Method, apparatus, and computer readable storage medium for updating electronic map

1. A method for updating an electronic map, comprising:

acquiring a group of collected images collected by a collection entity and associated with a target map element in the electronic map, the target map element having a target image and a target location of a given target object, wherein the target location and the target image of the given target object are included in the electronic map, wherein the target image comprises the given target object, the target map element represents the given target object, and each of the collected images comprises the given target object and is collected by the collection entity at a different position of a road;

executing inter-group matching between the group of collected images and the target image, the inter-group matching comprising: determining a relative location between the collection entity and the target map element when the collection entity collects the collected image, by matching the collected images with the target image respectively;

executing intra-group matching among the group of collected images, the intra-group matching comprising: determining a location change of the collection entity when the collection entity collects the collected images, by matching the collected images;

updating a location of a to-be-updated map element associated with the target map element based on the inter-group matching, the intra-group matching and the target location, wherein the updating a location of a to-be-updated map element comprise: determining a reference absolute location of the collection entity when collecting the collected image based on the location of the target map element, and the relative location between the collection entity and the target map element; determining a reference relative location between the to-be-updated map element and the collection entity; and updating the location of the to-be-update map element based on the reference absolute location, the reference relative location, and the location change of the collection entity; and

controlling a vehicle using the electronic map with the updated location.

2. The method according to claim 1 , wherein the acquiring the group of collected images comprises:

acquiring a group of candidate images collected by the collection entity, a distance between locations corresponding to the group of candidate images and the target location being less than a preset threshold distance; and

selecting the group of collected images from the group of candidate images.

3. The method according to claim 2 , wherein the acquiring the group of candidate images comprises:

acquiring a group of original images collected by the collection entity and locations corresponding to the original images;

selecting an original image from the group of original images;

determining whether a distance between a location corresponding to the selected original image and the target location is less than the preset threshold distance; and

determining the selected original image is included in the group of candidate images, in response to determining the distance is less than the preset threshold distance.

4. The method according to claim 2 , wherein the acquiring the group of candidate images comprises:

indicating the target location to the collection entity, to enable the collection entity to collect images at candidate locations where a distance between the collection entity and the target location is less than the preset threshold distance; and

acquiring a group of images collected by the collection entity at the candidate locations as the group of candidate images.

5. The method according to claim 2 , wherein the selecting the group of collected images comprises:

selecting a candidate image from the group of candidate images;

determining whether a relevance between the selected candidate image and the target image is higher than a preset threshold relevance; and

determining the selected candidate image is included in the group of collected images, in response to determining the relevance is higher than the preset threshold relevance.

6. The method according to claim 1 , wherein time of the acquiring the group of collected images by the collection entity is continuous, and the executing the intra-group matching comprises:

matching two adjacent collected images in the group of collected images, to determine location change of the collection entity during collecting the two adjacent collected images.

7. The method according to claim 1 , further comprising:

determining the target map element is the to-be-updated map element, in response to each collected image in the group of collected images including the target map element.

8. The method according to claim 1 , further comprising:

determining a map element associated with the target map element and excluded in the electronic map in the group of collected images as the to-be-updated map element.

9. The method according to claim 1 , further comprising:

acquiring another group of collected images collected by another collection entity and associated with the target map element;

executing additional inter-group matching between the another group of collected images and the target image, and additional intra-group matching between the another group of collected images; and

further updating the location of the to-be-updated map element based on the additional inter-group matching, the additional intra-group matching, and the target location.

10. The method according to claim 1 , further comprising:

acquiring a reference updated location of the to-be-updated map element determined by the another collection entity; and

further updating the location of the to-be-updated map element based on the reference updated location.

11. An apparatus for updating an electronic map, comprising:

at least one processor; and

a memory storing instructions, the instructions when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising

acquiring a group of collected images collected by a collection entity and associated with a target map element in the electronic map, the target map element having a target image and a target location of a given target object, wherein the target location and the target image of the given target object are included in the electronic map, wherein the target image comprises the given target object, the target map element represents the given target object, and each of the collected images comprises the given target object and is collected by the collection entity at a different position of a road;

executing inter-group matching between the group of collected images and the target image, the inter-group matching comprising: determining a relative location between the collection entity and the target map element when the collection entity collects the collected image, by matching the collected images with the target image respectively;

executing intra-group matching among the group of collected images, the intra-group matching comprising: determining a location change of the collection entity when the collection entity collects the collected images, by matching the collected images;

updating a location of a to-be-updated map element associated with the target map element based on the inter-group matching, the intra-group matching and the target location, wherein the updating a location of a to-be-updated map element comprise: determining a reference absolute location of the collection entity positioning a device using the electronic map with the updated location when collecting the collected image based on the location of the target map element, and the relative location between the collection entity and the target map element;

determining a reference relative location between the to-be-updated map element and the collection entity; and updating the location of the to-be-update map element based on the reference absolute location, the reference relative location, and the location change of the collection entity; and

controlling a vehicle using the electronic map with the updated location.

12. The apparatus according to claim 11 , wherein the acquiring the group of collected images comprises:

acquiring a group of candidate images collected by the collection entity, a distance between locations corresponding to the group of candidate images and the target location being less than a preset threshold distance; and

selecting the group of collected images from the group of candidate images.

13. The apparatus according to claim 12 , wherein the acquiring the group of candidate images comprises:

acquiring a group of original images collected by the collection entity and locations corresponding to the original images;

selecting an original image from the group of original images;

determining whether a distance between a location corresponding to the selected original image and the target location is less than the preset threshold distance; and

determining the selected original image is included in the group of candidate images, in response to determining the distance is less than the preset threshold distance.

14. The apparatus according to claim 12 , wherein the acquiring the group of candidate images comprises:

indicating the target location to the collection entity, to enable the collection entity to collect images at candidate locations where a distance between the collection entity and the target location is less than the preset threshold distance; and

acquiring a group of images collected by the collection entity at the candidate locations as the group of candidate images.

15. The apparatus according to claim 12 , wherein the selecting the group of collected images comprises:

selecting a candidate image from the group of candidate images;

determining whether a relevance between the selected candidate image and the target image is higher than a preset threshold relevance; and

determining the selected candidate image is included in the group of collected images, in response to determining the relevance is higher than the preset threshold relevance.

16. The apparatus according to claim 11 , wherein time of the acquiring the group of collected images by the collection entity is continuous, and the executing the intra-group matching comprises:

matching two adjacent collected images in the group of collected images, to determine location change of the collection entity during collecting the two adjacent collected images.

17. The apparatus according to claim 11 , wherein the operations further comprise:

determining the target map element is the to-be-updated map element, in response to each collected image in the group of collected images including the target map element.

18. The apparatus according to claim 11 , wherein the operations further comprise:

determining a map element associated with the target map element and excluded in the electronic map in the group of collected images as the to-be-updated map element.

19. The apparatus according to claim 11 , wherein the operations further comprise:

acquiring another group of collected images collected by another collection entity and associated with the target map element;

executing additional inter-group matching between the another group of collected images and the target image, and additional intra-group matching between the another group of collected images; and

further updating the location of the to-be-updated map element based on the additional inter-group matching, the additional intra-group matching, and the target location.

20. The apparatus according to claim 11 , wherein the operations further comprise:

acquiring a reference updated location of the to-be-updated map element determined by the another collection entity; and

further updating the location of the to-be-updated map element based on the reference updated location.

21. A non-transitory computer readable storage medium, storing a computer program therein, wherein the program, when executed by a processor, cause the processor to perform operations, the operations comprising:

acquiring a group of collected images collected by a collection entity and associated with a target map element in the electronic map, the target map element having a target image and a target location of a given target object, wherein the target location and the target image of the given target object are included in the electronic map, wherein the target image comprises the given target object, the target map element represents the given target object, and each of the collected images comprises the given target object and is collected by the collection entity at a different position of a road;

executing inter-group matching between the group of collected images and the target image, the inter-group matching comprising: determining a relative location between the collection entity and the target map element when the collection entity collects the collected image, by matching the collected images with the target image respectively;

executing intra-group matching among the group of collected images, the intra-group matching comprising: determining a location change of the collection entity when the collection entity collects the collected images, by matching the collected images; and

updating a location of a to-be-updated map element associated with the target map element based on the inter-group matching, the intra-group matching and the target location, wherein the updating a location of a to-be-updated map element comprise: determining a reference absolute location of the collection entity positioning a device using the electronic map with the updated location when collecting the collected image based on the location of the target map element, and the relative location between the collection entity and the target map element;

determining a reference relative location between the to-be-updated map element and the collection entity; and updating the location of the to-be-update map element based on the reference absolute location, the reference relative location, and the location change of the collection entity; and

controlling a vehicle using the electronic map with the updated location.