodiment of the present application.
  • the cloud server 500 may include: a communication module 501, a memory 502, one or more processors 503, and one or more modules.
  • the one or more modules are stored in the memory and configured to be executed by the one or more processors, the one or more modules including for performing the above-described application that can be applied to the cloud server side The instructions for each step in the method of map annotation.
  • an application program used in combination with the above cloud server is further provided in the embodiment of the present application, and the application program may include a computer program embedded in a computer readable storage medium, where the computer program includes And causing the cloud server to execute the instructions of each step in the method that can be applied to the map annotation on the cloud server side.
  • the embodiment of the present application proposes a method for map labeling, and the method for labeling the map can also be applied to the terminal side, which will be described below.
  • FIG. 2 is a schematic flowchart of a method for applying map annotations that can be applied to a terminal side provided in the embodiment of the present application. As shown in FIG. 2, the method for marking the map may include the following steps:
  • Step 201 Obtain map annotation related data and construction related data through a human-machine interaction device; the map annotation related data and the mapping related data are collected by the human-machine interaction device in the same geographical location, and the two are one by one correspond;
  • Step 202 Perform a mapping according to the data related to the mapping, and determine a geographic location according to the result of the mapping;
  • Step 203 Determine map annotation information according to the map label related data.
  • Step 204 Label the map labeling information on the geographic location in the mapping result.
  • the method applicable to the map labeling on the terminal side is substantially the same as the method of the map labeling method applicable to the cloud server side, and the difference is that the method for mapping the map that can be applied to the cloud server side is performed by the terminal.
  • the side collects the map to mark the relevant data and the related data of the construction and sends it to the cloud server, and utilizes the powerful data processing capability of the cloud server to perform subsequent processing of the map annotation related data and the construction related data, and finally realizes the map construction and the map annotation.
  • the method of the map labeling that can be applied to the terminal side shown in FIG. 2 is that after the terminal side collects the map label related data and the map related data, the terminal processes the data by itself without sending to the cloud server.
  • the map labeling method provided by the embodiment of the present application may acquire the map label related data and the map related data through the human-machine interaction device; the map labeling related data and the mapping The related data is collected by the human-machine interaction device in the same geographical location, and the two are corresponding to each other; the mapping is performed according to the construction related data, and the geographical location is determined according to the mapping result; The data is used to determine the map labeling information; the map labeling information is marked on the geographical location in the mapping result, and the terminal can collect the map labeling related data and the drawing related data through the human-machine interaction device, and mark the map related information.
  • Data and mapping related data are processed to achieve simultaneous mapping of maps and maps, and the efficiency of map annotation can be effectively improved.
  • mapping according to the data related to the mapping may specifically include:
  • the parsed algorithm is used to process the parsed data
  • determining the map annotation information according to the map label related data may specifically include:
  • the map label related data includes at least one of voice data, image data, text data, and touch track data;
  • the map annotation information is determined according to the analysis result.
  • an apparatus for map labeling is also provided in the embodiment of the present application. Since the principle of solving the problem of these devices is similar to the method of the map labeling that can be applied to the terminal side, the implementation of these devices can be referred to the method. Implementation, repetition will not be repeated.
  • FIG. 4 is a schematic structural diagram of an apparatus that can be applied to a terminal side map annotation provided in the embodiment of the present application. As shown in FIG. 4, the apparatus marked by the map may include:
  • the obtaining module 401 is configured to acquire the map label related data and the map related data by using the human-machine interaction device; the map label related data and the map-related data are collected by the human-machine interaction device in the same geographical location, One-to-one correspondence;
  • a second location module 402 configured to perform a mapping according to the mapping related data, and determine a geographic location according to the mapping result
  • a second label information module 403, configured to determine map label information according to the map label related data
  • the second annotation processing module 404 is configured to mark the map annotation information on the geographic location in the mapping result.
  • the second location module may be specifically configured to parse the mapping related data; the parsing algorithm is used to process the parsed data; and the motion trajectory of the terminal is obtained to construct a graph.
  • the second label information module may be specifically configured to parse the map label related data; the map label related data includes at least one of voice data, image data, text data, and touch track data; Determine map annotation information.
  • a terminal for performing the above method of map annotation is further provided in the embodiment of the present application.
  • FIG. 6 is a schematic structural diagram of a terminal provided in an embodiment of the present application.
  • the terminal 600 may include: a communication module 601, a memory 602, one or more processors 603, and one or more modules. Said one or more modules are stored in said memory and configured to be executed by said one or more processors, said one or more modules comprising means for performing said map annotations that are applicable to the terminal side The instructions for each step in the method.
  • an application program used in combination with the above terminal is further provided in the embodiment of the present application, where the application program includes a computer program embedded in a computer readable storage medium, and the computer program includes The terminal is caused to execute the above-described instructions of each step in the method of map annotation that can be applied to the terminal side.
  • FIG. 7 is a first embodiment of a method for mapping a map provided in an embodiment of the present invention.
  • the device for participating in data collection includes: a human-machine interaction device (including at least a camera), and other sensor modules.
  • the human-machine interaction device may include: a keyboard, a mouse, a touch screen, an image or a video interaction device or a voice interaction device, etc., and the human-computer interaction device collects instructions from the person and recognizes the processing as information for manually inputting the road sign.
  • the human-machine interaction device is a microphone
  • the microphone collects the voice information “here is a supermarket” from the user, that is, the manual input of the road sign is realized, and the road sign information marking the location is “supermarket”.
  • the camera can have two functions. 1. Collecting the image of the landmark information such as “supermarket” or “restaurant” for subsequent scene recognition module to understand and analyze the scene to obtain image recognition roadmap; second, the camera can also collect image data related to the construction for subsequent vSLAM construction processing. Other sensors, such as laser radar, GPS, IMU (Inertial Measurement Unit), etc., can collect map construction related data for map creation.
  • landmark information such as “supermarket” or “restaurant”
  • IMU Inertial Measurement Unit
  • the artificial road sign records the map roadmap related data input by the human interaction device, processes the artificial road sign record information and recognizes the map label information.
  • the construction of the map can be completed, and the motion trajectory map of the terminal can be obtained.
  • map annotation information is merged into the corresponding position of the map to obtain a complete map and corresponding road sign information.
  • the processing of the map label related data and the construction related data is specifically completed by the terminal side or by the cloud server side, and the processing of the map label related data and the construction related data may be separately processed by the terminal and the cloud server side respectively.
  • the technical personnel in the field can flexibly choose according to the actual situation, and no specific limitation is made here.
  • FIG. 8 is a second embodiment of a method for map labeling provided in an embodiment of the present application. It is assumed that the terminal is a cloud-guided helmet. As shown in FIG. 8, the cloud-guided helmet can include a camera, a microphone module, and a transmitting module. The transmitting end sends the collected image data for mapping or map marking and the voice signal for map labeling to the cloud server.
  • the image server and the voice data receiving and parsing processing module are provided in the cloud server, and the image data can be respectively sent to the drawing processing module and the map label identifying module, and the drawing module runs the vSLAM method to construct the graph output motion track, and the identification module runs.
  • the scene understanding outputs automatic road sign information, the voice information performs voice recognition and processing and outputs artificial road sign information, and finally the above road sign information (map mark information) is marked on the map to form complete map information.
  • FIG. 9 is a third embodiment of a method for map labeling provided in an embodiment of the present application. It is assumed that the map labeling scheme is based on an existing map database.
  • the map data is an existing database, such as a map database provided by a map manufacturer such as Gaode and Baidu.
  • the terminal can include a camera, a microphone module, and a GPS positioning module. The terminal sends the image to the identification module, and the recognition module performs recognition processing on the image to output (automatically recognize) the landmark information 1.
  • the voice information collected by the microphone is subjected to voice recognition and processing output (manual) landmark information 2, and the GPS locates the position corresponding to the above-mentioned road sign information 1 and 2, and gives corresponding position information on the map.
  • the comprehensive road sign information 1 and 2 the final map labeling information is obtained, and the map labeling information is marked to the corresponding position information on the map to form complete map information.
  • the GPS module in the above solution can be replaced by a wireless positioning module such as WIFI, thereby realizing map annotation in the room.
  • a wireless positioning module such as WIFI
  • the map labeling method provided by the embodiment of the present application can real-time online construction and road marking, and has high efficiency; can combine artificial and self-identifying road signs to generate more accurate maps, and does not require professional map drawing personnel to operate.
  • embodiments of the present application can be provided as a method, system, or computer program product.
  • the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment in combination of software and hardware.
  • the application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

La présente invention concerne un procédé et un appareil d'étiquetage de carte, ainsi qu'un serveur infonuagique, un terminal et un programme d'application. Le procédé d'étiquetage de carte comprend : la réception, depuis un terminal, de données liées à un étiquetage de carte et de données liées à un mappage, les données liées à un étiquetage de carte et les données liées à un mappage étant collectées simultanément par le terminal au niveau du même emplacement géographique et correspondant les unes aux autres sur une base injective ; l'exécution du mappage selon les données liées au mappage, et la détermination d'un emplacement géographique selon le résultat du mappage ; la détermination d'informations d'étiquetage de carte selon les données liées à un étiquetage de carte ; et l'étiquetage des informations d'étiquetage de carte sur l'emplacement géographique dans le résultat du mappage. Au moyen de la solution technique fournie par la présente invention, un mappage et un étiquetage de carte peuvent être exécutés simultanément au moyen d'un traitement de données liées à un étiquetage de carte et de données liées à un mappage, et l'efficacité de l'étiquetage de carte peut être effectivement améliorée.
PCT/CN2017/120036 2017-12-29 2017-12-29 Procédé et appareil d'étiquetage de carte, et serveur infonuagique, terminal et programme d'application Ceased WO2019127437A1 (fr)

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PCT/CN2017/120036 WO2019127437A1 (fr) 2017-12-29 2017-12-29 Procédé et appareil d'étiquetage de carte, et serveur infonuagique, terminal et programme d'application
CN201780002724.1A CN108124479A (zh) 2017-12-29 2017-12-29 地图标注的方法、装置、云端服务器、终端及应用程序

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CN109540122B (zh) * 2018-11-14 2022-11-04 中国银联股份有限公司 一种构建地图模型的方法及装置
CN111415410B (zh) * 2019-01-08 2023-06-20 阿里巴巴集团控股有限公司 Poi位置标注方法及装置
CN111024062B (zh) * 2019-12-31 2022-03-29 芜湖哈特机器人产业技术研究院有限公司 基于伪gnss及ins的制图系统

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