US 12,423,912 B2
Construction of three-dimensional road network map
Junjun Zhang, Beijing (CN)
Assigned to BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed by BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Mar. 8, 2023, as Appl. No. 18/180,670.
Claims priority of application No. 202210252274.4 (CN), filed on Mar. 15, 2022.
Prior Publication US 2023/0222734 A1, Jul. 13, 2023
Int. Cl. G06T 17/05 (2011.01); G01C 21/00 (2006.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G06V 10/34 (2022.01); G06V 20/10 (2022.01); G06V 20/70 (2022.01)
CPC G06T 17/05 (2013.01) [G01C 21/3819 (2020.08); G01C 21/3852 (2020.08); G06T 7/521 (2017.01); G06T 7/70 (2017.01); G06V 10/34 (2022.01); G06V 20/182 (2022.01); G06V 20/70 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/20021 (2013.01); G06T 2207/30181 (2013.01); G06T 2210/56 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for constructing a three-dimensional road network map, the method comprising:
extracting a two-dimensional road based on a satellite remote sensing image;
skeletonizing the two-dimensional road to obtain a two-dimensional road network map; and
determining a height of each point in the two-dimensional road network map based on an elevation of three-dimensional point cloud data, to obtain the three-dimensional road network map, wherein the determining the height of each point in the two-dimensional road network map based on the elevation of the three-dimensional point cloud data, to obtain the three-dimensional road network map comprises:
obtaining a plane point cloud based on the three-dimensional point cloud data;
determining, for a point in the two-dimensional road network map, one or more associated points of the point in the plane point cloud; and
determining a height of the point according to elevation of the one or more associated points, to obtain the three-dimensional road network map.