Patent ID: 11877716
Assignee: HANGZHOU EZVIZ SOFTWARE CO., LTD.
Field: Furniture, games (Other fields)
Classification: CPC A  G | IPC A  G

Claim 10:
11. The computer-implemented method according to claim 9, wherein the multiple obstacle boundary processing comprises:
determining an outer contour coordinate set of each of the at least two obstacles in the target map;
determining a vertex coordinate set VB of an entire region at which the at least two obstacles are located from all outer contour coordinate sets determined;
sequentially taking each x value in a range [xamin, xamax] as a first-type target object, the sequentially taking of each x value comprising:
traversing a set of the outer contour coordinate sets {S1, S2, . . . Si . . . SN} of the at least two obstacles, to find coordinates with x values as the current first-type target object;
obtaining coordinates with the minimum y value and the maximum y value from all found coordinates corresponding to the current first-type target object; and
recording the obtained coordinates into a set Sx, wherein N is the number of obstacles in the scene region corresponding to the marker line, xamin is the minimum value in an x direction in the vertex coordinate set VB; and xamax is the maximum value in the x direction in the vertex coordinate set VB;

sequentially taking each y value in a range [yamin, yamax] as a second-type target object, the sequentially taking of each y value comprising:
traversing the set of the outer contour coordinate sets {S1, S2, . . . Si . . . SN} of the at least two obstacles, to find coordinates with y value as the current second-type target object;
obtaining coordinates with the minimum x value and the maximum x value from all found coordinates corresponding to the current second-type target object; and
recording the obtained coordinates into a set Sy, wherein yamin is the minimum value in a y direction in the vertex coordinate set VB; and yamax is the maximum value in the y direction in the vertex coordinate set VB;

determining an intersection of the set Sx and the set Sy;
connecting, based on a concave hull algorithm, coordinate points corresponding to the coordinates in the intersection; and
determining a closed curve formed by the connection as a multiple obstacle boundary corresponding to the at least two obstacles.