JP7209913B2 - Outlook Information Generating Device, Outlook Information Generating Method, and Outlook Information Generating Program - Google Patents

Description

The present disclosure relates to a line of sight information generation device, a line of sight information generation method, and a line of sight information generation program for generating line of sight information, which is information indicating the line of sight of a target facility from a moving body moving on a moving route.

2. Description of the Related Art Conventionally, as railroad facilities installed along railroad lines, there are known special signal light emitters that indicate with a light-emitting signal that a situation that hinders train operation has occurred. The special signal light emitter is provided with an emergency stop button, and the special signal light emitter outputs a light emission signal when the emergency stop button is pushed. Since the train crew must stop the train after confirming the light emission signal of the special light emission machine, the special signal light emission It is necessary for the train crew to be able to confirm the light emitting signal of the aircraft.

In general, there are buildings, signboards, overhead poles, and other facilities along railway lines, as well as trees. Things can get worse. Therefore, it is necessary to check the visibility of the special signal light in advance from a point more than a certain distance in front of the special signal light, but the current visibility is confirmed visually during regular inspections. is performed by multiple people, and a lot of labor is required.

In view of this, Patent Literature 1 proposes a special signal detection device for detecting light emission from a special signal light emitter. Such a special signal detection device divides a continuous image captured by an imaging unit into image regions, extracts amplitude data for luminance frequencies from partial images composed of a plurality of divided frames, and generates a special signal based on the extracted result. Detects the presence or absence of the light emission signal of the light emitter.

Japanese Patent Application Laid-Open No. 2020-59340

However, the technique described in Patent Document 1 is a technique for detecting a light emission signal of a special light emitting device and notifying the crew of the train. It is not a technology for providing information indicating the line-of-sight status of the target facility from the point of With the technology described in Patent Document 1, if the visibility of the target facility from a point a certain distance or more in front of the target facility is poor, it is possible that the target facility cannot be detected from a point a certain distance or more in front of the target facility. have a nature.

The present disclosure has been made in view of the above, and an object of the present disclosure is to obtain a visibility information generation device capable of accurately presenting visibility conditions of target facilities from a moving body moving on a travel route.

In order to solve the above-described problems and achieve the object, the outlook information generation device of the present disclosure includes a data acquisition section, a outlook information generation section, and an output processing section. The data acquisition unit acquires three-dimensional point cloud data representing objects in a peripheral area of a moving path along which the moving object moves, as a three-dimensional point cloud. The line-of-sight information generator generates line-of-sight information, which is information indicating the line-of-sight situation of the target facility from a viewpoint position away from the target facility in the surrounding area, based on the three-dimensional point cloud data acquired by the data acquisition section. . The output processing unit outputs the view information generated by the view information generation unit.

Advantageous Effects of Invention According to the present disclosure, there is an effect that it is possible to accurately present the line-of-sight situation of the target facility from a moving body that moves along the movement route.

1 is a diagram showing an example of the configuration of an information providing system that includes the prospect information generating device according to the first embodiment; FIG. 1 is a diagram showing an example of a configuration of a forecast information generating device according to a first embodiment; FIG. FIG. 4 is a diagram showing an example of three-dimensional point cloud data according to the first embodiment; FIG. 4 is a diagram showing an example of reference line data according to the first embodiment; FIG. 4 is a diagram showing an example of a plurality of reference points on the reference line indicated by the reference line data according to the first embodiment; FIG. FIG. 5 is a diagram showing an example of processing for determining a position a specified distance before the position of the target equipment by the viewpoint position determining unit according to the first embodiment; FIG. 5 is a diagram showing an example of a viewpoint position determined by the viewpoint position determining unit according to the first embodiment when the slope of the first straight line is small; FIG. 4 is a diagram showing an example of a viewpoint position determined by the viewpoint position determining unit according to the first embodiment when the slope of the first straight line is large; FIG. 10 is a diagram showing another example of processing for determining a position a specified distance before the target equipment position by the viewpoint position determining unit according to the first embodiment; FIG. 5 is a diagram showing another example of the viewpoint position determination method by the viewpoint position determination unit according to the first embodiment; FIG. 4 is a diagram showing an example of a determination target area determined by the determination area determination unit according to the first embodiment; FIG. 11 is a diagram showing another example of the determination method of the determination target area by the determination area determining unit according to the first embodiment; FIG. 4 is a diagram showing an example of the relationship between the three-dimensional point cloud represented by the three-dimensional point cloud data and the determination target region according to the first embodiment; A diagram showing an example of a determination target area viewed from the moving direction of the moving object according to the first embodiment. A diagram showing an example of an interfering object existing in the determination target region according to the first embodiment. FIG. 4 is a diagram showing an example of a first two-dimensional image of the determination target region generated by the target region image generation unit according to the first embodiment; FIG. 4 is a diagram showing another example of the first two-dimensional image of the determination target region generated by the target region image generation unit according to the first embodiment; FIG. 4 is a diagram showing an example of a second two-dimensional image of the determination target region generated by the target region image generation unit according to the first embodiment; FIG. 4 is a diagram showing an example of a first two-dimensional image of a determination target region in which three-dimensional points included in the determination target region are color-coded according to their positions by the target region image generation unit according to the first embodiment; FIG. 10 is a diagram showing an example of a second two-dimensional image of a determination target region in which three-dimensional points included in the determination target region are color-coded according to their positions by the target region image generation unit according to the first embodiment; FIG. 4 is a diagram showing an example of an interfering object image generated by the interfering object image generating unit according to the first embodiment; FIG. 5 is a diagram showing another example of an interfering object image generated by the interfering object image generation unit according to the first embodiment; A diagram showing an example of outlook information according to the first embodiment Flowchart showing an example of processing by a processing unit of the outlook information generating device according to the first embodiment 3 is a flowchart showing an example of viewpoint position determination processing by the processing unit of the outlook information generation device according to the first embodiment; Flowchart showing an example of outlook information generation processing by the processing unit of the outlook information generation device according to the first embodiment 1 is a diagram showing an example of a hardware configuration of a forecast information generating device according to Embodiment 1; FIG.

The outlook information generation device, the outlook information generation method, and the outlook information generation program according to the embodiments will be described below in detail with reference to the drawings.

Embodiment 1.
FIG. 1 is a diagram illustrating an example of a configuration of an information providing system including a forecast information generating device according to Embodiment 1. As illustrated in FIG. As shown in FIG. 1 , the information providing system 100 according to the first embodiment includes a perspective information generating device 1 and a three-dimensional system that is arranged in a moving object 4 that moves along a moving path 3 and that measures the peripheral area of the moving path 3 . and a point group measuring device 2 .

In the example shown in FIG. 1, the moving route 3 is a railroad track, and the moving body 4 is a train running on the railroad track. The movement path 3 may be a movement path other than a railroad track, such as a road, and the moving body 4 may be a moving body other than a train, such as an automobile traveling on a road. An example in which the three-dimensional point group measuring device 2 is arranged on a train will be described below.

The three-dimensional point cloud measuring device 2 measures the peripheral area of the moving path 3 while the moving object 4 is moving along the moving path 3, and measures the three-dimensional shape of the object existing in the peripheral area of the moving path 3. Generate three-dimensional point cloud data represented by a dimensional point cloud. The three-dimensional point group measuring device 2 includes, for example, a laser scanner or a light cutting sensor. A laser scanner irradiates an object with a laser beam, measures the time it takes for the laser beam irradiated to the object to return, and converts the measured time into a distance to measure the three-dimensional shape of the object. A light section sensor measures the three-dimensional shape of an object by a light section method.

The three-dimensional point cloud data generated by the three-dimensional point cloud measuring device 2 is acquired by the line of sight information generating device 1 . The outlook information generation device 1 can acquire the 3D point cloud data generated by the 3D point cloud measurement device 2 from the 3D point cloud measurement device 2 by wireless or wired communication. In addition, the line-of-sight information generation device 1 extracts the 3D point cloud data generated by the 3D point cloud measurement device 2 from the recording medium on which the 3D point cloud data generated by the 3D point cloud measurement device 2 is recorded. can also be obtained.

The line-of-sight information generation device 1 indicates the state of line-of-sight of the target facility from a viewpoint position away from the target facility in the peripheral area of the moving route 3 based on the three-dimensional point cloud data acquired from the three-dimensional point cloud measurement device 2. Prospect information, which is information, is generated, and the generated prospect information is output. The target facility is, for example, a special signal light emitter, but may be railway lineside facilities other than the special signal light emitter, such as a traffic signal or a railroad crossing.

The outlook information generated by the outlook information generating device 1 is, for example, a preset area within the field of view from the viewpoint position among a plurality of three-dimensional points forming a three-dimensional point group indicated by the three-dimensional point cloud data. Contains information about 3D points in . In the image captured by the imaging device, it may be difficult to judge the visibility due to the blurring of the image depending on the light or weather, but the visibility information generation device 1 uses 3D point cloud data obtained by 3D measurement. Therefore, it is possible to accurately present the line-of-sight situation of the target equipment from the moving body 4 compared to the case of using the image captured by the imaging device.

The outlook information generation device 1 will be described in more detail below. FIG. 2 is a diagram illustrating an example of a configuration of the outlook information generating device according to the first embodiment; As shown in FIG. 2 , the outlook information generation device 1 includes a communication section 10 , a storage section 11 and a processing section 12 .

The communication unit 10 is communicably connected to a network (not shown), and transmits and receives information to and from an external device such as the three-dimensional point group measuring device 2 via the network (not shown). The network not shown is, for example, a WAN (Wide Area Network) such as the Internet or a LAN (Local Area Network).

The storage unit 11 stores three-dimensional point cloud data 20 transmitted from the three-dimensional point cloud measuring device 2 and received by the communication unit 10, and reference line data 21 that is data relating to the reference line along the movement path 3. . Note that the reference line data 21 may be generated by the processing unit 12 analyzing the three-dimensional point cloud data 20 and stored in the storage unit 11, or may be transmitted from an external device, received by the communication unit 10, and processed by the processing unit 12. It may be stored in the storage unit 11 . The processing unit 12 can, for example, detect the moving path 3 from the three-dimensional point cloud represented by the three-dimensional point cloud data 20 and use the detected line along the moving path 3 as the reference line.

3 is a diagram illustrating an example of three-dimensional point cloud data according to the first embodiment; FIG. As shown in FIG. 3, the 3D point cloud data 20 includes data of a plurality of 3D points. The 3D point data includes data indicating the coordinates of the 3D point in a 3D Cartesian coordinate system. The three-dimensional point cloud data 20 shown in FIG. Included as dimension point data.

4 is a diagram illustrating an example of reference line data according to the first embodiment; FIG. As shown in FIG. 4, the reference line data 21 includes data of a plurality of reference points. A reference point is a three-dimensional point on the reference line. The reference point data includes data indicating the coordinates of the reference point, the roll value, and the arrangement order.

The coordinates of the reference point are the coordinates of the reference point in the three-dimensional orthogonal coordinate system. The roll value is data indicating the inclination of the moving path 3 . Such a roll value can also be said to be data indicating the inclination of the moving body 4 when the moving body 4 is on the reference point on the moving path 3 . The alignment order is a value indicating the moving direction of the moving body 4, and the moving direction of the moving body 4 is the direction from the reference point with the lower alignment order to the reference point with the higher alignment order.

The reference line data 21 shown in FIG. 4 includes the coordinates "BX1, BY1, BZ1", the roll value "R1", the data with the order of "1", the coordinates "BX2, BY2, BZ2", the roll value "R2", and the data with the order of "2", the coordinates "BX3, BY3, BZ3", the roll value "R3", the data with the order of "3", and the like are included as reference point data.

The processing unit 12 shown in FIG. 2 includes a data acquisition unit 30 , a prospect information generation unit 31 and an output processing unit 32 . The data acquisition unit 30 acquires the three-dimensional point cloud data 20 transmitted from the three-dimensional point cloud measurement device 2 and received by the communication unit 10 from the communication unit 10, and stores the acquired three-dimensional point cloud data 20 in the storage unit 11. Memorize. The data acquisition unit 30 acquires the three-dimensional point cloud data 20 and the reference line data 21 from the storage unit 11 at the timing of generating the view information, and transmits the acquired three-dimensional point cloud data 20 and the reference line data 21 to the view information generation unit. Notify 31.

Based on the three-dimensional point cloud data 20 acquired by the data acquisition unit 30, the line-of-sight information generation unit 31 generates information indicating the line-of-sight situation of the target facility from a viewpoint position away from the target facility in the peripheral area of the moving route 3. to generate the line of sight information. The line-of-sight information generation unit 31 includes a viewpoint position determination unit 40 , a determination area determination unit 41 , and a generation processing unit 42 .

The viewpoint position determination unit 40 determines the viewpoint position based on the distance from the target facility and the inclination of the moving path 3 . For example, the viewpoint position determination unit 40 determines the viewpoint position based on the distance from the target equipment along the reference line indicated by the reference line data 21 . The viewpoint position is, for example, the standard eye position of the driver who drives the mobile object 4 .

FIG. 5 is a diagram illustrating an example of a plurality of reference points on a reference line indicated by reference line data according to the first embodiment; As shown in FIG. 5 , a plurality of reference points on the reference line Lr indicated by the reference line data 21 are arranged in the center between the pair of rails that are the moving path 3 of the moving body 4 .

6 is a diagram illustrating an example of processing for determining a position a specified distance before a target facility position by a viewpoint position determination unit according to the first embodiment; FIG. In FIG. 6, "TP" is the position of the target facility, and is hereinafter referred to as the target facility position TP. The target equipment position TP is represented by coordinates "TX, TY, TZ" in a three-dimensional orthogonal coordinate system.

The viewpoint position determination unit 40 performs a first calculation process for calculating a position BT on the reference line Lr corresponding to the target equipment position TP, and a distance on the reference line Lr that is a designated distance Dt described later from the position BT. A second calculation process for calculating a position BE on the reference line Lr and a third calculation process for calculating a viewpoint position EP, which will be described later, are performed.

First, the first calculation process will be described. The viewpoint position determination unit 40 selects the reference point closest to the target equipment position TP and the reference point next closest to the target facility position TP as selection reference points. Then, the viewpoint position determination unit 40 calculates the intersection of the straight line connecting the two selection reference points and the plane perpendicular to the straight line connecting the two selection reference points and including the target facility position TP as the position BT. do.

In the example shown in FIG. 6, the reference point closest to the target equipment position TP is the reference point P23, and the next closest reference point from the target equipment position TP is the reference point P24. The viewpoint position determination unit 40 determines the intersection of a plane that is orthogonal to the straight line connecting the reference points P23 and P24 and that includes the target facility position TP and the straight line that connects the reference points P23 and P24. Calculate as position BT.

Next, the second calculation process will be explained. The viewpoint position determining unit 40 calculates the points on the reference line Lr where the length of the straight line passing through the reference points becomes the specified distance Dt in ascending order from the position BT, and determines the position of the calculated point as the position BE. do. As a result, a position a specified distance Dt before the position BT is determined as the position BE.

In the example shown in FIG. 6, the viewpoint position determination unit 40 calculates the distance d1 between the position BT and the reference point P23. The viewpoint position determining unit 40 calculates the distance d2 between the reference point P23 and the reference point P22, and calculates the integrated distance D by adding the calculated distance d2 and the distance d1. The viewpoint position determining unit 40 calculates a distance d3 between the reference point P22 and the reference point P21, and calculates a new integrated distance D by adding the calculated distance d3 to the integrated distance D. The viewpoint position determination unit 40 repeats similar processing.

The viewpoint position determining unit 40 determines two reference points whose integrated distance D is equal to or greater than the specified distance Dt, and designates the integrated distance D to the reference point having the higher alignment order among the determined two reference points. A difference Δd from the distance Dt is calculated. The viewpoint position determining unit 40 determines, as the position BE, a position on the straight line connecting the determined two reference points and having a difference Δd from the reference point having the higher alignment order.

In the example shown in FIG. 6, when the distance d1 to the distance d19 is integrated, the integrated distance D is equal to or greater than the specified distance Dt. Then, the position BE is determined as the position where the distance from the reference point P6 having the higher order is the difference Δd. Although the specified distance Dt is stored in advance in the storage unit 11 , it may be received by the communication unit 10 , acquired by the data acquisition unit 30 from the communication unit 10 , and stored in the storage unit 11 .

Next, the third calculation process will be explained. The viewpoint position determining unit 40 selects the closest reference point and the next closest reference point to the position BE. Next, the viewpoint position determination unit 40 determines the roll value of the position BE from the roll values of the two selected reference points. The roll value of the reference point is data included in the reference line data 21 described above.

The viewpoint position determining unit 40 determines, for example, the roll value of the reference point having the higher alignment order among the two reference points as the roll value of the position BE. The viewpoint position determination unit 40 can also determine the roll value of the reference point having the lowest alignment order among the two reference points as the roll value of the position BE. The viewpoint position determining unit 40 can also determine the average value of the roll values of the two reference points as the roll value of the position BE.

Next, the viewpoint position determination unit 40 calculates a plane that is orthogonal to the straight line connecting the two selected reference points and includes the position BE, and calculates the roll value of the position BE that includes the position BE on the calculated plane. A straight line with an inclination is calculated as the first straight line. Then, the viewpoint position determining unit 40 calculates a first position that is a distance L from the position BE on the first straight line, and calculates a first position on a second straight line that is orthogonal to the first straight line and includes the first position. A second position separated by a distance H is calculated at . The viewpoint position determination unit 40 determines the calculated second position as the viewpoint position EP. The viewpoint position EP is represented by coordinates "EX, EY, EZ" in a three-dimensional orthogonal coordinate system.

7 is a diagram illustrating an example of a viewpoint position determined by the viewpoint position determination unit according to the first embodiment when the slope of the first straight line is small; FIG. 8 is a diagram illustrating an example of a viewpoint position determined by the viewpoint position determining unit according to the first embodiment when the slope of the first straight line is large; FIG.

In the example shown in FIGS. 7 and 8, the viewpoint position determining unit 40 determines a first position PB1 that is a distance L away from the position BE on a first straight line SL1 that includes the position BE and has an inclination of the roll value of the position BE. is calculated, and a second position PB2 separated by a distance H on a second straight line SL2 orthogonal to the first straight line SL1 and including the first position PB1 is calculated. The second straight line SL2 is a straight line on a plane that is orthogonal to the first straight line SL1 and includes the first position PB1.

The viewpoint position determination unit 40 determines the calculated second position PB2 as the viewpoint position EP. Although the distance L and the distance H are stored in advance in the storage unit 11 , they may be received by the communication unit 10 , acquired by the data acquisition unit 30 from the communication unit 10 , and stored in the storage unit 11 .

The reference line data 21 is not limited to the example shown in FIG. 4, and may be data that does not include the roll value of the reference point. When the moving body 4 is a train, the moving body 4 runs on a pair of rails with the pair of rails as the moving path 3 . In this case, the reference line data 21 is data of a pair of reference lines Lr corresponding to a pair of rails, and includes data of coordinates and arrangement order of a plurality of reference points on each reference line Lr.

A viewpoint position determining unit 40 determines a position BE from a plurality of reference points on one of the pair of reference lines Lr, and selects a reference point closest to the position BE and a reference point next closest to the position BE as reference points. Select as The viewpoint position determining unit 40 determines a straight line that intersects the straight line that is orthogonal to the straight line that connects two selected selected reference points from among a plurality of straight lines that connect two adjacent reference points in different combinations on the other reference line Lr. is determined as the position OBP. The viewpoint position determining unit 40 determines the straight line connecting the position BE and the position OBP as the above-described first straight line SL1.

9 is a diagram illustrating another example of processing for determining a position a specified distance before the target equipment position by the viewpoint position determining unit according to the first embodiment; FIG. 10 is a diagram illustrating another example of the viewpoint position determination method by the viewpoint position determination unit according to the first embodiment; FIG.

In the example shown in FIG. 9, the viewpoint position determining unit 40 selects the reference point P5 closest to the position BE and the reference point P6 next closest to the position BE. The viewpoint position determining unit 40 determines the position where a straight line perpendicular to the straight line connecting the two reference points P5 and P6 intersects the straight line connecting the two adjacent reference points P5' and P6' on the other reference line Lr. Determine as the position OBP. The viewpoint position determining unit 40 determines the straight line connecting the position BE and the position OBP as the above-described first straight line SL1.

Then, as shown in FIG. 10, the viewpoint position determination unit 40 calculates a first position PB1 that is separated from the position BE by a distance L on the first straight line SL1, and that is perpendicular to the first straight line SL1 and the first position PB1. A second position PB2 separated by a distance H on a second straight line SL2 containing one position PB1 is calculated. The viewpoint position determination unit 40 determines the calculated second position PB2 as the viewpoint position EP.

Next, the determination region determination unit 41 shown in FIG. 2 will be described. The determination area determination unit 41 determines a predetermined area around a straight line connecting the target equipment position TP and the viewpoint position EP as a determination target area. 11 is a diagram illustrating an example of a determination target area determined by a determination area determination unit according to the first embodiment; FIG.

As shown in FIG. 11, the determination area determination unit 41 determines a predetermined area around a straight line SL3 connecting the target equipment position TP and the viewpoint position EP as the determination target area AR. The determination target area AR shown in FIG. 11 is a columnar area with a radius r centered on a straight line SL3 connecting the target equipment position TP and the viewpoint position EP.

The determination target area AR determined by the determination area determination unit 41 is not limited to the example shown in FIG. For example, instead of the cylindrical area, the determination area determining unit 41 can determine a polygonal prismatic area as the determination target area AR, or can determine an elliptical cylindrical area as the determination target area AR.

12A and 12B are diagrams illustrating another example of the determination method of the determination target area by the determination area determining unit according to the first embodiment. FIG. In the example shown in FIG. 12, the determination target area AR determined by the determination area determination unit 41 is a quadrangular prism-shaped area whose center line is a straight line SL3 connecting the target equipment position TP and the viewpoint position EP. It is an area surrounded by two surfaces AS1 and AS2 parallel to the straight line SL1 and two surfaces AS3 and AS4 parallel to the second straight line SL2.

FIG. 13 is a diagram showing an example of the relationship between the three-dimensional point cloud represented by the three-dimensional point cloud data according to the first embodiment and the determination target region, and FIG. It is a figure which shows an example of the determination object area|region seen from the advancing direction.

In the example shown in FIG. 13, the three-dimensional point cloud and the determination target area AR are viewed from above. The example shown in FIG. 14 shows the determination target area AR viewed from the vicinity of the viewpoint position EP. In FIG. 14, the determination target area AR is an area surrounded by broken lines. In this manner, the outlook information generation device 1 determines a preset area around the straight line connecting the target facility position TP and the viewpoint position EP as the determination target area AR.

Next, the generation processing unit 42 shown in FIG. 2 will be described. The generation processing unit 42 generates view information based on the three-dimensional point cloud data 20 acquired by the data acquisition unit 30 and the determination target area AR determined by the determination area determination unit 41 . For example, when there is a 3D point included in the determination target area AR among a plurality of 3D points forming the 3D point cloud indicated by the 3D point cloud data 20, the view information is included in the determination target area AR. Contains information corresponding to a 3D point.

The generation processing unit 42 includes a target area image generation unit 50 , a line-of-sight determination unit 51 , and an interfering object image generation unit 52 , as shown in FIG. 2 . The target area image generating unit 50 generates a two-dimensional image of the determination target area AR obtained by projecting the three-dimensional points included in the determination target area AR among the three-dimensional point cloud represented by the three-dimensional point cloud data 20 onto the reference plane. Generates information containing as perspective information.

15 is a diagram illustrating an example of an interfering object existing in the determination target region according to the first embodiment; FIG. In the example shown in FIG. 15, each of the interfering object I1 and the interfering object I2 is partially included in the determination target area AR. The interfering object I1 is an overhead wire pole, and the interfering object I2 is a tree. Therefore, in the example shown in FIG. 15, the determination target area AR includes a part of the three-dimensional point group representing the interfering object I1 and a part of the three-dimensional point group representing the interfering object I2.

The target area image generator 50 converts the three-dimensional points included in the determination target area AR from the three-dimensional point cloud represented by the three-dimensional point cloud data 20 into a straight line SL3 shown in FIG. 11 with a size of PL1 [mm ² ]. A two-dimensional image of the determination target area AR is generated by projecting onto a vertical plane. In addition, the target area image generation unit 50 projects the three-dimensional points included in the determination target area AR in the three-dimensional point cloud represented by the three-dimensional point cloud data 20 onto a horizontal plane with a size of PL1 [mm ² ]. A two-dimensional image of the determination target area AR is generated. PL1 is preliminarily stored in the storage unit 11 , but may be received by the communication unit 10 , acquired by the data acquisition unit 30 from the communication unit 10 , and stored in the storage unit 11 .

16 is a diagram illustrating an example of a first two-dimensional image of the determination target region generated by the target region image generation unit according to the first embodiment; FIG. A first two-dimensional image 60 shown in FIG. 16 is a two-dimensional image of the determination target area AR obtained by projecting three-dimensional points included in the determination target area AR onto a plane perpendicular to the straight line SL3 shown in FIG. .

The first two-dimensional image 60 includes a three-dimensional point included in the determination target area AR and projected onto the reference plane as a two-dimensional point, the viewpoint position EP, and a circular frame with a radius r1 centered at the viewpoint position EP. A line, a circular frame line with a radius r2 centered at the viewpoint position EP, and a circular frame line with a radius r centered at the viewpoint position EP are included. A circular frame line with radius r1 indicates the outer edge of the determination target area AR. Radius r1 is shorter than radius r and radius r2, and radius r2 is shorter than radius r. The radius r1 is, for example, 1/3 the length of the radius r, and the radius r2 is, for example, 2/3 the length of the radius r.

The first two-dimensional image 60 shows how far away from the target facility the position of the target facility interferes when the crew member of the mobile body 4 looks at the target facility while the mobile body 4 is positioned in front of the designated distance Dt. It is an image showing whether there is an object. As shown in FIG. 16, in the first two-dimensional image 60, the three-dimensional points included in the determination target area AR are arranged as two-dimensional points within a circle with a radius r centered at the viewpoint position EP. One two-dimensional image 60 can accurately represent the line-of-sight situation of the target facility from the viewpoint position EP.

The first two-dimensional image 60 described above is an example in which the determination target area AR is a cylindrical area. A first two-dimensional image 60 is generated by 50 . 17 is a diagram illustrating another example of the first two-dimensional image of the determination target region generated by the target region image generation unit according to the first embodiment; FIG.

The first two-dimensional image 60 shown in FIG. 17 includes a three-dimensional point projected as a two-dimensional point on the reference plane, which is included in the determination target area AR which is a rectangular prism-shaped area, a viewpoint position EP, and a viewpoint position EP. It includes borders of rectangles of different sizes centered on . In the first two-dimensional image 60 shown in FIG. 17, the center region of the determination target region AR can be set near the line of sight of both eyes of the driver. can.

18 is a diagram illustrating an example of a second two-dimensional image of the determination target region generated by the target region image generation unit according to the first embodiment; FIG. A second two-dimensional image 61 shown in FIG. 18 is a two-dimensional image obtained by projecting the three-dimensional points included in the determination target area AR out of the three-dimensional point cloud represented by the three-dimensional point cloud data 20 onto a horizontal plane. be.

The second two-dimensional image 61 includes three-dimensional points included in the determination target area AR and projected onto the reference plane as two-dimensional points, a rectangular frame, a viewpoint position EP, a target facility position TP, a viewpoint position A designated distance Dt, which is the distance between the EP and the target equipment position TP, is included. The second two-dimensional image 61 is a two-dimensional image of the determination target area AR viewed from above, and the second two-dimensional image 61 can represent how far away an interfering object is from the viewpoint position EP. can.

In addition, the target area image generation unit 50 divides the three-dimensional points included in the determination target area AR into colors according to the distance from the straight line SL3, and converts the two-dimensional image obtained by projecting onto the reference plane into the first two-dimensional image. 60 and a second two-dimensional image 61 . 19 is a diagram illustrating an example of a first two-dimensional image of a determination target region in which three-dimensional points included in the determination target region are color-coded according to their positions by the target region image generation unit according to the first embodiment; FIG. .

Similar to the first two-dimensional image 60 shown in FIG. 16, the first two-dimensional image 60 shown in FIG. , a viewpoint position EP, a circle of radius r1, a circle of radius r2, and a circle of radius r. Also, in the first two-dimensional image 60 shown in FIG. 19, the three-dimensional points included in the determination target area AR are color-coded according to the distance from the straight line SL3 including the viewpoint position EP. In FIG. 19, the difference in color is represented by the difference in the filling state within the circle of the three-dimensional point. In the example shown in FIG. 19, a three-dimensional point in the area inside the circle with radius r1, a three-dimensional point in the area outside the circle with radius r1 and inside the circle with radius r2, and a three-dimensional point outside the circle with radius r2 and with radius 3D points in the area within the circle of r are represented in different colors.

20 is a diagram illustrating an example of a second two-dimensional image of a determination target region in which three-dimensional points included in the determination target region are color-coded according to their positions by the target region image generation unit according to the first embodiment; FIG. . As with the second two-dimensional image 61 shown in FIG. 18, the second two-dimensional image 61 shown in FIG. , a rectangular frame, a viewpoint position EP, a target equipment position TP, and a designated distance Dt.

In the second two-dimensional image 61 shown in FIG. 20, similarly to the second two-dimensional image 61 shown in FIG. They are color-coded according to the distance from the straight line SL3 including the position EP.

Although not shown, even when the determination target area AR is a polygonal prismatic area, the target area image generation unit 50 similarly projects a three-dimensional point included in the determination target area AR onto the reference plane as a two-dimensional point. A first two-dimensional image 60 and a second two-dimensional image 61 of the determination target area AR, which are color-coded according to the distance from the straight line SL3, are generated.

Next, the line-of-sight determination unit 51 of the generation processing unit 42 will be described. The line-of-sight determination unit 51 determines the degree of line-of-sight based on the distribution of three-dimensional points included in the determination target area AR. The degree of line-of-sight indicates how much the target facility can be line-of-sight from the viewpoint position EP. Information indicating the degree of visibility determined by the visibility determination unit 51 is added to the visibility information by the target area image generation unit 50 .

For example, the visibility determination unit 51 projects the three-dimensional points included in the determination target area AR in the three-dimensional point cloud represented by the three-dimensional point cloud data 20 onto a horizontal plane with a size of PL2 [mm ² ] to determine the determination target. Generate a two-dimensional image of the area AR. PL2 is stored in advance in the storage unit 11 , but may be received by the communication unit 10 , acquired by the data acquisition unit 30 from the communication unit 10 , and stored in the storage unit 11 .

The visibility determination unit 51 calculates the total area of the three-dimensional points included in the two-dimensional image of the determination target area AR as the total area, and calculates the area ratio Sr, which is the ratio of the total area to the area of the determination target area AR. calculate. The visibility determination unit 51 determines the visibility condition according to the size of the area ratio Sr. For example, if 0≦Sr<Sth1, the visibility determining unit 51 determines that the visibility is good, and if Sth1≦Sr<Sth2, it determines that the visibility is good with partial interference. , Sth2≦Sr, it is determined that the visibility is poor. Sth1 and Sth2 are thresholds.

Further, the line-of-sight determination unit 51 can also determine the line-of-sight situation by weighting according to the distance from a straight line SL3 connecting the target facility position TP and the viewpoint position EP. For example, the area at the distance from the straight line SL3 to the radius r1 is defined as the first area, the area at the distance from the straight line SL3 to the radius r2 except the first area is defined as the second area, and the area from the straight line SL3 to the radius r2 is defined as the second area. A third area is defined as an area within the radius r except for the first area and the second area. Hereinafter, for convenience of explanation, the first area will be referred to as the first area AR1, the second area will be referred to as the second area AR2, and the third area will be referred to as the third area AR3.

The visibility determination unit 51 calculates a first area value by multiplying the total area of the three-dimensional points included in the first area AR1 in the two-dimensional image of the determination target area AR by the coefficient k1, and determines the determination target area AR. A second area value is calculated by multiplying the total area of the three-dimensional points included in the second area AR2 in the two-dimensional image of A by the coefficient k2. Further, the visibility determination unit 51 multiplies the total area of the three-dimensional points included in the third area AR3 in the two-dimensional image of the determination target area AR by the coefficient k3 to calculate the third area value.

The line-of-sight determination unit 51 can express the value obtained by summing the first area value, the second area value, and the third area value as the above-described area ratio Sr. Note that the coefficients k1, k2, and k3 have a relationship of k1>k2>k3, and are stored in the storage unit 11 in advance. 11 may be stored.

Further, the line-of-sight determination unit 51 projects, for example, the three-dimensional points included in the first area AR1 onto a horizontal plane with a size of PL2×k4 [mm ² ], and projects the three-dimensional points included in the second area AR2 as It is projected onto a horizontal plane with a size of PL2×k5 [mm ² ], and the three-dimensional points included in the third area AR3 are projected onto a horizontal plane with a size of PL2×k6 [mm ² ]. k4, k5 and k6 are coefficients and have a relationship of k4>k5>k6.

The outlook determination unit 51 calculates the total area of the three-dimensional points included in the determination target area AR as the total area, and calculates the area ratio Sr, which is the ratio of the total area to the area of the determination target area AR. Then, the line-of-sight determination unit 51 determines the state of line-of-sight according to the size of the area ratio Sr by a method similar to the determination method described above.

In this way, the line-of-sight determination unit 51 assigns a greater weight to the closer the distance from the straight line SL3, thereby determining an obstacle that is close to the line of sight of the crew member looking at the target facility as an element that worsens the line-of-sight situation. Therefore, more accurate determination can be performed.

In the example described above, the visibility determination unit 51 divides the determination target area AR projected onto the horizontal plane into three areas to determine the visibility situation. It is also possible to determine the line-of-sight situation by dividing the area into .

Next, the interfering object image generator 52 of the generation processor 42 will be described. The interfering object image generating unit 52 generates an image of the 3-dimensional point cloud as an interfering object image in a state where the 3-dimensional points included in the determination target area AR in the 3-dimensional point cloud represented by the 3-dimensional point cloud data 20 are colored. do. The interfering object image generated by the interfering object image generating unit 52 is added to the line of sight information by the target area image generating unit 50 .

The method of coloring the three-dimensional points by the interfering object image generating unit 52 is the same as the method of coloring the three-dimensional points by the target area image generating unit 50. The points are color-coded according to the distance from the straight line SL3.

For example, the interfering object image generation unit 52 generates three-dimensional points in an area within a circle with radius r1, three-dimensional points in an area outside the circle with radius r1 and within the circle with radius r2, and outside the circle with radius r2. 3D points within a circle of radius r are given different colors.

21 is a diagram illustrating an example of an interfering object image generated by the interfering object image generating unit according to Embodiment 1, and FIG. 22 is a diagram illustrating an interference object image generated by the interfering object image generating unit according to Embodiment 1; FIG. 10 is a diagram showing another example of an object image; As shown in FIGS. 21 and 22, the interfering object image generating unit 52 generates as interfering object images 70 and 71 3D point cloud images including 3D points of the interfering object viewed from a position close to the interfering object. .

An interfering object image 70 shown in FIG. 21 includes an image of a three-dimensional point group representing the interfering object I1. The 3D points included in the AR are colored. Such an interfering object image 70 can represent in what state the interfering object I1 interferes with the determination target area AR.

The interfering object image 71 shown in FIG. 22 includes a three-dimensional point group image representing the interfering object I2. Three-dimensional points included in the target area AR are colored. Such an interfering object image 71 can represent in what state the interfering object I2 interferes with the determination target area AR.

In the examples shown in FIGS. 21 and 22, for convenience of explanation, the three-dimensional points included in the determination target area AR are displayed large, and these three-dimensional points are colored. In FIGS. 21 and 22, the difference in color is represented by the difference in the filling state within the circle of the three-dimensional points.

The output processing unit 32 shown in FIG. 2 outputs the outlook information generated by the outlook information generation unit 31 . For example, the output processing unit 32 outputs the outlook information by causing the communication unit 10 to transmit the outlook information generated by the outlook information generation unit 31 to an external device via a network (not shown). The output processing unit 32 can also output the outlook information by displaying the outlook information generated by the outlook information generation unit 31 on the display device 5, for example.

The outlook information generated by the outlook information generation unit 31 includes the first two-dimensional image 60 and the second two-dimensional image 61 generated by the target area image generation unit 50, the outlook situation determined by the outlook determination unit 51, and at least one of the interfering object images 70 and 71 generated by the interfering object image generating unit 52 .

For example, the output processing unit 32 generates the first two-dimensional image 60 and the second two-dimensional image 61 generated by the target area image generation unit 50, the line-of-sight situation determined by the line-of-sight determination unit 51, and the interference object image generation. Line-of-sight information including interfering object images 70 and 71 generated by unit 52 can be output.

23 is a diagram illustrating an example of outlook information according to the first embodiment; FIG. The line-of-sight information 80 shown in FIG. including. The confirmation point 82 is the specified distance Dt, and indicates the distance along the movement path 3 between the viewpoint position EP and the target equipment position TP. The visibility status determination result 83 is information indicating the degree of visibility determined by the visibility determination unit 51 .

The line-of-sight information 80 includes position information indicating the positions of three-dimensional points included in the determination target area AR among the three-dimensional points of the interfering object I1 at positions associated with the interfering object image 70 . Similarly, in the line-of-sight information 80, position information indicating the positions of the three-dimensional points included in the determination target area AR among the three-dimensional points of the interfering object I2 is arranged at the position associated with the interfering object image 71. . Such position information is information detected by the outlook information generator 31 .

In this way, since the line-of-sight information 80 includes the first two-dimensional image 60, the second two-dimensional image 61, the interfering object image 70, the interfering object image 71, and the line-of-sight situation judgment result 83, , the operator who confirms the visibility information 80 can accurately grasp the visibility situation.

Next, processing by the processing unit 12 of the outlook information generation device 1 will be described using a flowchart. 24 is a flowchart illustrating an example of processing by a processing unit of the outlook information generating device according to the first embodiment; FIG.

As shown in FIG. 24, the processing unit 12 of the outlook information generating device 1 acquires the three-dimensional point cloud data 20 from the storage unit 11 or the communication unit 10 (step S10). Next, the processing unit 12 performs viewpoint position determination processing for determining the viewpoint position EP (step S11). The processing of step S11 is the processing of steps S20 to S22 shown in FIG. 25, and will be described in detail later.

Next, the processing unit 12 determines a determination target area based on the viewpoint position EP determined in step S11 (step S12). Then, the processing unit 12 performs outlook information generation processing for generating the outlook information 80 based on the three-dimensional point cloud data 20 acquired in step S10 and the determination target area determined in step S12 (step S13). The process of step S13 is the process of steps S30 to S34 shown in FIG. 26, and will be described in detail later. Next, the processing unit 12 outputs the outlook information generated in step S13 (step S14), and ends the processing shown in FIG.

25 is a flowchart illustrating an example of viewpoint position determination processing by the processing unit of the outlook information generating apparatus according to the first embodiment; FIG. As shown in FIG. 25, the processing unit 12 calculates the position BT on the reference line Lr corresponding to the target equipment position TP (step S20).

Next, the processing unit 12 calculates a position BE on the reference line Lr separated from the position BT by the designated distance Dt on the reference line Lr (step S21), and calculates the viewpoint position EP based on the calculated position BE. Then (step S22), the process shown in FIG. 25 is terminated.

26 is a flowchart illustrating an example of outlook information generation processing by the processing unit of the outlook information generation apparatus according to the first embodiment; FIG. As shown in FIG. 26, the processing unit 12 projects the three-dimensional points included in the determination target area AR onto the reference plane (step S30). Then, the processing unit 12 generates a two-dimensional image of the determination target area AR by color-coding each three-dimensional point projected onto the reference plane according to the distance from the straight line SL3 (step S31).

Next, the processing unit 12 determines the degree of visibility based on the distribution of three-dimensional points included in the determination target area AR (step S32). In addition, the processing unit 12 generates three-dimensional point group images as interfering object images 70 and 71 with the three-dimensional points included in the determination target area AR colored (step S33). Then, the processing unit 12 outputs the outlook information 80 (step S34), and terminates the processing of FIG.

27 is a diagram depicting an example of a hardware configuration of the outlook information generating device according to Embodiment 1; FIG. As shown in FIG. 27 , the outlook information generation device 1 includes a computer having a processor 101 , a memory 102 and a communication device 103 .

Processor 101 , memory 102 , and communication device 103 can send and receive information from each other, eg, via bus 104 . Storage unit 11 is realized by memory 102 . The communication unit 10 is implemented by the communication device 103 . The processor 101 reads and executes programs stored in the memory 102 to perform functions such as the data acquisition unit 30 , the outlook information generation unit 31 , the output processing unit 32 , and the like. The processor 101 is an example of a processing circuit, for example, and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes one or more of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Registered Trademark) (Electrically Erasable Programmable Read Only Memory). include. The memory 102 also includes a recording medium in which a computer-readable program is recorded. Such recording media include one or more of nonvolatile or volatile semiconductor memories, magnetic disks, flexible memories, optical disks, compact disks, and DVDs (Digital Versatile Disks). Note that the outlook information generation device 1 may include integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

As described above, the prospect information generation device 1 according to the first embodiment includes the data acquisition unit 30 , the prospect information generation unit 31 and the output processing unit 32 . The data acquisition unit 30 acquires the three-dimensional point cloud data 20 representing objects in the peripheral area of the moving path 3 along which the moving object 4 moves, as a three-dimensional point cloud. Based on the three-dimensional point cloud data 20 acquired by the data acquisition unit 30, the line-of-sight information generation unit 31 generates line-of-sight information, which is information indicating the line-of-sight situation of the target facility from a viewpoint position EP away from the target facility in the surrounding area. Generate information 80 . The output processing unit 32 outputs the outlook information 80 generated by the outlook information generation unit 31 . As a result, the line-of-sight information generation device 1 can accurately present the state of line-of-sight of the target facility from the moving object 4 moving on the movement path 3 .

The data acquisition unit 30 also acquires reference line data 21 that is data of the reference line Lr along the moving path 3 . The line-of-sight information generation unit 31 includes a viewpoint position determination unit 40 that determines the viewpoint position EP based on the distance from the target facility along the reference line Lr indicated by the reference line data 21 . As a result, the line-of-sight information generation device 1 can automatically set, for example, a position that is a specified distance Dt away from the target facility as the viewpoint position EP, and the line-of-sight situation of the target facility can be determined from a point that is a certain distance in front of the target facility. can be presented with high accuracy.

The reference line data 21 also includes data indicating the inclination of the moving path 3 or data for calculating the inclination of the moving path 3 . The viewpoint position determination unit 40 determines the viewpoint position EP based on the distance from the target facility and the inclination of the moving path 3 . As a result, the visibility information generation device 1 can accurately present the visibility situation of the target facility from the viewpoint of the crew member of the mobile object 4, for example.

In addition, the outlook information generation unit 31 includes a determination region determination unit 41 and a generation processing unit 42 . The determination area determination unit 41 determines a predetermined area around a straight line SL3 connecting the target equipment position TP and the viewpoint position EP as the determination target area AR. The generation processing unit 42 generates view information 80 based on the three-dimensional point cloud data 20 and the determination target area AR. As a result, the line-of-sight information generation device 1 can, for example, accurately present the line-of-sight situation of the target facility in a preset area around the straight line SL3 connecting the target facility position TP and the viewpoint position EP.

The generation processing unit 42 also includes a target area image generation unit 50 . The target area image generation unit 50 projects the 3D points included in the determination target area AR among the plurality of 3D points forming the 3D point group indicated by the 3D point cloud data 20 onto the reference plane. Information including a two-dimensional image of the determination target area AR is generated. As a result, the visibility information generation device 1 can present the visibility situation of the target facility in a two-dimensional image.

Also, the reference plane includes a plane perpendicular to the straight line SL3. As a result, the outlook information generation device 1 can present the outlook status of the target facility from the viewpoint position EP as a two-dimensional image.

Also, the reference plane includes a horizontal plane. As a result, the outlook information generation device 1 can present a two-dimensional image that allows the user to grasp the distance from the three-dimensional viewpoint position EP in which the determination target area AR exists.

In addition, the target area image generating unit 50 generates a two-dimensional image of the determination target area AR by color-coding the three-dimensional points included in the determination target area AR according to the distance from the straight line SL3. As a result, the outlook information generation device 1 can present a two-dimensional image that allows the visibility of the target facility from the viewpoint position EP to be grasped by the colors of the three-dimensional points included in the two-dimensional image.

The generation processing unit 42 also includes a line-of-sight determination unit 51 . The line-of-sight determination unit 51 determines the degree of line-of-sight based on the distribution of three-dimensional points included in the determination target area AR. The visibility information 80 further includes information indicating the degree of visibility determined by the visibility determination unit 51 . Thereby, the outlook information generation device 1 can present information indicating the degree of visibility.

The generation processing unit 42 also includes an interfering object image generation unit 52 . The interfering object image generation unit 52 generates three-dimensional point cloud images as interfering object images 70 and 71 in a state where the three-dimensional points included in the determination target area AR are colored. The line-of-sight information 80 further includes interfering object images 70 and 71 generated by the interfering object image generating section 52 . As a result, the outlook information generation device 1 can present the interfering object images 70 and 71, which are three-dimensional point cloud images, with the three-dimensional points included in the determination target area AR colored.

Further, the determination area determination unit 41 determines a cylindrical area having the straight line SL3 as the center line as the determination target area AR. Thereby, the outlook information generating device 1 can easily and simply set the determination target area AR.

Further, the determination area determination unit 41 determines a quadrangular prism-shaped area having the straight line SL3 as the center line as the determination target area AR. As a result, the outlook information generation device 1 can set the center area of the determination target area AR near the line of sight of both eyes of the driver, so that the visibility situation can be accurately expressed in a more realistic situation.

The configuration shown in the above embodiment is an example, and can be combined with another known technique, and part of the configuration can be omitted or changed without departing from the scope of the invention. It is possible.

1 outlook information generating device, 2 three-dimensional point cloud measuring device, 3 movement path, 4 moving object, 5 display device, 10 communication unit, 11 storage unit, 12 processing unit, 20 three-dimensional point cloud data, 21 reference line data, 30 data acquisition unit 31 view information generation unit 32 output processing unit 40 viewpoint position determination unit 41 determination region determination unit 42 generation processing unit 50 target region image generation unit 51 visibility determination unit 52 interference object image generation Part 60 First two-dimensional image 61 Second two-dimensional image 70,71 Interfering object image 80 View information 82 Confirmation point 83 Determination result of view situation 100 Information providing system 101 Processor 102 Memory, 103 communication device, 104 bus, AR determination target area, AR1 first area, AR2 second area, AR3 third area, AS1, AS2, AS3, AS4 surface, BT position, D integrated distance, Dt designation Distance, EP Viewpoint position, H Distance, I1, I2 Interfering object, L Distance, Lr Reference line, P5, P5', P6, P6', P21, P22, P23, P24 Reference point, PB1 First position, PB2 Second Position of 2, SL1 First straight line, SL2 Second straight line, Sr Area ratio, TP Target facility position, d1, d2, d3, d19 Distance, k1, k2, k3, k4, k5, k6 Coefficients, r, r1 , r2 Radius.

Claims (14)

a data acquisition unit that acquires three-dimensional point cloud data representing objects in a peripheral area of a moving path along which the moving object moves, in a three-dimensional point cloud;
View information for generating view information, which is information indicating a view situation of the target equipment from a viewpoint position away from the target equipment in the peripheral area, based on the three-dimensional point cloud data obtained by the data obtaining unit. a generator;
and an output processing unit that outputs the outlook information generated by the outlook information generation unit. The data acquisition unit
Acquiring reference line data that is data of a reference line along the moving path;
The outlook information generation unit
The outlook information generation device according to claim 1, further comprising a viewpoint position determination unit that determines the viewpoint position based on a distance from the target facility along the reference line indicated by the reference line data. . The baseline data is
including data indicating the slope of the moving path or data for calculating the slope of the moving path;
The viewpoint position determining unit
The line-of-sight information generation device according to claim 2, wherein the viewpoint position is determined based on the distance from the target facility and the inclination of the moving path. The outlook information generation unit
a determination area determination unit that determines a predetermined area around a straight line connecting the position of the target equipment and the viewpoint position as a determination target area;
The outlook information generator according to any one of claims 1 to 3, further comprising a generation processing unit that generates the outlook information based on the three-dimensional point cloud data and the determination target area. Device. The generation processing unit
two-dimensional determination target region obtained by projecting, onto a reference plane, three-dimensional points included in the determination target region among a plurality of three-dimensional points forming the three-dimensional point cloud represented by the three-dimensional point cloud data; The outlook information generation device according to claim 4, further comprising a target area image generation unit that generates information including an image. The reference surface is
The outlook information generation device according to claim 5, comprising a plane perpendicular to the straight line. The reference surface is
The line-of-sight information generation device according to claim 5 or 6, comprising a horizontal plane. The generation processing unit
8. A two-dimensional image obtained by color-coding three-dimensional points included in the determination target area according to distances from the straight line is generated as the two-dimensional image of the determination target area. The visibility information generating device according to 1. The generation processing unit
a line-of-sight determination unit that determines the degree of line-of-sight of the target facility from the viewpoint position based on the distribution of three-dimensional points included in the determination target area;
The outlook information includes:
The visibility information generation device according to any one of claims 4 to 8, further comprising information indicating the degree of visibility determined by the visibility determination unit. The generation processing unit
an interfering object image generation unit that generates an image of the three-dimensional point group as an interfering object image in a state where the three-dimensional points included in the determination target region are colored;
The outlook information includes:
The line-of-sight information generating device according to any one of claims 4 to 9, further comprising the interfering object image generated by the interfering object image generation unit. The determination region determination unit
The outlook information generating device according to any one of claims 4 to 10, wherein a cylindrical area having the straight line as a center line is determined as the determination target area. The determination region determination unit
The outlook information generating apparatus according to any one of claims 4 to 11, wherein a quadrangular prism-shaped area having the straight line as a center line is determined as the determination target area. A computer-implemented method for generating perspective information, comprising:
a first step of acquiring three-dimensional point cloud data representing objects in a peripheral area of a moving path along which the moving object moves, in a three-dimensional point cloud;
generating line-of-sight information, which is information indicating a line-of-sight situation of the target facility from a viewpoint position away from the target facility in the peripheral area, based on the three-dimensional point cloud data acquired in the first step; 2 steps;
and a third step of outputting the outlook information generated by the second step. a first step of acquiring three-dimensional point cloud data representing objects in a peripheral area of a moving path along which the moving object moves, in a three-dimensional point cloud;
generating line-of-sight information, which is information indicating a line-of-sight situation of the target facility from a viewpoint position away from the target facility in the peripheral area, based on the three-dimensional point cloud data acquired in the first step; 2 steps;
and a third step of outputting the outlook information generated by the second step.

Images