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1. WO2019098318 - THREE-DIMENSIONAL POINT GROUP DATA GENERATION METHOD, POSITION ESTIMATION METHOD, THREE-DIMENSIONAL POINT GROUP DATA GENERATION DEVICE, AND POSITION ESTIMATION DEVICE

Publication Number WO/2019/098318
Publication Date 23.05.2019
International Application No. PCT/JP2018/042423
International Filing Date 16.11.2018
IPC
G06T 7/70 2017.1
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
CPC
G01S 17/894
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
8943D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
G06T 2207/10024
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10024Color image
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 2207/30252
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
30Subject of image; Context of image processing
30248Vehicle exterior or interior
30252Vehicle exterior; Vicinity of vehicle
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
G06T 7/73
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
70Determining position or orientation of objects or cameras
73using feature-based methods
Applicants
  • パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ PANASONIC INTELLECTUAL PROPERTY CORPORATION OF AMERICA [US]/[US]
Inventors
  • ラサン ポンサク LASANG, Pongsak
  • ワン チー WANG, Chi
  • ウー チェン WU, Zheng
  • シェン シェン メイ SHEN, Sheng Mei
  • 杉尾 敏康 SUGIO, Toshiyasu
  • 小山 達也 KOYAMA, Tatsuya
Agents
  • 新居 広守 NII, Hiromori
  • 寺谷 英作 TERATANI, Eisaku
  • 道坂 伸一 MICHISAKA, Shinichi
Priority Data
62/588,59620.11.2017US
Publication Language Japanese (ja)
Filing Language Japanese (JA)
Designated States
Title
(EN) THREE-DIMENSIONAL POINT GROUP DATA GENERATION METHOD, POSITION ESTIMATION METHOD, THREE-DIMENSIONAL POINT GROUP DATA GENERATION DEVICE, AND POSITION ESTIMATION DEVICE
(FR) PROCÉDÉ DE GÉNÉRATION DE DONNÉES DE GROUPE DE POINTS TRIDIMENSIONNELS, PROCÉDÉ D'ESTIMATION DE POSITION, DISPOSITIF DE GÉNÉRATION DE DONNÉES DE GROUPE DE POINTS TRIDIMENSIONNELS ET DISPOSITIF D'ESTIMATION DE POSITION
(JA) 三次元点群データ生成方法、位置推定方法、三次元点群データ生成装置、および、位置推定装置
Abstract
(EN) A three-dimensional point group data generation method for generating a three-dimensional point group provided with one or more three-dimensional points by using a processor, the method involving: acquisition of a first three-dimensional point group acquired by sensing a three-dimensional object by using a distance sensor, and a two-dimensional image acquired by imaging the three-dimensional object by using a camera (S11, S12); detection of one or more attribute values in the two-dimensional image which correspond to a position on the two-dimensional image from the acquired two-dimensional image; (i) identification, for each of the one or more detected attribute values, of one or more first three-dimensional points which correspond to the position of the attribute values on the two-dimensional image from among the plurality of three-dimensional points which constitute the first three-dimensional point group (S16); and (ii) generation of a second three-dimensional point group which contains one or more second three-dimensional points which have the attribute values, by assigning the attribute values to the identified one or more first three-dimensional points.
(FR) L'invention concerne un procédé de génération de données de groupe de points tridimensionnels destiné à générer un groupe de points tridimensionnels, qui comprend un ou plusieurs points tridimensionnels à l'aide d'un processeur, le procédé comprenant : l'acquisition d'un premier groupe de points tridimensionnels acquis par détection d'un objet tridimensionnel à l'aide d'un capteur de distance, et une image bidimensionnelle acquise par imagerie de l'objet tridimensionnel à l'aide d'une caméra (S11, S12); la détection d'une ou de plusieurs valeurs d'attribut dans l'image bidimensionnelle qui correspondent à une position sur l'image bidimensionnelle à partir de l'image bidimensionnelle acquise; (i) l'identification, pour chacune de la ou des valeurs d'attribut détectées, d'un ou de plusieurs premiers points tridimensionnels qui correspondent à la position des valeurs d'attribut sur l'image bidimensionnelle parmi la pluralité de points tridimensionnels qui constituent le premier groupe de points tridimensionnels (S16); et (ii) la génération d'un second groupe de points tridimensionnels qui contient un ou plusieurs seconds points tridimensionnels ayant les valeurs d'attribut, par attribution des valeurs d'attribut au ou aux premiers points tridimensionnels identifiés.
(JA) 三次元点群データ生成方法は、プロセッサを用いて1以上の三次元点を備える三次元点群を生成する三次元点群データ生成方法であって、距離センサを用いて三次元オブジェクトをセンシングすることにより得られた第1三次元点群と、カメラを用いて三次元オブジェクトを撮像することにより得られた二次元画像とを取得し(S11、S12)、取得された二次元画像から、二次元画像上の位置に対応する二次元画像の属性値を1以上検出し、検出された1以上の属性値のそれぞれについて、(i)第1三次元点群を構成する複数の三次元点のうちで当該属性値の二次元画像上の位置が対応する1以上の第1三次元点を特定し(S16)、(ii)特定された1以上の第1三次元点に当該属性値を付加することで、それぞれが属性値を有する1以上の第2三次元点を含む第2三次元点群を生成する(S17)。
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