WO2023226064A1

WO2023226064A1 - Ellipse positioning data processing method and apparatus, and device, medium and program product

Info

Publication number: WO2023226064A1
Application number: PCT/CN2022/096206
Authority: WO
Inventors: 周钢; 胡征慧; 刘庆杰; 王蕴红
Original assignee: 北京航空航天大学杭州创新研究院
Priority date: 2022-05-25
Filing date: 2022-05-31
Publication date: 2023-11-30
Also published as: CN115310164A

Abstract

Disclosed in the embodiments of the present disclosure are an ellipse positioning data processing method and apparatus, and a device, a medium and a program product. A specific embodiment of the method comprises: acquiring ellipse positioning data; determining a target energy functional; converting the target energy functional to obtain an unconstrained function to be processed; initializing the number of iterations; executing generation steps, involving: updating the number of iterations, generating ellipse parameter update data, generating ellipse positioning update data, determining the ellipse parameter update data as an ellipse parameter, determining the ellipse positioning update data as ellipse positioning data, and executing the generation steps again; determining the ellipse parameter as a target ellipse parameter; generating a target culvert ellipse coordinate point set; determining a culvert edge point repetition rate; generating culvert deformation prompt information; and controlling an associated display device to display the culvert deformation prompt information.

Description

椭圆定位数据处理方法、装置、设备、介质和程序产品Elliptical positioning data processing methods, devices, equipment, media and program products

相关申请的交叉引用Cross-references to related applications

本申请要求申请日为2022年05月25日，申请号为2022105761041、发明名称为“椭圆定位数据处理方法、装置、设备、介质和程序产品”的中国专利申请的优先权，其全部内容作为整体并入本申请中。This application requires the priority of a Chinese patent application with a filing date of May 25, 2022, an application number of 2022105761041, and an invention title of "elliptical positioning data processing method, device, equipment, medium and program product", and its entire content as a whole incorporated into this application.

技术领域Technical field

本公开的实施例涉及计算机技术领域，具体涉及椭圆定位数据处理方法、装置、设备、介质和程序产品。Embodiments of the present disclosure relate to the field of computer technology, and specifically to elliptical positioning data processing methods, devices, equipment, media and program products.

背景技术Background technique

随着新能源的迅速发展，用于引水的引水涵洞的维护和检修逐渐得到业界的普遍关注。引水涵洞通常为椭圆，因此，通常对引水涵洞的椭圆定位数据进行处理，以完成对于引水涵洞的维护和检修工作。目前，现有的对椭圆定位数据进行处理的方式为：通过最小化观测数据的L2范数的方式，对椭圆定位数据进行处理。With the rapid development of new energy, the maintenance and repair of diversion culverts used for water diversion have gradually attracted widespread attention in the industry. The diversion culvert is usually an ellipse. Therefore, the elliptical positioning data of the diversion culvert is usually processed to complete the maintenance and repair work of the diversion culvert. Currently, the existing method of processing elliptical positioning data is to process the elliptical positioning data by minimizing the L2 norm of the observation data.

发明内容Contents of the invention

本公开的内容部分用于以简要的形式介绍构思，这些构思将在后面的具体实施方式部分被详细描述。本公开的内容部分并不旨在标识要求保护的技术方案的关键特征或必要特征，也不旨在用于限制所要求的保护的技术方案的范围。This Summary is provided to introduce in simplified form concepts that are later described in detail in the Detailed Description. The content of this disclosure is not intended to identify key features or essential features of the claimed technical solutions, nor is it intended to be used to limit the scope of the claimed technical solutions.

本公开的一些实施例提出了椭圆定位数据处理方法、装置、电子设备、计算机可读介质和计算机程序产品，来解决以上背景技术部分提到的技术问题中的一项或多项。Some embodiments of the present disclosure provide elliptical positioning data processing methods, devices, electronic devices, computer-readable media, and computer program products to solve one or more of the technical problems mentioned in the background art section above.

第一方面，本公开的一些实施例提供了一种椭圆定位数据处理方法，该方法包括：获取椭圆定位数据，其中，上述椭圆定位数据包括噪声椭圆定位数据和非噪声椭圆定位数据，上述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据；根据L1范数、L2范数、上述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函；对上述目标能量泛函进行转换，得到无约束待处理函数；初始化迭代次数；根据椭圆定位数据、椭圆参数、上述无约束待处理函数和迭代次数，执行以下生成步骤：根据预设数值，更新迭代次数；根据上述无约束待处理函数和上述椭圆定位数据，生成椭圆参数更新数据；根据上述无约束待处理函数和上述椭圆参数，生成椭圆定位更新数据；将上述椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新；将上述椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新；响应于上述迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行上述生成步骤；响应于上述迭代次数大于等于上述预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足上述预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数；响应于上述椭圆定位数据为椭圆涵洞边缘点数据，根据上述目标椭圆参数，生成目标涵洞椭圆坐标点集；根据上述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率；响应于上述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息；控制相关联的显示设备显示上述涵洞变形提示信息。In a first aspect, some embodiments of the present disclosure provide an elliptical positioning data processing method, which method includes: obtaining elliptical positioning data, wherein the above-mentioned elliptical positioning data includes noise elliptical positioning data and non-noise elliptical positioning data, and the above-mentioned elliptical positioning data The data is elliptical culvert edge point data or elliptical road sign edge point data; according to the L1 norm, L2 norm, the noisy elliptical positioning data and the non-noise elliptical positioning data included in the above-mentioned elliptical positioning data, the target energy functional is determined; for the above-mentioned targets The energy functional is converted to obtain the unconstrained function to be processed; the number of iterations is initialized; according to the ellipse positioning data, ellipse parameters, the above unconstrained function to be processed and the number of iterations, the following generation steps are performed: according to the preset value, the number of iterations is updated; according The above-mentioned unconstrained function to be processed and the above-mentioned ellipse positioning data generate ellipse parameter update data; according to the above-mentioned unconstrained function to be processed and the above-mentioned ellipse parameter, the ellipse positioning update data is generated; the above-mentioned ellipse parameter update data is determined as an ellipse parameter to adjust the ellipse parameters are updated; the above-mentioned elliptical positioning update data is determined as elliptical positioning data to update the elliptical positioning data; in response to the above-mentioned number of iterations being less than the preset number of iterations, and the updated elliptical parameters and the updated elliptical positioning data satisfy the predetermined Set the ellipse numerical condition and perform the above generation steps again; in response to the above iteration number being greater than or equal to the above preset iteration number and/or the updated ellipse parameters and the updated ellipse positioning data do not meet the above preset ellipse numerical condition, the updated ellipse numerical condition will be The ellipse parameters are determined as the target ellipse parameters; in response to the above ellipse positioning data being the elliptical culvert edge point data, a target culvert ellipse coordinate point set is generated according to the above target ellipse parameters; according to the above target culvert ellipse coordinate point set and the preset culvert ellipse coordinates Point set, determine the culvert edge point repetition rate; in response to the culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold, generate culvert deformation prompt information; control the associated display device to display the above culvert deformation prompt information.

第二方面，本公开的一些实施例提供了一种椭圆定位数据处理装置，装置包括：获取单元，被配置成获取椭圆定位数据，其中，上述椭圆定位数据包括噪声椭圆定位数据和非噪声椭圆定位数据，上述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据；第一确定单元，被配置成根据L1范数、L2范数、上述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函；转换单元，被配置成对上述目标能量泛函进行转换，得到无约束待处理函数；初始化单元，被配置成初始化迭代次数；执行单元，被配置成根据椭圆定位数据、椭圆参数、上述无约束待处理函数和迭代次数，执行以下生成步骤：根据预设数值，更新迭代次数；根据上述无约束待处理函数和上述椭圆定位数据，生成椭圆参数更新数据；根据上述无约束待处理函数和上述椭圆参数，生成椭圆定位更新数据；将上述椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新；将上述椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新；响应于上述迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行上述生成步骤；第二确定单元，被配置成响应于上述迭代次数大于等于上述预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足上述预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数；第一生成单元，被配置成响应于上述椭圆定位数据为椭圆涵洞边缘点数据，根据上述目标椭圆参数，生成目标涵洞椭圆坐标点集；第三确定单元，被配置成根据上述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率；第二生成单元，被配置成响应于上述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息；控制单元，被配置成控制相关联的显示设备显示上述涵洞变形提示信息。In a second aspect, some embodiments of the present disclosure provide an elliptical positioning data processing device. The device includes: an acquisition unit configured to acquire elliptical positioning data, wherein the above-mentioned elliptical positioning data includes noisy elliptical positioning data and non-noise elliptical positioning data. Data, the above-mentioned elliptical positioning data is elliptical culvert edge point data or elliptical road sign edge point data; the first determination unit is configured to calculate the noise elliptical positioning data and non-noise data according to the L1 norm, L2 norm, the above-mentioned elliptical positioning data. The ellipse positioning data determines the target energy functional; the conversion unit is configured to convert the above target energy functional to obtain an unconstrained function to be processed; the initialization unit is configured to initialize the number of iterations; the execution unit is configured to perform the function according to the ellipse Positioning data, ellipse parameters, the above-mentioned unconstrained function to be processed and the number of iterations, perform the following generation steps: update the number of iterations according to the preset value; generate ellipse parameter update data according to the above-mentioned unconstrained function to be processed and the above-mentioned elliptical positioning data; according to The above-mentioned unconstrained function to be processed and the above-mentioned ellipse parameter generate ellipse positioning update data; the above-mentioned ellipse parameter update data is determined as an ellipse parameter to update the ellipse parameters; the above-mentioned ellipse positioning update data is determined as ellipse positioning data to update the ellipse parameter. The positioning data is updated; in response to the above iteration number being less than the preset iteration number, and the updated ellipse parameters and the updated ellipse positioning data meeting the preset ellipse numerical conditions, the above generation step is performed again; the second determination unit is configured as In response to the above iteration number being greater than or equal to the above preset iteration number and/or the updated ellipse parameters and the updated ellipse positioning data not meeting the above preset ellipse numerical conditions, the updated ellipse parameters are determined as the target ellipse parameters; first The generating unit is configured to generate the target culvert elliptical coordinate point set in response to the above elliptical positioning data as the elliptical culvert edge point data according to the above target elliptical parameters; the third determination unit is configured to generate the target culvert elliptical coordinate point set according to the above target culvert elliptical coordinate point set and The preset culvert elliptical coordinate point set determines the culvert edge point repetition rate; the second generation unit is configured to generate culvert deformation prompt information in response to the above culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold; the control unit, It is configured to control the associated display device to display the above culvert deformation prompt information.

第三方面，本公开的一些实施例提供了一种电子设备，包括：至少一个处理器；存储装置，其上存储有至少一个程序，当至少一个程序被至少一个处理器执行，使得至少一个处理器实现上述第一方面任一实现方式所描述的方法。In a third aspect, some embodiments of the present disclosure provide an electronic device, including: at least one processor; a storage device on which at least one program is stored, and when the at least one program is executed by at least one processor, at least one process The device implements the method described in any implementation manner of the first aspect above.

第四方面，本公开的一些实施例提供了一种计算机可读介质，其上存储有计算机程序，其中，程序被处理器执行时实现上述第一方面任一实现方式所描述的方法。In a fourth aspect, some embodiments of the present disclosure provide a computer-readable medium on which a computer program is stored, wherein when the program is executed by a processor, the method described in any implementation manner of the first aspect is implemented.

第五方面，本公开的一些实施例提供了一种计算机程序产品，包括计算机程序，计算机程序在被处理器执行时实现上述第一方面任一实现方式所描述的方法。In a fifth aspect, some embodiments of the present disclosure provide a computer program product, including a computer program. When executed by a processor, the computer program implements the method described in any implementation manner of the first aspect.

附图说明Description of the drawings

结合附图并参考以下具体实施方式，本公开各实施例的上述和其他特征、优点及方面将变得更加明显。贯穿附图中，相同或相似的附图标记表示相同或相似的元素。应当理解附图是示意性的，元件和元素不一定按照比例绘制。The above and other features, advantages, and aspects of various embodiments of the present disclosure will become more apparent with reference to the following detailed description taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.

图1是根据本公开的椭圆定位数据处理方法的一些实施例的流程图；Figure 1 is a flow chart of some embodiments of an elliptical positioning data processing method according to the present disclosure;

图2是在本公开的椭圆定位数据处理方法中，仿真的包括的噪声椭圆定位数据为空的椭圆定位数据的示意图；Figure 2 is a schematic diagram of the simulated elliptical positioning data including empty noise elliptical positioning data in the elliptical positioning data processing method of the present disclosure;

图3是在本公开的椭圆定位数据处理方法中，仿真的椭圆定位数据包括的噪声椭圆定位数据为空，且迭代次数为2时对应的椭圆媒体信息的示意图；Figure 3 is a schematic diagram of the corresponding elliptical media information when the simulated elliptical positioning data includes empty noise elliptical positioning data and the number of iterations is 2 in the elliptical positioning data processing method of the present disclosure;

图4是在本公开的椭圆定位数据处理方法中，仿真的包括的噪声椭圆定位数据对应高斯噪声的椭圆定位数据的示意图；Figure 4 is a schematic diagram of the simulated noise elliptical positioning data corresponding to the elliptical positioning data of Gaussian noise in the elliptical positioning data processing method of the present disclosure;

图5是在本公开的椭圆定位数据处理方法中，仿真的椭圆定位数据包括的噪声椭圆定位数据对应高斯噪声，且迭代次数为200时对应的椭圆媒体信息的示意图；Figure 5 is a schematic diagram of the corresponding elliptical media information when the number of iterations is 200 in the elliptical positioning data processing method of the present disclosure, the noise elliptical positioning data included in the simulated elliptical positioning data corresponds to Gaussian noise;

图6是在本公开的椭圆定位数据处理方法中，仿真的包括的噪声椭圆定位数据对应拉普拉斯噪声的椭圆定位数据的示意图；Figure 6 is a schematic diagram of the simulated noise elliptical positioning data corresponding to the elliptical positioning data of Laplace noise in the elliptical positioning data processing method of the present disclosure;

图7是在本公开的椭圆定位数据处理方法中，仿真的椭圆定位数据包括的噪声椭圆定位数据对应拉普拉斯噪声，且迭代次数为200时对应的椭圆媒体信息的示意图；Figure 7 is a schematic diagram of the corresponding elliptical media information when the number of iterations is 200 in the elliptical positioning data processing method of the present disclosure, the noise elliptical positioning data included in the simulated elliptical positioning data corresponds to Laplacian noise;

图8是根据本公开的椭圆定位数据处理装置的一些实施例的结构示意图；Figure 8 is a schematic structural diagram of some embodiments of an elliptical positioning data processing device according to the present disclosure;

图9是适于用来实现本公开的一些实施例的电子设备的结构示意图。Figure 9 is a schematic structural diagram of an electronic device suitable for implementing some embodiments of the present disclosure.

具体实施方式Detailed ways

下面将参照附图更详细地描述本公开的实施例。虽然附图中显示了本公开的某些实施例，然而应当理解的是，本公开可以通过各种形式来实现，而且不应该被解释为限于这里阐述的实施例。相反，提供这些实施例是为了更加透彻和完整地理解本公开。应当理解的是，本公开的附图及实施例仅用于示例性作用，并非用于限制本公开的保护范围。Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of the present disclosure.

另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。在不冲突的情况下，本公开中的实施例及实施例中的特征可以相互组合。It should also be noted that, for convenience of description, only the parts related to the invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

需要注意，本公开中提及的“第一”、“第二”等概念仅用于对不同的装置、模块或单元进行区分，并非用于限定这些装置、模块或单元所执行的功能的顺序或者相互依存关系。It should be noted that concepts such as “first” and “second” mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units. Or interdependence.

需要注意，本公开中提及的“一个”、“多个”的修饰是示意性而非限制性的，本领域技术人员应当理解，除非在上下文另有明确指出，否则应该理解为“一个或多个”。It should be noted that the modifications of "one" and "plurality" mentioned in this disclosure are illustrative and not restrictive. Those skilled in the art will understand that unless the context clearly indicates otherwise, it should be understood as "one or Multiple”.

本公开实施方式中的多个装置之间所交互的消息或者信息的名称仅用于说明性的目的，而并不是用于对这些消息或信息的范围进行限制。The names of messages or information exchanged between multiple devices in the embodiments of the present disclosure are for illustrative purposes only and are not used to limit the scope of these messages or information.

相关的椭圆定位数据处理方法，例如，最小化观测数据的L2范数等经常会存在如下技术问题：处理后得到的椭圆相关数据的精度较低，对于噪声干扰的鲁棒性较差，另外，处理包括不同类型噪声干扰的椭圆定位数据时，得到的椭圆相关数据的精度差别较大，对于不同类型噪声干扰的适应性较差，此外，未将椭圆定位数据处理应用于涵洞变形预警，导致无法提示用户涵洞变形，造成河水泛滥或出现人员伤亡。Related elliptical positioning data processing methods, such as minimizing the L2 norm of observation data, often have the following technical problems: the accuracy of the ellipse-related data obtained after processing is low, and the robustness to noise interference is poor. In addition, When processing elliptical positioning data including different types of noise interference, the accuracy of the obtained ellipse-related data is quite different, and the adaptability to different types of noise interference is poor. In addition, the elliptical positioning data processing is not applied to culvert deformation warning, resulting in the inability to Users are reminded that the culvert is deformed, causing river flooding or casualties.

为了解决以上所阐述的问题，本公开的一些实施例提出了椭圆定位数据处理方法、装置、设备、介质和程序产品，可以提高数据处理后得到的椭圆相关数据的精度，提高对于噪声干扰的鲁棒性，提高针对不同类型噪声干扰的适应性，减少河水泛滥和人员伤亡。In order to solve the problems described above, some embodiments of the present disclosure propose elliptical positioning data processing methods, devices, equipment, media and program products, which can improve the accuracy of ellipse-related data obtained after data processing and improve the immunity to noise interference. It improves the adaptability to different types of noise interference and reduces river flooding and casualties.

下面将参考附图并结合实施例来详细说明本公开。The present disclosure will be described in detail below in conjunction with embodiments with reference to the accompanying drawings.

图1示出了根据本公开的椭圆定位数据处理方法的一些实施例的流程100。该椭圆定位数据处理方法，包括以下步骤：Figure 1 shows a process 100 of some embodiments of an elliptical positioning data processing method according to the present disclosure. The elliptical positioning data processing method includes the following steps:

步骤101，获取椭圆定位数据。Step 101: Obtain elliptical positioning data.

在一些实施例中，椭圆定位数据处理方法的执行主体(例如计算设备)可以通过有线连接方式或者无线连接方式获取椭圆定位数据。其中，上述椭圆定位数据可以包括噪声椭圆定位数据和非噪声椭圆定位数据。上述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据。上述椭圆定位数据可以为在预设坐标系下构成椭圆的轮廓的各个点的坐标的集合。其中，各个点的坐标对应于同一个椭圆。上述噪声椭圆定位数据可以为上述各个点中为噪点的坐标数据。上述非噪声椭圆定位数据可以为上述各个点中不为噪点的坐标数据。其中，可以将上述噪声椭圆定位数据的初始值设置为空。可以将上述非噪声椭圆定位数据的初始值设置为上述椭圆定位数据。上述椭圆可以为曲线参数满足预设椭圆参数条件的二次曲线。上述二次曲线可以表示为

其中，

δ＝(a，b，c，d，e，f) ^T。其中，x表示二次曲线上的点的横坐标。y表示二次曲线上的点的纵坐标。

为根据x和y表示的行向量。δ表示形式为列向量的曲线参数。其中，曲线参数δ包括参数a、参数b、参数c、参数d、参数e、参数f。参数a为x ²对应的参数。参数b为xy对应的参数。参数c为y ²对应的参数。参数d为对应行向量

中的x的参数。参数e为对应行向量

中的y的参数。参数f为用于归一化处理的参数。预设椭圆参数条件可以为b ²-4ac＜0。由此，当上述二次曲线满足预设椭圆参数条件时，上述二次曲线可以表示椭圆，(x，y)可以表示构成椭圆的轮廓的各个点的横坐标和纵坐标。

可以表征椭圆定位数据中每个点对应的坐标。δ可以为椭圆参数。上述椭圆涵洞边缘点数据可以为表征构成涵洞的轮廓边缘的各个点的二维坐标。上述椭圆道路标识边缘点数据可以为表征构成圆形道路标识的轮廓边缘的各个点的二维坐标。需要指出的是，上述无线连接方式可以包括但不限于3G/4G连接、WiFi连接、蓝牙连接、WiMAX连接、Zigbee连接、UWB(ultra wideband)连接、以及其他现在已知或将来开发的无线连接方式。 In some embodiments, the execution subject (such as a computing device) of the elliptical positioning data processing method can obtain the elliptical positioning data through a wired connection or a wireless connection. Wherein, the above-mentioned elliptical positioning data may include noisy elliptical positioning data and non-noise elliptical positioning data. The above-mentioned elliptical positioning data is elliptical culvert edge point data or elliptical road sign edge point data. The above-mentioned ellipse positioning data may be a set of coordinates of various points constituting the outline of the ellipse in a preset coordinate system. Among them, the coordinates of each point correspond to the same ellipse. The above-mentioned noise ellipse positioning data may be coordinate data of noise points among the above-mentioned points. The above-mentioned non-noise elliptical positioning data may be the coordinate data of each of the above-mentioned points that are not noise points. Among them, the initial value of the above noise ellipse positioning data can be set to empty. The initial value of the above-mentioned non-noise elliptical positioning data may be set to the above-mentioned elliptical positioning data. The above-mentioned ellipse may be a quadratic curve whose curve parameters meet the preset ellipse parameter conditions. The above quadratic curve can be expressed as

in,

δ=(a, b, c, d, e, f) ^T . Among them, x represents the abscissa coordinate of the point on the quadratic curve. y represents the ordinate of the point on the quadratic curve.

is a row vector expressed in terms of x and y. δ represents the curve parameters in the form of column vectors. Among them, the curve parameter δ includes parameter a, parameter b, parameter c, parameter d, parameter e, and parameter f. Parameter a is the parameter corresponding to x ² . Parameter b is the parameter corresponding to xy. Parameter c is the parameter corresponding to y ² . Parameter d is the corresponding row vector

The parameter of x in . Parameter e is the corresponding row vector

The parameter of y in . The parameter f is a parameter used for normalization processing. The preset ellipse parameter condition may be b ² -4ac<0. Therefore, when the above-mentioned quadratic curve satisfies the preset ellipse parameter conditions, the above-mentioned quadratic curve can represent an ellipse, and (x, y) can represent the abscissa and ordinate coordinates of each point constituting the outline of the ellipse.

It can represent the coordinates corresponding to each point in the elliptical positioning data. δ can be an ellipse parameter. The above-mentioned elliptical culvert edge point data may be two-dimensional coordinates representing each point constituting the outline edge of the culvert. The above-mentioned elliptical road sign edge point data may be two-dimensional coordinates representing each point constituting the outline edge of the circular road sign. It should be noted that the above wireless connection methods may include but are not limited to 3G/4G connection, WiFi connection, Bluetooth connection, WiMAX connection, Zigbee connection, UWB (ultra wideband) connection, and other wireless connection methods that are now known or developed in the future. .

需要说明的是，上述计算设备可以是硬件，也可以是软件。当计算设备为硬件时，可以实现成多个服务器或终端设备组成的分布式集群，也可以实现成单个服务器或单个终端设备。当计算设备体现为软件时，可以安装在上述所列举的硬件设备中。其可以实现成例如用来提供分布式服务的多个软件或软件模块，也可以实现成单个软件或软件模块。在此不做具体限定。应该理解，根据实现需要，可以具有任意数目的计算设备。It should be noted that the above computing device may be hardware or software. When the computing device is hardware, it can be implemented as a distributed cluster composed of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the computing device is embodied as software, it can be installed in the hardware device listed above. It may be implemented, for example, as multiple software or software modules for providing distributed services, or as a single software or software module. There are no specific limitations here. It should be understood that there may be any number of computing devices depending on implementation needs.

步骤102，根据L1范数、L2范数、椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函。Step 102: Determine the target energy functional based on the L1 norm, the L2 norm, the noisy elliptical positioning data and the non-noise elliptical positioning data included in the elliptical positioning data.

在一些实施例中，上述执行主体可以根据L1范数、L2范数、上述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函。其中，Φ＝U+V。Φ表示椭圆定位数据。U表示非噪声椭圆定位数据。V表示噪声椭圆定位数据。Φ、U、V为大小相同的矩阵。矩阵的行数为构成椭圆的轮廓的各个点的数量。Φ、U、V所包括的每个行向量的形式均为(x ²，xy，y ²，x，y，1)。其中，x ²，xy，y ²，x，y，1为向量包括的元素。矩阵U中包括的元素均为0的行向量在矩阵V中对应行的行向量所包括的元素不均为0。矩阵V中包括的元素均为0的行向量在矩阵U中对应行的行向量所包括的元素不均为0。 In some embodiments, the above-mentioned execution subject may determine the target energy functional based on the L1 norm, the L2 norm, the noisy elliptical positioning data and the non-noise elliptical positioning data included in the above-mentioned elliptical positioning data. Among them, Φ=U+V. Φ represents elliptical positioning data. U represents non-noisy elliptical positioning data. V represents noise ellipse positioning data. Φ, U, and V are matrices of the same size. The number of rows of the matrix is the number of points that make up the outline of the ellipse. The form of each row vector included in Φ, U, and V is (x ² , xy, y ² , x, y, 1). Among them, x ² , xy, y ² , x, y, 1 are the elements included in the vector. The row vectors containing elements in the matrix U are all 0, but the row vectors of the corresponding rows in the matrix V do not contain all the elements being 0. The row vectors containing elements in the matrix V are all 0, but the row vectors of the corresponding rows in the matrix U do not contain all the elements being 0.

作为示例，Φ可以为：As an example, Φ can be:

其中，x ₁表示椭圆定位数据包括的第一个点的横坐标。y ₁表示椭圆定位数据包括的第一个点的纵坐标。x ₂表示椭圆定位数据包括的第二个点的横坐标。y ₂表示椭圆定位数据包括的第二个点的纵坐标。x ₃表示椭圆定位数据包括的第三个点的横坐标。y ₃表示椭圆定位数据包括的第三个点的纵坐标。x ₄表示椭圆定位数据包括的第四个点的横坐标。y ₄表示椭圆定位数据包括的第四个点的纵坐标。x ₅表示椭圆定位数据包括的第五个点的横坐标。y ₅表示椭圆定位数据包括的第五个点的纵坐标。 Among them, x ₁ represents the abscissa coordinate of the first point included in the elliptical positioning data. y ₁ represents the ordinate of the first point included in the ellipse positioning data. x ₂ represents the abscissa coordinate of the second point included in the ellipse positioning data. y ₂ represents the ordinate of the second point included in the ellipse positioning data. x ₃ represents the abscissa coordinate of the third point included in the ellipse positioning data. y ₃ represents the ordinate of the third point included in the ellipse positioning data. x ₄ represents the abscissa coordinate of the fourth point included in the ellipse positioning data. y ₄ represents the ordinate of the fourth point included in the ellipse positioning data. x ₅ represents the abscissa coordinate of the fifth point included in the ellipse positioning data. y ₅ represents the ordinate of the fifth point included in the ellipse positioning data.

U可以为：U can be:

V可以为：V can be:

其中，上述示例中的V仅包括一个元素不均为0的行向量。当V仅包括一个元素不均为0的行向量时，V也可以为该元素不均为0的行向量。上述示例中的V也可以为：Among them, V in the above example only includes a row vector whose elements are not uniformly 0. When V contains only one row vector whose elements are not uniformly zero, V can also be a row vector whose elements are not uniformly zero. V in the above example could also be:

实践中，可以将以下公式确定为目标能量泛函：In practice, the following formula can be determined as the target energy functional:

其中，Φ表示椭圆定位数据。U表示非噪声椭圆定位数据。V表示噪声椭圆定位数据。δ表示椭圆参数。||Uδ|| ²表示矩阵U和矩阵δ的乘积的范数的平方。λ为正则化参数，这里，λ大于0。例如，λ 可以为1。||Vδ|| ₁表示矩阵V和矩阵δ的乘积的L1范数。||Uδ|| ²+λ||Vδ|| ₁表示目标能量泛函。

表示当目标能量泛函||Uδ|| ²+λ||Vδ|| ₁的值最小时，对应的δ、U、V为目标能量泛函的解。由此，可以根据L1范数和L2范数，建立对于椭圆定位数据的受约束问题，得到对椭圆定位数据进行约束的目标能量泛函。 Among them, Φ represents elliptical positioning data. U represents non-noisy elliptical positioning data. V represents noise ellipse positioning data. δ represents the ellipse parameter. ||Uδ|| ² represents the square of the norm of the product of matrix U and matrix δ. λ is the regularization parameter, here, λ is greater than 0. For example, λ can be 1. ||Vδ|| ₁ represents the L1 norm of the product of matrix V and matrix δ. ||Uδ|| ² +λ||Vδ|| ₁ represents the target energy functional.

It means that when the value of the target energy functional ||Uδ|| ² +λ||Vδ|| ₁ is the minimum, the corresponding δ, U, and V are the solutions of the target energy functional. Therefore, a constrained problem for elliptical positioning data can be established based on the L1 norm and L2 norm, and the target energy functional that constrains the elliptical positioning data can be obtained.

步骤103，对目标能量泛函进行转换，得到无约束待处理函数。Step 103: Convert the target energy functional to obtain the unconstrained function to be processed.

在一些实施例中，上述执行主体可以对上述目标能量泛函进行转换，得到无约束待处理函数。实践中，可以使用拉格朗日因子法将求解上述目标能量泛函转换为求解无约束待处理函数，得到的待求解的无约束待处理函数可以如下式所示：In some embodiments, the execution subject may convert the target energy functional to obtain an unconstrained function to be processed. In practice, the Lagrange factor method can be used to convert the solution of the above target energy functional into the solution of the unconstrained pending function. The resulting unconstrained pending function to be solved can be expressed as follows:

其中，α，β为大于0的常数。例如，α，β均可以设置为1。δ ^TCδ可以以4ac-b ²表示。δ ^T表示δ的转置。由于b ²-4ac＝-1时，满足上述预设椭圆参数条件b ²-4ac＜0，b ²-4ac＝-1的等价形式为4ac-b ²＝1。4ac-b ²＝1的矩阵形式为δ ^TCδ＝1。因此，δ ^TCδ表示4ac-b ²。其中，矩阵C的值如下式所示： Among them, α and β are constants greater than 0. For example, α and β can both be set to 1. δ ^T Cδ can be expressed as 4ac-b ² . ^δT represents the transpose of δ. Since b ² -4ac=-1, the above preset ellipse parameter condition b ² -4ac <0 is satisfied, and the equivalent form of b ² -4ac=-1 is 4ac-b ² =1. 4ac-b ² =1 The matrix form is δ ^T Cδ=1. Therefore, δ ^T Cδ represents 4ac-b ² . Among them, the value of matrix C is as follows:

由此，可以得到需要进行最小化求解的无约束待处理函数。From this, the unconstrained function to be processed that needs to be minimized can be obtained.

步骤104，初始化迭代次数。Step 104: Initialize the number of iterations.

在一些实施例中，上述执行主体可以初始化迭代次数k。其中，上述迭代次数k可以表征执行步骤105的次数。实践中，可以将上述迭代次数k的值设置为0。由此，可以得到表征初始值的迭代次数。In some embodiments, the above execution body may initialize the number of iterations k. The above iteration number k may represent the number of times step 105 is performed. In practice, the value of the above iteration number k can be set to 0. From this, the number of iterations that characterizes the initial value can be obtained.

步骤105，根据椭圆定位数据、椭圆参数、无约束待处理函数和迭代次数，执行以下生成步骤：Step 105: Perform the following generation steps based on the ellipse positioning data, ellipse parameters, unconstrained function to be processed, and the number of iterations:

步骤1051，根据预设数值，更新迭代次数。其中，上述预设数值可以为预先设定的数值。例如，上述预设数值可以为1。实践中，上述执行主体可以将上述预设数值与迭代次数的和重新确定为迭代次数，以对迭代次数进行更新。作为示例，可以利用下式更新迭代次数：Step 1051: Update the number of iterations according to the preset value. Wherein, the above-mentioned preset value may be a preset value. For example, the above preset value may be 1. In practice, the above execution subject may redetermine the sum of the above preset value and the number of iterations as the number of iterations to update the number of iterations. As an example, the number of iterations can be updated using:

k＝k+1。k=k+1.

其中，等式左侧的k表示更新后的迭代次数。等式右侧的k表示更新前的迭代次数。Among them, k on the left side of the equation represents the number of iterations after the update. The k on the right side of the equation represents the number of iterations before updating.

步骤1052，根据无约束待处理函数和椭圆定位数据，生成椭圆参数更新数据。Step 1052: Generate ellipse parameter update data based on the unconstrained function to be processed and the ellipse positioning data.

实践中，首先，可以将上述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据带入上述无约束待处理函数。其中，当首次执行上述步骤1052时，可以将噪声椭圆定位数据的初始值和非噪声椭圆定位数据的初始值代入上述无约束待处理函数。当非首次执行上述步骤1052时，可以将上次执行步骤105得到的噪声椭圆定位数据和非噪声椭圆定位数据代入上述无约束待处理函数。In practice, first, the noisy elliptical positioning data and the non-noise elliptical positioning data included in the above-mentioned elliptical positioning data can be brought into the above-mentioned unconstrained to-be-processed function. When the above-mentioned step 1052 is executed for the first time, the initial value of the noisy elliptical positioning data and the initial value of the non-noise elliptical positioning data can be substituted into the above-mentioned unconstrained to-be-processed function. When the above step 1052 is not executed for the first time, the noisy elliptical positioning data and the non-noise elliptical positioning data obtained from the last execution of step 105 can be substituted into the above unconstrained to-be-processed function.

其次，可以使用交替方向最小法对代入处理后的无约束待处理函数进行求解。代入处理后的无约束待处理函数如下式所示：Secondly, the alternating direction minimum method can be used to solve the unconstrained function to be processed after substitution. The unconstrained function to be processed after substitution is as follows:

其中，J(δ′)表示代入处理后的无约束待处理函数。δ′表示椭圆参数更新数据。δ′为代入处理后的无约束待处理函数所包括的唯一变量。

表示

取最小值时对应的δ′的取值。 Among them, J(δ′) represents the unconstrained function to be processed after substitution. δ′ represents the ellipse parameter update data. δ′ is the only variable included in the unconstrained function to be processed after substitution.

express

The value of δ′ corresponding to the minimum value.

对上述代入处理后的无约束待处理函数进行求解时，第一步，可以对上述代入处理后的无约束待处理函数的两端分别对δ′求偏导，得到

第二步，可以令上述偏导

从而得到δ′的闭合形式解为： When solving the unconstrained function to be processed after the above substitution process, the first step is to find the partial derivatives of δ′ at both ends of the unconstrained function to be processed after the above substitution process, and we get

In the second step, the above partial derivative can be made

Thus, the closed form solution of δ′ is:

步骤1053，根据无约束待处理函数和椭圆参数，生成椭圆定位更新数据。Step 1053: Generate elliptical positioning update data based on the unconstrained function to be processed and the ellipse parameters.

在一些实施例中，上述执行主体可以根据无约束待处理函数和椭圆参数，生成椭圆定位更新数据。实践中，根据无约束待处理函数和椭圆参数，可以采用各种方法生成椭圆定位更新数据Φ′。In some embodiments, the above-mentioned execution subject can generate elliptical positioning update data based on the unconstrained function to be processed and the ellipse parameters. In practice, various methods can be used to generate elliptical positioning update data Φ′ according to the unconstrained function to be processed and the ellipse parameters.

在一些实施例的一些可选的实现方式中，首先，上述执行主体可以根据上述椭圆参数和上述噪声椭圆定位数据，生成非噪声椭圆定位更新数据。实践中，第一步，可以将上述椭圆参数和上述噪声椭圆定位数据代入上述无约束待处理函数，得到下式：In some optional implementations of some embodiments, first, the above-mentioned execution subject can generate non-noise elliptical positioning update data based on the above-mentioned elliptical parameters and the above-mentioned noisy elliptical positioning data. In practice, in the first step, the above ellipse parameters and the above noise ellipse positioning data can be substituted into the above unconstrained function to be processed, and the following formula is obtained:

其中，J(U′)表示代入处理后的无约束待处理函数，U′表示非噪声椭圆定位更新数据。U′为代入处理后的无约束待处理函数所包括的唯一变量。Among them, J(U′) represents the unconstrained function to be processed after substitution, and U′ represents the non-noise elliptical positioning update data. U′ is the only variable included in the unconstrained function to be processed after substitution.

第二步，可以对上式求解，得到非噪声椭圆定位更新数据。例如，非噪声椭圆定位更新数据可以为

In the second step, the above equation can be solved to obtain non-noise elliptical positioning update data. For example, non-noisy elliptical positioning update data can be

然后，可以根据上述椭圆参数和上述非噪声椭圆定位数据，生成噪声椭圆定位更新数据。实践中，第一步，可以将上述椭圆参数和上述非噪声椭圆定位数据代入上述无约束待处理函数，得到下式：Then, noisy elliptical positioning update data can be generated based on the above-mentioned elliptical parameters and the above-mentioned non-noise elliptical positioning data. In practice, in the first step, the above elliptical parameters and the above non-noise elliptical positioning data can be substituted into the above unconstrained to-be-processed function to obtain the following formula:

其中，J(V′)表示代入处理后的无约束待处理函数，V′表示噪声椭圆定位更新数据。V′为代入处理后的无约束待处理函数所包括的唯一变量。Among them, J(V′) represents the unconstrained function to be processed after substitution, and V′ represents the noise ellipse positioning update data. V′ is the only variable included in the unconstrained function to be processed after substitution.

第二步，可以对上式求解，得到噪声椭圆定位更新数据。例如，噪声椭圆定位更新数据可以为

In the second step, the above equation can be solved to obtain the noise ellipse positioning update data. For example, the noise ellipse positioning update data can be

最后，可以将上述非噪声椭圆定位更新数据和上述噪声椭圆定位更新数据组合为椭圆定位更新数据。实践中，可以采用上述噪声椭圆定位更新数据中包括的元素不均为0的行向量，将上述非噪声椭圆定位更新数据中行号相同的行向量替换掉，从而得到椭圆定位更新数据。由此，可以依次更新非噪声椭圆定位更新数据和噪声椭圆定位更新数据。Finally, the above-mentioned non-noise elliptical positioning update data and the above-mentioned noisy elliptical positioning update data may be combined into elliptical positioning update data. In practice, row vectors whose elements are not uniformly equal to 0 in the noisy elliptical positioning update data can be used to replace row vectors with the same row numbers in the non-noise elliptical positioning update data, thereby obtaining elliptical positioning update data. Thus, the non-noise elliptical positioning update data and the noisy elliptical positioning update data can be updated sequentially.

步骤1054，将椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新。Step 1054: Determine the ellipse parameter update data as ellipse parameters to update the ellipse parameters.

在一些实施例中，上述执行主体可以将椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新。实践中，可以将上述椭圆参数更新数据δ′确定为椭圆参数δ，以对椭圆参数δ进行更新。In some embodiments, the execution subject may determine the ellipse parameter update data as the ellipse parameter to update the ellipse parameter. In practice, the above-mentioned ellipse parameter update data δ′ can be determined as the ellipse parameter δ, so as to update the ellipse parameter δ.

步骤1055，将椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新。实践中，可以将上述椭圆定位更新数据Φ′确定为椭圆定位数据Φ，以对椭圆定位数据Φ进行更新。Step 1055: Determine the elliptical positioning update data as elliptical positioning data to update the elliptical positioning data. In practice, the above-mentioned elliptical positioning update data Φ' can be determined as elliptical positioning data Φ, so as to update the elliptical positioning data Φ.

步骤1056，响应于迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行生成步骤。其中，上述预设迭代次数可以为预先设定的迭代次数。例如，上述预设迭代次数可以为200。上述预设椭圆数值条件可以为：

其中，k大于等于2。δ ^k表示迭代次数为k时对应的椭圆参数。δ ^k-1表示迭代次数为k-1时对应的椭圆参数。由此，可以不断对椭圆参数进行更新。 Step 1056: In response to the number of iterations being less than the preset number of iterations and the updated ellipse parameters and the updated ellipse positioning data meeting the preset ellipse numerical conditions, the generation step is executed again. Wherein, the above-mentioned preset number of iterations may be a preset number of iterations. For example, the above preset number of iterations may be 200. The above preset ellipse numerical conditions can be:

Among them, k is greater than or equal to 2. δ ^k represents the corresponding ellipse parameter when the number of iterations is k. δ ^k-1 represents the corresponding ellipse parameter when the number of iterations is k-1. As a result, the ellipse parameters can be continuously updated.

步骤106，响应于迭代次数大于等于预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数。Step 106: In response to the number of iterations being greater than or equal to the preset number of iterations and/or the updated ellipse parameters and the updated ellipse positioning data not meeting the preset ellipse numerical conditions, determine the updated ellipse parameters as target ellipse parameters.

在一些实施例中，上述执行主体可以响应于上述迭代次数大于等于上述预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足上述预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数。由此，可以得到用于显示椭圆媒体信息的目标椭圆参数。In some embodiments, the execution subject may respond to the fact that the number of iterations is greater than or equal to the preset number of iterations and/or the updated ellipse parameters and the updated ellipse positioning data do not meet the above preset ellipse numerical conditions, the updated ellipse value The ellipse parameters are determined as target ellipse parameters. Thus, the target ellipse parameters for displaying elliptical media information can be obtained.

步骤107，响应于椭圆定位数据为椭圆涵洞边缘点数据，根据目标椭圆参数，生成目标涵洞椭圆坐标点集。Step 107: In response to the elliptical positioning data being elliptical culvert edge point data, generate a target culvert elliptical coordinate point set according to the target ellipse parameters.

在一些实施例中，响应于上述椭圆定位数据为椭圆涵洞边缘点数据，上述执行主体可以根据上述目标椭圆参数，生成目标涵洞椭圆坐标点集。实践中，首先，上述执行主体可以根据上述目标椭圆参数，确定椭圆拟合参数。然后，上述执行主体可以根据上述椭圆拟合参数，自动绘制为椭圆的二次曲线。最后，可以将为椭圆的二次曲线上的各个点的坐标确定为目标涵洞椭圆坐标，得到目标涵洞椭圆坐标点集。由此，得到的目标涵洞椭圆坐标点集可以表征涵洞。In some embodiments, in response to the elliptical positioning data being elliptical culvert edge point data, the execution subject may generate a target culvert elliptical coordinate point set based on the target ellipse parameters. In practice, first, the above-mentioned execution subject can determine the ellipse fitting parameters according to the above-mentioned target ellipse parameters. Then, the above execution subject can automatically draw the quadratic curve of the ellipse according to the above ellipse fitting parameters. Finally, the coordinates of each point on the quadratic curve of the ellipse can be determined as the target culvert elliptical coordinates, and the target culvert elliptical coordinate point set is obtained. From this, the obtained elliptical coordinate point set of the target culvert can characterize the culvert.

步骤108，根据目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率。Step 108: Determine the culvert edge point repetition rate based on the target culvert elliptical coordinate point set and the preset culvert elliptical coordinate point set.

在一些实施例中，上述执行主体可以根据上述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率。实践中，首先，可以将上述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集中坐标相同的点的数量确定为目标数量。然后，可以将上述目标数量与上述预设涵洞椭圆坐标点集中点的数量的比值确定为涵洞边缘点重复率。由此，可以得到表征目标涵洞椭圆坐标点和预设涵洞椭圆坐标点的重复程度的涵洞边缘点重复率。In some embodiments, the execution subject may determine the culvert edge point repetition rate based on the target culvert elliptical coordinate point set and the preset culvert elliptical coordinate point set. In practice, first, the number of points with the same coordinates in the above target culvert elliptical coordinate point set and the preset culvert elliptical coordinate point set can be determined as the target number. Then, the ratio of the above target number to the number of the above preset culvert elliptical coordinate point concentration points can be determined as the culvert edge point repetition rate. From this, the culvert edge point repetition rate, which represents the degree of repetition between the target culvert elliptical coordinate point and the preset culvert elliptical coordinate point, can be obtained.

步骤109，响应于涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息。Step 109: In response to the culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold, generate culvert deformation prompt information.

在一些实施例中，上述执行主体可以响应于上述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息。上述预设涵洞点重复率阈值可以为对涵洞边缘点重复率的最小值进行限定的阈值。上述涵洞变形提示信息可以为提示用户涵洞变形的提示信息。实践中，响应于上述涵洞边缘点重复率低于预设涵洞点重复率阈值，可以将上述涵洞边缘点重复率填充至预设涵洞信息语料模板，得到涵洞变形提示信息。上述预设涵洞信息语料模板可以为预先设置的、用于与上述涵洞边缘点重复率组合的语料模板。例如，上述预设涵洞信息语料模板可以为：“涵洞未变形程度为[涵洞边缘点重复率]，已低于阈值，请尽快修复”。其中，上述“[涵洞边缘点重复率]”表征待填充的涵洞边缘点重复率。由此，可以生成表征涵洞变形的涵洞变形提示信息。In some embodiments, the execution subject may generate culvert deformation prompt information in response to the culvert edge point repetition rate being lower than a preset culvert point repetition rate threshold. The above-mentioned preset culvert point repetition rate threshold may be a threshold that limits the minimum value of the culvert edge point repetition rate. The above culvert deformation prompt information may be prompt information prompting the user for culvert deformation. In practice, in response to the above-mentioned culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold, the above-mentioned culvert edge point repetition rate can be filled into the preset culvert information corpus template to obtain culvert deformation prompt information. The above-mentioned preset culvert information corpus template may be a preset corpus template used for combination with the above-mentioned culvert edge point repetition rate. For example, the above-mentioned preset culvert information corpus template can be: "The undeformed degree of the culvert is [culvert edge point repetition rate], which is lower than the threshold, please repair it as soon as possible." Among them, the above "[culvert edge point repetition rate]" represents the repetition rate of the culvert edge points to be filled. Thus, culvert deformation prompt information representing the culvert deformation can be generated.

步骤110，控制相关联的显示设备显示涵洞变形提示信息。Step 110: Control the associated display device to display the culvert deformation prompt information.

在一些实施例中，上述执行主体可以控制相关联的显示设备显示上述涵洞变形提示信息。其中，上述相关联的显示设备可以为通信连接的智能终端或显示器。例如，上述智能终端可以为智能手机。由此，可以在涵洞有一定程度变形时提示用户，使得用户对变形的涵洞进行施工修缮，减少了涵洞变形导致的河水泛滥或人员伤亡。In some embodiments, the above-mentioned execution subject may control the associated display device to display the above-mentioned culvert deformation prompt information. Wherein, the above-mentioned associated display device may be a communication-connected smart terminal or a display. For example, the above-mentioned smart terminal may be a smartphone. As a result, the user can be prompted when the culvert is deformed to a certain extent, allowing the user to carry out construction and repair of the deformed culvert, thereby reducing river flooding or casualties caused by culvert deformation.

可选地，上述执行主体可以根据上述目标椭圆参数，控制上述显示设备显示椭圆媒体信息。上述椭圆媒体信息可以为表征上述目标椭圆参数所对应的椭圆的信息。例如，上述椭圆媒体信息可以为显示了椭圆的图片。上述椭圆媒体信息还可以为绘制椭圆的视频或动图。实践中，上述执行主体可以根据上述目标椭圆参数，通过各种方式控制上述显示设备显示椭圆媒体信息。由此，可以对椭圆媒体信息进行显示。Optionally, the execution subject may control the display device to display ellipse media information according to the target ellipse parameters. The above ellipse media information may be information characterizing the ellipse corresponding to the above target ellipse parameters. For example, the above ellipse media information may be a picture showing an ellipse. The above ellipse media information can also be a video or animation of drawing an ellipse. In practice, the execution subject may control the display device to display elliptical media information in various ways according to the target ellipse parameters. Thus, elliptical media information can be displayed.

可选地，首先，上述执行主体可以对上述目标椭圆参数进行归一化处理，得到归一化目标椭圆参数。实践中，可以将椭圆参数δ中的每个元素a，b，c，d，e，f除以f，得到

其中，η表示归一化目标椭圆参数。A表示

B表示

C表示

D表示

E表示

F为1。然后，可以根据上述归一化目标椭圆参数，确定椭圆拟合参数。其中，上述椭圆拟合参数包括椭圆圆心(C _x，C _y)，椭圆长半轴的长度R _x，椭圆短半轴的长度R _y以及椭圆旋转角度θ。实践中，可以根据上述归一化目标椭圆参数，通过下式确定椭圆拟合参数： Optionally, first, the above-mentioned execution subject may normalize the above-mentioned target ellipse parameters to obtain normalized target ellipse parameters. In practice, each element a, b, c, d, e, f in the ellipse parameter δ can be divided by f to get

Among them, eta represents the normalized target ellipse parameter. A means

B means

C means

D means

E means

F is 1. Then, the ellipse fitting parameters can be determined based on the above normalized target ellipse parameters. Among them, the above-mentioned ellipse fitting parameters include the center of the ellipse (C _x , C _y ), the length of the major semi-axis of the ellipse R _x , the length of the minor semi-axis of the ellipse R _y and the ellipse rotation angle θ. In practice, the ellipse fitting parameters can be determined by the following formula based on the above normalized target ellipse parameters:

最后，可以根据上述椭圆拟合参数，控制上述显示设备显示椭圆媒体信息。实践中，上述执行主体可以根据上述椭圆拟合参数包括的椭圆圆心(C _x，C _y)，椭圆长半轴R _x，椭圆短半轴R _y以及椭圆旋转角度θ，自动绘制椭圆，得到椭圆媒体信息，并控制上述显示设备显示上述椭圆媒体信息。由此，可以实现对椭圆媒体信息的显示。 Finally, the above display device can be controlled to display elliptical media information according to the above ellipse fitting parameters. In practice, the above-mentioned execution subject can automatically draw the ellipse according to the ellipse center (C _x , C _y ), the ellipse major semi-axis R _x , the ellipse minor semi-axis R _y and the ellipse rotation angle θ included in the above-mentioned ellipse fitting parameters, and obtain the ellipse. media information, and controls the above-mentioned display device to display the above-mentioned elliptical media information. Thus, the display of elliptical media information can be realized.

可选地，首先，响应于上述椭圆定位数据为椭圆道路标识边缘点数据，上述执行主体可以根据上述目标椭圆参数，生成目标道路标识椭圆坐标点集。实践中，第一步，上述执行主体可以根据上述目标椭圆参数，确定椭圆拟合参数。第二步，上述执行主体可以根据上述椭圆拟合参数，自动绘制为椭圆的二次曲线。第三步，可以将为椭圆的二次曲线上的各个点的坐标确定为目标道路标识椭圆坐标，得到目标道路标识椭圆坐标点集。然后，可以根据上述目标道路标识椭圆坐标点集和预设道路标识椭圆坐标点集，确定道路标识边缘点重复率。实践中，第一步，可以将上述目标道路标识椭圆坐标点集和预设道路标识椭圆坐标点集中坐标相同的点的数量确定为目标数量。第二步，可以将上述目标数量与上述预设道路标识椭圆坐标点集中点的数量的比值确定为道路标识边缘点重复率。其次，可以响应于上述道路标识边缘点重复率低于预设道路标识点重复率阈值，生成道路标识变形提示信息。上述预设道路标识点重复率阈值可以为对道路标识边缘点重复率的最小值进行限定的阈值。上述道路标识变形提示信息可以为提示用户道路标识变形的提示信息。实践中，响应于上述道路标识边缘点重复率低于预设道路标识点重复率阈值，可以将上述道路标识边缘点重复率填充至预设道路标识信息语料模板，得到道路标识变形提示信息。上述预设道路标识信息语料模板可以为预先设置的、用于与上述道路标识边缘点重复率组合的语料模板。例如，上述预设道路标识信息语料模板可以为：“道路标识未变形程度为[道路标识边缘点重复率]，已低于阈值，请尽快修复”。其中，上述“[道路标识边缘点重复率]”表征待填充的道路标识边缘点重复率。最后，可以控制上述显示设备显示上述道路标识变形提示信息。由此，可以在道路标识有一定程度变形时提示用户，使得用户对变形的道路标识进行修补或换新，减少了道路标识变形导致的交通事故的发生，进而减少人员伤亡。Optionally, first, in response to the ellipse positioning data being elliptical road marking edge point data, the execution subject may generate a target road marking ellipse coordinate point set according to the target ellipse parameters. In practice, in the first step, the above-mentioned execution subject can determine the ellipse fitting parameters based on the above-mentioned target ellipse parameters. In the second step, the above-mentioned execution subject can automatically draw a quadratic curve of the ellipse according to the above-mentioned ellipse fitting parameters. In the third step, the coordinates of each point on the quadratic curve of the ellipse can be determined as the target road marking ellipse coordinates, and a target road marking ellipse coordinate point set is obtained. Then, the road sign edge point repetition rate can be determined based on the target road sign elliptical coordinate point set and the preset road sign elliptical coordinate point set. In practice, in the first step, the number of points with the same coordinates in the above target road sign elliptical coordinate point set and the preset road sign elliptical coordinate point set can be determined as the target number. In the second step, the ratio of the above-mentioned target number to the number of the above-mentioned preset road sign elliptical coordinate point concentration points can be determined as the road sign edge point repetition rate. Secondly, road sign deformation prompt information can be generated in response to the above-mentioned road sign edge point repetition rate being lower than a preset road sign point repetition rate threshold. The above-mentioned preset road marking point repetition rate threshold may be a threshold that limits the minimum value of the road marking edge point repetition rate. The above road sign deformation prompt information may be prompt information prompting the user for road sign deformation. In practice, in response to the road sign edge point repetition rate being lower than the preset road sign point repetition rate threshold, the road sign edge point repetition rate can be filled into the preset road sign information corpus template to obtain road sign deformation prompt information. The above-mentioned preset road sign information corpus template may be a preset corpus template used for combination with the above-mentioned road sign edge point repetition rate. For example, the above-mentioned preset road sign information corpus template can be: "The undeformed degree of the road sign is [road sign edge point repetition rate], which is lower than the threshold, please repair it as soon as possible." Among them, the above "[Road Marking Edge Point Repetition Rate]" represents the repetition rate of the road marking edge points to be filled. Finally, the above display device can be controlled to display the above road sign deformation prompt information. As a result, the user can be prompted when the road sign is deformed to a certain extent, allowing the user to repair or replace the deformed road sign, thereby reducing the occurrence of traffic accidents caused by the deformation of the road sign, thereby reducing casualties.

本公开的上述各个实施例具有如下有益效果：通过本公开的一些实施例的椭圆定位数据处理方法，可以提高数据处理后得到的椭圆相关数据的精度，提高对于噪声干扰的鲁棒性，提高针对不同类型噪声干扰的适应性，减少河水泛滥和人员伤亡。具体来说，造成数据精度和适应性较低的原因在于：处理后得到的椭圆相关数据的精度较低，此外，上述方式对于噪声干扰的鲁棒性较差，另外，处理包括不同类型噪声干扰的椭圆定位数据时，得到的椭圆相关数据的精度差别较大，上述方式对于不同类型噪声干扰的适应性较差，之外，未将椭圆定位数据处理应用于涵洞变形预警，导致无法提示用户涵洞变形，造成河水泛滥或出现人员伤亡。基于此，本公开的一些实施例的椭圆定位数据处理方法，首先，获取椭圆定位数据。其中，上述椭圆定位数据包括噪声椭圆定位数据和非噪声椭圆定位数据，上述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据。然后，根据L1范数、L2范数、椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函。由此，可以根据L1范数、L2范数，建立对于椭圆定位数据的受约束问题，得到对椭圆定位数据进行约束的目标能量泛函。其次，对目标能量泛函进行转换，得到无约束待处理函数。由此，可以得到需要进行最小化求解的无约束待处理函数。然后，初始化迭代次数。由此，可以得到表征初始值的迭代次数。之后，根据椭圆定位数据、椭圆参数、上述无约束待处理函数和迭代次数，执行以下生成步骤：根据预设数值，更新迭代次数；根据上述无约束待处理函数和上述椭圆定位数据，生成椭圆参数更新数据；根据上述无约束待处理函数和上述椭圆参数，生成椭圆定位更新数据；将上述椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新；将上述椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新；响应于上述迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行上述生成步骤。由此，可以不断对椭圆参数进行更新。然后，响应于迭代次数大于等于预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数。由此，可以得到用于显示椭圆媒体信息的目标椭圆参数。之后，响应于上述椭圆定位数据为椭圆涵洞边缘点数据，根据上述目标椭圆参数，生成目标涵洞椭圆坐标点集。由此，得到的目标涵洞椭圆坐标点集可以表征涵洞。其次，根据上述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率。由此，可以得到表征比值的涵洞边缘点重复率。然后，响应于上述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息由此，可以生成表征涵洞变形的涵洞变形提示信息。最后，控制相关联的显示设备显示上述涵洞变形提示信息。由此，可以在涵洞有一定程度变形时提示用户。因为通过不断执行生成步骤，利用椭圆参数不断精准椭圆定位数据，从而提高了根据椭圆定位数据生成的椭圆参数的精度。也因为采用了L1范数和L2范数确定目标能量泛函，使用L1范数对噪声椭圆定位数据施加弱约束，使用L2范数对非噪声椭圆定位数据施加强约束，进而避免对噪声椭圆定位数据和非噪声椭圆定位数据施加同等程度的约束，提高了椭圆定位数据处理方法对于噪声干扰的鲁棒性。此外，当椭圆定位数据包括的噪声椭圆定位数据对应的噪声为无结构性稀疏噪声，例如高斯噪声、拉普拉斯噪声，以及椭圆定位数据包括的噪声椭圆定位数据为空时，可以对噪声椭圆定位数据进行约束，进而减少椭圆定位数据包括的噪声椭圆定位数据对于生成的椭圆参数的精度的影响，提高了椭圆定位数据处理方法对于不同类型噪声干扰的适应性。也因为生成了涵洞变形提示信息，并控制相关联的显示设备显示上述涵洞变形提示信息，可以使得用户根据上述涵洞变形提示信息对变形的涵洞进行施工修缮，从而减少了涵洞变形导致的河水泛滥或人员伤亡。The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the elliptical positioning data processing methods of some embodiments of the present disclosure, the accuracy of the ellipse-related data obtained after data processing can be improved, the robustness to noise interference can be improved, and the accuracy of the elliptical positioning data processing method can be improved. Adaptability to different types of noise interference to reduce river flooding and casualties. Specifically, the reasons for the low data accuracy and adaptability are: the accuracy of the ellipse-related data obtained after processing is low. In addition, the above method is less robust to noise interference. In addition, the processing includes different types of noise interference. When using elliptical positioning data, the accuracy of the ellipse-related data obtained is quite different. The above method has poor adaptability to different types of noise interference. In addition, the elliptical positioning data processing is not applied to the culvert deformation warning, resulting in the inability to prompt the user about the culvert. Deformed, causing river flooding or casualties. Based on this, the elliptical positioning data processing method of some embodiments of the present disclosure first obtains the elliptical positioning data. Wherein, the above-mentioned elliptical positioning data includes noise elliptical positioning data and non-noise elliptical positioning data, and the above-mentioned elliptical positioning data is elliptical culvert edge point data or elliptical road sign edge point data. Then, the target energy functional is determined based on the L1 norm, L2 norm, noisy elliptical positioning data and non-noise elliptical positioning data included in the elliptical positioning data. Therefore, a constrained problem for elliptical positioning data can be established based on the L1 norm and L2 norm, and the target energy functional that constrains the elliptical positioning data can be obtained. Secondly, the target energy functional is converted to obtain the unconstrained function to be processed. From this, the unconstrained function to be processed that needs to be minimized can be obtained. Then, initialize the number of iterations. From this, the number of iterations that characterizes the initial value can be obtained. After that, according to the ellipse positioning data, ellipse parameters, the above-mentioned unconstrained function to be processed and the number of iterations, the following generation steps are performed: according to the preset value, the number of iterations is updated; according to the above-mentioned unconstrained function to be processed and the above-mentioned ellipse positioning data, the ellipse parameters are generated Update data; generate elliptical positioning update data according to the above-mentioned unconstrained function to be processed and the above-mentioned ellipse parameters; determine the above-mentioned ellipse parameter update data as ellipse parameters to update the ellipse parameters; determine the above-mentioned ellipse positioning update data as ellipse positioning data , to update the ellipse positioning data; in response to the above iteration number being less than the preset iteration number, and the updated ellipse parameters and the updated ellipse positioning data meeting the preset ellipse numerical conditions, the above generation step is performed again. As a result, the ellipse parameters can be continuously updated. Then, in response to the number of iterations being greater than or equal to the preset number of iterations and/or the updated ellipse parameters and the updated ellipse positioning data not meeting the preset ellipse numerical conditions, the updated ellipse parameters are determined as the target ellipse parameters. Thus, the target ellipse parameters for displaying elliptical media information can be obtained. Afterwards, in response to the above elliptical positioning data being elliptical culvert edge point data, a target culvert elliptical coordinate point set is generated based on the above target ellipse parameters. From this, the obtained elliptical coordinate point set of the target culvert can characterize the culvert. Secondly, based on the above target culvert elliptical coordinate point set and the preset culvert elliptical coordinate point set, the culvert edge point repetition rate is determined. From this, the culvert edge point repetition rate that represents the ratio can be obtained. Then, in response to the culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold, culvert deformation prompt information is generated. Thus, culvert deformation prompt information representing the culvert deformation can be generated. Finally, the associated display device is controlled to display the above culvert deformation prompt information. This way, the user can be prompted when the culvert is deformed to a certain extent. Because by continuously executing the generation steps, the ellipse parameters are used to continuously refine the ellipse positioning data, thereby improving the accuracy of the ellipse parameters generated based on the ellipse positioning data. Also because the L1 norm and L2 norm are used to determine the target energy functional, the L1 norm is used to impose weak constraints on the noisy elliptical positioning data, and the L2 norm is used to impose strong constraints on the non-noisy elliptical positioning data, thereby avoiding noisy elliptical positioning data. The same degree of constraints are imposed on the data and non-noise elliptical positioning data, which improves the robustness of the elliptical positioning data processing method to noise interference. In addition, when the noise corresponding to the noisy elliptical positioning data included in the elliptical positioning data is unstructured sparse noise, such as Gaussian noise, Laplacian noise, and when the noisy elliptical positioning data included in the elliptical positioning data is empty, the noise ellipse can be The positioning data is constrained, thereby reducing the impact of the noise elliptical positioning data included in the elliptical positioning data on the accuracy of the generated elliptical parameters, and improving the adaptability of the elliptical positioning data processing method to different types of noise interference. Also because the culvert deformation prompt information is generated and the associated display device is controlled to display the above culvert deformation prompt information, the user can perform construction and repair of the deformed culvert based on the above culvert deformation prompt information, thereby reducing river flooding or river flooding caused by culvert deformation. Casualties.

下面参考图2，图2是在本公开的椭圆定位数据处理方法中，仿真的包括的噪声椭圆定位数据为空的椭圆定位数据的示意图。其中，上述椭圆定位数据包括构成图2所显示的椭圆的各个点的坐标。其中，图2所显示的椭圆的圆心为(C _x，C _y)＝(90，65)，长半轴的长度为R _x＝32，短半轴的长度为R _y＝24，旋转角为θ＝0.5236弧度。 Referring now to FIG. 2 , FIG. 2 is a schematic diagram of the simulated elliptical positioning data including empty noise elliptical positioning data in the elliptical positioning data processing method of the present disclosure. Wherein, the above-mentioned ellipse positioning data includes the coordinates of each point constituting the ellipse shown in FIG. 2 . Among them, the center of the ellipse shown in Figure 2 is (C _x , C _y ) = (90, 65), the length of the major semi-axis is R _x =32, the length of the minor semi-axis is R _y =24, and the rotation angle is θ = 0.5236 radians.

下面参考图3，图3是在本公开的椭圆定位数据处理方法中，仿真的椭圆定位数据包括的噪声椭圆定位数据为空，且迭代次数为2时对应的椭圆媒体信息的示意图。其中，上述椭圆媒体信息包括的椭圆可以为图3显示的椭圆。其中，图3所显示的椭圆的圆心为(C _x，C _y)＝(90.000，65.000)，长半轴的长度为R _x＝32.000，短半轴的长度为R _y＝24.000，旋转角为θ＝0.5236弧度。 Referring below to Figure 3, Figure 3 is a schematic diagram of the corresponding elliptical media information when the simulated elliptical positioning data includes empty noise elliptical positioning data and the number of iterations is 2 in the elliptical positioning data processing method of the present disclosure. The ellipse included in the above ellipse media information may be the ellipse shown in FIG. 3 . Among them, the center of the ellipse shown in Figure 3 is (C _x , C _y ) = (90.000, 65.000), the length of the major semi-axis is R _x =32.000, the length of the minor semi-axis is R _y =24.000, and the rotation angle is θ = 0.5236 radians.

下面参考图4，图4是在本公开的椭圆定位数据处理方法中，仿真的包括的噪声椭圆定位数据对应高斯噪声的椭圆定位数据的示意图。其中，上述高斯噪声为均值为0、标准差为3的高斯噪声。上述椭圆定位数据包括构成图4所显示的椭圆的各个点的坐标。其中，图4所显示的椭圆的圆心为(C _x，C _y)＝(90，65)，长半轴的长度为R _x＝32，短半轴的长度为R _y＝24，旋转角为θ＝0.5236弧度。 Referring now to FIG. 4 , FIG. 4 is a schematic diagram of the simulated noise elliptical positioning data corresponding to the elliptical positioning data of Gaussian noise in the elliptical positioning data processing method of the present disclosure. Among them, the above-mentioned Gaussian noise is Gaussian noise with a mean value of 0 and a standard deviation of 3. The above-mentioned ellipse positioning data includes the coordinates of each point constituting the ellipse shown in FIG. 4 . Among them, the center of the ellipse shown in Figure 4 is (C _x , C _y ) = (90, 65), the length of the major semi-axis is R _x =32, the length of the minor semi-axis is R _y =24, and the rotation angle is θ = 0.5236 radians.

下面参考图5，图5是在本公开的椭圆定位数据处理方法中，仿真的椭圆定位数据包括的噪声椭圆定位数据对应高斯噪声，且迭代次数为5时对应的椭圆媒体信息的示意图。其中，上述高斯噪声为均值为0、标准差为3的高斯噪声。上述椭圆媒体信息包括的椭圆可以为图5显示的椭圆。其中，图5所显示的椭圆的圆心为(C _x，C _y)＝(90.1688，65.1479)，长半轴的长度为R _x＝31.9638，短半轴的长度为R _y＝24.3465，旋转角为θ＝0.5517弧度。 Referring now to Figure 5, Figure 5 is a schematic diagram of the corresponding elliptical media information when the number of iterations is 5 in the elliptical positioning data processing method of the present disclosure. The simulated elliptical positioning data includes noise elliptical positioning data corresponding to Gaussian noise. Among them, the above-mentioned Gaussian noise is Gaussian noise with a mean value of 0 and a standard deviation of 3. The ellipse included in the above ellipse media information may be the ellipse shown in FIG. 5 . Among them, the center of the ellipse shown in Figure 5 is (C _x , C _y ) = (90.1688, 65.1479), the length of the major semi-axis is R _x =31.9638, the length of the minor semi-axis is R _y =24.3465, and the rotation angle is θ = 0.5517 radians.

下面参考图6，图6是在本公开的椭圆定位数据处理方法中，仿真的包括的噪声椭圆定位数据对应拉普拉斯噪声的椭圆定位数据的示意图。其中，上述拉普拉斯噪声可以为位置参数为0、标准差为9、噪声密度为2％的拉普拉斯噪声。上述椭圆定位数据包括构成图6所显示的椭圆的各个点的坐标。其中，图6所显示的椭圆的圆心为(C _x，C _y)＝(90，65)，长半轴的长度为R _x＝32，短半轴的长度为R _y＝24，旋转角为θ＝0.5236弧度。 Referring now to FIG. 6 , FIG. 6 is a schematic diagram of the simulated noise elliptical positioning data corresponding to the elliptical positioning data of Laplacian noise in the elliptical positioning data processing method of the present disclosure. Among them, the above-mentioned Laplacian noise can be Laplacian noise with a position parameter of 0, a standard deviation of 9, and a noise density of 2%. The above-mentioned ellipse positioning data includes the coordinates of each point constituting the ellipse shown in FIG. 6 . Among them, the center of the ellipse shown in Figure 6 is (C _x , C _y ) = (90, 65), the length of the major semi-axis is R _x =32, the length of the minor semi-axis is R _y =24, and the rotation angle is θ = 0.5236 radians.

下面参考图7，图7是在本公开的椭圆定位数据处理方法中，仿真的椭圆定位数据包括的噪声椭圆定位数据对应拉普拉斯噪声，且迭代次数为3时对应的椭圆媒体信息的示意图。其中，上述拉普拉斯噪声可以为位置参数为0、标准差为9、噪声密度为2％的拉普拉斯噪声。上述椭圆媒体信息包括的椭圆可以为图7显示的椭圆。其中，图7所显示的椭圆的圆心为(C _x，C _y)＝(90.0592，65.0423)，长半轴的长度为R _x＝31.7520，短半轴的长度为R _y＝24.3245，旋转角为θ＝0.5508弧度。 Refer to Figure 7 below. Figure 7 is a schematic diagram of the corresponding elliptical media information when the number of iterations is 3 in the elliptical positioning data processing method of the present disclosure. The noise elliptical positioning data included in the simulated elliptical positioning data corresponds to Laplacian noise. . Among them, the above-mentioned Laplacian noise can be Laplacian noise with a position parameter of 0, a standard deviation of 9, and a noise density of 2%. The ellipse included in the above ellipse media information may be the ellipse shown in FIG. 7 . Among them, the center of the ellipse shown in Figure 7 is (C _x , C _y ) = (90.0592, 65.0423), the length of the major semi-axis is R _x =31.7520, the length of the minor semi-axis is R _y =24.3245, and the rotation angle is θ = 0.5508 radians.

继续参考图8，作为对上述各图所示方法的实现，本公开提供了一种椭圆定位数据处理装置的一些实施例，这些装置实施例与图1所示的那些方法实施例相对应，该装置具体可以应用于各种电子设备中。Continuing to refer to Figure 8, as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of an elliptical positioning data processing device. These device embodiments correspond to those method embodiments shown in Figure 1. The device can be applied in various electronic devices.

如图8所示，一些实施例的椭圆定位数据处理装置800包括：获取单元801、第一确定单元802、转换单元803、初始化单元804、执行单元805、第二确定单元806、第一生成单元807、第三确定单元808、第二生成单元809和控制单元810。其中，获取单元801被配置成获取椭圆定位数据，其中，上述椭圆定位数据包括噪声椭圆定位数据和非噪声椭圆定位数据，上述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据；第一确定单元802被配置成根据L1范数、L2范数、上述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函；转换单元803被配置成对上述目标能量泛函进行转换，得到无约束待处理函数；初始化单元804被配置成初始化迭代次数；执行单元805被配置成根据椭圆定位数据、椭圆参数、上述无约束待处理函数和迭代次数，执行以下生成步骤：根据预设数值，更新迭代次数；根据上述无约束待处理函数和上述椭圆定位数据，生成椭圆参数更新数据；根据上述无约束待处理函数和上述椭圆参数，生成椭圆定位更新数据；将上述椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新；将上述椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新；响应于上述迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行上述生成步骤；第二确定单元806被配置成响应于上述迭代次数大于等于上述预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足上述预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数；第一生成单元807被配置成响应于上述椭圆定位数据为椭圆涵洞边缘点数据，根据上述目标椭圆参数，生成目标涵洞椭圆坐标点集；第三确定单元808被配置成根据上述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率；第二生成单元809被配置成响应于上述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息；控制单元810被配置成控制相关联的显示设备显示上述涵洞变形提示信息。As shown in Figure 8, the elliptical positioning data processing device 800 of some embodiments includes: an acquisition unit 801, a first determination unit 802, a conversion unit 803, an initialization unit 804, an execution unit 805, a second determination unit 806, and a first generation unit. 807, the third determination unit 808, the second generation unit 809 and the control unit 810. Wherein, the acquisition unit 801 is configured to acquire elliptical positioning data, wherein the above-mentioned elliptical positioning data includes noise elliptical positioning data and non-noise elliptical positioning data, and the above-mentioned elliptical positioning data is elliptical culvert edge point data or elliptical road sign edge point data; A determination unit 802 is configured to determine the target energy functional based on the L1 norm, the L2 norm, the noisy elliptical positioning data and the non-noise elliptical positioning data included in the above-mentioned elliptical positioning data; the conversion unit 803 is configured to determine the above-mentioned target energy functional. The function is converted to obtain the unconstrained function to be processed; the initialization unit 804 is configured to initialize the number of iterations; the execution unit 805 is configured to execute the following generation steps based on the ellipse positioning data, ellipse parameters, the above-mentioned unconstrained function to be processed, and the number of iterations: According to the preset value, the number of iterations is updated; according to the above-mentioned unconstrained function to be processed and the above-mentioned ellipse positioning data, elliptical parameter update data is generated; according to the above-mentioned unconstrained function to be processed and the above-mentioned ellipse parameters, elliptical positioning update data is generated; the above-mentioned ellipse parameters are The update data is determined as ellipse parameters to update the ellipse parameters; the above-mentioned ellipse positioning update data is determined as ellipse positioning data to update the ellipse positioning data; in response to the above iteration number being less than the preset iteration number, and the updated ellipse The parameters and the updated ellipse positioning data satisfy the preset ellipse numerical condition, and the above generation step is performed again; the second determination unit 806 is configured to respond to the above iteration number being greater than or equal to the above preset iteration number and/or the updated ellipse parameter and The updated ellipse positioning data does not meet the above-mentioned preset ellipse numerical conditions, and the updated ellipse parameters are determined as target ellipse parameters; the first generation unit 807 is configured to respond to the above-mentioned ellipse positioning data as elliptical culvert edge point data, according to the above-mentioned The target ellipse parameters are used to generate a target culvert ellipse coordinate point set; the third determination unit 808 is configured to determine the culvert edge point repetition rate according to the above target culvert ellipse coordinate point set and the preset culvert ellipse coordinate point set; the second generation unit 809 is The control unit 810 is configured to generate culvert deformation prompt information in response to the culvert edge point repetition rate being lower than a preset culvert point repetition rate threshold; the control unit 810 is configured to control the associated display device to display the culvert deformation prompt information.

可以理解的是，该装置800中记载的诸单元与参考图1描述的方法中的各个步骤相对应。由此，上文针对方法描述的操作、特征以及产生的有益效果同样适用于装置800及其中包含的单元，在此不再赘述。It can be understood that the units recorded in the device 800 correspond to various steps in the method described with reference to FIG. 1 . Therefore, the operations, features and beneficial effects described above for the method are also applicable to the device 800 and the units included therein, and will not be described again here.

下面参考图9，其示出了适于用来实现本公开的一些实施例的电子设备(例如计算设备)900的结构示意图。图9示出的电子设备仅仅是一个示例，不应对本公开的实施例的功能和使用范围带来任何限制。Referring now to FIG. 9 , a schematic structural diagram of an electronic device (eg, computing device) 900 suitable for implementing some embodiments of the present disclosure is shown. The electronic device shown in FIG. 9 is only an example and should not bring any limitations to the functions and scope of use of the embodiments of the present disclosure.

如图9所示，电子设备900可以包括处理装置(例如中央处理器、图形处理器等)901，其可以根据存储在只读存储器(ROM)902中的程序或者从存储装置908加载到随机访问存储器(RAM)903中的程序而执行各种适当的动作和处理。在RAM 903中，还存储有电子设备900操作所需的各种程序和数据。处理装置901、ROM 902以及RAM 903通过总线904彼此相连。输入/输出(I/O)接口905也连接至总线904。As shown in FIG. 9 , the electronic device 900 may include a processing device (eg, central processing unit, graphics processor, etc.) 901 that may be loaded into a random access device according to a program stored in a read-only memory (ROM) 902 or from a storage device 908 . The program in the memory (RAM) 903 executes various appropriate actions and processes. In the RAM 903, various programs and data required for the operation of the electronic device 900 are also stored. The processing device 901, ROM 902 and RAM 903 are connected to each other via a bus 904. An input/output (I/O) interface 905 is also connected to bus 904.

通常，以下装置可以连接至I/O接口905：包括例如触摸屏、触摸板、键盘、鼠标、摄像头、麦克风、加速度计、陀螺仪等的输入装置906；包括例如液晶显示器(LCD)、扬声器、振动器等的输出装置907；包括例如磁带、硬盘等的存储装置908；以及通信装置909。通信装置909可以允许电子设备900与其他设备进行无线或有线通信以交换数据。虽然图9示出了具有各种装置的电子设备900，但是应理解的是，并不要求实施或具备所有示出的装置。可以替代地实施或具备更多或更少的装置。图9中示出的每个方框可以代表一个装置，也可以根据需要代表多个装置。Generally, the following devices may be connected to the I/O interface 905: input devices 906 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; including, for example, a liquid crystal display (LCD), speakers, vibration An output device 907 such as a computer; a storage device 908 including a magnetic tape, a hard disk, etc.; and a communication device 909. The communication device 909 may allow the electronic device 900 to communicate wirelessly or wiredly with other devices to exchange data. Although FIG. 9 illustrates an electronic device 900 having various means, it should be understood that implementation or availability of all illustrated means is not required. More or fewer means may alternatively be implemented or provided. Each block shown in Figure 9 may represent one device, or may represent multiple devices as needed.

特别地，根据本公开的一些实施例，上文参考流程图描述的过程可以被实现为计算机软件程序。例如，本公开的一些实施例包括一种计算机程序产品，其包括承载在计算机可读介质上的计算机程序，该计算机程序包含用于执行流程图所示的方法的程序代码。在这样的一些实施例中，该计算机程序可以通过通信装置909从网络上被下载和安装，或者从存储装置908被安装，或者从ROM 902被安装。在该计算机程序被处理装置901执行时，执行本公开的一些实施例的方法中限定的上述功能。In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as a computer software program. For example, some embodiments of the present disclosure include a computer program product including a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In some such embodiments, the computer program may be downloaded and installed from the network via communication device 909, or from storage device 908, or from ROM 902. When the computer program is executed by the processing device 901, the above-described functions defined in the methods of some embodiments of the present disclosure are performed.

需要说明的是，本公开的一些实施例中记载的计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质或者是上述两者的任意组合。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。计算机可读存储介质的更具体的例子可以包括但不限于：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机访问存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑磁盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本公开的一些实施例中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行***、装置或者器件使用或者与其结合使用。而在本公开的一些实施例中，计算机可读信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括但不限于电磁信号、光信号或上述的任意合适的组合。计算机可读信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读信号介质可以发送、传播或者传输用于由指令执行***、装置或者器件使用或者与其结合使用的程序。计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括但不限于：电线、光缆、RF(射频)等等，或者上述的任意合适的组合。It should be noted that the computer-readable medium recorded in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard drive, random access memory (RAM), read only memory (ROM), removable Programmed read-only memory (EPROM or flash memory), fiber optics, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In some embodiments of the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device . Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wire, optical cable, RF (radio frequency), etc., or any suitable combination of the above.

在一些实施方式中，客户端、服务器可以利用诸如HTTP(HyperText Transfer Protocol，超文本传输协议)之类的任何当前已知或未来研发的网络协议进行通信，并且可以与任意形式或介质的数字数据通信(例如，通信网络)互连。通信网络的示例包括局域网(“LAN”)，广域网(“WAN”)，网际网(例如，互联网)以及端对端网络(例如，ad hoc端对端网络)，以及任何当前已知或未来研发的网络。In some embodiments, the client and server can communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and can communicate with digital data in any form or medium. Communications (e.g., communications network) interconnections. Examples of communications networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or developed in the future network of.

上述计算机可读介质可以是上述电子设备中所包含的；也可以是单独存在，而未装配入该电子设备中。上述计算机可读介质承载有一个或者多个程序，当上述一个或者多个程序被该电子设备执行时，使得该电子设备：获取椭圆定位数据，其中，上述椭圆定位数据包括噪声椭圆定位数据和非噪声椭圆定位数据，上述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据；根据L1范数、L2范数上述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函；对上述目标能量泛函进行转换，得到无约束待处理函数；初始化迭代次数；根据椭圆定位数据、椭圆参数、上述无约束待处理函数和迭代次数，执行以下生成步骤：根据预设数值，更新迭代次数；根据上述无约束待处理函数和上述椭圆定位数据，生成椭圆参数更新数据；根据上述无约束待处理函数和上述椭圆参数，生成椭圆定位更新数据；将上述椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新；将上述椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新；响应于上述迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行上述生成步骤；响应于上述迭代次数大于等于上述预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足上述预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数；响应于上述椭圆定位数据为椭圆涵洞边缘点数据，根据上述目标椭圆参数，生成目标涵洞椭圆坐标点集；根据上述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率；响应于上述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息；控制相关联的显示设备显示上述涵洞变形提示信息。The above-mentioned computer-readable medium may be included in the above-mentioned electronic device; it may also exist independently without being assembled into the electronic device. The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains elliptical positioning data, wherein the elliptical positioning data includes noise elliptical positioning data and non-linear positioning data. Noisy elliptical positioning data. The above-mentioned elliptical positioning data is elliptical culvert edge point data or elliptical road sign edge point data; the target is determined based on the noise ellipse positioning data and non-noise ellipse positioning data included in the L1 norm and L2 norm. Energy functional; convert the above target energy functional to obtain the unconstrained function to be processed; initialize the number of iterations; perform the following generation steps according to the ellipse positioning data, ellipse parameters, the above unconstrained function to be processed and the number of iterations: according to the preset Value, update the number of iterations; generate elliptical parameter update data based on the above unconstrained function to be processed and the above elliptical positioning data; generate elliptical positioning update data based on the above unconstrained function to be processed and the above elliptical parameters; determine the above elliptical parameter update data is an ellipse parameter to update the ellipse parameters; determine the above ellipse positioning update data as ellipse positioning data to update the ellipse positioning data; in response to the above iteration number being less than the preset iteration number, and the updated ellipse parameters are the same as the updated ellipse positioning data. The final ellipse positioning data meets the preset ellipse numerical conditions, and the above generation steps are performed again; in response to the above iteration number being greater than or equal to the above preset iteration number and/or the updated ellipse parameters and the updated ellipse positioning data do not meet the above preset According to the ellipse numerical conditions, the updated ellipse parameters are determined as the target ellipse parameters; in response to the above ellipse positioning data being the elliptical culvert edge point data, a target culvert ellipse coordinate point set is generated according to the above target ellipse parameters; according to the above target culvert ellipse coordinate points Collect and preset the culvert ellipse coordinate point set to determine the culvert edge point repetition rate; in response to the above culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold, generate culvert deformation prompt information; control the associated display device to display the above culvert Deformation prompt information.

可以以一种或多种程序设计语言或其组合来编写用于执行本公开的一些实施例的操作的计算机程序代码，上述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(LAN)或广域网(WAN)——连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。Computer program code for performing the operations of some embodiments of the present disclosure may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, or a combination thereof, Also included are conventional procedural programming languages—such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In situations involving remote computers, the remote computer can be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as an Internet service provider). connected via the Internet).

附图中的流程图和框图，图示了按照本公开各种实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段、或代码的一部分，该模块、程序段、或代码的一部分包含至少一个用于实现规定的逻辑功能的可执行指令。也应当注意，在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个接连地表示的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或操作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains at least one operable function for implementing the specified logical function. Execute instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations. , or can be implemented using a combination of dedicated hardware and computer instructions.

描述于本公开的一些实施例中的单元可以通过软件的方式实现，也可以通过硬件的方式来实现。所描述的单元也可以设置在处理器中，例如，可以描述为：一种处理器包括获取单元、第一确定单元、转换单元、初始化单元、执行单元、第二确定单元、第一生成单元、第三确定单元、第二生成单元和控制单元。其中，这些单元的名称在某种情况下并不构成对该单元本身的限定，例如，获取单元还可以被描述为“获取椭圆定位数据的单元”。The units described in some embodiments of the present disclosure may be implemented in software or hardware. The described unit can also be provided in a processor, for example, it can be described as: a processor includes an acquisition unit, a first determination unit, a conversion unit, an initialization unit, an execution unit, a second determination unit, a first generation unit, a third determination unit, a second generation unit and a control unit. The names of these units do not constitute a limitation on the unit itself under certain circumstances. For example, the acquisition unit can also be described as "the unit that acquires elliptical positioning data."

本文中以上描述的功能可以至少部分地由至少一个硬件逻辑部件来执行。例如，非限制性地，可以使用的示范类型的硬件逻辑部件包括：现场可编程门阵列(FPGA)、专用集成电路(ASIC)、专用标准产品(ASSP)、片上***(SOC)、复杂可编程逻辑设备(CPLD)等等。The functions described above herein may be performed, at least in part, by at least one hardware logic component. For example, and without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

以上描述仅为本公开的一些较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本公开的实施例中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形成的其它技术方案。例如上述特征与本公开的实施例中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。The above description is only an illustration of some preferred embodiments of the present disclosure and the technical principles applied. Persons skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to technical solutions composed of specific combinations of the above technical features, and should also cover the above-mentioned technical solutions without departing from the above-mentioned inventive concept. Other technical solutions formed by any combination of technical features or their equivalent features. For example, a technical solution is formed by replacing the above features with technical features with similar functions disclosed in the embodiments of the present disclosure (but not limited to).

Claims

一种椭圆定位数据处理方法，包括：An elliptical positioning data processing method, including:

获取椭圆定位数据，其中，所述椭圆定位数据包括噪声椭圆定位数据和非噪声椭圆定位数据，所述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据；Obtain elliptical positioning data, wherein the elliptical positioning data includes noise elliptical positioning data and non-noise elliptical positioning data, and the elliptical positioning data is elliptical culvert edge point data or elliptical road sign edge point data;

根据L1范数、L2范数、所述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函；Determine the target energy functional according to the L1 norm, L2 norm, noise elliptical positioning data and non-noise elliptical positioning data included in the elliptical positioning data;

对所述目标能量泛函进行转换，得到无约束待处理函数；Convert the target energy functional to obtain an unconstrained function to be processed;

初始化迭代次数；Number of initialization iterations;

根据椭圆定位数据、椭圆参数、所述无约束待处理函数和迭代次数，执行以下生成步骤：Based on the ellipse positioning data, ellipse parameters, the unconstrained function to be processed, and the number of iterations, the following generation steps are performed:

根据预设数值，更新迭代次数；Update the number of iterations according to the preset value;

根据所述无约束待处理函数和所述椭圆定位数据，生成椭圆参数更新数据；Generate ellipse parameter update data according to the unconstrained function to be processed and the ellipse positioning data;

根据所述无约束待处理函数和所述椭圆参数，生成椭圆定位更新数据；Generate elliptical positioning update data according to the unconstrained function to be processed and the ellipse parameters;

将所述椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新；Determine the ellipse parameter update data as ellipse parameters to update the ellipse parameters;

将所述椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新；Determine the elliptical positioning update data as elliptical positioning data to update the elliptical positioning data;

响应于所述迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行所述生成步骤；In response to the number of iterations being less than the preset number of iterations, and the updated ellipse parameters and the updated ellipse positioning data meeting the preset ellipse numerical conditions, perform the generating step again;

响应于所述迭代次数大于等于所述预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足所述预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数；In response to the number of iterations being greater than or equal to the preset number of iterations and/or the updated ellipse parameters and the updated ellipse positioning data not meeting the preset ellipse numerical conditions, the updated ellipse parameters are determined as target ellipse parameters. ;

响应于所述椭圆定位数据为椭圆涵洞边缘点数据，根据所述目标椭圆参数，生成目标涵洞椭圆坐标点集；In response to the elliptical positioning data being elliptical culvert edge point data, a target culvert elliptical coordinate point set is generated according to the target elliptical parameters;

根据所述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率；According to the target culvert elliptical coordinate point set and the preset culvert elliptical coordinate point set, determine the culvert edge point repetition rate;

响应于所述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息；In response to the culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold, generate culvert deformation prompt information;

控制相关联的显示设备显示所述涵洞变形提示信息。Control the associated display device to display the culvert deformation prompt information.
根据权利要求1所述的方法，其中，所述生成椭圆定位更新数据，包括：The method according to claim 1, wherein generating elliptical positioning update data includes:

根据所述椭圆参数和所述噪声椭圆定位数据，生成非噪声椭圆定位更新数据；Generate non-noise elliptical positioning update data according to the ellipse parameters and the noisy elliptical positioning data;

根据所述椭圆参数和所述非噪声椭圆定位数据，生成噪声椭圆定位更新数据；Generate noisy elliptical positioning update data according to the ellipse parameters and the non-noise elliptical positioning data;

将所述非噪声椭圆定位更新数据和所述噪声椭圆定位更新数据组合为椭圆定位更新数据。The non-noise elliptical positioning update data and the noisy elliptical positioning update data are combined into elliptical positioning update data.
根据权利要求1或2所述的方法，其中，所述方法还包括：The method according to claim 1 or 2, wherein the method further includes:

根据所述目标椭圆参数，控制所述显示设备显示椭圆媒体信息。Control the display device to display elliptical media information according to the target ellipse parameter.
根据权利要求3所述的方法，其中，所述根据所述目标椭圆参数，控制所述显示设备显示椭圆媒体信息，包括：The method according to claim 3, wherein controlling the display device to display elliptical media information according to the target ellipse parameter includes:

对所述目标椭圆参数进行归一化处理，得到归一化目标椭圆参数；Perform normalization processing on the target ellipse parameters to obtain normalized target ellipse parameters;

根据所述归一化目标椭圆参数，确定椭圆拟合参数；Determine ellipse fitting parameters according to the normalized target ellipse parameters;

根据所述椭圆拟合参数，控制所述显示设备显示椭圆媒体信息。According to the ellipse fitting parameters, the display device is controlled to display ellipse media information.
根据权利要求1-4之一所述的方法，其中，所述方法还包括：The method according to one of claims 1-4, wherein the method further includes:

响应于所述椭圆定位数据为椭圆道路标识边缘点数据，根据所述目标椭圆参数，生成目标道路标识椭圆坐标点集；In response to the ellipse positioning data being elliptical road sign edge point data, generating a target road sign ellipse coordinate point set according to the target ellipse parameters;

根据所述目标道路标识椭圆坐标点集和预设道路标识椭圆坐标点集，确定道路标识边缘点重复率；Determine the road sign edge point repetition rate according to the target road sign elliptical coordinate point set and the preset road sign elliptical coordinate point set;

响应于所述道路标识边缘点重复率低于预设道路标识点重复率阈值，生成道路标识变形提示信息；In response to the road sign edge point repetition rate being lower than the preset road sign point repetition rate threshold, generate road sign deformation prompt information;

控制所述显示设备显示所述道路标识变形提示信息。Control the display device to display the road sign deformation prompt information.
一种椭圆定位数据处理装置，包括：An elliptical positioning data processing device, including:

获取单元，被配置成获取椭圆定位数据，其中，所述椭圆定位数据包括噪声椭圆定位数据和非噪声椭圆定位数据，所述椭圆定位数据为椭圆涵洞边缘点数据或椭圆道路标识边缘点数据；The acquisition unit is configured to acquire elliptical positioning data, wherein the elliptical positioning data includes noise elliptical positioning data and non-noise elliptical positioning data, and the elliptical positioning data is elliptical culvert edge point data or elliptical road sign edge point data;

第一确定单元，被配置成根据L1范数、L2范数、所述椭圆定位数据包括的噪声椭圆定位数据和非噪声椭圆定位数据，确定目标能量泛函；The first determination unit is configured to determine the target energy functional based on the L1 norm, the L2 norm, the noisy elliptical positioning data and the non-noise elliptical positioning data included in the elliptical positioning data;

转换单元，被配置成对所述目标能量泛函进行转换，得到无约束待处理函数；a conversion unit configured to convert the target energy functional to obtain an unconstrained function to be processed;

初始化单元，被配置成初始化迭代次数；Initialization unit, configured to initialize the number of iterations;

执行单元，被配置成根据椭圆定位数据、椭圆参数、所述无约束待处理函数和迭代次数，执行以下生成步骤：根据预设数值，更新迭代次数；根据所述无约束待处理函数和所述椭圆定位数据，生成椭圆参数更新数据；根据所述无约束待处理函数和所述椭圆参数，生成椭圆定位更新数据；将所述椭圆参数更新数据确定为椭圆参数，以对椭圆参数进行更新；将所述椭圆定位更新数据确定为椭圆定位数据，以对椭圆定位数据进行更新；响应于所述迭代次数小于预设迭代次数，且更新后的椭圆参数与更新后的椭圆定位数据满足预设椭圆数值条件，再次执行所述生成步骤；The execution unit is configured to perform the following generation steps according to the ellipse positioning data, ellipse parameters, the unconstrained function to be processed and the number of iterations: update the number of iterations according to the preset value; according to the unconstrained function to be processed and the number of iterations ellipse positioning data to generate ellipse parameter update data; generate ellipse positioning update data according to the unconstrained function to be processed and the ellipse parameter; determine the ellipse parameter update data as ellipse parameters to update the ellipse parameters; The elliptical positioning update data is determined to be elliptical positioning data to update the elliptical positioning data; in response to the number of iterations being less than the preset number of iterations, and the updated ellipse parameters and the updated ellipse positioning data satisfy the preset ellipse value Conditions, execute the generation steps again;

第二确定单元，被配置成响应于所述迭代次数大于等于所述预设迭代次数和/或更新后的椭圆参数与更新后的椭圆定位数据不满足所述预设椭圆数值条件，将更新后的椭圆参数确定为目标椭圆参数；The second determination unit is configured to respond to the fact that the number of iterations is greater than or equal to the preset number of iterations and/or the updated ellipse parameters and the updated ellipse positioning data do not satisfy the preset ellipse numerical condition, the updated The ellipse parameters of are determined as the target ellipse parameters;

第一生成单元，被配置成响应于所述椭圆定位数据为椭圆涵洞边缘点数据，根据所述目标椭圆参数，生成目标涵洞椭圆坐标点集；A first generation unit configured to generate a target culvert elliptical coordinate point set according to the target ellipse parameters in response to the elliptical positioning data being elliptical culvert edge point data;

第三确定单元，被配置成根据所述目标涵洞椭圆坐标点集和预设涵洞椭圆坐标点集，确定涵洞边缘点重复率；The third determination unit is configured to determine the culvert edge point repetition rate based on the target culvert elliptical coordinate point set and the preset culvert elliptical coordinate point set;

第二生成单元，被配置成响应于所述涵洞边缘点重复率低于预设涵洞点重复率阈值，生成涵洞变形提示信息；A second generation unit configured to generate culvert deformation prompt information in response to the culvert edge point repetition rate being lower than the preset culvert point repetition rate threshold;

控制单元，被配置成控制相关联的显示设备显示所述涵洞变形提示信息。The control unit is configured to control the associated display device to display the culvert deformation prompt information.
一种电子设备，包括：An electronic device including:

至少一个处理器；at least one processor;

存储装置，其上存储有至少一个程序；a storage device having at least one program stored thereon;

当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-5中任一所述的方法。When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1-5.
一种计算机可读介质，其上存储有计算机程序，其中，所述程序被处理器执行时实现如权利要求1-5中任一所述的方法。A computer-readable medium having a computer program stored thereon, wherein when the program is executed by a processor, the method according to any one of claims 1-5 is implemented.
一种计算机程序产品，包括计算机程序，所述计算机程序在被处理器执行时实现根据权利要求1-5中任一项所述的方法。A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-5.