WO2021199730A1 - 情報処理装置、コンピュータプログラム、記録媒体、表示データ作成方法 - Google Patents

情報処理装置、コンピュータプログラム、記録媒体、表示データ作成方法 Download PDF

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Publication number
WO2021199730A1
WO2021199730A1 PCT/JP2021/005464 JP2021005464W WO2021199730A1 WO 2021199730 A1 WO2021199730 A1 WO 2021199730A1 JP 2021005464 W JP2021005464 W JP 2021005464W WO 2021199730 A1 WO2021199730 A1 WO 2021199730A1
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WO
WIPO (PCT)
Prior art keywords
information
acquisition unit
posture
measuring device
field
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/005464
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English (en)
French (fr)
Japanese (ja)
Inventor
岩井　智昭
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.)
Pioneer Corp
Pioneer Smart Sensing Innovations Corp
Original Assignee
Pioneer Corp
Pioneer Smart Sensing Innovations Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pioneer Corp, Pioneer Smart Sensing Innovations Corp filed Critical Pioneer Corp
Priority to EP21779965.9A priority Critical patent/EP4130646A4/en
Priority to JP2022511631A priority patent/JPWO2021199730A1/ja
Priority to US17/916,501 priority patent/US20230154099A1/en
Publication of WO2021199730A1 publication Critical patent/WO2021199730A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—Three-dimensional [3D] image rendering
    • 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
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/56—Particle system, point based geometry or rendering

Definitions

  • the present invention relates to a technique for supporting mounting and adjustment of a three-dimensional measuring device.
  • Lidar Light Detection and Ringing, Laser Imaging Detection and Langing
  • ToF Time of Flight
  • Lidar is equipped with a scanning mechanism, which emits pulsed light while changing the emission angle, and can acquire three-dimensional point cloud information by detecting the return light from an object. Therefore, Lidar can function as a three-dimensional measuring device.
  • the information processing device of the present invention includes a position / orientation acquisition unit that acquires a mounting position and a mounting posture of a three-dimensional measuring device based on a moving body to be mounted, and a field information that acquires field information of the three-dimensional measuring device.
  • the information processing device of the present invention includes a position / orientation acquisition unit that acquires the mounting position and mounting posture of a plurality of three-dimensional measuring devices based on a moving object to be mounted, and field information of each three-dimensional measuring device. It is characterized by including a field information acquisition unit for acquiring the above and an image generation unit for creating data for displaying a guide indicating the field of view of each of the three-dimensional measuring devices with reference to the moving body.
  • the computer program of the present invention includes a position / orientation acquisition unit that acquires a mounting position and a mounting posture of a three-dimensional measuring device based on a moving body to which a computer is mounted, and a field of view that acquires field information of the three-dimensional measuring device.
  • Display data in which the information acquisition unit, the measurement information acquisition unit that acquires measurement information from the three-dimensional measuring device, and the three-dimensional point group information based on the acquired measurement information and the mounting position and mounting posture are superimposed with a guide indicating the field of view. It is characterized in that it functions as an image generation unit that creates.
  • the recording medium of the present invention is characterized in that the above program is recorded.
  • the display data creation method of the present invention is a display data creation method in an information processing apparatus, which includes a position / orientation acquisition step of acquiring a mounting position and a mounting posture of a three-dimensional measuring device based on a moving body to be mounted.
  • FIG. 1 It is a block diagram which shows the structural example of the information processing apparatus which is one Example of this invention. It is a figure which shows the work place which attaches a lidar to a vehicle, and adjusts an attachment position and a posture. It is a figure which shows an example of the guide which shows the field of view of a single lidar. It is a figure which shows an example of the guide which shows the field of view of two lidars. It is a display image in which the guide of the lidar is superimposed on the three-dimensional point cloud based on the measurement information acquired by the single lidar. It is a display image in which the guide of each lidar is superimposed on the three-dimensional point cloud based on the measurement information acquired by the two lidars. Of the display images shown in FIG.
  • the information processing device includes a position / orientation acquisition unit that acquires a mounting position and a mounting posture of the three-dimensional measuring device based on a moving body to be mounted, and field information of the three-dimensional measuring device.
  • a visual field information acquisition unit that acquires measurement information
  • a measurement information acquisition unit that acquires measurement information from the three-dimensional measuring device
  • a guide that indicates the visual field in three-dimensional point group information based on the acquired measurement information and the mounting position and mounting posture. It is equipped with an image generation unit that creates superimposed display data.
  • the present invention since the position of the measurement object with respect to the field of view (sensing area) of the three-dimensional measuring device is visualized, it is useful for adjusting the mounting position and the posture of the three-dimensional measuring device.
  • the information processing device includes a position / orientation acquisition unit that acquires the mounting position and the mounting posture of a plurality of three-dimensional measuring devices based on a moving body to be mounted, and each of the three dimensions. It includes a visual field information acquisition unit that acquires visual field information of the measuring device, and an image generation unit that creates data for displaying a guide indicating the visual field of each three-dimensional measuring device with reference to the moving body. .. According to the present invention, the visual fields (sensing regions) of a plurality of three-dimensional measuring devices are visualized and their relative positions can be grasped, which is useful for adjusting the mounting position and posture of the three-dimensional measuring devices.
  • the guide may include lines representing the four corners of the visual field. These lines make it easier to see the field of view of the coordinate measuring device.
  • the guide may include a surface equidistant from the mounting position in the field of view. This surface makes it easier to see the field of view of the coordinate measuring device.
  • the distance from the mounting position to the surface may correspond to the detection limit distance of the three-dimensional measuring device. This makes it easier to see the field of view of the coordinate measuring device.
  • the computer program includes a position / orientation acquisition unit that acquires a mounting position and a mounting posture of a three-dimensional measuring device based on a moving body to be mounted, and the three-dimensional measurement.
  • the visual field information acquisition unit that acquires the visual field information of the device, the measurement information acquisition unit that acquires the measurement information from the three-dimensional measuring device, and the three-dimensional point group information based on the acquired measurement information, the mounting position, and the mounting posture. It functions as an image generation unit that creates display data in which a guide indicating the above is superimposed.
  • the recording medium according to the embodiment of the present invention records the above computer program.
  • the display data creation method is a display data creation method in the information processing device, and acquires the mounting position and mounting posture of the three-dimensional measuring device based on the moving body to be mounted.
  • Position / orientation acquisition process visual field information acquisition process for acquiring visual field information of the three-dimensional measuring device
  • measurement information acquisition process for acquiring measurement information from the three-dimensional measuring device, acquired measurement information, mounting position, and mounting. It has an image generation step of creating display data in which a guide indicating the field of view is superimposed on three-dimensional point group information based on a posture.
  • FIG. 1 is a block diagram showing a configuration example of the information processing device 10 which is an embodiment of the present invention.
  • FIG. 2 is a diagram showing a workplace where lidars (three-dimensional measuring devices) 1 and 2 are attached to a vehicle (moving body) 3 to adjust the attachment position and posture.
  • the information processing device 10 is for supporting adjustment (calibration) of the mounting position and posture of the lidars 1 and 2 mounted on the vehicle 3. This adjustment is performed in the workplace as shown in FIG. In this workshop, for example, the floor, ceiling, and walls are colored with low reflectance, for example, black, and the target 9 is attached to the wall in front of the vehicle 3.
  • the target 9 is formed in the shape of a horizontally long rectangular plate by a highly reflective material.
  • the angle around the X-axis which is the front-rear direction of the vehicle 3 shown in FIG. 2 is called a roll angle
  • the angle around the Y-axis which is the left-right direction of the vehicle 3 is called a pitch angle
  • the angle around the Z axis, which is the vertical direction of, is called the yaw angle.
  • the lidars 1 and 2 continuously emit pulsed light while changing the emission angle, and measure the distance to the object by detecting the return light from the object.
  • These Lidars 1 and 2 are attached to the roof or the like of the vehicle 3.
  • the number of lidars attached to the vehicle 3 may be one or a plurality of lidars.
  • the information processing device 10 adjusts the mounting position and posture of the lidars 1 and 2 by displaying the three-dimensional point cloud information of the target 9 acquired by the lidars 1 and 2 and a guide indicating the field of view of the lidars 1 and 2 on the display device 4. Support.
  • the information processing apparatus 10 includes a visual field information acquisition unit 11, a position / orientation acquisition unit 12, a measurement information acquisition unit 13, a three-dimensional point cloud information generation unit 14, and an image generation unit 15.
  • Each of these blocks is constructed by executing a predetermined computer program by an arithmetic unit or the like included in the information processing device.
  • Such computer programs can be distributed, for example, via a recording medium or a communication network.
  • the field of view information acquisition unit 11 acquires the field of view information of each of the lidars 1 and 2.
  • the field of view information is information in the sensing region, and specifically, is an upper and lower detection angle range, a left and right detection angle range, and a detection limit distance. This field of view information is possessed by each of the lidars 1 and 2 itself, and can be acquired by connecting each of the lidars 1 and 2 to the information processing device 10.
  • the position / posture acquisition unit 12 acquires the mounting positions (x-coordinate, y-coordinate, z-coordinate) and mounting posture (roll angle, pitch angle, yaw angle) of each of the lidars 1 and 2 with respect to the vehicle 3.
  • the mounting position of each lidar 1 or 2 may be detected by a lidar different from these, or a gyro sensor may be mounted on each lidar 1 or 2 to detect the mounting posture.
  • the coordinates and angles thus obtained are automatically or manually input to the position / orientation acquisition unit 12.
  • the measurement information acquisition unit 13 acquires the measurement information measured by each of the lidars 1 and 2, that is, the distance information for each exit angle to the target 9 in this example.
  • the three-dimensional point cloud information generation unit 14 generates the measurement information acquired by the measurement information acquisition unit 13 and the three-dimensional point cloud information of the target 9 based on the mounting position and the mounting posture acquired by the position / orientation acquisition unit 12.
  • the image generation unit 15 creates and displays display data in which a guide indicating the range of the visual field of each of the lidars 1 and 2 is superimposed on the three-dimensional point cloud of the target 9, and data for displaying only the guide of each of the lidars 1 and 2. Output to device 4.
  • FIG. 3 is a diagram showing an example of a guide showing the field of view of a single lidar1.
  • FIG. 4 is a diagram showing an example of a guide showing the fields of view of the two lidars 1 and 2.
  • the guide 5 shown in FIGS. 3 and 4 has straight lines 51, 52, 53, 54 representing the four corners of the field of view of the lidar 1, and a surface 55 equidistant from the lidar mounting position in the field of view. Further, the distance from the lidar mounting position to the surface 55 corresponds to the detection limit distance of lidar1. That is, the region composed of the straight lines 51, 52, 53, 54 and the surface 55 is the field of view of Lidar1. The surface 55 does not have to be displayed.
  • the guide 6 shown in FIG. 4 has straight lines 61, 62, 63, 64 representing the four corners of the field of view of the lidar 2, and a surface 65 equidistant from the lidar mounting position in the field of view. doing. Further, the distance from the lidar mounting position to the surface 65 corresponds to the detection limit distance of lidar2. That is, the region composed of the straight lines 61, 62, 63, 64 and the surface 65 is the field of view of the Lidar 2.
  • the position / orientation acquisition unit 12 acquires the mounting position and orientation of each of the lidars 1 and 2 with respect to the vehicle 3, and the visual field information acquisition unit 11 acquires the visual field information of each of the lidars 1 and 2.
  • the image generation unit 15 creates data for displaying the guides 5 and 6 indicating the fields of view of the lidars 1 and 2 with respect to the vehicle 3, and outputs the data to the display device 4.
  • the two lidars 1 and 2 are arranged with the yaw angles shifted, and in the example of this figure, they are arranged so that part of the field of view overlaps with each other.
  • the information processing device 10 visualizes the fields of view of the plurality of lidars 1 and 2 and displays them on the display device 4, so that the operator can grasp the relative positions and overlapping conditions of these fields of view by looking at the images of the display device 4.
  • This makes it possible to easily adjust the mounting position and posture of the lidars 1 and 2. For example, by looking at the display image of FIG. 4, the postures of the lidars 1 and 2 can be adjusted so that the straight line 61 and the straight line 53 overlap.
  • FIG. 5 is a display image in which the guide 5 of the lidar1 is superimposed on the three-dimensional point cloud 90 based on the measurement information acquired by the single lidar1.
  • the position / orientation acquisition unit 12 acquires the mounting position and orientation of the lidar 1 with respect to the vehicle 3 (position / orientation acquisition step)
  • the visual field information acquisition unit 11 acquires the visual field information of Lidar 1 (visual field information acquisition step)
  • the measurement information acquisition unit 13 acquires measurement information (distance information for each exit angle to the target 9) from Lidar 1 (measurement information acquisition step), and is three-dimensional.
  • the point cloud information generation unit 14 generates the three-dimensional point cloud information of the target 9 based on the measurement information and the mounting position and the mounting posture acquired by the position / orientation acquisition unit 12, and the image generation unit 15 generates the lidar1 in the three-dimensional point cloud 90.
  • the display data in which the guide 5 of the above is superimposed is created (image generation step) and output to the display device 4.
  • the three-dimensional point cloud 90 representing the target 9 is located in the center of the guide 5 showing the field of view of Lidar1.
  • the information processing device 10 superimposes the guide 5 of the lidar 1 on the three-dimensional point cloud 90 representing the target 9 and displays it on the display device 4, so that the operator sees the image of the display device 4 and sees the view of the lidar 1.
  • the position of the target 9 with respect to the target 9 can be grasped, and the mounting position and posture of the Lidar 1 can be easily adjusted.
  • the display of the surface 55 is omitted.
  • FIG. 6 is a display image in which the guides 5 and 6 of the lidars 1 and 2 are superimposed on the three-dimensional point clouds 91 and 92 based on the measurement information acquired by the two lidars 1 and 2 and the mounting position and the mounting posture.
  • FIG. 7 is a display image in which the guide 5 of the Lidar 1 is superimposed on the three-dimensional point cloud 91 acquired by the first Lidar 1 among the display images of FIG.
  • FIG. 8 is a display image in which the guide 6 of the lidar 2 is superimposed on the three-dimensional point cloud 92 acquired by the second lidar 2 among the display images of FIG.
  • the information processing device 10 acquires the mounting position and orientation of each of the lidars 1 and 2 with respect to the vehicle 3 by the position / orientation acquisition unit 12 (position / orientation acquisition).
  • the visual field information acquisition unit 11 acquires the visual field information of each of the lidars 1 and 2 (field information acquisition process)
  • the measurement information acquisition unit 13 acquires the measurement information (distance information for each emission angle to the target 9) from each of the lidars 1 and 2. ) (Measurement information acquisition step)
  • the three-dimensional point cloud information generation unit 14 generates the three-dimensional point cloud information of the target 9 based on the measurement information and the mounting position and mounting posture acquired by the position / orientation acquisition unit 12.
  • the display data on which the guides 5 and 6 are superimposed is created (image generation step) and output to the display device 4.
  • the two lidars 1 and 2 are arranged so that the yaw angles are staggered so that part of the field of view overlaps with each other.
  • the right end of the target 9 is out of the field of view of Lidar 1
  • the left end of the target 9 is out of the field of view of Lidar 2.
  • the information processing device 10 superimposes the guides 5 and 6 of the two lidars 1 and 2 on the three-dimensional point clouds 91 and 92 representing the target 9 and displays them on the display device 4, so that the operator can display the display device.
  • the position of the target 9 with respect to the field of view of the lidar 1, the position of the target 9 with respect to the field of view of the lidar 2, and the relative position and the degree of overlap of these fields of view can be grasped, and the mounting position and the posture of the lidar 1 and 2 can be easily adjusted. Can be done.
  • the three-dimensional point cloud 91 and the three-dimensional point cloud 92 are vertically displaced in the display image of FIG. 6, the pitch angles of the lidars 1 and 2 are adjusted while viewing the image of the display device 4, and the three-dimensional points are adjusted. Adjust so that the group 91 and the three-dimensional point cloud 92 are smoothly connected.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Graphics (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Length Measuring Devices By Optical Means (AREA)
PCT/JP2021/005464 2020-03-31 2021-02-15 情報処理装置、コンピュータプログラム、記録媒体、表示データ作成方法 Ceased WO2021199730A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP21779965.9A EP4130646A4 (en) 2020-03-31 2021-02-15 INFORMATION PROCESSING DEVICE, COMPUTER PROGRAM, RECORDING MEDIUM AND METHOD FOR CREATING DISPLAY DATA
JP2022511631A JPWO2021199730A1 (https=) 2020-03-31 2021-02-15
US17/916,501 US20230154099A1 (en) 2020-03-31 2021-02-15 Information processing device, computer program, recording medium, and display data creation method

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JP2020-063858 2020-03-31
JP2020063858 2020-03-31

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