JP6320638B2 - 3D point group selection device and 3D point group selection method - Google Patents

Description

  The technology disclosed in this specification relates to a three-dimensional point group selection device and a three-dimensional point group selection method.

  When a user performs any operation on an arbitrary shape indicated by 3D point cloud data measured by a laser scanner or the like, it is necessary to select a target shape from the screen on which the 3D point cloud is displayed. is there. Here, the three-dimensional point group data is data of a point group in which each point has three-dimensional position information.

  In the above case, conventionally, data of a shape indicated by a three-dimensional point group is first stored in advance. Then, the user designates a range for a part of the three-dimensional point group displayed on the screen, and data having a shape that matches the shape indicated by the three-dimensional point group in the designated range is retrieved (for example, patents). Reference 1).

JP 2003-323461 A

  In the conventional method, the user selects a part of the three-dimensional point group displayed on the screen by selecting with a pointing device or directly inputting coordinate values on the screen on which the three-dimensional point group is displayed. The data of the shape that matches the shape indicated by the three-dimensional point group in the specified range is searched.

  However, when a plurality of target shapes are indicated by a three-dimensional point group in a specified range, the shape indicated by the three-dimensional point group in the specified range may not be properly grasped. . In that case, the matching shape data cannot be properly searched. In particular, when three-dimensional point groups that show different shapes are displayed on the screen, it becomes difficult to distinguish between the three-dimensional point groups, so that the shape indicated by the three-dimensional point group can be properly grasped. It becomes more difficult to do. In order to prevent this, for example, a complicated operation of removing a three-dimensional point group unnecessary for the user in advance is required.

  The technology disclosed in the present specification has been made to solve the problems described above. When a plurality of target shapes are indicated by a three-dimensional point group, the target target shape is used. The present invention relates to a three-dimensional point group selection device and a three-dimensional point group selection method that can easily select a three-dimensional point group indicating.

A three-dimensional point cloud selection device according to an aspect of the technology disclosed in the present specification includes a display unit that is a display surface on which a first point cloud that is a three-dimensional point cloud indicating a plurality of target shapes is displayed; Based on the selection condition, a condition setting unit that sets a selection condition that is a condition for selecting a second point group that is a three-dimensional point group indicating the shape of one of the objects from the first point group, A selection unit that selects the second point group from the first point group, and the selection condition is that the two points are the same when the distance between the two points is equal to or less than a threshold value. as a point showing the shape of the target, the condition der the second point group selecting from the first point group is, further range designation unit for designating a specified range which is at least a part of the range in the display unit And the selection unit is displayed within the specified range based on the selection condition. The second point group is selected from the first point group, and the selection unit selects coordinates in the depth direction perpendicular to the display surface from the first point group displayed within the specified range. you select the second point group including points value is the smallest.

A three-dimensional point cloud selection method according to an aspect of the technology disclosed in the present specification displays a first point group which is a three-dimensional point group indicating a plurality of target shapes on a display surface, and the first point group A selection condition that is a condition for selecting a second point group that is a three-dimensional point group indicating the shape of one of the objects is selected from among the first point groups based on the selection condition The second point group is selected, and when the distance between the two points is equal to or less than a threshold value, the second point group is a point indicating the same shape of the object. Ri conditions der to select a point cloud from the first point group, specifying the specified range is at least part of the range in the display surface, based on the selection condition, the second is displayed in the specified range Before selecting the second point group from one point group and displaying it within the specified range From among the first point group, the coordinate value of the depth direction perpendicular to the display surface you select the second point group including points smallest.

  According to such a configuration, in order to determine whether or not the three-dimensional point group is a point indicating the same target shape based on the distance between two points, the plurality of target shapes are three-dimensional. When indicated by a point group, a three-dimensional point group indicating the shape of the target object, that is, a second point group that is a three-dimensional point group indicating the shape of one object can be easily selected.

  The objectives, features, aspects, and advantages of the technology disclosed in this specification will become more apparent from the detailed description and the accompanying drawings provided below.

It is a figure which illustrates notionally the structure for implement | achieving the three-dimensional point group selection apparatus regarding embodiment. It is a figure which illustrates roughly the hardware constitutions in the case of actually operating the three-dimensional point group selection apparatus regarding an embodiment. It is a figure which illustrates roughly the hardware constitutions in the case of actually operating the three-dimensional point group selection apparatus regarding an embodiment. It is a figure which illustrates the storage format of the three-dimensional point cloud data regarding the embodiment. It is a figure which illustrates the shape of the object which the three-dimensional point cloud concerning an embodiment shows. It is a figure which illustrates the three-dimensional point group displayed on the screen regarding embodiment. It is a figure which illustrates a three-dimensional point group at the time of seeing from the direction parallel to the paper surface of FIG. It is a figure which illustrates individually the three-dimensional point group which shows the shape of the clustered mutually different object regarding embodiment. It is a figure which illustrates each three-dimensional point group at the time of seeing from the direction parallel to the paper of Drawing 8, respectively. It is a flowchart which illustrates the flow of operation | movement of the three-dimensional point group selection apparatus regarding embodiment. It is a flowchart which illustrates in detail the flow of operation | movement of the three-dimensional point group selection apparatus regarding embodiment. It is a figure which illustrates the state in which the selection state by the selection state determination part regarding the embodiment was reflected. It is a figure which illustrates the state in which the selection state was reflected when it sees from the direction parallel to the paper surface of FIG. It is a figure which illustrates the state in which the selection state by the selection state determination part regarding the embodiment was reflected. It is a figure which illustrates the state in which the selection state was reflected when it sees from the direction parallel to the paper surface of FIG. It is a figure which illustrates a mode that a plane is extracted as a shape which a three-dimensional point group concerning an embodiment shows. It is a flowchart which illustrates in detail the flow of operation | movement of the three-dimensional point group selection apparatus regarding embodiment. It is a figure which illustrates notionally the structure for implement | achieving the three-dimensional point group selection apparatus regarding embodiment. It is a figure which illustrates roughly the hardware constitutions in the case of actually operating the three-dimensional point group selection apparatus regarding an embodiment. It is a figure which illustrates the state in which the change of the selection state by the three-dimensional point group selection part regarding embodiment was reflected. It is a figure which illustrates the state where the change of the selection state by the three-dimensional point group selection part was reflected when it sees from the direction parallel to the paper surface of FIG. It is a flowchart which illustrates the flow of operation | movement of the three-dimensional point group selection apparatus regarding embodiment. It is a figure which illustrates notionally the structure for implement | achieving the three-dimensional point group selection apparatus regarding embodiment. It is a flowchart which illustrates the flow of operation | movement of the three-dimensional point group selection apparatus regarding embodiment. It is a figure which illustrates the state in which the change of the value of the distance condition by the distance condition change part regarding the embodiment was reflected. It is a figure which illustrates the state in which the change of the value of the distance condition by the distance condition change part was reflected when it sees from the direction parallel to the paper surface of FIG.

  Embodiments will be described below with reference to the accompanying drawings. Note that the drawings are schematically shown, and the mutual relationship between the size and position of images shown in different drawings is not necessarily described accurately, and can be changed as appropriate. Moreover, in the description shown below, the same code | symbol is attached | subjected and shown in the same component, and it is the same also about those names and functions. Therefore, the detailed description about them may be omitted.

<First Embodiment>
Hereinafter, the three-dimensional point group selection apparatus according to the present embodiment will be described.

<Configuration>
FIG. 1 is a diagram conceptually illustrating a configuration for realizing a three-dimensional point group selection apparatus according to the present embodiment.

  As illustrated in FIG. 1, the three-dimensional point cloud selection device according to the present embodiment includes a three-dimensional point cloud data input unit 1, a condition setting unit 2, a range designation unit 3, a selection state determination unit 4, A three-dimensional point cloud display unit 5 and a storage unit 6 are provided.

  The three-dimensional point group data input unit 1 inputs the three-dimensional point group data to the storage unit 6. The condition setting unit 2 inputs a condition for selecting a three-dimensional point group to the selection state determination unit 4.

  The range specifying unit 3 specifies a specified range that is at least a part of the displayed three-dimensional point group. Then, the range specifying unit 3 inputs the result to the selection state determining unit 4. The storage unit 6 stores the input from the three-dimensional point cloud data input unit 1 and outputs the stored information to at least one of the selection state determination unit 4 and the three-dimensional point group display unit 5.

  The selection state determination unit 4 determines the selection state based on the input from the condition setting unit 2 and the input from the range specification unit 3. The three-dimensional point group display unit 5 displays a three-dimensional point group based on an input from at least one of the output from the selection state determination unit 4 and the output from the storage unit 6.

  2 and 3 are diagrams schematically illustrating a hardware configuration when the three-dimensional point group selection apparatus illustrated in FIG. 1 is actually operated. In addition, as a three-dimensional point group selection apparatus regarding this embodiment, a personal computer, a smart phone, or a tablet terminal is assumed, for example, However, It is not limited to these.

  In FIG. 2, as a hardware configuration for realizing the three-dimensional point group selection device in FIG. 1, a processing circuit 102 a that performs calculation, a storage device 103 that can store information, a mouse or a keyboard, An input device 104 capable of inputting information and an output device 105 capable of outputting information such as a display are shown. These configurations are the same in other embodiments described later.

  In FIG. 3, as a hardware configuration for realizing the three-dimensional point group selection device in FIG. 1, a processing circuit 102 b that performs calculation, an input device 104 that can input information, such as a mouse or a keyboard, An output device 105 that can output a signal, such as a display, is shown. These configurations are the same in other embodiments described later.

  The storage unit 6 is realized by the storage device 103 or another storage device (not shown here). The storage device 103 includes, for example, a hard disk (Hard disk drive, or HDD), a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable read only memory (ROM). EPROM) and electrically erasable programmable read-only memory (EEPROM), etc., by volatile or non-volatile semiconductor memory, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or other memory (storage media) Configured etc. It is comprised by the memory (storage medium) etc. which are included.

  The processing circuit 102 a may execute a program stored in the storage device 103. That is, for example, it may be a central processing unit (CPU), a microprocessor, a microcomputer, or a digital signal processor (DSP).

  When the processing circuit 102a executes a program stored in the storage device 103, the condition setting unit 2, the range specifying unit 3, and the selection state determining unit 4 are software, firmware, or a combination of software and firmware. It is realized by. The functions of the condition setting unit 2, the range specifying unit 3, and the selection state determining unit 4 may be realized by, for example, cooperation of a plurality of processing circuits.

  Software and firmware are described as programs and stored in the storage device 103. The processing circuit 102a implements the above functions by reading and executing a program stored in the storage device 103. In other words, the storage device 103 stores a program that results in the above functions being executed by the processing circuit 102a.

  The processing circuit 102b may be dedicated hardware. That is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an integrated circuit (ASIC), a field-programmable gate array (FPGA), or a combination thereof It may be.

  When the processing circuit 102b is dedicated hardware, the condition setting unit 2, the range specifying unit 3, and the selection state determining unit 4 are realized by the processing circuit 102b operating. The functions of the condition setting unit 2, the range specifying unit 3, and the selection state determining unit 4 may be realized by separate circuits or may be realized by a single circuit.

  Note that the functions of the condition setting unit 2, the range specifying unit 3, and the selection state determining unit 4 are realized in the processing circuit 102 a that partially executes a program stored in the storage device 103, and a part thereof It may be realized in the processing circuit 102b which is dedicated hardware.

  The three-dimensional point cloud data input unit 1 is realized by the input device 104.

  The three-dimensional point cloud display unit 5 is realized by the output device 105.

  Three-dimensional point cloud data is measured by measuring the shape of an object such as a natural object such as a structure or a tree animal, topography, equipment, or parts using, for example, a laser scanner or stereophotogrammetry. This is data shown as a set of points having values.

  The three-dimensional point cloud data may be data created by, for example, measuring surrounding features while moving the vehicle using a laser scanner mounted on the vehicle.

と示す。３次元点群データは、たとえば図４に例示されるような形式で、記憶部６に記憶される。すなわち、たとえば各点のＸ座標値、Ｙ座標値およびＺ座標値がそれぞれ記憶される。なお、図４は、３次元点群データの記憶形式を例示する図である。The three-dimensional coordinate value is a value of an orthogonal coordinate system in the present embodiment. However, it may be a value in a plane rectangular coordinate system. The unit is, for example, [m] in the present embodiment. However, it may be the latitude and longitude height. Hereinafter, a set of a plurality of points is referred to as a three-dimensional point group. At this time, N points forming the three-dimensional point group are

It shows. The three-dimensional point cloud data is stored in the storage unit 6 in the format illustrated in FIG. That is, for example, the X coordinate value, Y coordinate value, and Z coordinate value of each point are stored. FIG. 4 is a diagram illustrating a storage format of 3D point cloud data.

  In this three-dimensional point group data, as illustrated in FIG. 5, the measured three-dimensional point group data of a plurality of shape surfaces may be mixed in one three-dimensional point group data. FIG. 5 is a diagram illustrating the shape of the object indicated by the three-dimensional point group.

  For example, from a 3D point cloud data obtained by measuring the surrounding landscape using a laser scanner mounted on a vehicle, the target object, for example, a signal or a power pole is extracted and its size is extracted. When it is desired to grasp the height or inclination, it is necessary to display the 3D point cloud once on the screen and extract only the 3D point cloud indicating the shape of the target object from the 3D point cloud on the screen. .

  FIG. 6 is a diagram illustrating a three-dimensional point group displayed on the screen. In FIG. 6, a three-dimensional point group 1000 indicated by a circle mark, a three-dimensional point group 1001 indicated by a triangle mark, a three-dimensional point group 1002 indicated by a square mark, and a five-point mark are shown. A three-dimensional point group 1003 is shown. Here, it is assumed that the three-dimensional point group indicated by the same mark is a three-dimensional point group indicating the same target shape.

  In FIG. 6, a designated range D101, which is a part of the display range D100, is shown with respect to the display range D100 corresponding to the entire screen. The designated range D101 is a range designated on the screen by the range designation unit 3. Furthermore, the three-dimensional point group located within the designated range D101 is shown in black. In FIG. 6, the three-dimensional point group 1000, the three-dimensional point group 1001, and the three-dimensional point group 1002 are shown in black, and the three-dimensional point group 1003 is shown in white without being painted.

  As illustrated in FIG. 6, a three-dimensional point group that is a set of points each having a three-dimensional coordinate value is projected and displayed in a certain direction when displayed on a two-dimensional screen. .

  Therefore, the position information in the projected direction is not shown on the screen. For example, if the points have the same position information in the direction parallel to the paper surface of FIG. 6, different positions in the direction perpendicular to the paper surface of FIG. Even points having information (see FIG. 7) cannot be distinguished on the screen.

  FIG. 7 is a diagram illustrating a three-dimensional point group when viewed from a direction parallel to the paper surface of FIG. Note that FIG. 7 corresponds to a view when FIG. 6 is displayed on the screen when viewed from a direction orthogonal to the line-of-sight direction, and is not actually displayed on the screen. However, it may be displayed on other devices.

  A case is assumed where the designated range D101 is designated by the range designating unit 3 and the three-dimensional point group 1000 is selected within the designated range D101.

  In that case, if the three-dimensional point group 1000, the three-dimensional point group 1001, and the three-dimensional point group 1002 that are located in the designated range D101 cannot be distinguished, the three-dimensional point groups 1000 and 3 that are located in the designated range D101 For all of the three-dimensional point group 1001 and the three-dimensional point group 1002, the shape of the target indicated by the three-dimensional point group is grasped. Then, since the 3D point group 1001 and the 3D point group 1002 are mixed in addition to the 3D point group 1000 corresponding to the target object, the numerical measurement as a 3D point group indicating the shape of the target object is performed. Even if it is done, correct results cannot be obtained.

  Therefore, in the present embodiment, clustering based on the distance between points (mutual distance) is performed on the three-dimensional point group 1000, the three-dimensional point group 1001, and the three-dimensional point group 1002 that are located within the specified range D101. Only the three-dimensional point group 1000 indicating the shape of the target object is extracted.

  Specifically, first, the distance in the three-dimensional space is measured as the mutual distance between the points of the three-dimensional point group that falls within the designated range D101. For this measurement, for example, the X coordinate value, Y coordinate value, and Z coordinate value of each point as illustrated in FIG. 4 may be used to measure the distance in the three-dimensional space from the difference between the coordinate values. Then, the points that are close to each other are classified (clustered) as a three-dimensional point group indicating the same target shape.

  Here, “close to each other” means that the distance between the points in the three-dimensional space is a predetermined threshold (a value of the distance condition), for example, about 10 cm or less.

  As a calculation method, first, another point Pj (i ≠ j) closest to a certain point Pi is obtained, and its mutual distance PiPj is calculated. When the mutual distance PiPj is smaller than a predetermined threshold value, the point Pi and the point Pj are classified as points indicating the same target shape.

  About said threshold value, when the target object is a utility pole, you may set to the length about the space | interval where a several utility pole is arrange | positioned, for example. Further, the threshold value may be set to a value larger than the point measurement interval.

  In the case illustrated in FIG. 6, it can be determined that the three-dimensional point group 1000 and the three-dimensional point group 1002 are three-dimensional point groups that are relatively far from each other and indicate different target shapes.

  On the other hand, in the case illustrated in FIG. 7, it is possible to determine that the three-dimensional point group 1000 and the three-dimensional point group 1001 are three-dimensional point groups that are relatively far from each other and indicate different target shapes. . Similarly, it can be determined that the three-dimensional point group 1001 and the three-dimensional point group 1002 are three-dimensional point groups that are relatively far from each other and indicate different shapes of objects.

  In this way, the mutual distance that can be determined on the screen illustrated in FIG. 6 and the mutual distance that can be determined when viewed from a direction orthogonal to the line-of-sight direction illustrated in FIG. Also by combining the distances, it is possible to distinguish three-dimensional point groups that indicate different target shapes.

  FIG. 8 is a diagram exemplarily illustrating three-dimensional point groups indicating shapes of different objects that are clustered from each other. FIG. 9 is a diagram individually illustrating three-dimensional point groups when viewed from a direction parallel to the paper surface of FIG.

  From the three-dimensional point group classified as illustrated in FIGS. 8 and 9, only the three-dimensional point group indicating the target target shape is selected. As a criterion for selection, for example, the convex hull on the screen illustrated in FIG. 6 of each clustered three-dimensional point group includes the center of the specified range D101, and is closest to the front, that is, on the paper surface. It is assumed that a three-dimensional point group including points positioned on the near side in the vertical direction is selected.

  The reason for selecting the three-dimensional point group including the point located at the center of the designated range D101 is that when the user designates the designated range D101, generally, the viewpoint of the display is changed to indicate the target target shape. This is because it is considered that the designated range D101 is designated around the three-dimensional point group.

  When the three-dimensional point group is displayed on the screen of FIG. 6, the display position on the screen is determined by three-dimensional projective transformation. In the conversion, coordinate values in a direction perpendicular to the paper surface are also obtained. Therefore, for example, for some points displayed near the center of the designated range D101, the coordinate value in the direction perpendicular to the paper surface is examined, and the smallest value, that is, the point located on the near side in the direction perpendicular to the paper surface A three-dimensional point group including can be selected.

  Alternatively, as another reference for selection, a point positioned on the foremost side displayed on the screen illustrated in FIG. 6, that is, on the near side in the direction perpendicular to the paper surface, regardless of the center of the designated range D101. The three-dimensional point group to be included may be selected. For example, it is possible to select a three-dimensional point group that includes a point that is displayed in the designated range D101 and that has the smallest coordinate value in the depth direction perpendicular to the display surface.

  The reason for selecting the three-dimensional point group including the point positioned closest to the point is that, when the user designates the designated range D101, generally, the viewpoint of the target is changed by changing the viewpoint of the display, etc. This is because it is considered that the designated range D101 is designated so that the group is positioned closest to the front.

  Alternatively, as another reference for selection, a three-dimensional point group having the largest number of points displayed in the designated range D101 may be selected. According to this selection criterion, the three-dimensional point group 1000 is selected in the case illustrated in FIG.

  The reason for selecting the three-dimensional point group having the largest number of points displayed in the designated range D101 is that, when the user designates the designated range D101, generally, the three-dimensional point group indicating the target target shape is This is because it is considered that the designated range D101 is designated in accordance with the displayed range, and it is expected that the three-dimensional point group indicating the shape of the target object is the most in the designated range D101.

  Note that a plurality of the above criteria for selection may be used in combination. Then, when there are a plurality of selected three-dimensional point groups, any one of them may be selected to be changeable.

  In this way, even when a three-dimensional point group indicating a plurality of target shapes is mixed in the designated range D101, only a three-dimensional point group indicating the target target shape can be selected.

<Operation>
An operation flow of the three-dimensional point group selection apparatus according to the present embodiment will be described with reference to FIG. FIG. 10 is a flowchart illustrating the operation flow of the three-dimensional point group selection device.

  The three-dimensional point cloud data input unit 1 inputs the three-dimensional point cloud data to the storage unit 6 (see step ST200). Examples of the input method include a method of reading from a file, a method of reading from a network, and a method of directly reading from a three-dimensional laser scanner. However, the input method is not limited to these.

  The three-dimensional point group display unit 5 displays the three-dimensional point group based on the three-dimensional point group data input to the storage unit 6 (see step ST201). This is to display a three-dimensional point group having a three-dimensional coordinate value as a coordinate value projected on a two-dimensional screen by projective transformation at a predetermined viewpoint position, line-of-sight direction, and angle of view. In addition, you may comprise so that the viewpoint position of a projective transformation, a gaze direction, and a view angle can be suitably changed with a mouse | mouth.

  Next, the condition setting unit 2 inputs a condition for selecting a three-dimensional point group to the selection state determination unit 4 (see step ST202). Specifically, a mutual distance threshold (distance condition value) that is a distance between points is input. The input method may be a method of directly inputting the distance condition value C003 as in the screen example illustrated in FIG. 19, or a method of inputting using a slider bar (not shown here) or the like. There may be. Further, the condition setting unit 2 may be configured to always input a fixed value.

  Next, the range specifying unit 3 specifies a specified range in the three-dimensional point group, and further inputs the result to the selection state determining unit 4 (see step ST203). As a specification method, a method of specifying two vertices of a specified range that becomes a rectangle using a pointing device (not shown here) may be used, or a specified range may be specified by directly inputting coordinate values. It may be a method to do. Alternatively, a method not limited thereto may be used. Note that the designated range does not necessarily have to be a rectangular range, and an arbitrary shape range can be used as the designated range.

  In the case illustrated in FIG. 6, a designated range D101 designated by the range designation unit 3 is shown. In this case, the three-dimensional point group included in the designated range D101 is a three-dimensional point group to be selected. Note that the range specifying unit 3 may be configured to always specify all the ranges displayed on the screen as the specified range D101. In other words, the specified range D101 may be specified so that the display range D100 and the specified range D101 match.

  Next, the selection state determination unit 4 determines the selection state based on the condition for selecting the three-dimensional point group indicating the target target shape and the specified designation range D101 (see step ST204). ). This operation will be described in detail with reference to the flowchart of FIG. FIG. 11 is a flowchart illustrating the operation flow of the three-dimensional point group selection device in more detail.

  First, in step ST300, a three-dimensional point group included in the designated range D101 is extracted. This is determined based on whether or not the coordinate value on the screen on which the projective transformation of each point falls within the specified range D101.

  Next, in step ST301, for all the extracted points, a search is made for points existing at a distance closer to the own point than the value of the distance condition, and exists at a distance closer to the value of the distance condition. The entire three-dimensional point group is classified (clustered) by regarding it as a three-dimensional point group indicating the same target shape.

  8 and 9 are diagrams illustrating three-dimensional point groups classified (clustered) by the above method. The three-dimensional point group 1000, the three-dimensional point group 1001, and the three-dimensional point group 1002 are clustered three-dimensional point groups.

  Next, in step ST303, among the clustered three-dimensional point group, a three-dimensional point including the center of the designated range D101 and including the point closest to the front, that is, the front side in the direction perpendicular to the paper surface. The group is determined as the default selection state. Here, when there is no 3D point group including the center of the specified range D101, a 3D point group including a point displayed near the center of the specified range D101 may be determined as a default selection state. Then, the operation of step ST204 is ended, and the process proceeds to step ST205 of the flowchart illustrated in FIG.

  When the selection state is determined in step ST204, in step ST205, the three-dimensional point cloud reflecting the selection state is displayed on the three-dimensional point cloud display unit 5.

  FIG. 12 is a diagram illustrating a state in which the selection state by the selection state determination unit 4 is reflected. FIG. 13 is a diagram illustrating a state in which the selected state is reflected when viewed from a direction parallel to the paper surface of FIG. Note that FIG. 13 corresponds to a diagram when FIG. 12 is displayed on the screen and viewed from a direction orthogonal to the line-of-sight direction, and is not actually displayed on the screen. However, it may be displayed on other devices.

  FIG. 12 shows a state in which the three-dimensional point cloud data including the center of the designated range D101 and including the nearest point is selected. In FIG. 12, the selected three-dimensional point group 1000 is painted black.

  According to the configuration as described above, it is not necessary to input in advance a dimension or the like of a shape that the user wants to select, and a three-dimensional point group indicating a target target shape can be easily created within the designated range D101 designated by the user. And can be selected efficiently.

Second Embodiment
A three-dimensional point group selection apparatus according to this embodiment will be described. In the following, the same components as those described in the above embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted as appropriate.

<Configuration>
In the above embodiment, the classification (clustering) is performed based on whether or not the distance between the points is smaller than a predetermined threshold value (distance condition value).

  On the other hand, in the present embodiment, as a method of clustering by the selection state determination unit 4, a method using plane extraction using a random sample consensus (RANSAC) method is used.

  Since the configuration for realizing the three-dimensional point group selection apparatus according to the present embodiment is the same as that illustrated in FIG. 1, detailed description thereof is omitted.

  According to the above method, as illustrated in FIGS. 14 to 16, only the plane can be extracted as the shape indicated by the three-dimensional point group. Details will be described later. FIG. 14 is a diagram illustrating a state in which the selection state by the selection state determination unit 4 is reflected. FIG. 15 is a diagram illustrating a state in which the selected state is reflected when viewed from a direction parallel to the paper surface of FIG. Note that FIG. 15 corresponds to the view when FIG. 14 is displayed on the screen when viewed from the direction orthogonal to the line-of-sight direction, and is not actually displayed on the screen. However, it may be displayed on other devices. FIG. 16 is a diagram illustrating a state in which the plane 10 is extracted as the shape indicated by the three-dimensional point group.

  In general, many artificial structures are configured in a planar shape such as a wall surface. Therefore, in the case where a three-dimensional point group indicating a plurality of target shapes is located close to each other by extracting a plane shape from the three-dimensional point group in the designated range D101 and selecting the three-dimensional point group. Even in such a case, it is possible to easily and efficiently select the three-dimensional point cloud data indicating the shape of the target object.

<Action>
FIG. 17 is a flowchart illustrating in more detail the operation flow of the three-dimensional point group selection apparatus according to the present embodiment. The operation of the three-dimensional point group selection apparatus according to this embodiment illustrated in FIG. 17 is obtained by changing the operation content of step ST204 in the flowchart illustrated in FIG. That is, the operation of the three-dimensional point group selection apparatus according to this embodiment is obtained by replacing only step ST204 with the operation illustrated in FIG. 17 in the flowchart illustrated in FIG. Hereinafter, an operation flow of the three-dimensional point group selection apparatus according to the present embodiment will be described with reference to FIG.

  First, the operations from step ST200 to step ST203 illustrated in FIG. 10 are performed.

  Next, the selection state determination unit 4 determines the selection state based on the condition for selecting the three-dimensional point group indicating the target target shape and the specified range D101. This operation will be described in detail with reference to the flowchart of FIG.

  First, in step ST300, a three-dimensional point group included in the designated range D101 is extracted. This is determined based on whether or not the coordinate value on the screen on which the projective transformation of each point falls within the specified range D101.

  Next, in step ST302, the plane 10 is applied to the three-dimensional point group in the designated range D101 using the RANSAC method. In the RANSAC method, several points, for example, three points, for example, are arbitrarily selected from the three-dimensional point group, and the plane 10 on which these points ride (belongs to) is calculated. Then, how much other points arbitrarily selected (for example, three points) are on or near the calculated plane 10 is calculated. If there are many other points that lie or are close to the calculated plane 10, further fitting of the plane on which they lie is continued. Then, a plane 10 on which most points ride (belongs to) is obtained.

  Next, in step ST304, a three-dimensional point group on (belonging to) the plane 10 obtained by calculation is determined as a default selection state. Then, the process proceeds to step ST205 in the flowchart illustrated in FIG.

  In FIG. 16, among the three-dimensional point group 1000a and the three-dimensional point group 1000b indicated by circles, and further, among the three-dimensional point group 1002 indicated by square marks, three-dimensionally arranged in a straight line so as to ride on the plane 10 A state in which the point group 1000a and the three-dimensional point group 1002 are selected is shown. In FIG. 14, FIG. 15, and FIG. 16, the selected 3D point group 1000a and 3D point group 1002 are painted black.

  Note that the threshold value for determining whether or not to ride on the plane 10 in step ST302 can be set in the same manner as the mutual distance threshold value (distance condition value) that is the distance between points. In FIG. 14, FIG. 15 and FIG. 16, the three-dimensional point group 1000a indicated by a circle and the three-dimensional point group 1002 indicated by a square are distinguished from each other. This is not based on the three-dimensional point group indicating the shape, but simply based on the result of clustering by mutual distance as exemplified in the first embodiment. Even if it is recognized as a plurality of three-dimensional point groups in this way by clustering by mutual distance, it actually shows one planar shape, for example, when there are shielding objects between them and measurement points cannot be obtained It may be a three-dimensional point group. According to the present embodiment, even in such a case, it is possible to accurately select a three-dimensional point group indicating the same target shape.

  According to the configuration as described above, even when the three-dimensional point group indicating the shapes of a plurality of objects is located close to each other within the designated range D101 designated by the user, the shape of the target object that is a plane is obtained. The three-dimensional point group to be shown can be selected easily and efficiently.

<Third Embodiment>
A three-dimensional point group selection apparatus according to this embodiment will be described. In the following, the same components as those described in the above embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted as appropriate.

<Configuration>
In the first embodiment, one three-dimensional point group is selected from the clustered three-dimensional point group according to a predetermined rule.

  On the other hand, when a three-dimensional point group indicating a plurality of target shapes exists within the designated range D101, the user may be allowed to designate which three-dimensional point group is selected.

  FIG. 18 is a diagram conceptually illustrating a configuration for realizing the three-dimensional point group selection apparatus according to the present embodiment.

  As illustrated in FIG. 18, the three-dimensional point cloud selection device according to the present embodiment includes a three-dimensional point cloud data input unit 1, a condition setting unit 2, a range designation unit 3, a selection state determination unit 4, A three-dimensional point group display unit 5, a storage unit 6, and a three-dimensional point group selection change unit 11 are provided.

  According to the above configuration, when a plurality of target shapes exist within the specified range D101, the selection state of the three-dimensional point group indicating the target shape selected by the user is changed by the method illustrated in FIG. be able to. FIG. 19 is a diagram schematically illustrating a hardware configuration when the 3D point group selection apparatus according to the present embodiment is actually operated.

  For example, as illustrated in FIG. 19, the 3D point group selection / change unit 11 uses a pointing device or the like from a list of clustered 3D point groups displayed in the list format C004 on the screen. The user is made to select a three-dimensional point group indicating the target shape. Note that the display on the screen may not be the format illustrated in FIG. 19 as long as any one of the three-dimensional point groups indicating the shapes of the plurality of objects can be selected. Furthermore, a method that is not displayed on the screen may be used.

  When a selection state different from the current selection state is input by the three-dimensional point group selection changing unit 11, that is, a three-dimensional point group different from the three-dimensional point group reflecting the current selection state is selected. If selected, the selection state determination unit 4 changes the selection state to the input selection state. Further, the three-dimensional point cloud display unit 5 displays contents reflecting the changed selection state. Specifically, for example, only the selected three-dimensional point group is displayed in black.

  FIG. 20 is a diagram illustrating a state in which the change of the selection state by the three-dimensional point group selection changing unit 11 is reflected. FIG. 21 is a diagram illustrating a state in which the change of the selection state by the three-dimensional point group selection change unit 11 is reflected when viewed from a direction parallel to the paper surface of FIG. Note that FIG. 21 corresponds to a view when FIG. 20 is displayed on the screen when viewed from a direction orthogonal to the line-of-sight direction, and is not actually displayed on the screen. However, it may be displayed on other devices. In FIG. 20 and FIG. 21, the selected three-dimensional point group 1001 is painted black.

<Action>
FIG. 22 is a flowchart illustrating the operation flow of the three-dimensional point group selection device according to this embodiment. FIG. 22 is obtained by adding step ST206 and step ST207 to the flowchart shown in FIG.

  First, the operations from step ST200 to step ST205 illustrated in FIG. 10 are performed.

  Next, in step ST206, it is determined whether or not a selection state different from the current selection state is input by the three-dimensional point group selection changing unit 11. If the selected state is changed, the process returns to step ST205. If the selected state is not changed, the process proceeds to step ST207.

  Next, in step ST207, it is determined whether or not to continue the selection state changing process. If the selection state changing process is to be continued, the process returns to step ST206. If the selection state changing process is not to be continued, the process is terminated. The end of the change process can be determined, for example, by pressing an end button provided on the screen.

  According to the configuration as described above, even when a three-dimensional point group indicating the shape of a plurality of objects is located close within the specified range D101 specified by the user, the three-dimensional indicating the shape of the target object A point cloud can be selected easily and efficiently.

<Fourth embodiment>
A three-dimensional point group selection apparatus according to this embodiment will be described. In the following, the same components as those described in the above embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted as appropriate.

<Configuration>
In the first embodiment, classification (clustering) is performed based on whether or not the distance between the points is smaller than a predetermined threshold value (distance condition value).

  On the other hand, this threshold value (distance condition value) may be changed by the user.

  FIG. 23 is a diagram conceptually illustrating a configuration for realizing the three-dimensional point group selection device according to the present embodiment.

  As illustrated in FIG. 23, the three-dimensional point cloud selection device according to the present embodiment includes a three-dimensional point cloud data input unit 1, a condition setting unit 2, a range designation unit 3, a selection state determination unit 4, A three-dimensional point cloud display unit 5, a storage unit 6, and a distance condition change unit 12 are provided.

  The distance condition changing unit 12 can change the threshold value of the distance between points (the value of the distance condition). For example, as illustrated in FIG. 19, the distance condition changing unit 12 allows the user to directly input the distance condition value C003 displayed on the screen using an input device such as a pointing device or a keyboard. Configure.

<Action>
FIG. 24 is a flowchart illustrating the operation flow of the three-dimensional point group selection device according to this embodiment. FIG. 24 is obtained by adding step ST208 and step ST209 to the flowchart shown in FIG.

  First, the operations from step ST200 to step ST205 illustrated in FIG. 10 are performed.

  Next, in step ST208, it is determined whether the value of the distance condition has been changed. If the distance condition value is changed, the process returns to step ST204 using the value as the distance condition. And it performs again from step ST204. On the other hand, if the value of the distance condition has not been changed, the process proceeds to step ST209.

  The selection state determination unit 4 performs the process illustrated in FIG. 11 according to the changed value of the distance condition, and determines the changed selection state. Then, the three-dimensional point cloud display unit 5 displays the three-dimensional point cloud reflecting the changed selection state.

  Next, in step ST209, it is determined whether or not to continue the process of changing the distance condition value. If the distance condition value changing process is to be continued, the process returns to step ST208. If the distance condition value changing process is not to be continued, the process is terminated. The process for changing the value of the distance condition can be determined, for example, by pressing an end button provided on the screen.

  FIG. 25 is a diagram illustrating a state in which the change of the value of the distance condition by the distance condition changing unit 12 is reflected. FIG. 26 is a diagram illustrating a state in which the change of the value of the distance condition by the distance condition changing unit 12 is reflected when viewed from the direction parallel to the paper surface of FIG. Note that FIG. 26 corresponds to a view when FIG. 25 is displayed on the screen when viewed from a direction orthogonal to the line-of-sight direction, and is not actually displayed on the screen. However, it may be displayed on other devices. In FIGS. 25 and 26, the selected three-dimensional point group 1000 and three-dimensional point group 1002 are painted black.

  According to the above configuration, by changing the value of the distance condition, the range of the three-dimensional point group grasped as the three-dimensional point group indicating the same target shape can be appropriately changed, and the target target can be changed. A three-dimensional point group indicating a shape can be easily and efficiently selected.

<Effect>
Below, the effect by said embodiment is illustrated.

  According to the above embodiment, the three-dimensional point group selection device includes the three-dimensional point group display unit 5 as a display unit, the condition setting unit 2, and the selection state determination unit 4 as a selection unit.

  The three-dimensional point group display unit 5 is a display surface on which a first point group that is a three-dimensional point group indicating the shapes of a plurality of objects is displayed.

  The condition setting unit 2 is a second point group that is a three-dimensional point group indicating the shape of one target from the first point group, for example, a three-dimensional point group 1000, a three-dimensional point group 1001, and a three-dimensional point group 1002. Alternatively, a selection condition that is a condition for selecting the three-dimensional point group 1003 is set.

  The selection state determination unit 4 selects the second point group from the first point group based on the above selection conditions.

  Here, the selection condition is that the second point group is selected from the first point group, assuming that the two points indicate the same target shape when the distance between the two points is equal to or less than the threshold value. It is a condition to do.

  Further, according to the above embodiment, the three-dimensional point group selection device includes the input device 104 and the output device 105.

  The three-dimensional point group selection device includes a processing circuit 102a that executes a program and a storage device 103 that stores the program.

  Then, when the processing circuit 102a executes the program, the following operation is realized.

  That is, a second point group which is a three-dimensional point group indicating the shape of one target from the first point group, for example, a three-dimensional point group 1000, a three-dimensional point group 1001, a three-dimensional point group 1002, or a three-dimensional point. A selection condition which is a condition for selecting the group 1003 is set, and a second point group is selected from the first point group based on the selection condition.

  Here, the selection condition is that the second point group is selected from the first point group, assuming that the two points indicate the same target shape when the distance between the two points is equal to or less than the threshold value. It is a condition to do.

  Further, according to the above embodiment, the three-dimensional point group selection device includes the input device 104 and the output device 105.

  The three-dimensional point group selection apparatus includes a processing circuit 102b.

  Then, the processing circuit 102b performs the following operation.

  That is, the processing circuit 102b is a second point group that is a three-dimensional point group indicating the shape of one target from the first point group, for example, the three-dimensional point group 1000, the three-dimensional point group 1001, and the three-dimensional point group. A selection condition which is a condition for selecting 1002 or the three-dimensional point group 1003 is set, and the second point group is selected from the first point group based on the selection condition.

  Here, the selection condition is that the second point group is selected from the first point group, assuming that the two points indicate the same target shape when the distance between the two points is equal to or less than the threshold value. It is a condition to do.

  According to such a configuration, in order to determine whether or not the three-dimensional point group is a point indicating the same target shape based on the distance between two points, the plurality of target shapes are three-dimensional. When indicated by a point group, a three-dimensional point group indicating the shape of the target object, that is, a second point group that is a three-dimensional point group indicating the shape of one object can be easily selected.

  In addition, since an unnecessary three-dimensional point group that does not indicate the shape of the target object can be easily removed, the shape of the target indicated by the three-dimensional point group can be accurately grasped. For this reason, for example, it is not necessary to preliminarily store the data of the shape of the target to be selected and to determine whether or not it matches the shape. There is no need to know the dimensions in advance.

  In addition to these configurations, other configurations shown in the present specification can be omitted as appropriate. That is, the above effect can be produced only with these configurations. However, when at least one of the other configurations shown in this specification is appropriately added to the above configuration, that is, the other configurations shown in this specification that are not described as the above configuration are Even when added to the configuration, the above-described effects can be similarly produced.

  Further, according to the above-described embodiment, the three-dimensional point group selection device includes the range specifying unit 3 that specifies a specified range that is at least a part of the range in the three-dimensional point group display unit 5.

  And the selection state determination part 4 selects a 2nd point group out of the 1st point group displayed within a designated range based on selection conditions.

  According to such a configuration, the selection range of the second point group can be determined based on the designated range designated by the user.

  Further, according to the above embodiment, the selection state determination unit 4 includes the second point including the point having the smallest coordinate value in the depth direction perpendicular to the display surface from the first point group displayed within the specified range. A point group, for example, a three-dimensional point group 1000 is selected.

  According to such a configuration, it is possible to select a three-dimensional point group that is highly likely to indicate the shape of the target object within the specified range.

  In addition, according to the above embodiment, the selection state determination unit 4 includes the first point including the point where the convex hull of the point group includes the center of the specified range and the coordinate value in the depth direction perpendicular to the display surface is the smallest. Select a two-point group.

  According to such a configuration, it is possible to select a three-dimensional point group that is highly likely to indicate the shape of the target object within the specified range.

  Moreover, according to said embodiment, the selection state determination part 4 selects the 2nd point group with the most points in a designated range from the 1st point group displayed within a designated range based on selection conditions. select.

  According to such a configuration, it is possible to select a three-dimensional point group that is highly likely to indicate the shape of the target object within the specified range.

  Moreover, according to said embodiment, when there exist two or more 2nd point groups selected based on selection conditions, 3D point group selection apparatus changes the 2nd point group selected by the selection state determination part 4. A three-dimensional point group selection changing unit 11 is provided as a changing unit.

  According to such a configuration, even when there are a plurality of second point groups selected based on the selection condition, the second point group to be selected by the selection state determination unit 4 is changed according to the user's request. can do.

  Moreover, according to said embodiment, in the three-dimensional point group display part 5, a 2nd point group is displayed in the aspect distinguishable from 3D point groups other than the 2nd point group in a 1st point group. . For example, only the selected three-dimensional point group 1000 is painted black.

  According to such a configuration, the user can easily recognize the currently selected three-dimensional point group in the three-dimensional point group display unit 5 that is the display surface.

  Moreover, according to said embodiment, selection conditions are conditions which select the 2nd point group which shows the shape of a planar object, for example, the plane 10, from a 1st point group.

  According to such a configuration, by extracting the planar shape and selecting the second point group, it is possible to easily and efficiently select the three-dimensional point group data indicating the target target shape. .

  Further, according to the above embodiment, the threshold value in the selection condition can be changed.

  According to such a configuration, the range of the three-dimensional point group grasped as the three-dimensional point group indicating the same target shape can be appropriately changed, and the three-dimensional point group indicating the target target shape can be easily changed. And can be selected efficiently.

  According to the above embodiment, in the three-dimensional point group selection method, the first point group, which is a three-dimensional point group indicating the shapes of a plurality of objects, is displayed on the display surface. Then, a second point group which is a three-dimensional point group indicating the shape of one target from the first point group, for example, a three-dimensional point group 1000, a three-dimensional point group 1001, a three-dimensional point group 1002, or a three-dimensional point. A selection condition that is a condition for selecting the group 1003 is set. Then, a second point group is selected from the first point group based on the selection condition.

  Here, the selection condition is that the second point group is selected from the first point group, assuming that the two points indicate the same target shape when the distance between the two points is equal to or less than the threshold value. It is a condition to do.

  According to such a configuration, in order to determine whether or not the three-dimensional point group is a point indicating the same target shape based on the distance between two points, the plurality of target shapes are three-dimensional. When indicated by a point group, a three-dimensional point group indicating the shape of the target object, that is, a second point group that is a three-dimensional point group indicating the shape of one object can be easily selected.

  In addition, since an unnecessary three-dimensional point group that does not indicate the shape of the target object can be easily removed, the shape of the target indicated by the three-dimensional point group can be accurately grasped. For this reason, for example, it is not necessary to preliminarily store the data of the shape of the target to be selected and to determine whether or not it matches the shape. There is no need to know the dimensions in advance.

  In addition to these configurations, other configurations shown in the present specification can be omitted as appropriate. That is, the above effect can be produced only with these configurations. However, when at least one of the other configurations shown in this specification is appropriately added to the above configuration, that is, the other configurations shown in this specification that are not described as the above configuration are Even when added to the configuration, the above-described effects can be similarly produced.

<Modification>
In the above-described embodiment, the dimensions, shapes, relative arrangement relations, or implementation conditions of each component may be described. However, these are examples in all aspects and are described in this specification. It is not limited to. Accordingly, innumerable modifications not illustrated are envisaged within the scope of the technology disclosed in this specification. For example, the case where at least one component is modified, added or omitted, and further, the case where at least one component in at least one embodiment is extracted and combined with the components of other embodiments are included. It is.

  In addition, as long as no contradiction arises, “one or more” components described as being provided with “one” in the above-described embodiment may be provided. Furthermore, each component is a conceptual unit, and one component consists of a plurality of structures, one component corresponds to a part of the structure, and a plurality of components. And the case where the component is provided in one structure. Each component includes a structure having another structure or shape as long as the same function is exhibited.

  Also, the descriptions in this specification are referred to for all purposes related to the present technology, and none of them is admitted to be prior art.

  In addition, each component described in the above embodiment is assumed to be software or firmware, or hardware corresponding thereto, and in both concepts, each component is a “unit” or “processing circuit” or the like. Called.

  The technique disclosed in the present specification may be a case where each component is distributed and provided in a plurality of devices (that is, a system-like aspect). For example, although the storage unit 6 is shown as being mounted in the three-dimensional point group selection device in FIG. 1, it may be an external functional unit. In that case, what is necessary is just to perform the function of the three-dimensional point group selection device as a whole by causing other functional units in the three-dimensional point group selection device to interact with each other.

  DESCRIPTION OF SYMBOLS 1 3D point cloud data input part, 2 Condition setting part, 3 Range designation | designated part, 4 Selection state determination part, 5 3D point cloud display part, 6 Memory | storage part, 10 plane, 11 3D point cloud selection change part, 12 Distance condition changing unit, 102a, 102b processing circuit, 103 storage device, 104 input device, 105 output device, 1000, 1000a, 1000b, 1001, 1002, 1003 3D point group, C003 distance condition value, C004 list format, D100 Display range, D101 designated range.

Claims (9)

A display unit that is a display surface on which a first point group that is a three-dimensional point group indicating the shapes of a plurality of objects is displayed;
A condition setting unit for setting a selection condition that is a condition for selecting a second point group that is a three-dimensional point group indicating the shape of one of the objects from the first point group;
A selection unit that selects the second point group from the first point group based on the selection condition;
The selection condition is that when the distance between two points is equal to or less than a threshold value, the two points are points indicating the same shape of the object, and the second point group is separated from the first point group. Is a condition to choose,
A range designating unit for designating a designated range that is at least a part of the range in the display unit;
The selection unit selects the second point group from the first point group displayed within the designated range based on the selection condition,
The selection unit selects the second point group including the point having the smallest coordinate value in the depth direction perpendicular to the display surface from the first point group displayed in the specified range.
3D point group selected device. The selection unit is the convex hull of the three-dimensional point group including the center of the specified range, and the coordinate values of the depth direction perpendicular to the display surface including a point smallest, selecting the second point group,
The three-dimensional point group selection apparatus according to claim 1 . The selection unit selects the second point group having the highest score in the designated range from the first point group displayed in the designated range based on the selection condition.
The three-dimensional point group selection device according to claim 1 or 2 . When there are a plurality of the second point groups to be selected based on the selection condition, a change unit that changes the second point group to be selected by the selection unit is further provided.
The three-dimensional point group selection device according to any one of claims 1 to 3 . Oite on the display unit, the second point group, wherein the first point 3D point group outside the second point Gun以 in group represented by distinguishable manner,
The three-dimensional point group selection device according to any one of claims 1 to 4. The selection condition is a condition for selecting the second point group indicating the planar shape of the object from the first point group.
The three-dimensional point group selection device according to any one of claims 1 to 5 . The threshold value in the selection condition is changeable;
The three-dimensional point group selection device according to any one of claims 1 to 6 . On the display surface, a first point group that is a three-dimensional point group indicating the shapes of a plurality of objects is displayed,
A selection condition that is a condition for selecting a second point group that is a three-dimensional point group indicating the shape of one of the objects from the first point group;
Based on the selection condition, the second point group is selected from the first point group,
The selection condition is that when the distance between two points is equal to or less than a threshold value, the two points are points indicating the same shape of the object, and the second point group is separated from the first point group. Is a condition to choose,
Specify a specified range that is at least a part of the display surface;
Based on the selection condition, select the second point group from the first point group displayed within the specified range,
Selecting the second point group including the point having the smallest coordinate value in the depth direction perpendicular to the display surface from the first point group displayed in the designated range;
3D point group selection method. Selecting the second point group , wherein the convex hull of the three-dimensional point group includes the center of the specified range and includes the point having the smallest coordinate value in the depth direction perpendicular to the display surface;
The three-dimensional point cloud selection method according to claim 8 .

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