CN113538562A - Indoor area determination method and device, electronic equipment and storage medium - Google Patents
Indoor area determination method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The present disclosure provides a method and an apparatus for determining an indoor area, an electronic device, and a storage medium, and relates to the technical field of computers, wherein the method includes: carrying out three-dimensional curved surface reconstruction based on the acquired three-dimensional point cloud information to obtain a three-dimensional model; setting sampling points on the surface of the three-dimensional model, acquiring projection points of the sampling points on a two-dimensional projection plane, and selecting a target grid from grids on the two-dimensional projection plane based on the projection points; determining a plurality of planar regions corresponding to a target grid and determining an indoor area of a target room; the method, the device, the electronic equipment and the storage medium can automatically and accurately calculate the indoor area, do not need manual participation and reduce the labor cost; the calculation complexity is low and the efficiency is high; the error caused by the introduction of intermediate results such as an indoor graph and the like is reduced, and the customer experience is effectively improved.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to an indoor area determining method and apparatus, an electronic device, and a storage medium.
Background
With advances in technology, it is becoming increasingly simple to acquire three-dimensional data for a large number of indoor scenes. At present, three-dimensional point cloud data of an indoor scene can be acquired through equipment such as a panoramic camera, a depth camera and a laser radar. How to estimate the area of the corresponding indoor scene through the point cloud data is the most basic problem for understanding the indoor scene. The existing indoor area determination method comprises the following steps: firstly, a planar floor plan of an indoor scene is established through a manual or semi-automatic method, then the area of a polygon corresponding to each room in the floor plan is calculated, and finally the areas are added to obtain a final result. This method has the disadvantages: firstly, a large amount of labor cost and time cost are needed for generating the house type graph, and secondly, the generated house type graph is probably rough and has certain geometric errors with a real scene.
Disclosure of Invention
The present disclosure is proposed to solve the above technical problems. The embodiment of the disclosure provides an indoor area determination method and device, electronic equipment and a storage medium.
According to a first aspect of the embodiments of the present disclosure, there is provided an indoor area determination method, including: acquiring three-dimensional point cloud information acquired by point cloud acquisition equipment for a target room; reconstructing a three-dimensional curved surface based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to the ground object in the target room and the ground without the ground object; constructing a two-dimensional projection plane and carrying out grid discretization treatment; wherein the two-dimensional projection plane is parallel to a ground plane in the target room; setting sampling points on the surface of the three-dimensional model, and acquiring projection points of the sampling points on the two-dimensional projection plane; selecting a target grid from the grids on the two-dimensional projection surface according to a preset grid selection rule and based on the projection points; determining a plurality of planar regions corresponding to the target grid using a preset boundary determination algorithm, and determining an indoor area of the target room based on the plurality of planar regions.
Optionally, the selecting a target mesh from meshes located on the two-dimensional projection plane according to a preset mesh selection rule and based on the projection point includes: if the number of proxels located in the mesh is equal to 1, this mesh is determined to be the target mesh.
Optionally, the setting of the sampling points on the surface of the three-dimensional model comprises: determining surfaces corresponding to the ground object and the ground where the ground object is not located in the three-dimensional model, and determining the sampling points on the surfaces corresponding to the ground object and the ground where the ground object is not located by using a preset sampling algorithm.
Optionally, the determining, using a preset boundary determination algorithm, a plurality of planar regions corresponding to the target grid, the determining the indoor area of the target room based on the plurality of planar regions comprises: acquiring a central point of the target grid; obtaining the plurality of planar regions using the boundary determination algorithm and based on all center points; and adding the areas of the plurality of plane areas to obtain the indoor area.
Optionally, the sampling algorithm comprises: a Monte-Carlo sampling algorithm; the boundary determination algorithm includes: alpha-shape algorithm.
Optionally, the constructing the two-dimensional projection plane includes: constructing a bounding box corresponding to the three-dimensional model, wherein a bottom surface of the bounding box is parallel to a ground plane within the target room; and setting the bottom surface as the two-dimensional projection surface.
Optionally, the reconstructing a three-dimensional curved surface based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to a ground object in the target room and a ground surface on which the ground object is not located includes: and performing three-dimensional curved surface reconstruction on the three-dimensional point cloud information by using a preset curved surface reconstruction algorithm to obtain the three-dimensional model.
Optionally, the surface reconstruction algorithm includes: a poisson surface reconstruction algorithm.
Optionally, optimizing the three-dimensional point cloud information; wherein the optimization process comprises: denoising and/or point cloud hole repairing.
According to a second aspect of the embodiments of the present disclosure, there is provided an indoor area determination apparatus including: the information acquisition module is used for acquiring three-dimensional point cloud information acquired by the point cloud acquisition equipment for a target room; the model establishing module is used for reconstructing a three-dimensional curved surface based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to the ground object in the target room and the ground without the ground object; the projection surface construction module is used for constructing a two-dimensional projection surface and carrying out grid discretization treatment; wherein the two-dimensional projection plane is parallel to a ground plane in the target room; the projection point processing module is used for setting sampling points on the surface of the three-dimensional model and acquiring projection points of the sampling points on the two-dimensional projection plane; the grid selection module is used for selecting a target grid from the grids on the two-dimensional projection surface according to a preset grid selection rule and based on the projection points; an area obtaining module, configured to determine a plurality of plane areas corresponding to the target grid using a preset boundary determination algorithm, and determine an indoor area of the target room based on the plurality of plane areas.
Optionally, the grid selecting module is specifically configured to determine the grid as the target grid if the number of the projection points located in the grid is equal to 1.
Optionally, the projected point processing module is specifically configured to determine, in the three-dimensional model, surfaces corresponding to the ground object and a ground surface on which the ground object is not disposed, and determine the sampled points on the surfaces corresponding to the ground object and the ground surface on which the ground object is not disposed by using a preset sampling algorithm.
Optionally, the area obtaining module is configured to obtain a central point of the target mesh, and obtain the plurality of plane regions based on all the central points by using the boundary determining algorithm; and adding the areas of the plurality of plane areas to obtain the indoor area.
Optionally, the sampling algorithm comprises: a Monte-Carlo sampling algorithm; the boundary determination algorithm includes: alpha-shape algorithm.
Optionally, the projection plane constructing module is configured to construct a bounding box corresponding to the three-dimensional model, wherein a bottom surface of the bounding box is parallel to a ground plane in the target room; and setting the bottom surface as the two-dimensional projection surface.
Optionally, the model establishing module is configured to perform three-dimensional curved surface reconstruction on the three-dimensional point cloud information by using a preset curved surface reconstruction algorithm to obtain the three-dimensional model.
Optionally, the surface reconstruction algorithm includes: a poisson surface reconstruction algorithm.
Optionally, the information obtaining module is further configured to perform optimization processing on the three-dimensional point cloud information; wherein the optimization process comprises: denoising and/or point cloud hole repairing.
According to a third aspect of embodiments of the present disclosure, there is provided a computer-readable storage medium storing a computer program for executing the above-mentioned method.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the method.
Based on the method and the device for determining the indoor area, the electronic equipment and the storage medium, which are provided by the embodiment of the disclosure, the three-dimensional curved surface reconstruction is carried out based on the collected three-dimensional point cloud information to obtain a three-dimensional model; setting sampling points on the surface of the three-dimensional model, acquiring projection points of the sampling points on a two-dimensional projection plane, and selecting a target grid from grids on the two-dimensional projection plane based on the projection points; determining a plurality of planar regions corresponding to a target grid and determining an indoor area of a target room; the indoor area can be automatically and accurately calculated, manual participation is not needed, and the labor cost is reduced; the calculation complexity is low and the efficiency is high; the error caused by introducing intermediate results such as a house-type graph and the like is reduced.
The technical solution of the present disclosure is further described in detail by the accompanying drawings and examples.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent by describing in more detail embodiments of the present disclosure with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the disclosure, and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the principles of the disclosure and not to limit the disclosure. In the drawings, like reference numbers generally represent like parts or steps.
FIG. 1 is a flow chart of one embodiment of an indoor area determination method of the present disclosure;
FIG. 2 is a flow chart of another embodiment of an indoor area determination method of the present disclosure;
fig. 3A to 3D are schematic diagrams illustrating processing of three-dimensional point cloud information;
fig. 4 is a schematic structural diagram of an embodiment of an indoor area determining apparatus according to the present disclosure;
FIG. 5 is a block diagram of one embodiment of an electronic device of the present disclosure.
Detailed Description
Example embodiments according to the present disclosure will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of the embodiments of the present disclosure and not all embodiments of the present disclosure, with the understanding that the present disclosure is not limited to the example embodiments described herein.
It should be noted that: the relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
It will be understood by those of skill in the art that the terms "first," "second," and the like in the embodiments of the present disclosure are used merely to distinguish one element from another, and are not intended to imply any particular technical meaning, nor is the necessary logical order between them.
It is also understood that in embodiments of the present disclosure, "a plurality" may refer to two or more than two and "at least one" may refer to one, two or more than two.
It is also to be understood that any reference to any component, data, or structure in the embodiments of the disclosure, may be generally understood as one or more, unless explicitly defined otherwise or stated otherwise.
In addition, the term "and/or" in the present disclosure is only one kind of association relationship describing the associated object, and means that there may be three kinds of relationships, such as a and/or B, and may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" in the present disclosure generally indicates that the former and latter associated objects are in an "or" relationship.
It should also be understood that the description of the various embodiments of the present disclosure emphasizes the differences between the various embodiments, and the same or similar parts may be referred to each other, so that the descriptions thereof are omitted for brevity.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Embodiments of the present disclosure may be implemented in electronic devices such as terminal devices, computer systems, servers, etc., which are operational with numerous other general purpose or special purpose computing system environments or configurations. Examples of well known terminal devices, computing systems, environments, and/or configurations that may be suitable for use with an electronic device, such as a terminal device, computer system, or server, include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, hand-held or laptop devices, microprocessor-based systems, set top boxes, programmable consumer electronics, network pcs, minicomputer systems, mainframe computer systems, distributed cloud computing environments that include any of the above, and the like.
Electronic devices such as terminal devices, computer systems, servers, etc. may be described in the general context of computer system-executable instructions, such as program modules, being executed by a computer system. Generally, program modules may include routines, programs, objects, components, logic, data structures, etc. that perform particular tasks or implement particular abstract data types. The computer system/server may be implemented in a distributed cloud computing environment. In a distributed cloud computing environment, tasks may be performed by remote processing devices that are linked through a communications network. In a distributed cloud computing environment, program modules may be located in both local and remote computer system storage media including memory storage devices.
Summary of the application
In the process of implementing the present disclosure, the inventor finds that, in the existing indoor area determination method, a planar floor plan of an indoor scene is established through a manual or semi-automatic method, the area of a polygon corresponding to each room in the floor plan is calculated, and finally the areas are added to obtain a final result; the existing indoor area determining method needs a large amount of labor cost and time cost, and the error of calculating the indoor area is large.
The method for determining the indoor area comprises the steps of obtaining three-dimensional models corresponding to ground objects in a target room and the ground without the ground objects on the basis of three-dimensional point cloud information acquired by point cloud acquisition equipment for the target room; constructing a two-dimensional projection plane and carrying out grid discretization treatment; setting sampling points on the surface of the three-dimensional model, and acquiring projection points of the sampling points on a two-dimensional projection plane; selecting a target grid from the grids on the two-dimensional projection plane according to a preset grid selection rule and based on the projection points; determining a plurality of plane areas corresponding to the target grid by using a preset boundary determination algorithm, and determining the indoor area of the target room based on the plurality of plane areas; the indoor area can be automatically and accurately calculated, manual participation is not needed, and the labor cost is reduced; the calculation complexity is low and the efficiency is high.
Exemplary method
Fig. 1 is a flowchart of an embodiment of an indoor area determining method according to the present disclosure, where the method shown in fig. 1 includes the steps of: S101-S106. The following describes each step.
S101, three-dimensional point cloud information acquired by point cloud acquisition equipment for a target room is acquired.
In one embodiment, the three-dimensional point cloud information may be three-dimensional structure point cloud map information within a target room, including a living room, a bedroom, a dining room, a kitchen, a bathroom, and the like. The point cloud collection device may be a laser radar, a depth camera, or the like, and the point cloud collection device may scan or photograph the target room in a top view, i.e., in a direction projecting toward the floor. The three-dimensional point cloud information may be three-dimensional point cloud information located under a global coordinate system.
S102, reconstructing a three-dimensional curved surface based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to the ground object in the target room and the ground without the ground object.
In one embodiment, the floor items in the target room include carpet or the like, and tiles, floors, or the like may be laid on the floor where the floor (carpet or the like) is not provided. And modeling based on the three-dimensional point cloud to generate a three-dimensional model, wherein the three-dimensional model can be a triangular mesh model, a quadrilateral mesh model or a pentagonal mesh model and the like.
S103, constructing a two-dimensional projection surface and carrying out grid discretization; wherein the two-dimensional projection plane is parallel to a ground plane in the target room.
In one embodiment, the two-dimensional projection plane is perpendicular to the acquisition direction of the three-dimensional point cloud information, i.e., the two-dimensional projection plane is perpendicular to the direction in which the point cloud acquisition device scans or photographs the target room. And carrying out network discretization processing on the two-dimensional projection surface by using a grid with a preset size, so that the two-dimensional projection surface is composed of grids arranged according to a plane.
And S104, setting sampling points on the surface of the three-dimensional model, and acquiring projection points of the sampling points on the two-dimensional projection plane.
And S105, selecting a target grid from the grids on the two-dimensional projection surface according to a preset grid selection rule and based on the projection points.
In one embodiment, a plurality of methods may be adopted to set sampling points on the surface of the three-dimensional model, project the sampling points on the two-dimensional projection plane, and determine projection points of the sampling points on the two-dimensional projection plane. Various grid selection rules can be set, projection points in the grids on the two-dimensional projection surface can be obtained, and the target grids can be selected from the grids on the two-dimensional projection surface according to the grid selection rules and based on the projection points.
And S106, determining a plurality of plane areas corresponding to the target grid by using a preset boundary determination algorithm, and determining the indoor area of the target room based on the plane areas.
In one embodiment, after the three-dimensional point cloud information is obtained, optimization processing is performed on the three-dimensional point cloud information, and the optimization processing includes denoising, point cloud hole repairing and the like. Various denoising, point cloud hole repairing and other processes can be adopted. For example, the denoising process is to eliminate isolated noise points and burrs from the three-dimensional point cloud information through filtering, so as to highlight the characteristic information of the point cloud. And determining the inner edge and the outer edge of the three-dimensional point cloud information after filtering and denoising, determining the inner edge as a cavity edge, and extracting the cavity edge. And point cloud hole repairing is to perform hole repairing by using local neighborhood information in the extracted hole edge.
In one embodiment, a three-dimensional surface reconstruction algorithm is used for performing three-dimensional surface reconstruction on the three-dimensional point cloud information to obtain a three-dimensional model. The curved surface reconstruction algorithm includes a poisson surface reconstruction algorithm and the like, for example, the existing poisson surface reconstruction algorithm is used for performing three-dimensional curved surface reconstruction on three-dimensional point cloud information, the surfaces of floors, furniture and the like in a target room are obtained, and a three-dimensional model is constructed. For example, the three-dimensional point cloud information is shown in fig. 3A, and a three-dimensional model corresponding to the outer surface of the continuous object is generated by using the existing poisson surface reconstruction algorithm, as shown in fig. 3B.
In one embodiment, a bounding box corresponding to the three-dimensional model is constructed, the bottom surface of the bounding box is perpendicular to the acquisition direction of the three-dimensional point cloud information, and the bottom surface is set as a two-dimensional projection surface. For example, a bounding box of the entire indoor scene is calculated, and this bounding box is subjected to grid discretization processing with a grid having a side length of 5cm in an X-Y plane (for example, the direction directly above the indoor three-dimensional point cloud data is the positive Z-axis half), and the bottom surface of the bounding box is set as a two-dimensional projection plane.
Since the three-dimensional point cloud information is discrete, the discrete three-dimensional point cloud is first converted into a continuous three-dimensional model (e.g., a triangular mesh model). A discretization method based on a two-dimensional grid is used for a two-dimensional projection plane, so that the complexity of the algorithm is not influenced by the number of input three-dimensional point cloud data; the area calculation method based on the alpha shape is used, so that the accuracy of the area calculation result is improved.
Fig. 2 is a flowchart of another embodiment of the indoor area determining method of the present disclosure, and the method shown in fig. 2 includes the steps of: S201-S205. The following describes each step.
S201, determining surfaces corresponding to the ground object and the ground without the ground object in the three-dimensional model, and determining sampling points on the surfaces corresponding to the ground object and the ground without the ground object by using a preset sampling algorithm.
S202, if the number of the projection points in the grid is equal to 1, determining the grid as a target grid.
In one embodiment, the sampling algorithm comprises a Monte-Carlo sampling algorithm or the like. For example, Monte-Carlo sampling is performed on each ground object (carpet, etc.) in the three-dimensional model and the surface of the ground without the ground object, sampling points are obtained, each sampling point is projected into a grid on a two-dimensional projection plane corresponding to the two-dimensional X-Y plane, if no other projection point exists in the grid, namely the number of projection points in the grid is equal to 1, the state of the grid is changed to 'occupied', and the grid is a target grid; if there are other proxels in the grid, i.e., the number of proxels located in the grid is greater than 1, then no action is taken, as shown in FIG. 3C.
S203, acquiring the central point of the target grid.
S204, acquiring a plurality of plane areas based on all the central points by using a boundary determination algorithm.
S205, the areas of the plurality of plane areas are added to obtain the indoor area.
In one embodiment, the boundary determination algorithm comprises an alpha-shape algorithm and the like, and the boundary of the plane area is obtained by calculating the alpha-shape corresponding to the projection point (the central point of the target grid) through the alpha-shape algorithm and the like. For example, an alpha shape (e.g., a triangular mesh) corresponding to all mesh center points in which the state is "occupied" is calculated by using an alpha-shape algorithm, and the areas of each triangular mesh of the two-dimensional model are added to obtain a final indoor area, as shown in fig. 3D.
Exemplary devices
In one embodiment, as shown in fig. 4, the present disclosure provides an indoor area determination apparatus, including: the system comprises an information acquisition module 401, a model building module 402, a projective plane building module 403, a projective point processing module 404, a grid selection module 405 and an area acquisition module 406.
The information acquisition module 401 acquires three-dimensional point cloud information acquired by the point cloud acquisition device for a target room. The model building module 402 performs three-dimensional surface reconstruction based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to the ground object in the target room and the ground where the ground object is not located. The projection plane construction module 403 constructs a two-dimensional projection plane and performs grid discretization, where the two-dimensional projection plane is parallel to the ground plane in the target room.
The projection point processing module 404 sets sampling points on the surface of the three-dimensional model, and obtains projection points of the sampling points on the two-dimensional projection plane. The grid selection module 405 selects a target grid from the grids located on the two-dimensional projection plane according to a preset grid selection rule and based on the projection points. The area obtaining module 406 determines a plurality of plane areas corresponding to the target grid using a preset boundary determination algorithm, and determines an indoor area of the target room based on the plurality of plane areas.
In one embodiment, the information obtaining module 401 performs optimization processing on the three-dimensional point cloud information, where the optimization processing includes denoising and/or point cloud hole repairing. The model building module 402 performs three-dimensional surface reconstruction on the three-dimensional point cloud information by using a preset surface reconstruction algorithm to obtain a three-dimensional model, wherein the surface reconstruction algorithm includes a poisson surface reconstruction algorithm and the like. The projection plane construction module 403 constructs an bounding box corresponding to the three-dimensional model, wherein the bottom surface of the bounding box is perpendicular to the acquisition direction of the three-dimensional point cloud information; the projection surface construction module 403 sets the bottom surface as a two-dimensional projection surface.
In one embodiment, the proxel processing module 404 determines surfaces in the three-dimensional model that correspond to the surface items and the surface where the surface items are not located, determines sampling points on the surfaces that correspond to the surface items and the surface where the surface items are not located using a predetermined sampling algorithm, the sampling algorithm including a Monte-Carlo sampling algorithm, and the like. If the number of proxels located in the grid is equal to 1, the grid selection module 405 determines the grid as the target grid. The area obtaining module 406 obtains a center point of the target mesh, and obtains a plurality of planar regions based on all the center points by using a boundary determining algorithm, wherein the boundary determining algorithm includes an alpha-shape algorithm and the like. The area acquisition module 406 adds the areas of the plurality of planar regions to acquire the indoor area.
FIG. 5 is a block diagram of one embodiment of an electronic device of the present disclosure, as shown in FIG. 5, the electronic device 51 includes one or more processors 511 and memory 512.
The processor 511 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may control other components in the electronic device 51 to perform desired functions.
Memory 512 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. Volatile memory, for example, may include: random Access Memory (RAM) and/or cache memory (cache), etc. The nonvolatile memory, for example, may include: read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on a computer-readable storage medium and executed by processor 511 to implement the indoor area determination methods of the various embodiments of the present disclosure above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, the electronic device 51 may further include: an input device 513, and an output device 514, etc., interconnected by a bus system and/or other form of connection mechanism (not shown). The input device 513 may also include, for example, a keyboard, a mouse, and the like. The output device 514 can output various information to the outside. The output devices 514 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, among others.
Of course, for simplicity, only some of the components of the electronic device 51 relevant to the present disclosure are shown in fig. 5, omitting components such as buses, input/output interfaces, and the like. In addition, the electronic device 51 may include any other suitable components, depending on the particular application.
In addition to the above-described methods and apparatus, embodiments of the present disclosure may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method for determining an indoor area according to various embodiments of the present disclosure described in the above-mentioned "exemplary methods" section of this specification.
The computer program product may write program code for performing the operations of embodiments of the present disclosure in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present disclosure may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the indoor area determination method according to various embodiments of the present disclosure described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium may include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present disclosure in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present disclosure are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present disclosure. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the disclosure is not intended to be limited to the specific details so described.
In the method and the device for determining the indoor area, the electronic device and the storage medium in the embodiment, the three-dimensional curved surface reconstruction is performed based on the collected three-dimensional point cloud information to obtain a three-dimensional model; setting sampling points on the surface of the three-dimensional model, acquiring projection points of the sampling points on a two-dimensional projection plane, and selecting a target grid from grids on the two-dimensional projection plane based on the projection points; determining a plurality of planar regions corresponding to a target grid and determining an indoor area of a target room; the indoor area can be automatically and accurately calculated, manual participation is not needed, and the labor cost is reduced; the calculation complexity is low and the efficiency is high; the error caused by the introduction of intermediate results such as an indoor graph and the like is reduced, and the customer experience is effectively improved.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The block diagrams of devices, apparatuses, systems referred to in this disclosure are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, and systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," comprising, "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
The methods and apparatus of the present disclosure may be implemented in a number of ways. For example, the methods and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order for the steps of the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above unless specifically stated otherwise. Further, in some embodiments, the present disclosure may also be embodied as programs recorded in a recording medium, the programs including machine-readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.
It is also noted that in the devices, apparatuses, and methods of the present disclosure, each component or step can be decomposed and/or recombined. These decompositions and/or recombinations are to be considered equivalents of the present disclosure.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects, and the like, will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the disclosure. Thus, the present disclosure is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the disclosure to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. An indoor area determination method, comprising:
acquiring three-dimensional point cloud information acquired by point cloud acquisition equipment for a target room;
performing three-dimensional surface reconstruction based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to the ground object in the target room and the ground without the ground object;
constructing a two-dimensional projection plane and carrying out grid discretization treatment; wherein the two-dimensional projection plane is parallel to a ground plane in the target room;
setting sampling points on the surface of the three-dimensional model, and acquiring projection points of the sampling points on the two-dimensional projection plane;
selecting a target grid from the grids on the two-dimensional projection surface according to a preset grid selection rule and based on the projection points;
determining a plurality of planar regions corresponding to the target grid using a preset boundary determination algorithm, and determining an indoor area of the target room based on the plurality of planar regions.
2. The method of claim 1, wherein selecting a target mesh from meshes located on the two-dimensional projection plane according to a preset mesh selection rule and based on the projection points comprises:
if the number of proxels located in the mesh is equal to 1, this mesh is determined to be the target mesh.
3. The method of claim 1, the setting sampling points on the surface of the three-dimensional model comprising:
determining surfaces corresponding to the ground object and the ground where the ground object is not located in the three-dimensional model, and determining the sampling points on the surfaces corresponding to the ground object and the ground where the ground object is not located by using a preset sampling algorithm.
4. The method of claim 3, the determining a plurality of planar regions corresponding to the target grid using a preset boundary determination algorithm, the determining an indoor area of the target room based on the plurality of planar regions comprising:
acquiring a central point of the target grid;
obtaining the plurality of planar regions using the boundary determination algorithm and based on all center points;
and adding the areas of the plurality of plane areas to obtain the indoor area.
5. The method of claim 1, the constructing a two-dimensional projection plane comprising:
constructing a bounding box corresponding to the three-dimensional model, wherein a bottom surface of the bounding box is parallel to a ground plane within the target room;
and setting the bottom surface as the two-dimensional projection surface.
6. The method of claim 1, wherein the performing three-dimensional surface reconstruction based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to a ground object in the target room and a ground surface on which the ground object is not located comprises:
and performing three-dimensional surface reconstruction on the three-dimensional point cloud information by using a preset curved surface reconstruction algorithm to obtain the three-dimensional model.
7. The method of any of claims 1 to 8, further comprising:
optimizing the three-dimensional point cloud information; wherein the optimization process comprises: denoising and/or point cloud hole repairing.
8. An indoor area determination apparatus comprising:
the information acquisition module is used for acquiring three-dimensional point cloud information acquired by the point cloud acquisition equipment for a target room;
the model establishing module is used for reconstructing a three-dimensional curved surface based on the three-dimensional point cloud information to obtain a three-dimensional model corresponding to the ground object in the target room and the ground without the ground object;
the projection surface construction module is used for constructing a two-dimensional projection surface and carrying out grid discretization treatment; wherein the two-dimensional projection plane is parallel to a ground plane in the target room;
the projection point processing module is used for setting sampling points on the surface of the three-dimensional model and acquiring projection points of the sampling points on the two-dimensional projection plane;
the grid selection module is used for selecting a target grid from the grids on the two-dimensional projection surface according to a preset grid selection rule and based on the projection points;
an area obtaining module, configured to determine a plurality of plane areas corresponding to the target grid using a preset boundary determination algorithm, and determine an indoor area of the target room based on the plurality of plane areas.
9. A computer-readable storage medium, the storage medium storing a computer program for performing the method of any of the preceding claims 1-7.
10. An electronic device, the electronic device comprising:
a processor; a memory for storing the processor-executable instructions;
the processor is configured to read the executable instructions from the memory and execute the instructions to implement the method of any one of claims 1-7.
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