WO2019093979A1 - An image generation method - Google Patents
An image generation method Download PDFInfo
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- WO2019093979A1 WO2019093979A1 PCT/TR2017/050555 TR2017050555W WO2019093979A1 WO 2019093979 A1 WO2019093979 A1 WO 2019093979A1 TR 2017050555 W TR2017050555 W TR 2017050555W WO 2019093979 A1 WO2019093979 A1 WO 2019093979A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
- G01S13/426—Scanning radar, e.g. 3D radar
Definitions
- the present invention is related to an image generation method for displaying images to users according to the data received from at least one radar.
- Radars are often used for detection of a target, in particular in defense-related applications.
- at least one signal is usually transmitted towards a scan area.
- at least one sensor By virtue of sensing the signal reflected from the scan area by at least one sensor, at least one target in the scan area is determined.
- an area with a width of 360° is generally divided into different azimuths and ranges so as to form scan areas.
- Said radar systems scan the scan areas between two azimuths at a time and then scan the scan areas between two adjacent azimuths.
- Data obtained as a result of scanning is rendered to the users through a screen.
- sensing points determined within a scan area are displayed in a specific color, whereas the regions whose sensing point is not determined (where no target is sensed) are displayed in a different color.
- users can see the sensing points in every single area by observing the screen.
- sensing points may be determined due to the signals reflected from the relevant scan area. For example, in coastal surveillance radars, sensing points may be determined due to a clutter (e.g. a wave on the sea). But, when the users look at the screen, they are unable to distinguish which sensing points are caused by a real target, and which sensing points are due to a clutter.
- a clutter e.g. a wave on the sea.
- an image generation method for displaying images to users according to the data received from at least one radar.
- Said method comprises the steps of forming a plurality of scan regions by dividing a region that is to be scanned by the radar into azimuth and range lines such that each of the scan regions remains between at least two azimuth lines and two range lines; dividing each scan region into at least two sub-regions; receiving scanning data related to each scan region from said radar; determining the number of sensing point in each sub-region according to the received scanning data; establishing a threshold value for each scan region according to the numbers of the sensing points that form the scan region; for each sub-region, comparing the number of sensing point in the corresponding sub-region with the threshold value of the scan region where the sub-region is located; if the number of sensing point in a sub-region is higher than the threshold value of the scan region where the sub-region is located, then determining that the sensing points in the concerned sub-region belong to a target; displaying to a user on
- the present method developed with the present invention in order to generate an image to be displayed to a user according to the data received from the radar, first of all, it must be distinguished whether the sensing points belong to a target or they are caused by a clutter. For distinguishing, the scan region is divided into sub-regions and the source of the sensing points within each sub-region is determined according to the number of the sensing points in the sub-regions. Thus, the sensing points that are caused by a clutter are not displayed to users, thereby it is ensured that the users are provided with a more reliable data.
- the object of the present invention is to develop an image generation method for displaying images to users according to the data received from at least one radar.
- Another object of the present invention is to provide an image generation method wherein the sensing points caused by a clutter are filtered.
- Yet another object of the present invention is to provide a reliable image generation method.
- Figure 1 is a radar image generated with the conventional applications.
- Figure 2 is a radar image generated with the image generation method according to the present invention.
- Radar systems are used to scan a specific area and detect potential targets in said area.
- said area is divided into different scan areas, and each scan area is scanned so as to determine the sensing points that belong to the target for the corresponding scan area. Then, the sensing points so determined are displayed on a screen to users.
- sensing points are determined, due to clutters such as sea wave, in the areas where there is actually no target. Therefore, with the present invention, there is provided an image generation method wherein the sensing points emerging due to clutter are filtered.
- the image generation method developed according to the present invention comprises the steps of forming a plurality of scan regions by dividing a region that is to be scanned by the radar into azimuth and range lines such that each of the scan regions remains between at least two azimuth lines and two range lines; dividing each scan region into at least two sub-regions; receiving scanning data related to each scan region from said radar; determining the number of sensing point (3) in each sub-region according to the received scanning data; establishing a threshold value for each scan region according to the numbers of the sensing point (3) that form the scan region; for each sub-region, comparing the number of sensing point (3) in the corresponding sub-region with the threshold value of the scan region where the sub-region is located; if the number of sensing point (3) in a sub-region is higher than the threshold value of the scan region where the sub-region is located, then determining that the sensing points (3) in the concerned sub-region belong to a target (4); displaying to a user on a screen the sensing points (3) which are determined to belong to
- a radar placed on a coast (1) scans the sea (2) and receives scanning data.
- a radar e.g. a coastal surveillance radar placed on a coast (1) scans the sea (2) and receives scanning data.
- an image as shown in Figure 1 is displayed to users.
- a very high number of sensing points (3) is formed due to the said clutter, and all of these sensing points (3) are displayed to the user.
- An image obtained as a result of the method developed according to the present invention is shown in Figure 2.
- the sensing points (3) detected by the radar instead of all the sensing points (3) detected by the radar, only the sensing points (3) that are determined to belong to a target (4) are displayed on a screen to the users.
- each scan region is divided into at least two (preferably more than this, e.g. into 150) sub-regions.
- the number of the sensing points (3) that are present in each sub-region is determined.
- a threshold value is calculated for each sub-region. It is given hereinbelow in detail how to calculate said threshold value.
- the number of the sensing points (3) in the corresponding sub-region, for each sub-region is compared with the threshold value belonging to the scan region where the sub-region is located. As a result of this comparison, if the number of sensing point (3) in a sub-region is higher than the threshold value of the scan region where the sub-region is located, it is determined that the sensing points (3) in the concerned sub-region belong to a target (4).
- said threshold value is determined by using the ratio of the number of sub- regions which do not comprise any sensing point (3) within the scan region to the total number of sub-regions within the scan region (this ratio is defined as Rd), and the number of sensing points (3) that are determined to be caused by clutter during the last ten repetitions.
- Rd the ratio of the number of sub- regions which do not comprise any sensing point (3) within the scan region to the total number of sub-regions within the scan region
- said threshold value is equal to 0 if the ratio of the number of sub-regions which do not comprise any sensing point (3) within a scan region to the total number of sub-regions within the scan region is higher than 0.95. In other words, it is determined that all the sensing points (3) within the scan region belong to a target (4).
- the threshold value is equal to a value higher than the maximum number of sensing points (3) that is to be detected in a sub-region. In other words, it is determined that all the sensing points (3) within the scan region are caused by a clutter.
- said threshold value is updated at each repetition.
- an erroneous detection ratio and an erroneous detection probability value are used before each repetition.
- Said erroneous detection ratio is calculated as the ratio of the number of detections resulting from the clutter within a scan region to the total number of the sub-regions within the scan region before the repetition.
- said erroneous detection probability value is preferably a pre-determined value (e.g. 10 ⁇ -4).
- the threshold value is multiplied by a offset coefficient so to update the threshold value at each repetition. Said offset coefficient is calculated according to the following formula:
- offset denotes the offset coefficient
- FA value denotes the offset coefficient
- the erroneous detection probability value denotes the erroneous detection ratio value.
- the sensing points (3) belong to a target (4) or they are caused by a clutter.
- the scan region is divided into sub-regions and the source of the sensing points (3) within each sub-region is determined according to the number of the sensing points (3) in the sub-regions.
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
With the present invention, there is provided an image generation method for displaying images to users according to the data received from at least one radar. Said method comprises the steps of forming a plurality of scan regions by dividing a region that is to be scanned by the radar into azimuth and range lines such that each of the scan regions remains between at least two azimuth lines and two range lines; dividing each scan region into at least two sub-regions; receiving scanning data related to each scan region from said radar; determining the number of sensing point (3) in each sub-region according to the received scanning data; establishing a threshold value for each scan region according to the numbers of the sensing point (3) that form the scan region; for each sub-region, comparing the number of sensing point (3) in the corresponding sub-region with the threshold value of the scan region where the sub-region is located; if the number of sensing point (3) in a sub-region is higher than the threshold value of the scan region where the sub-region is located, then determining that the sensing points (3) in the concerned sub-region belong to a target (4); displaying to a user on a screen the sensing points (3) which are determined to belong to the target (4); if the number of sensing points (3) in a sub-region is lower than the threshold value of the scan region where the sub- region is located, then determining that the sensing points (3) in the concerned sub-region are caused by a clutter; if a new scanning data with respect to each scan region is received from the radar, repeating the steps of establishing a threshold value, comparing the number of sensing point (3) in the sub-region with the threshold value, determining that the sensing points (3) in the sub-region belongs to a target (4) and displaying to a user on a screen the sensing points (3) which are determined to belong to the target (4), and determining that the sensing points (3) in the sub-region are caused by a clutter.
Description
AN IMAGE GENERATION METHOD
Field of the Invention
The present invention is related to an image generation method for displaying images to users according to the data received from at least one radar. Background of the Invention
Radars are often used for detection of a target, in particular in defense-related applications. In radar systems, at least one signal is usually transmitted towards a scan area. By virtue of sensing the signal reflected from the scan area by at least one sensor, at least one target in the scan area is determined.
In the radar systems such as coastal surveillance radar, an area with a width of 360° is generally divided into different azimuths and ranges so as to form scan areas. Said radar systems scan the scan areas between two azimuths at a time and then scan the scan areas between two adjacent azimuths. Data obtained as a result of scanning is rendered to the users through a screen. Here, sensing points determined within a scan area are displayed in a specific color, whereas the regions whose sensing point is not determined (where no target is sensed) are displayed in a different color. Thus, users can see the sensing points in every single area by observing the screen.
During operation of the radar systems, even if there exists no target in a scan area, sensing points may be determined due to the signals reflected from the relevant scan area. For example, in coastal surveillance radars, sensing points may be determined due to a clutter (e.g. a wave on the sea). But, when the users look at the screen, they are unable to distinguish which sensing points are caused by a real target, and which sensing points are due to a clutter.
In the prior art, there are different applications for displaying data that is received from a radar on a screen. In the patent document no. US7489267B2 of the prior art, there is
disclosed a system for distinguishing white noise stemming from signals and displaying it to users. However, as said system merely enables to distinguish white noise, it cannot allow to determine the sensing points that emerge due to different clutters. Brief Description of the Invention
With the present invention, there is provided an image generation method for displaying images to users according to the data received from at least one radar. Said method comprises the steps of forming a plurality of scan regions by dividing a region that is to be scanned by the radar into azimuth and range lines such that each of the scan regions remains between at least two azimuth lines and two range lines; dividing each scan region into at least two sub-regions; receiving scanning data related to each scan region from said radar; determining the number of sensing point in each sub-region according to the received scanning data; establishing a threshold value for each scan region according to the numbers of the sensing points that form the scan region; for each sub-region, comparing the number of sensing point in the corresponding sub-region with the threshold value of the scan region where the sub-region is located; if the number of sensing point in a sub-region is higher than the threshold value of the scan region where the sub-region is located, then determining that the sensing points in the concerned sub-region belong to a target; displaying to a user on a screen the sensing points which are determined to belong to a target; if the number of sensing point in a sub-region is lower than the threshold value of the scan region where the sub-region is located, then determining that the sensing points in the concerned sub-region are caused by a clutter; if a new scanning data with respect to each scan region is received from the radar, repeating the steps of establishing a threshold value, comparing the number of sensing point in the sub-region with the threshold value, determining that the sensing points in the sub-region belong to a target and displaying to a user on a screen the sensing points which are determined to belong to the target, and determining that the sensing points in the sub-region are caused by a clutter.
According to the present method developed with the present invention, in order to generate an image to be displayed to a user according to the data received from the radar, first of all, it must be distinguished whether the sensing points belong to a target or they are caused by a clutter. For distinguishing, the scan region is divided into sub-regions
and the source of the sensing points within each sub-region is determined according to the number of the sensing points in the sub-regions. Thus, the sensing points that are caused by a clutter are not displayed to users, thereby it is ensured that the users are provided with a more reliable data.
Object of the Invention
The object of the present invention is to develop an image generation method for displaying images to users according to the data received from at least one radar.
Another object of the present invention is to provide an image generation method wherein the sensing points caused by a clutter are filtered.
Yet another object of the present invention is to provide a reliable image generation method.
Description of the Drawings
Exemplary embodiments of image generation method developed according to the present invention are illustrated in the attached drawings, wherein:
Figure 1 is a radar image generated with the conventional applications.
Figure 2 is a radar image generated with the image generation method according to the present invention.
AH the parts illustrated in the drawings are individually assigned a reference numeral and the corresponding terms of these numbers are listed as follows: Coast (1)
Sea (2)
Sensing point (3)
Target (4)
Description of Invention
Radar systems are used to scan a specific area and detect potential targets in said area. In the radar systems, said area is divided into different scan areas, and each scan area is scanned so as to determine the sensing points that belong to the target for the corresponding scan area. Then, the sensing points so determined are displayed on a screen to users. However, when said scan areas are scanned, sensing points are determined, due to clutters such as sea wave, in the areas where there is actually no target. Therefore, with the present invention, there is provided an image generation method wherein the sensing points emerging due to clutter are filtered.
The image generation method developed according to the present invention comprises the steps of forming a plurality of scan regions by dividing a region that is to be scanned by the radar into azimuth and range lines such that each of the scan regions remains between at least two azimuth lines and two range lines; dividing each scan region into at least two sub-regions; receiving scanning data related to each scan region from said radar; determining the number of sensing point (3) in each sub-region according to the received scanning data; establishing a threshold value for each scan region according to the numbers of the sensing point (3) that form the scan region; for each sub-region, comparing the number of sensing point (3) in the corresponding sub-region with the threshold value of the scan region where the sub-region is located; if the number of sensing point (3) in a sub-region is higher than the threshold value of the scan region where the sub-region is located, then determining that the sensing points (3) in the concerned sub-region belong to a target (4); displaying to a user on a screen the sensing points (3) which are determined to belong to a target (4) ; if the number of sensing point (3) in a sub-region is lower than the threshold value of the scan region where the sub- region is located, then determining that the sensing points (3) in the concerned sub-region are caused by a clutter; if a new scanning data with respect to each scan region is received from the radar, repeating the steps of establishing a threshold value, comparing the number of sensing point (3) in the sub-region with the threshold value, determining that the sensing points (3) in the sub-region belong to a target (4) and displaying to a user on a screen the sensing points (3) which are determined to belong to the target (4), and determining that the sensing points (3) in the sub-region are caused by a clutter.
In an exemplary embodiment of the present invention, a radar (e.g. a coastal surveillance radar) placed on a coast (1) scans the sea (2) and receives scanning data. In the conventional applications, due to clutters especially such as waves on the sea (2), an image as shown in Figure 1 is displayed to users. Here, a very high number of sensing points (3) is formed due to the said clutter, and all of these sensing points (3) are displayed to the user. An image obtained as a result of the method developed according to the present invention is shown in Figure 2. In the method of the present invention, instead of all the sensing points (3) detected by the radar, only the sensing points (3) that are determined to belong to a target (4) are displayed on a screen to the users. Thus, it is ensured that the sensing points (3) detected due to clutters are filtered, and only the sensing points (3) that belong to real targets (4) are displayed to the users. Due to their structures, radars scan the scan regions that have a specific azimuth width and a specific range. It is received from the radar for a scan region the information (such as location of sensing point (3)) about the sensing points (3) detected within the scan region. According to the method developed with the present invention, first of all, the data received from the radar is analyzed in order to determine whether a sensing point (3) detected by the radar actually belongs to a target or not. To perform the analysis process, firstly, each scan region is divided into at least two (preferably more than this, e.g. into 150) sub-regions. Then, the number of the sensing points (3) that are present in each sub-region is determined. According to the determined number of the sensing points (3), a threshold value is calculated for each sub-region. It is given hereinbelow in detail how to calculate said threshold value. After the threshold value is calculated, the number of the sensing points (3) in the corresponding sub-region, for each sub-region, is compared with the threshold value belonging to the scan region where the sub-region is located. As a result of this comparison, if the number of sensing point (3) in a sub-region is higher than the threshold value of the scan region where the sub-region is located, it is determined that the sensing points (3) in the concerned sub-region belong to a target (4).
In a preferred embodiment of the invention, at the step of establishing for each scan region a threshold value according to the numbers of the sensing points (3) that form the scan region, said threshold value is determined by using the ratio of the number of sub- regions which do not comprise any sensing point (3) within the scan region to the total number of sub-regions within the scan region (this ratio is defined as Rd), and the number of sensing points (3) that are determined to be caused by clutter during the last ten
repetitions. Here, since there will be no repetition data during the first operation of the method, the number of the sensing point (3) which is determined to be caused by the clutter for said repetitions is determined as "0". Since the sensing point (3), which is determined to be caused by the clutter, is determined at each repetition of the method, the number of the sensing point (3) which is determined to be caused by clutter will change at each repetition during the last ten repetitions. Thus, said threshold value will also be updated at each repetition so as to be more accurate. Here, said threshold value is equal to 0 if the ratio of the number of sub-regions which do not comprise any sensing point (3) within a scan region to the total number of sub-regions within the scan region is higher than 0.95. In other words, it is determined that all the sensing points (3) within the scan region belong to a target (4). If the ratio of the number of sub-regions, which do not comprise any sensing point (3) within a scan region, to the total number of sub-regions within the scan region is less than 0.1 , the threshold value is equal to a value higher than the maximum number of sensing points (3) that is to be detected in a sub-region. In other words, it is determined that all the sensing points (3) within the scan region are caused by a clutter.
In an exemplary embodiment of the present invention, said threshold value is updated at each repetition. For performing said updating process, an erroneous detection ratio and an erroneous detection probability value are used before each repetition. Said erroneous detection ratio is calculated as the ratio of the number of detections resulting from the clutter within a scan region to the total number of the sub-regions within the scan region before the repetition. On the other hand, said erroneous detection probability value is preferably a pre-determined value (e.g. 10Λ-4). Here, the threshold value is multiplied by a offset coefficient so to update the threshold value at each repetition. Said offset coefficient is calculated according to the following formula:
P
In this formula, "offset" denotes the offset coefficient, FA value denotes the
erroneous detection probability value, and value denotes the erroneous detection ratio value. According to the method developed with the present invention, in order to generate an image to be displayed to a user according to the data received from the radar, first of all, it must be distinguished whether the sensing points (3) belong to a target (4) or they are caused by a clutter. For distinguishing, the scan region is divided into sub-regions and the source of the sensing points (3) within each sub-region is determined according to the number of the sensing points (3) in the sub-regions. Thus, the sensing points (3) that are caused by a clutter are not displayed to users, thereby it is ensured that the users are provided with a more reliable data.
Claims
1. An image generation method for displaying an image to users according to the data received from at least one radar, characterized by comprising the steps of:
- forming a plurality of scan regions by dividing a region that is to be scanned by the radar into azimuth and range lines such that each of the scan regions remains between at least two azimuth lines and two range lines;
dividing each scan region into at least two sub-regions;
receiving scanning data related to each scan region from said radar; determining the number of sensing point (3) in each sub-region according to the received scanning data;
establishing a threshold value for each scan region according to the numbers of the sensing points (3) that form the scan region;
comparing, for each sub-region, the number of sensing point (3) in the corresponding sub-region with the threshold value of the scan region where the sub-region is located;
determining that the sensing points (3) in the concerned sub-region belong to a target (4) if the number of sensing point (3) in a sub-region is higher than the threshold value of the scan region where the sub-region is located; displaying to a user on a screen the sensing points (3) which are determined to belong to a target (4);
determining that the sensing points (3) in the concerned sub-region are caused by a clutter if the number of sensing point (3) in a sub-region is lower than the threshold value of the scan region where the sub-region is located; repeating the steps of establishing a threshold value, comparing the number of sensing point (3) in the sub-region with the threshold value, determining that the sensing points (3) in the sub-region belongs to a target (4) and displaying to a user on a screen the sensing points (3) which are determined to belong to the target (4), and determining that the sensing points (3) in the sub-region are caused by a clutter, if a new scanning data with respect to each scan region is received from the radar.
2. A method according to Claim 1 , characterized in that at the step of establishing for each scan region a threshold value according to the numbers of the sensing points (3)
that form the scan region, said threshold value is determined by using the ratio of the number of sub-regions which do not comprise any sensing point (3) within a scan region to the total number of sub-regions within the scan region, and the number of sensing points (3) that are determined to be caused by clutter during the last ten repetitions.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/TR2017/050555 WO2019093979A1 (en) | 2017-11-08 | 2017-11-08 | An image generation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/TR2017/050555 WO2019093979A1 (en) | 2017-11-08 | 2017-11-08 | An image generation method |
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| WO2019093979A1 true WO2019093979A1 (en) | 2019-05-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115469330A (en) * | 2022-10-28 | 2022-12-13 | 深圳市云鼠科技开发有限公司 | Subgraph construction method and device, terminal device and storage medium |
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|---|---|---|---|---|
| US4713664A (en) * | 1985-05-24 | 1987-12-15 | Westinghouse Electric Corp. | Point clutter threshold determination for radar systems |
| US4716414A (en) * | 1984-05-10 | 1987-12-29 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Super resolution imaging system |
| GB2452390A (en) * | 2007-08-31 | 2009-03-04 | Furuno Electric Co | Radar device including area determination module, noise-level calculation module and an interpolation module. |
| JP2012132687A (en) * | 2010-12-20 | 2012-07-12 | Furuno Electric Co Ltd | Target detection method, target detection program, target detection device, and radar device |
| CN104360324A (en) * | 2014-10-31 | 2015-02-18 | 中国电子科技集团公司第二十八研究所 | Clutter map partitioning method based on image processing |
-
2017
- 2017-11-08 WO PCT/TR2017/050555 patent/WO2019093979A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4716414A (en) * | 1984-05-10 | 1987-12-29 | The Secretary Of State For Defence In Her Britannic Majesty's Government Of The United Kingdom Of Great Britain And Northern Ireland | Super resolution imaging system |
| US4713664A (en) * | 1985-05-24 | 1987-12-15 | Westinghouse Electric Corp. | Point clutter threshold determination for radar systems |
| GB2452390A (en) * | 2007-08-31 | 2009-03-04 | Furuno Electric Co | Radar device including area determination module, noise-level calculation module and an interpolation module. |
| JP2012132687A (en) * | 2010-12-20 | 2012-07-12 | Furuno Electric Co Ltd | Target detection method, target detection program, target detection device, and radar device |
| CN104360324A (en) * | 2014-10-31 | 2015-02-18 | 中国电子科技集团公司第二十八研究所 | Clutter map partitioning method based on image processing |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115469330A (en) * | 2022-10-28 | 2022-12-13 | 深圳市云鼠科技开发有限公司 | Subgraph construction method and device, terminal device and storage medium |
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