CN109214342B - Method and apparatus for acquiring images - Google Patents

Abstract

The embodiments of the present application disclose methods and apparatuses for acquiring images. A specific implementation of the method includes: acquiring the intersection information of the target intersection, wherein the intersection information is used to represent the topology structure of the road section passing through the target intersection at the target intersection; The entry point and exit point of the user at the target intersection; in response to determining that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine the road segment that the target user passes through at the target intersection, determine the entry point, the exit point, and the passing road segment The center point of the point on the image is taken as the imaging environment midpoint of the image to be acquired; acquire the image of the target intersection with the imaging environment midpoint as the image center. This embodiment enriches the way of acquiring images, and helps to present the turning information and topology of the intersection through the intersection image.

Description

Method and apparatus for acquiring images

technical field

The embodiments of the present application relate to the field of computer technologies, and in particular, to methods and apparatuses for acquiring images.

Background technique

The development of the computer field has had a profound impact on people's clothing, food, housing and transportation. For example, in terms of travel, in the case of unfamiliar routes, route planning and scene graph presentation can be implemented through the navigation functions of various electronic devices to guide travelers to their destinations.

However, in some road environments, the shapes of intersections are often varied. In this scenario, the image of the intersection presented by the scene graph determines the richness of the traveler's knowledge of the topology of the intersection and the steering information of the intersection.

SUMMARY OF THE INVENTION

The embodiments of the present application propose a method and apparatus for acquiring an image.

In a first aspect, an embodiment of the present application provides a method for acquiring an image, the method comprising: acquiring intersection information of a target intersection, wherein the intersection information is used to represent the topology structure of a road segment passing through the target intersection at the target intersection; The travel direction and intersection information of the target user at the target intersection, determine the entry point and exit point of the target user at the target intersection; in response to determining that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine that the target user is at the target intersection For the passing section of the intersection, determine the entry point, the exit point and the center point of the points on the passing section as the imaging environment midpoint of the image to be acquired; acquire the image of the target intersection with the imaging environment midpoint as the image center.

In some embodiments, determining the entry point, the exit point, and the center point of the point on the passing road section as the point in the imaging environment of the image to be acquired includes: determining the exit section of the target user at the target intersection according to the travel direction and intersection information ; In response to determining that there is no road segment with an included angle less than a preset angle value formed with the leaving road segment in the road segment of the target intersection, determine the entry point, the exit point and the center point of the points on the passing road segment as the imaging environment for the image to be acquired midpoint.

In some embodiments, before acquiring the image of the target intersection with the point in the imaging environment as the center of the image, the method further includes: in response to determining that the distance between the entry point and the exit point is less than a distance threshold, comparing the distance between the entry point and the exit point The midpoint is determined as the midpoint of the imaging environment of the image to be acquired.

In some embodiments, before acquiring the image of the target intersection with the point in the imaging environment as the center of the image, the method further includes: determining the exit section of the target user at the target intersection according to the travel direction and the intersection information; in response to determining the entry point The distance between the exit point and the exit point is less than the distance threshold, and there is no road segment whose angle formed with the exit road segment is smaller than the preset angle value in the road segments of the target intersection, and the midpoint between the entry point and the exit point is determined as the image to be acquired the midpoint of the imaging environment.

In some embodiments, the method further includes: in response to determining that there is a road segment in the road segment of the target intersection and the included angle formed with the exit road segment is less than a preset angle value, determining a segment boundary of the target intersection located on the boundary of the road segment of the exit road segment. For the bifurcation point, the center point of the bifurcation point, the entry point, the departure point, and the points on the passing road section is determined as the imaging environment midpoint of the image to be acquired.

In some embodiments, acquiring an image of a target intersection with a point in the imaging environment as the center of the image includes: determining a bifurcation point, an entry point, an exit point, and the width and length of a minimum circumscribed rectangle passing through a point on the road segment; determining the target The width of the entry section of the user at the target intersection; the width of the display range of the image to be acquired is determined according to the width of the entry section and the width of the minimum circumscribed rectangle; the length of the display range of the image to be acquired is determined according to the length of the entry section; the width of the display range is determined according to the width of the entry section. , the length of the display range, the ratio of the width and length of the minimum circumscribed rectangle, and determine the distance from the point in the imaging environment to the road corresponding to the lower edge of the image to be acquired; the acquisition takes the point in the imaging environment as the center of the image, and the lower edge of the image corresponds to The distance of the route from the point in the imaging environment is the image of the target intersection where the distance is determined.

In some embodiments, acquiring an image of a target intersection with a point in the imaging environment as the image center includes: determining an image acquisition position of the image to be acquired according to the position of the point in the imaging environment; controlling the target image acquisition device to acquire the image at the image acquisition position An image of a target intersection with a point in the imaging environment as the center of the image.

In a second aspect, an embodiment of the present application provides an apparatus for acquiring an image, the apparatus comprising: a first acquiring unit configured to acquire intersection information of a target intersection, wherein the intersection information is used to represent a road segment passing through the target intersection The topology structure at the target intersection; the first determining unit is configured to determine the entry point and the exit point of the target user at the target intersection according to the travel direction and intersection information of the target user at the target intersection; the second determining unit is configured to respond In order to determine that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine the road segment that the target user passes through at the target intersection, and determine the center point of the entry point, the exit point, and the point on the passing road segment as the imaging of the image to be acquired. a midpoint of the environment; a second acquisition unit configured to acquire an image of the target intersection with the midpoint of the imaging environment as the center of the image.

In some embodiments, the second determination unit includes: a first determination module configured to determine the departure section of the target user at the target intersection according to the travel direction and intersection information; a second determination module configured to respond to the determination that the target user is at the target intersection If there is no road segment with an angle less than a preset angle value formed with the exiting road segment in the road segment at the intersection, the center point of the entry point, the exit point and the points on the passing road segment is determined as the imaging environment midpoint of the image to be acquired.

In some embodiments, the apparatus further includes: a third determination unit configured to, in response to determining that the distance between the entry point and the exit point is less than the distance threshold, determine the midpoint of the entry point and the exit point as the midpoint of the image to be acquired midpoint of the imaging environment.

In some embodiments, the apparatus further includes: a fourth determination unit, configured to determine, according to the travel direction and the intersection information, the exit section of the target user at the target intersection; a fifth determination unit, configured to respond to determining the entry point and the intersection information. The distance between the exit points is less than the distance threshold, and there is no road segment whose angle formed with the exit road segment is less than the preset angle value in the road segments of the target intersection, and the midpoint of the entry point and the exit point is determined as the image to be acquired. midpoint of the imaging environment.

In some embodiments, the apparatus further includes: a sixth determination unit, configured to, in response to determining that there is a road section in the road section of the target intersection and the angle formed with the departure road section is smaller than a preset angle value, determine the road section located in the departure road section For the bifurcation point of the target intersection on the boundary of the road segment, the center point of the bifurcation point, the entry point, the departure point and the points on the passing road segment is determined as the imaging environment midpoint of the image to be acquired.

In some embodiments, the second acquisition unit includes: a third determination module configured to determine the width and length of the smallest circumscribed rectangle of the bifurcation point, the entry point, the departure point and the point passing through the road segment; the fourth determination module, is configured to determine the width of the entry road segment of the target user at the target intersection; the fifth determination module is configured to determine the width of the display range of the image to be acquired according to the width of the entry road segment and the width of the minimum circumscribed rectangle; It is configured to determine the length of the display range of the image to be acquired according to the length of the entering road section; the seventh determination module is configured to determine the point to the point in the imaging environment according to the width of the display range, the length of the display range, and the ratio of the width and length of the minimum circumscribed rectangle. the distance of the road corresponding to the lower edge of the image to be acquired; the acquisition module is configured to acquire the target with the midpoint of the imaging environment as the center of the image, and the distance between the route corresponding to the lower edge of the image and the midpoint of the imaging environment is the determined distance Image of intersection.

In some embodiments, the second acquisition unit includes: an eighth determination module, configured to determine an image acquisition position of the image to be acquired according to the position of a point in the imaging environment; a control module, configured to control the target image acquisition device in the image The acquisition position acquires an image of the target intersection with a point in the imaging environment as the center of the image.

In a third aspect, an embodiment of the present application provides an electronic device for acquiring an image, including: one or more processors; a storage device on which one or more programs are stored, when the one or more programs are The one or more processors described above execute such that the one or more processors implement the method of any of the embodiments of the above-described method for acquiring an image.

In a fourth aspect, an embodiment of the present application provides a computer-readable medium for acquiring an image, on which a computer program is stored, and when the program is executed by a processor, implements any one of the above-mentioned methods for acquiring an image Methods.

The method and device for acquiring an image provided by the embodiments of the present application obtain the intersection information of the target intersection, and then determine the entry point and the exit point of the target user at the target intersection according to the travel direction and intersection information of the target user at the target intersection. , and then, in response to determining that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine the road segment that the target user passes through at the target intersection, and determine the entry point, the exit point, and the center point of the points on the passing road segment as the waiting point. The midpoint of the imaging environment of the image is acquired, and finally, the image of the target intersection with the midpoint of the imaging environment as the center of the image is acquired, thereby enriching the acquisition method of the image and helping to improve the richness of the turning information and topology of the intersection.

Description of drawings

Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

FIG. 1 is an exemplary system architecture diagram to which an embodiment of the present application may be applied;

Figure 2 is a flowchart of one embodiment of a method for acquiring an image according to the present application;

3A, 3B, 3C, and 3D are schematic diagrams of an application scenario of the method for acquiring an image according to the present application;

FIG. 4 is a flowchart of yet another embodiment of a method for acquiring an image according to the present application;

5A and 5B are schematic diagrams of image acquisition according to an embodiment of the present application;

6 is a schematic structural diagram of an embodiment of an apparatus for acquiring an image according to the present application;

FIG. 7 is a schematic structural diagram of a computer system suitable for implementing the electronic device according to the embodiment of the present application.

Detailed ways

The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

It should be noted that the embodiments in the present application and the features of the embodiments may be combined with each other in the case of no conflict. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

FIG. 1 shows an exemplary system architecture 100 of an embodiment of a method for acquiring an image or an apparatus for acquiring an image to which embodiments of the present application may be applied.

As shown in FIG. 1 , the system architecture 100 may include terminal devices 101 , 102 , and 103 , a network 104 and a server 105 . The network 104 is a medium used to provide a communication link between the terminal devices 101 , 102 , 103 and the server 105 . The network 104 may include various connection types, such as wired, wireless communication links, or fiber optic cables, among others.

The user can use the terminal devices 101, 102, 103 to interact with the server 105 through the network 104 to receive or send messages (eg, intersection information) and the like. Various communication client applications can be installed on the terminal devices 101 , 102 and 103 , such as electronic map applications, navigation applications, web browser applications, shopping applications, search applications, instant messaging tools, email clients, social media platform software, etc.

The terminal devices 101, 102, and 103 may be hardware or software. When the terminal devices 101, 102 and 103 are hardware, they can be various electronic devices with display screens, including but not limited to smart phones, tablet computers, e-book readers, MP3 players (Moving Picture Experts Group Audio Layer III, Moving Picture Experts Compression Standard Audio Layer 3), MP4 (Moving Picture Experts Group Audio Layer IV, Moving Picture Experts Compression Standard Audio Layer 4) Players, Laptops and Desktops, etc. When the terminal devices 101, 102, and 103 are software, they can be installed in the electronic devices listed above. It can be implemented as a plurality of software or software modules (eg, software or software modules for providing distributed services), or can be implemented as a single software or software module. There is no specific limitation here.

The server 105 may be a server that provides various services, for example, a background server that provides support for the navigation requests sent by the terminal devices 101 , 102 , and 103 . The background server can analyze and process the received navigation request and other data, and feed back the processing results (such as route planning information or route images) to the terminal device.

It should be noted that the method for acquiring an image provided by the embodiment of the present application may be executed by the server 105 , and correspondingly, the apparatus for acquiring an image may be provided in the server 105 . In addition, the methods for acquiring images provided in the embodiments of the present application may also be executed by the terminal devices 101 , 102 , and 103 , and correspondingly, the apparatuses for acquiring images may also be provided in the terminal devices 101 , 102 , and 103 .

It should be noted that the server may be hardware or software. When the server is hardware, it can be implemented as a distributed server cluster composed of multiple servers, or can be implemented as a single server. When the server is software, it can be implemented as a plurality of software or software modules (for example, software or software modules for providing distributed services), or can be implemented as a single software or software module. There is no specific limitation here.

It should be understood that the numbers of terminal devices, networks and servers in FIG. 1 are merely illustrative. There can be any number of terminal devices, networks and servers according to implementation needs. When the electronic device on which the method for acquiring an image operates does not require data transmission with other electronic devices, the system architecture may only include the electronic device on which the method for acquiring an image operates.

With continued reference to FIG. 2 , a flow 200 of one embodiment of a method for acquiring an image according to the present application is shown. The method for acquiring an image includes the following steps:

Step 201, obtaining intersection information of the target intersection.

In this embodiment, the execution body of the method for acquiring an image (for example, the server or the terminal device shown in FIG. 1 ) can acquire the intersection information of the target intersection through a wired connection or a wireless connection. The above-mentioned target intersection may be an intersection that the user is about to enter. For example, when a user travels through the navigation function of a mobile phone or a vehicle, and the user is at a predetermined distance from an intersection (eg, 5 meters, 10 meters, etc.) and travels to the intersection, the intersection can be used as the target intersection. A junction may be a road (or road segment) junction. The above-mentioned intersection information can be used to characterize the topology structure of the road segment passing through the target intersection at the target intersection.

Step 202: Determine the entry point and the exit point of the target user at the target intersection according to the travel direction and intersection information of the target user at the target intersection.

In this embodiment, according to the traveling direction of the target user at the target intersection and the intersection information obtained in step 201, the above-mentioned execution subject can determine the entry point and the exit point of the target user at the target intersection. Wherein, when the execution body is a terminal device, the target user may be the user of the execution body; when the execution body is not a terminal device (for example, a server), the target user may be the terminal device used by the target user and the user of the execution body. The user who interacts with the above execution body. The aforementioned entry point may be a point indicating entry into the aforementioned target intersection. The above-mentioned departure point may be a point instructing to leave the above-mentioned target intersection.

In practice, in the camera model of OpenGL (Open Graphics Library), the above entry point can be the end point of entering the LINK (also known as entering the LINK) (that is, entering the NODE (node or node) pointed to by the LINK), The above-mentioned departure point may be the starting point for exiting the LINK (also known as exiting the LINK) (ie, the starting NODE for exiting the LINK). Wherein, the above-mentioned NODE (node or node) may be a virtual node object used to represent a road connected network. The above LINK can be used to represent the line object of the path between NODE and NODE, which can be composed of two NODEs and several shape points. It can be approximated as a section of road connecting two intersections by a real road.

As an example, please refer to Figure 3A. In FIG. 3A , the intersection information indicates that the target intersection is a two-branch intersection. Here, the above-mentioned executive body determines the end point of entering the LINK (ie, entering the link) as the entry point, and the starting point of exiting the LINK (ie, leaving the link) as the exit point. Thus, the above executive body determines the entry point 302 and the exit point 302 (the entry point and the exit point 302 (the entry point and the exit point) of the target user at the target intersection according to the traveling direction of the target user at the target intersection (as shown by the arrow 304 in the figure) and the intersection information. the same point). It can be understood that the directed line segment from point 303 to point 302 may be an entry LINK (ie, entering the road segment), and the directed line segment from point 302 to point 301 may be an exit LINK (ie, leaving the road segment).

As yet another example, please refer to Figure 3B. In FIG. 3B, the intersection information indicates that the target intersection is an intersection. Here, the above-mentioned executive body also determines the end point of entering the LINK as the entry point, and the starting point of exiting the LINK as the exit point. Thus, the above-mentioned executive body determines the entry point 309 and the exit point 307 of the target user at the target intersection according to the travel direction of the target user at the target intersection (as shown by the arrow 305 in the figure) and the intersection information. It can be understood that the directed line segment from point 310 to point 309 may be the entry LINK, and the directed line segment from point 307 to point 306 may be the exit LINK.

Return to Figure 2 below.

Step 203, in response to determining that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine the road segment that the target user passes through at the target intersection, and determine the entry point, the exit point, and the center point of the points on the road segment to be passed. Acquire the imaging environment midpoint of the image.

In this embodiment, when it is determined that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, the above-mentioned execution subject may determine the segment of the target user's passing through the target intersection, determine the entry point, the exit point and the passing point. The center point of the points on the road section is used as the imaging environment center point of the image to be acquired. The above distance threshold may be various distance values preset by a user or a technician. For example, the distance threshold may be 1 (meter), 3 (meter), and so on. The above distance threshold may be set by a user or a technician according to actual needs. The above-mentioned passing road segment may be a road segment starting from the entry point or ending at the exit point.

As an example, please continue to refer to Figure 3A. In FIG. 3A, since the entry point and the exit point are the same point, the two-branch intersection shown in FIG. 3A may not include the passing road segment (because the distance between the entry point and the exit point is smaller than the preset distance at this time) threshold, so there is no need to determine the road segment that the target user passes through at the target intersection).

As yet another example, please continue to refer to FIG. 3B. In FIG. 3B , the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, and the above-mentioned executive body can determine that the road segment that the target user passes through at the target intersection is a directional line segment from point 309 to point 308 , and a directional line segment from point 308 to point 308 Directed segment of point 307.

Next, the above-mentioned executive body may determine the entry point, the exit point, and the center point of the points on the passing road section as the imaging environment center point of the image to be acquired. Here, the points on the passing road section may be shape points of the passing road section (ie, the shape points passing through LINK in OpenGL), or may be a preset number of points on the passing road section. The above-mentioned midpoint of the imaging environment is a point in the above-mentioned target intersection, and the midpoint of the imaging environment corresponds to the middle point of the image to be acquired.

In some optional implementations of this embodiment, for the step in step 203: determining the entry point, the exit point, and the center point of the point on the passing road section as the imaging environment center point of the image to be acquired, the above-mentioned execution subject may also Follow the steps below:

First of all, the above-mentioned executive body may determine, according to the traveling direction and the intersection information, the section of the target user's departure at the target intersection. Wherein, the above-mentioned departure road segment may be a road segment starting from the departure point, and the length of the departure road segment may be preset.

In OpenGL's camera model, the above-mentioned exit link may be an exit LINK.

As an example, please continue to refer to Figure 3A. According to the travel direction 304 and the intersection information, the above executive body determines that the target user's departure section at the target intersection is a directed line segment from point 302 to point 301 .

As yet another example, please continue to refer to FIG. 3B. According to the travel direction 305 and the intersection information, the above executive body determines that the target user's departure section at the target intersection is a directed line segment from point 307 to point 306 .

Then, when it is determined that there is no road segment whose included angle with the leaving road segment is smaller than the preset angle value in the road segment of the target intersection, the above-mentioned executive body may determine the entry point, the exit point, and the center point of the points on the passing road segment as the midpoint of the imaging environment for the image to be acquired.

As an example, the above-mentioned executive body or other electronic device may determine whether there is a road segment in the road segment of the target intersection whose angle formed with the leaving road segment is smaller than the preset angle value according to the following steps: please continue to refer to FIG. 3A . In FIG. 3A , there are road sections in the target intersection whose included angle formed with the exiting section is smaller than a preset angle value (for example, 45 degrees) (for example, the included angle formed by the extending direction of the incoming section and the outgoing section is less than a preset angle value (eg 45 degrees).

As yet another example, please continue to refer to FIG. 3B. In FIG. 3B , there is no road segment in the segment of the target intersection whose included angle with the leaving road segment is smaller than a preset angle value (for example, 45 degrees) (here, the included angle formed by the segment at the target intersection and the leaving road segment is both 90° Spend).

In some optional implementations of this embodiment, in the case where it is determined that the distance between the entry point and the exit point is less than the distance threshold, the above-mentioned execution body may also determine the midpoint of the entry point and the exit point as the image to be acquired the midpoint of the imaging environment.

In some optional implementation manners of this embodiment, the foregoing executive body may also:

First, according to the travel direction and the intersection information, determine the departure section of the target user at the target intersection.

Then, when it is determined that the distance between the entry point and the exit point is less than the distance threshold, and there is no road segment with an included angle less than the preset angle value formed with the exit road segment in the road segments of the target intersection, the entry point and the exit point are compared with each other. The midpoint of the point is determined as the midpoint of the imaging environment of the image to be acquired.

In some optional implementations of this embodiment, when it is determined that there is a road segment in the road segment of the target intersection whose angle formed with the leaving road segment is smaller than a preset angle value, the above-mentioned executive body may also determine that the road segment is located at the leaving road segment The bifurcation point of the target intersection on the boundary of the road segment is determined, and the center point of the bifurcation point, the entry point, the departure point and the points on the passing road segment is determined as the imaging environment midpoint of the image to be acquired. Wherein, the above-mentioned bifurcation point may be the boundary intersection point between the leaving road section and other road sections. As an example, please refer to Figure 3A. The above executive body determines that the bifurcation point of the target intersection located on the boundary of the road segment leaving the road segment is point 300 .

Step 204 , acquiring an image of the target intersection with the point in the imaging environment as the center of the image.

In this embodiment, the above-mentioned execution subject may acquire an image of a target intersection with a point in the imaging environment as the center of the image.

It can be understood that the point in the actual environment corresponding to the midpoint of the image acquired by the above-mentioned execution subject in step 204 is the above-mentioned midpoint of the imaging environment. Therefore, acquiring the image of the target intersection with the midpoint of the imaging environment as the center of the image can make the steering information and topology of the target intersection more abundantly presented on the above image, and further, it can help the user to understand the situation of the target intersection, which is beneficial to When users travel, the probability of traffic accidents is reduced to a certain extent.

Continue to refer to FIG. 3A-FIG. 3D, FIG. 3A-FIG. 3D are schematic diagrams of an application scenario of the method for acquiring an image according to the present application. In the application scenario of FIG. 3A , the terminal device first obtains the intersection information of the target intersection. Here, the intersection information is used to represent the topological structure of the road segment passing through the target intersection at the target intersection (in FIG. 3A , the intersection information represents an intersection with two branch roads passing through the target intersection). Then, the terminal device determines the entry point 302 and the exit point 302 of the target user at the target intersection according to the travel direction of the target user at the target intersection (as shown by the arrow 304 in the figure) and the intersection information. Here, since the entry point 302 and the exit point 302 are the same point, the distance between the entry point 302 and the exit point 302 is less than a preset distance threshold (eg, 1 meter). The above-mentioned terminal device determines the point 302 as the midpoint of the imaging environment of the image to be acquired, and the image of the target intersection with the midpoint of the imaging environment as the center of the image (as shown in FIG. 3C , wherein the midpoint 302 of the image corresponds to the midpoint of the above-mentioned imaging environment. ). Next, the above-mentioned target user continues to move forward and arrives at the intersection (ie, the target intersection) as shown in FIG. 3B . Here, the terminal device first obtains the intersection information of the target intersection. Here, the intersection information is used to represent the topology structure of the road segment passing through the target intersection at the target intersection (in FIG. 3B , the intersection information indicates that passing through the target intersection is an intersection). Then, the terminal device determines the entry point 309 and the exit point 307 of the target user at the target intersection according to the travel direction of the target user at the target intersection (as shown by the arrow 305 in the figure) and the intersection information. Here, because the distance between the entry point 309 and the exit point 307 is greater than or equal to a preset distance threshold (for example, 1 meter). The above-mentioned terminal device determines the road segment that the target user passes through at the target intersection (for example, the directed line segment from point 309 to point 308 and the directed line segment from point 308 to point 307), and determines the entry point 309, the exit point 307, and the passing road segment (point 309 to The center point of the point on the directional line segment of point 308 and the directional line segment from point 308 to point 307) is taken as the midpoint of the imaging environment of the image to be acquired, and the image of the target intersection with the midpoint of the imaging environment as the center of the image (as shown in Figure 3D shown, wherein the midpoint 311 of the image corresponds to the above-mentioned midpoint of the imaging environment).

In the method provided by the above-mentioned embodiments of the present application, the intersection information of the target intersection is obtained, and then, according to the travel direction and intersection information of the target user at the target intersection, the entry point and the exit point of the target user at the target intersection are determined. When the distance between the entry point and the exit point is greater than or equal to the preset distance threshold, determine the road segment that the target user passes through at the target intersection, and determine the center point of the entry point, the exit point, and the points on the passing road segment as the image to be acquired. The midpoint of the imaging environment, and finally, the image of the target intersection with the midpoint of the imaging environment as the center of the image is obtained, thereby enriching the acquisition method of the image and helping to improve the richness of the turning information and topology of the intersection.

With further reference to Figure 4, a flow 400 of yet another embodiment of a method for acquiring an image is shown. The process 400 of the method for acquiring an image includes the following steps:

Step 401, obtaining intersection information of a target intersection. After that, step 402 is performed.

In this embodiment, step 401 is basically the same as step 201 in the embodiment corresponding to FIG. 2 , and details are not repeated here.

Step 402: Determine the entry point and the exit point of the target user at the target intersection according to the travel direction and intersection information of the target user at the target intersection. After that, step 403 is executed.

In this embodiment, step 402 is basically the same as step 202 in the embodiment corresponding to FIG. 2 , and details are not repeated here.

Step 403: Determine whether the distance between the entry point and the exit point is less than a preset distance threshold. After that, if yes, go to step 405; if not, go to step 404.

In this embodiment, the executing subject of the method for acquiring an image (eg, the server or the terminal device shown in FIG. 1 ) may determine whether the distance between the entry point and the exit point is less than a preset distance threshold. The above distance threshold may be various distance values preset by a user or a technician. The above distance threshold may be set by a user or a technician according to actual needs.

Step 404 , according to the traveling direction and the intersection information, determine the section of the target user's departure at the target intersection. After that, step 406 is performed.

In this embodiment, the above-mentioned execution subject may determine the section of the target user's departure at the target intersection according to the traveling direction and the intersection information. Wherein, the above-mentioned departure road segment may be a road segment starting from the departure point, and the length of the departure road segment may be preset.

Step 405 , according to the travel direction and the intersection information, determine the section of the target user's departure at the target intersection. After that, step 407 is performed.

In this embodiment, the above-mentioned execution subject may determine the section of the target user's departure at the target intersection according to the traveling direction and the intersection information. Wherein, the above-mentioned departure road segment may be a road segment starting from the departure point, and the length of the departure road segment may be preset.

Step 406 , determine whether there is a road segment in the road segment of the target intersection and the angle formed with the leaving road segment is smaller than a preset angle value. After that, if yes, go to step 410; if not, go to step 408.

In this embodiment, the above-mentioned executive body may determine whether there is a road segment in the road segment of the target intersection and the angle formed with the leaving road segment is smaller than a preset angle value.

Step 407 , determine whether there is a road segment in the road segment of the target intersection and the angle formed with the leaving road segment is smaller than a preset angle value. After that, if yes, go to step 410; if not, go to step 409.

In this embodiment, the above-mentioned executive body may determine whether there is a road segment in the road segment of the target intersection and the angle formed with the leaving road segment is smaller than a preset angle value.

Step 408: Determine the entry point, the exit point, and the center point of the points on the passing road section as the imaging environment center point of the image to be acquired. After that, step 412 is performed.

In this embodiment, the above-mentioned execution subject may determine the entry point, the exit point, and the center point of the points on the passing road section as the midpoint of the imaging environment of the image to be acquired. Wherein, the above-mentioned passing road section may be a road section with the entry point as the starting point or the exit point as the end point.

Step 409: Determine the midpoint of the entry point and the exit point as the midpoint of the imaging environment of the image to be acquired. After that, step 412 is performed.

In this embodiment, the above-mentioned execution subject may determine the midpoint of the entry point and the exit point as the midpoint of the imaging environment of the image to be acquired.

Step 410, determining the bifurcation point of the target intersection located on the boundary of the road segment leaving the road segment. After that, step 411 is performed.

In this embodiment, the above-mentioned executive body may determine the bifurcation point of the target intersection located on the boundary of the road segment leaving the road segment. Wherein, the above-mentioned bifurcation point may be the boundary intersection point between the leaving road section and other road sections.

Step 411: Determine the bifurcation point, the entry point, the exit point, and the center point of the points on the passing road section as the midpoint of the imaging environment of the image to be acquired. After that, step 412 is performed.

In this embodiment, the above-mentioned execution subject may determine the bifurcation point, the entry point, the exit point, and the center point of the points on the passing road section as the midpoint of the imaging environment of the image to be acquired.

Step 412 , acquiring an image of the target intersection with the point in the imaging environment as the center of the image.

In this embodiment, step 412 is basically the same as step 204 in the embodiment corresponding to FIG. 2 , and details are not repeated here.

In some optional implementation manners of this embodiment, for the above steps: acquiring an image of a target intersection with a point in the imaging environment as the image center, the execution subject may execute the following steps:

In the first step, the above-mentioned executive body can determine the width and length of the minimum circumscribed rectangle of the bifurcation point, the entry point, the exit point and the point passing through the road segment. Wherein, the above-mentioned minimum circumscribed rectangle may be a minimum area bounding rectangle (Minimum Area Bounding Rectangle, MABR), or may be a minimum perimeter bounding rectangle (Minimum Perimter Bounding Rectangle, MPBR).

Here, the above-mentioned executive body can determine the minimum enclosing rectangle of the bifurcation point, the entry point, the exit point and the point on the passing road section according to various existing methods for determining the minimum enclosing rectangle, and then obtain the width and length of the minimum enclosing rectangle. .

In the second step, the above-mentioned executive body may determine the width of the entry section of the target user at the target intersection. Wherein, the above-mentioned entry road section may be a road section with the entry point as the end point.

Here, the above-mentioned width of the entry section may be the actual width of the entry section. For example, the product of the number of lanes and the width of each lane may be used as the width of the incoming road segment.

In the third step, the above-mentioned execution body may determine the width of the display range of the image to be acquired according to the width of the entering road section and the width of the minimum circumscribed rectangle. Wherein, the width of the display range may be the width of the actual environment (ie, the above-mentioned target intersection) captured in the image.

Here, the above-mentioned execution body may determine the larger of the width of the entering road section and the width of the minimum circumscribed rectangle as the width of the display range of the image to be acquired. Optionally, the above-mentioned execution body may also determine the larger preset multiple (eg 1.4 times) of the width of the entering road section and the width of the minimum circumscribed rectangle as the width of the display range of the image to be acquired.

In the fourth step, the above-mentioned execution body may determine the length of the display range of the image to be acquired according to the length of the entering road section. The length of the display range may be the length of the actual environment (ie, the above-mentioned target intersection) captured in the image.

Here, the above-mentioned executive body may determine the length of the entering road section as the length of the display range of the image to be acquired. Optionally, the above-mentioned execution body may also determine the quotient of the length of the entering road section and the first preset value (eg, 15) and the second preset value (eg, 0.7), which is the larger value, as the display range of the image to be acquired. length.

In the fifth step, the above-mentioned executive body can determine the distance from the point in the imaging environment to the road corresponding to the lower edge of the image to be acquired according to the width of the display range, the length of the display range, and the ratio of the width and length of the minimum circumscribed rectangle.

As an example, the above-mentioned executive body can use the following formula (1) to determine the distance from the point in the imaging environment to the road corresponding to the lower edge of the image to be acquired:

d=idear_w×(screen_h÷screen_w)÷2÷sin(downlooking_angle) (1)

Among them, d is used to characterize the distance from the point in the imaging environment to the road corresponding to the lower edge of the image to be acquired, ideal_w is used to characterize the width of the display range, screen_h is used to characterize the length of the minimum circumscribed rectangle, and screen_w is used to characterize the width of the minimum circumscribed rectangle , downlooking_angle is used to characterize the looking down angle, wherein the looking down angle is used to characterize the horizontal line (ie, the connection between the position 505 and the position 506 ) where the image capture point (for example, the position 505 in FIG. 5B) to the point in the imaging environment (eg, position 502 in FIG. 5B).

It should be noted that the above angle can be obtained by deduction according to the geometric relationship in FIG. 5B . In FIG. 5B , the straight line where the position 505 and the position 501 are located and the straight line where the position 505 and the position 503 are located form an angle of 45 degrees. Position 503 is a point on the road corresponding to the lower edge of the image to be acquired, and position 501 is a point on the road corresponding to the upper edge of the image to be acquired. The straight line where position 505 and position 501 are located forms an angle with the straight line where position 505 and position 502 are located, and the straight line where position 505 and position 503 are located is at the same angle with the straight line where position 505 and position 502 are located.

Optionally, the above-mentioned execution body may also determine the larger of the result obtained by the above formula (1) and the length of the display range as the distance from the point in the imaging environment to the road corresponding to the lower edge of the image to be acquired. .

In the sixth step, the execution subject may acquire an image of the target intersection with the midpoint of the imaging environment as the image center, and the distance between the route corresponding to the lower edge of the image and the midpoint of the imaging environment is the determined distance.

As an example, please refer to Figure 5A. In FIG. 5A , the above-mentioned execution subject has obtained the image center with point 502 in the imaging environment, and the distance between the route corresponding to the lower edge of the image and the point in the imaging environment (that is, the distance between point 502 and point 503 ) is determined by The distance to the image of the target intersection.

In some optional implementations of this embodiment, for the above steps: acquiring an image of a target intersection with a point in the imaging environment as the center of the image, the execution subject may also perform the following steps:

First, the above-mentioned execution subject may determine the image acquisition position of the to-be-acquired image according to the position of the point in the imaging environment.

Please continue to refer to FIG. 5B , the above-mentioned image acquisition location may be the location 505 where the target image acquisition device is located. The image acquisition position can be determined by the height of the position (that is, the distance between point 504 and point 505) and the distance between point 504 and point 502. Usually, the image acquisition position 505, point 501-point 504, and point 506 are located at the same point in plane. Therefore, the above-mentioned execution subject can obtain the midpoint of the imaging environment and the distance between the route corresponding to the lower edge of the image and the midpoint of the imaging environment through the above-mentioned first to sixth steps, and then, according to the geometric relationship in FIG. The image acquisition location where the image was acquired.

Then, the above-mentioned executive body can control the target image acquisition device to acquire the image of the target intersection with the image center point as the image center at the image acquisition position, the above-mentioned image. Wherein, the above-mentioned target image acquisition device may be an image acquisition device for acquiring images of the above-mentioned target intersection, and may also be a virtual camera in OpenGL.

As can be seen from FIG. 4 , compared with the embodiment corresponding to FIG. 2 , the flow 400 of the method for acquiring an image in this embodiment highlights the steps of determining the midpoint of the imaging environment under different circumstances. Therefore, the solution described in this embodiment can more flexibly determine the midpoint of the imaging environment, thereby further enriching the image acquisition method, and improving the ability to present the turning information and topology of the intersection through the intersection image under different circumstances. flexibility.

Further referring to FIG. 6 , as an implementation of the methods shown in the above figures, the present application provides an embodiment of an apparatus for acquiring an image. The apparatus embodiment corresponds to the method embodiment shown in FIG. 2 , except In addition to the features described below, the apparatus embodiment may also include the same or corresponding features as the method embodiment shown in FIG. 2 . Specifically, the device can be applied to various electronic devices.

As shown in FIG. 6 , the apparatus 600 for acquiring an image in this embodiment includes: a first acquiring unit 601 , a first determining unit 602 , a second determining unit 603 and a second acquiring unit 604 . Wherein, the first obtaining unit 601 is configured to obtain the intersection information of the target intersection, wherein the intersection information is used to represent the topology structure of the road segment passing through the target intersection at the target intersection; the first determining unit 602 is configured to be based on the target user at the target intersection The travel direction and intersection information of the target user are determined to determine the entry point and exit point of the target user at the target intersection; the second determination unit 603 is configured to respond to determining that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine the target The user determines the entry point, the exit point and the center point of the points on the passing road segment at the target intersection as the imaging environment midpoint of the image to be acquired; the second acquisition unit 604 is configured to acquire the image center with the imaging environment midpoint as the image center image of the target intersection.

In this embodiment, the first acquiring unit 601 of the apparatus 600 for acquiring an image may acquire the intersection information of the target intersection through a wired connection or a wireless connection. The above-mentioned target intersection may be an intersection that the user is about to enter. For example, when the user travels through the navigation function of the mobile phone or the vehicle, when the user is at a predetermined distance from the intersection (eg, 5 meters, 10 meters, etc.) and goes to the intersection, the intersection can be used as the above-mentioned target intersection. A junction may be a road (or road segment) junction. The above-mentioned intersection information can be used to characterize the topology structure of the road segment passing through the target intersection at the target intersection.

In this embodiment, the first determining unit 602 may determine the entry point and the exit point of the target user at the target intersection according to the traveling direction of the target user at the target intersection and the intersection information obtained by the first obtaining unit 601 . Wherein, when the execution body is a terminal device, the target user may be the user of the execution body; when the execution body is not a terminal device (for example, a server), the target user may be the terminal device used by the target user and the user of the execution body. The user who interacts with the above execution body. The aforementioned entry point may be a point used to characterize the aforementioned target intersection. The above-mentioned departure point may be a point used to characterize a point for leaving the above-mentioned target intersection.

In this embodiment, the above-mentioned second determining unit 603 may determine the road segment passed by the target user at the target intersection, and determine the entry point, the exit point, and the center point of the points on the passing road segment as the imaging environment midpoint of the image to be acquired. The above distance threshold may be various distance values preset by a user or a technician. The above distance threshold may be set by a user or a technician according to actual needs. The above-mentioned passing road segment may be a road segment starting from the entry point or ending at the exit point.

In this embodiment, the above-mentioned second acquiring unit 604 may acquire an image of a target intersection with a point in the imaging environment as the center of the image.

In some optional implementations of this embodiment, the second determining unit 603 includes: a first determining module (not shown in the figure) configured to determine, according to the traveling direction and the intersection information, the segment of the target user's departure at the target intersection ; the second determination module (not shown in the figure) is configured to determine the entry point, the exit point and the passing road segment in response to determining that there is a road segment in the road segment of the target intersection whose angle formed with the exit road segment is smaller than a preset angle value The center point of the point above is taken as the midpoint of the imaging environment of the image to be acquired. Wherein, the above-mentioned departure road segment may be a road segment starting from the departure point, and the length of the departure road segment may be preset.

In some optional implementations of this embodiment, the apparatus 600 further includes: a third determining unit (not shown in the figure) configured to, in response to determining that the distance between the entry point and the exit point is less than the distance threshold, determine The midpoint of the entry point and the exit point is determined as the midpoint of the imaging environment of the image to be acquired.

In some optional implementations of this embodiment, the apparatus 600 further includes: a fourth determining unit (not shown in the figure) configured to determine, according to the traveling direction and the intersection information, the segment of the target user's departure at the target intersection; The fifth determination unit (not shown in the figure) is configured to respond to determining that the distance between the entry point and the exit point is less than the distance threshold, and that there is an included angle formed with the exit road segment in the road segment of the target intersection that is less than a preset angle The midpoint of the entry point and the exit point is determined as the midpoint of the imaging environment of the image to be acquired.

In some optional implementations of this embodiment, the apparatus 600 further includes: a sixth determining unit (not shown in the figure) configured to respond to determining that there is no clip formed with the leaving road segment in the road segment of the target intersection For the road segment whose angle is less than the preset angle value, determine the bifurcation point of the target intersection located on the boundary of the road segment leaving the road segment, and determine the center point of the bifurcation point, the entry point, the departure point and the points on the passing road segment as the image to be acquired the midpoint of the imaging environment. Wherein, the above-mentioned bifurcation point may be the boundary intersection point between the leaving road section and other road sections.

In some optional implementations of this embodiment, the second obtaining unit 604 includes: a third determining module (not shown in the figure) configured to determine a bifurcation point, an entry point, an exit point, and a point on a passing road segment The width and length of the minimum circumscribed rectangle of The width of the entry road section and the width of the minimum circumscribed rectangle determine the width of the display range of the image to be acquired; the sixth determination module (not shown in the figure) is configured to determine the length of the display range of the image to be acquired according to the length of the entry road segment; 7. The determining module (not shown in the figure) is configured to determine the distance from the point in the imaging environment to the road corresponding to the lower edge of the image to be acquired according to the width of the display range, the length of the display range, and the ratio of the width and length of the minimum circumscribed rectangle; The acquisition module (not shown in the figure) is configured to acquire the image of the target intersection with the midpoint of the imaging environment as the image center, and the distance between the route corresponding to the lower edge of the image and the midpoint of the imaging environment is the determined distance. Wherein, the above-mentioned minimum circumscribed rectangle may be a minimum area circumscribed rectangle, or may be a minimum perimeter circumscribed rectangle. The width of the above-mentioned entering road section may be the actual width of the entering road section. The width of the display range may be the width of the actual environment (ie, the above-mentioned target intersection) captured in the image.

In some optional implementations of this embodiment, the second acquisition unit 604 includes: an eighth determination module (not shown in the figure) configured to determine the image acquisition position of the image to be acquired according to the position of the point in the imaging environment ; The control module (not shown in the figure) is configured to control the target image acquisition device to acquire the image of the target intersection with the point in the imaging environment as the image center at the image acquisition position.

In the device provided by the above-mentioned embodiments of the present application, the intersection information of the target intersection is obtained by the first obtaining unit 601, and then the first determining unit 602 determines the target user's junction at the target intersection according to the travel direction and intersection information of the target user at the target intersection. The entry point and the exit point, and then, when it is determined that the distance between the entry point and the exit point is greater than or equal to the preset distance threshold, the second determining unit 603 determines the road segment that the target user passes through at the target intersection, and determines the entry point and the exit point. and the center point of the point on the passing road section is used as the imaging environment midpoint of the image to be acquired, and finally, the second acquisition unit 604 acquires the image of the target intersection with the imaging environment midpoint as the image center, thereby enriching the acquisition method of the image. Helps to improve the richness of the steering information and topology of the presented intersection.

Referring next to FIG. 7 , it shows a schematic structural diagram of a computer system 700 suitable for implementing the electronic device of the embodiment of the present application. The electronic device shown in FIG. 7 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present application.

As shown in FIG. 7, a computer system 700 includes a central processing unit (CPU) 701 which can be loaded into a random access memory (RAM) 703 according to a program stored in a read only memory (ROM) 702 or a program from a storage section 708 Instead, various appropriate actions and processes are performed. In the RAM 703, various programs and data necessary for the operation of the system 700 are also stored. The CPU 701 , the ROM 702 , and the RAM 703 are connected to each other through a bus 704 . An input/output (I/O) interface 705 is also connected to bus 704 .

The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, etc.; an output section 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 708 including a hard disk, etc. ; and a communication section 709 including a network interface card such as a LAN card, a modem, and the like. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 710 as needed so that a computer program read therefrom is installed into the storage section 708 as needed.

In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the method illustrated in the flowchart. In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 709 and/or installed from the removable medium 711 . When the computer program is executed by the central processing unit (CPU) 701, the above-described functions defined in the method of the present application are performed.

It should be noted that the computer-readable medium described in this application 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 can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples of computer readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Programmable read only memory (EPROM or flash memory), fiber optics, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, however, a 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 a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the 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, wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for performing the operations of the present application may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional procedural programming language - such as "C" language or similar programming language. 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 the case of a remote computer, the remote computer may 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 may be connected to an external computer (eg, using an Internet service provider through Internet connection).

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more logical functions for implementing the specified functions executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

The units involved in the embodiments of the present application may be implemented in a software manner, and may also be implemented in a hardware manner. The described unit may also be provided in the processor, for example, it may be described as: a processor includes a first obtaining unit, a first determining unit, a second determining unit and a second obtaining unit. Wherein, the names of these units do not constitute a limitation of the unit itself in some cases, for example, the first acquisition unit may also be described as "a unit for acquiring intersection information of a target intersection".

As another aspect, the present application also provides a computer-readable medium. The computer-readable medium may be included in the electronic device described in the above embodiments; it may also exist alone without being assembled into the electronic device. middle. The above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the electronic device, the electronic device: acquires the intersection information of the target intersection, wherein the intersection information is used to represent the intersection information passing through the target intersection. Topological structure of the road segment at the target intersection; according to the target user's travel direction and intersection information at the target intersection, determine the target user's entry point and exit point at the target intersection; in response to determining that the distance between the entry point and the exit point is greater than or equal to a preset Determine the distance threshold of the target user at the target intersection, determine the entry point, departure point and the center point of the point on the passing road section as the imaging environment midpoint of the image to be acquired; acquire the target with the imaging environment midpoint as the image center Image of intersection.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover the above technical features or Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above-mentioned features with the technical features disclosed in this application (but not limited to) with similar functions.

Claims (16)

1. A method for acquiring an image, comprising: obtaining the intersection information of the target intersection, wherein the intersection information is used to represent the topology structure of the road segment passing through the target intersection at the target intersection; According to the travel direction of the target user at the target intersection and the intersection information, determine the entry point and the exit point of the target user at the target intersection; In response to determining that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine the road segment passed by the target user at the target intersection, determine the entry point, the exit point and the The center point of the points on the passing road section is taken as the imaging environment center point of the image to be acquired; An image of the target intersection with the midpoint of the imaging environment as the image center is acquired. 2. The method according to claim 1, wherein the determining the center point of the entry point, the exit point and the point on the passing road section as the imaging environment midpoint of the image to be acquired comprises: According to the travel direction and the intersection information, determine the departure section of the target user at the target intersection; In response to determining that there is no road segment with an included angle less than a preset angle value with the exit road segment in the road segment of the target intersection, determining the distance between the entry point, the exit point, and the points on the passing road segment. The center point is the midpoint of the imaging environment of the image to be acquired. 3. The method according to claim 1, wherein before the acquiring the image of the target intersection with the image center point as the image center, the method further comprises: In response to determining that the distance between the entry point and the exit point is less than the distance threshold, a midpoint of the entry point and the exit point is determined as the imaging environment midpoint of the image to be acquired. 4. The method according to claim 1, wherein before the acquiring the image of the target intersection with the image center point as the image center, the method further comprises: According to the travel direction and the intersection information, determine the departure section of the target user at the target intersection; In response to determining that the distance between the entry point and the exit point is less than the distance threshold, and there is no road segment in the road segment of the target intersection whose angle formed with the exit road segment is less than a preset angle value , and the midpoint of the entry point and the exit point is determined as the midpoint of the imaging environment of the image to be acquired. 5. The method of one of claims 1-4, wherein the method further comprises: In response to determining that there is a road section in the road section of the target intersection with the departure road section forming an angle smaller than a preset angle value, determining a bifurcation point of the target intersection located on the boundary of the road section of the departure road section , and determine the center point of the bifurcation point, the entry point, the exit point, and the points on the passing road section as the midpoint of the imaging environment of the image to be acquired. 6. The method according to claim 5, wherein the acquiring an image of the target intersection with a point in the imaging environment as an image center comprises: determining the width and length of the smallest circumscribed rectangle of the bifurcation point, the entry point, the exit point and the point on the passing road segment; determining the width of the entry section of the target user at the target intersection; determining the width of the display range of the image to be acquired according to the width of the entering road section and the width of the minimum circumscribed rectangle; determining the length of the display range of the to-be-obtained image according to the length of the entering road section; determining the distance from the midpoint of the imaging environment to the road corresponding to the lower edge of the image to be acquired according to the width of the display range, the length of the display range, and the ratio of the width to the length of the minimum circumscribed rectangle; An image of the target intersection is acquired with the midpoint of the imaging environment as the image center, and the distance between the route corresponding to the lower edge of the image and the midpoint of the imaging environment is the determined distance. 7. The method according to claim 5, wherein the acquiring an image of the target intersection with a point in the imaging environment as an image center comprises: Determine the image acquisition position of the to-be-acquired image according to the position of the point in the imaging environment; The target image acquisition device is controlled to acquire the image of the target intersection with the image center point as the image center at the image acquisition position. 8. An apparatus for acquiring an image, comprising: a first obtaining unit, configured to obtain intersection information of a target intersection, wherein the intersection information is used to represent a topology structure of a road segment passing through the target intersection at the target intersection; a first determining unit, configured to determine the entry point and the exit point of the target user at the target intersection according to the travel direction of the target user at the target intersection and the intersection information; The second determination unit is configured to, in response to determining that the distance between the entry point and the exit point is greater than or equal to a preset distance threshold, determine the road segment passed by the target user at the target intersection, and determine the entry point. The center point of the point, the departure point and the point on the passing road section is taken as the imaging environment midpoint of the image to be acquired; The second acquisition unit is configured to acquire an image of the target intersection with a point in the imaging environment as the center of the image. 9. The apparatus of claim 8, wherein the second determining unit comprises: a first determination module, configured to determine, according to the travel direction and the intersection information, the departure section of the target user at the target intersection; The second determination module is configured to determine the entry point, the departure point and The center point of the points on the passing road section is used as the imaging environment center point of the image to be acquired. 10. The apparatus of claim 8, wherein the apparatus further comprises: A third determination unit configured to, in response to determining that the distance between the entry point and the exit point is less than the distance threshold, determine the midpoint of the entry point and the exit point as the imaging of the image to be acquired midpoint of the environment. 11. The apparatus of claim 8, wherein the apparatus further comprises: a fourth determining unit, configured to determine, according to the traveling direction and the intersection information, the departure section of the target user at the target intersection; a fifth determination unit, configured in response to determining that the distance between the entry point and the exit point is less than the distance threshold, and there is no included angle formed with the exit segment in the segment of the target intersection For a road segment smaller than a preset angle value, the midpoint of the entry point and the exit point is determined as the midpoint of the imaging environment of the image to be acquired. 12. The apparatus of one of claims 8-11, wherein the apparatus further comprises: A sixth determining unit is configured to, in response to determining that there is a road segment with an included angle formed with the departure road segment smaller than a preset angle value in the road segment of the target intersection, determine, in response to determining that a road segment located on the boundary of the road segment of the departure road segment exists, For the bifurcation point of the target intersection, the center point of the bifurcation point, the entry point, the departure point and the points on the passing road section is determined as the imaging environment midpoint of the image to be acquired. 13. The apparatus according to claim 12, the second obtaining unit comprising: a third determining module configured to determine the width and length of the smallest circumscribed rectangle of the bifurcation point, the entry point, the exit point and the point on the passing road segment; a fourth determining module, configured to determine the width of the entry section of the target user at the target intersection; a fifth determining module, configured to determine the width of the display range of the image to be acquired according to the width of the entering road section and the width of the minimum circumscribed rectangle; a sixth determining module, configured to determine the length of the display range of the to-be-obtained image according to the length of the entering road section; A seventh determining module, configured to determine the correspondence between a point in the imaging environment and the lower edge of the to-be-acquired image according to the width of the display range, the length of the display range, and the ratio of the width to the length of the minimum circumscribed rectangle the distance of the road; The acquisition module is configured to acquire the image of the target intersection with the midpoint of the imaging environment as the center of the image, and the distance between the route corresponding to the lower edge of the image and the midpoint of the imaging environment is the determined distance. 14. The apparatus according to claim 12, the second obtaining unit comprising: an eighth determination module, configured to determine the image acquisition position of the to-be-acquired image according to the position of the point in the imaging environment; The control module is configured to control the target image acquisition device to acquire the image of the target intersection with the midpoint of the imaging environment as the image center at the image acquisition position. 15. An electronic device comprising: one or more processors; a storage device on which one or more programs are stored, The one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-7. 16. A computer-readable medium having stored thereon a computer program, wherein the program, when executed by a processor, implements the method of any one of claims 1-7.

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