JP7777736B2 - 平面検出装置および平面検出方法 - Google Patents

平面検出装置および平面検出方法

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Publication number
JP7777736B2
JP7777736B2 JP2023510778A JP2023510778A JP7777736B2 JP 7777736 B2 JP7777736 B2 JP 7777736B2 JP 2023510778 A JP2023510778 A JP 2023510778A JP 2023510778 A JP2023510778 A JP 2023510778A JP 7777736 B2 JP7777736 B2 JP 7777736B2
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JP
Japan
Prior art keywords
plane
likelihood
visible image
plane detection
image information
Prior art date
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Active
Application number
JP2023510778A
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English (en)
Japanese (ja)
Other versions
JPWO2022209668A1 (https=
Inventor
陸 松本
昌満 村瀬
健 初田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
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Panasonic Intellectual Property Management Co Ltd
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Publication of JPWO2022209668A1 publication Critical patent/JPWO2022209668A1/ja
Application granted granted Critical
Publication of JP7777736B2 publication Critical patent/JP7777736B2/ja
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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/143—Segmentation; Edge detection involving probabilistic approaches, e.g. Markov random field [MRF] modelling
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20076—Probabilistic image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20081—Training; Learning

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Probability & Statistics with Applications (AREA)
  • Software Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
JP2023510778A 2021-03-31 2022-03-09 平面検出装置および平面検出方法 Active JP7777736B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021061257 2021-03-31
JP2021061257 2021-03-31
PCT/JP2022/010326 WO2022209668A1 (ja) 2021-03-31 2022-03-09 平面検出装置および平面検出方法

Publications (2)

Publication Number Publication Date
JPWO2022209668A1 JPWO2022209668A1 (https=) 2022-10-06
JP7777736B2 true JP7777736B2 (ja) 2025-12-01

Family

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Family Applications (1)

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JP2023510778A Active JP7777736B2 (ja) 2021-03-31 2022-03-09 平面検出装置および平面検出方法

Country Status (4)

Country Link
US (1) US20240013421A1 (https=)
JP (1) JP7777736B2 (https=)
CN (1) CN117063042A (https=)
WO (1) WO2022209668A1 (https=)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017151652A (ja) 2016-02-23 2017-08-31 村田機械株式会社 物体状態特定方法、物体状態特定装置、および、搬送車
JP2019032773A (ja) 2017-08-09 2019-02-28 キヤノン株式会社 画像処理装置、画像処理方法
JP2021042070A (ja) 2019-09-13 2021-03-18 株式会社豊田自動織機 位置姿勢推定装置

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2154650A1 (en) * 2008-08-12 2010-02-17 IEE INTERNATIONAL ELECTRONICS & ENGINEERING S.A. 3D time-of-flight camera system and position/orientation calibration method therefor
US8872851B2 (en) * 2010-09-24 2014-10-28 Intel Corporation Augmenting image data based on related 3D point cloud data
US20160189419A1 (en) * 2013-08-09 2016-06-30 Sweep3D Corporation Systems and methods for generating data indicative of a three-dimensional representation of a scene
DE112017001322T5 (de) * 2016-03-16 2018-12-27 Sony Corporation Signalverarbeitungsvorrichtung und Signalverarbeitungsverfahren
CN108053491A (zh) * 2017-12-12 2018-05-18 重庆邮电大学 动态视角条件下实现平面目标三维跟踪和增强现实的方法
US10346987B1 (en) * 2017-12-29 2019-07-09 Datalogic Usa, Inc. Locating objects on surfaces
US11107238B2 (en) * 2019-12-13 2021-08-31 Zebra Technologies Corporation Method, system and apparatus for detecting item facings

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017151652A (ja) 2016-02-23 2017-08-31 村田機械株式会社 物体状態特定方法、物体状態特定装置、および、搬送車
JP2019032773A (ja) 2017-08-09 2019-02-28 キヤノン株式会社 画像処理装置、画像処理方法
JP2021042070A (ja) 2019-09-13 2021-03-18 株式会社豊田自動織機 位置姿勢推定装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
RAHMAN, Miftahur 外２名，"DL-RANSAC: An Improved RANSAC with Modified Sampling Strategy Based on the Likelihood"，2019 IEEE 4TH INTERNATIONAL CONFERENCE ON IMAGE, VISION AND COMPUTING (ICIVC) [online]，2020年02月06日，Pages 463-468，< https://doi.org/10.1109/ICIVC47709.2019.8981025 >

Also Published As

Publication number Publication date
US20240013421A1 (en) 2024-01-11
CN117063042A (zh) 2023-11-14
JPWO2022209668A1 (https=) 2022-10-06
WO2022209668A1 (ja) 2022-10-06

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