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1. WO2018185807 - DISTANCE INFORMATION PROCESSING DEVICE, DISTANCE INFORMATION PROCESSING METHOD, AND DISTANCE INFORMATION PROCESSING PROGRAM

Publication Number WO/2018/185807
Publication Date 11.10.2018
International Application No. PCT/JP2017/013920
International Filing Date 03.04.2017
IPC
G01B 21/00 2006.1
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
21Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the other groups of this subclass
G01B 11/00 2006.1
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
CPC
G01B 11/00
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11Measuring arrangements characterised by the use of optical means
G01B 21/00
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
21Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
G06T 5/002
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
5Image enhancement or restoration
001Image restoration
002Denoising; Smoothing
G06T 7/13
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
13Edge detection
G06T 7/521
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
521from laser ranging, e.g. using interferometry; from the projection of structured light
Applicants
  • 富士通株式会社 FUJITSU LIMITED [JP]/[JP]
Inventors
  • 吉村 和浩 YOSHIMURA, Kazuhiro
Agents
  • 特許業務法人酒井国際特許事務所 SAKAI INTERNATIONAL PATENT OFFICE
Priority Data
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) DISTANCE INFORMATION PROCESSING DEVICE, DISTANCE INFORMATION PROCESSING METHOD, AND DISTANCE INFORMATION PROCESSING PROGRAM
(FR) DISPOSITIF DE TRAITEMENT D'INFORMATIONS DE DISTANCE, PROCÉDÉ DE TRAITEMENT D'INFORMATIONS DE DISTANCE ET PROGRAMME DE TRAITEMENT D'INFORMATIONS DE DISTANCE
(JA) 距離情報処理装置、距離情報処理方法および距離情報処理プログラム
Abstract
(EN)
This distance information processing device (100) generates, on the basis of three-dimensional point cloud data indicating the three dimensional coordinates of each point on a three-dimensional object, image data associating the two-dimensional coordinates of each point with the depth of each point. The distance information processing device (100) specifies, as points of interest, points in the three-dimensional point cloud data corresponding to contour pixels included in a contour part of the image data and specifies, as surrounding points, points in the three-dimensional point cloud data corresponding to pixels surrounding the contour pixels. The distance information processing device (100) deletes a point of interest on the basis of the number of surrounding points that are less than a prescribed distance from the point of interest.
(FR)
La présente invention concerne un dispositif de traitement d'informations de distance (100) qui génère, sur la base de données en nuage de points tridimensionnels indiquant les coordonnées tridimensionnelles de chaque point sur un objet tridimensionnel, des données d'image associant les coordonnées bidimensionnelles de chaque point à la profondeur de chaque point. Le dispositif de traitement d'informations de distance (100) spécifie, en tant que points d'intérêt, des points dans les données en nuage de points tridimensionnels correspondant à des pixels de contour inclus dans une partie de contour des données d'image et spécifie, en tant que points environnants, des points dans les données en nuage de points tridimensionnels correspondant à des pixels entourant les pixels de contour. Le dispositif de traitement d'informations de distance (100) supprime un point d'intérêt sur la base du nombre de points environnants qui se trouvent à une distance inférieure à une distance prédéfinie du point d'intérêt.
(JA)
距離情報処理装置(100)は、立体物上の各点の3次元座標を示す3次元点群データを基にして、各点の2次元座標と各点の奥行きとを対応づけた画像データを生成する。距離情報処理装置(100)は、画像データの輪郭部分に含まれる輪郭画素に対応する3次元点群データの点を注目点として特定し、輪郭画素の周辺の画素に対応する3次元点群データの点を周辺点として特定する。距離情報処理装置(100)は、注目点との距離が所定距離未満となる周辺点の数に基づいて、注目点を削除する。
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