WO2022239600A1 - 情報処理装置、情報処理方法、及びプログラム - Google Patents

情報処理装置、情報処理方法、及びプログラム Download PDF

Info

Publication number
WO2022239600A1
WO2022239600A1 PCT/JP2022/017867 JP2022017867W WO2022239600A1 WO 2022239600 A1 WO2022239600 A1 WO 2022239600A1 JP 2022017867 W JP2022017867 W JP 2022017867W WO 2022239600 A1 WO2022239600 A1 WO 2022239600A1
Authority
WO
WIPO (PCT)
Prior art keywords
point cloud
cloud data
segmented point
sensor
data
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/JP2022/017867
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
一央 岩見
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.)
Fujifilm Corp
Original Assignee
Fujifilm 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 Fujifilm Corp filed Critical Fujifilm Corp
Priority to DE112022001481.4T priority Critical patent/DE112022001481T5/de
Priority to JP2023520937A priority patent/JP7753356B2/ja
Priority to CN202280032497.8A priority patent/CN117280247A/zh
Publication of WO2022239600A1 publication Critical patent/WO2022239600A1/ja
Priority to US18/493,800 priority patent/US20240054612A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • G01B11/24—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
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/04—Interpretation of pictures
    • 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
    • G01S17/88—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
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • 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
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • 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
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • 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
    • G06T2207/20212—Image combination
    • 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
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior

Definitions

  • Japanese Patent Application Laid-Open No. 2016-189184 describes that point cloud data is adjusted according to the posture of LiDAR. This adjustment of the point cloud data is performed when synthesizing the point cloud data before and after the posture change.
  • the external sensor 32 emits a laser beam L in a visual field range S of, for example, 135 degrees left and right (270 degrees in total) and 15 degrees up and down (30 degrees in total) with respect to the traveling direction of the moving object 10 .
  • the external sensor 32 emits the laser beam L over the entire visual field range S while changing the angle by 0.25 degrees in either the horizontal direction or the vertical direction, for example.
  • the external sensor 32 repeatedly scans the visual field range S and outputs point cloud data for each scan.
  • the point cloud data output by the external sensor 32 for each scan is hereinafter referred to as segmented point cloud data PG.
  • the moving object 10 autonomously flies along a prescribed route while estimating its own position based on the data acquired by the external sensor 32 and the internal sensor 34 .
  • the mobile body system 2 uses SLAM technology, for example, to simultaneously estimate the self-location of the mobile body 10 and create an environment map.
  • the moving body 10 acquires and outputs segmented point cloud data PG1 to PG3 by the external sensor 32 at positions K1 to K3.
  • Each point included in the segmented point cloud data PG1 to PG3 represents the position (three-dimensional coordinates) of the reflection point of the laser beam L by the structure 50 .
  • the second sensor 32B extracts corresponding feature points U1 and U2 from a pair of image data PD1 and PD2.
  • the second sensor 32B calculates the three-dimensional coordinates of the point P represented by the corresponding feature points U1 and U2 using the principle of triangulation based on the difference (parallax) between the extracted feature points U1 and U2. .
  • Known algorithms such as SIFT, SURF, and AKAZE can be used to extract feature points.
  • the second sensor 32B can measure the edge portion of the structure with high accuracy.
  • the first sensor 32A cannot measure the edge portion of the structure with high accuracy.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Image Processing (AREA)
PCT/JP2022/017867 2021-05-11 2022-04-14 情報処理装置、情報処理方法、及びプログラム Ceased WO2022239600A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112022001481.4T DE112022001481T5 (de) 2021-05-11 2022-04-14 Informationsverarbeitungsvorrichtung, informationsverarbeitungsverfahren und programm
JP2023520937A JP7753356B2 (ja) 2021-05-11 2022-04-14 情報処理装置、情報処理方法、及びプログラム
CN202280032497.8A CN117280247A (zh) 2021-05-11 2022-04-14 信息处理装置、信息处理方法及程序
US18/493,800 US20240054612A1 (en) 2021-05-11 2023-10-24 Iinformation processing apparatus, information processing method, and program

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-080588 2021-05-11
JP2021080588 2021-05-11

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US18/493,800 Continuation US20240054612A1 (en) 2021-05-11 2023-10-24 Iinformation processing apparatus, information processing method, and program

Publications (1)

Publication Number Publication Date
WO2022239600A1 true WO2022239600A1 (ja) 2022-11-17

Family

ID=84028265

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/017867 Ceased WO2022239600A1 (ja) 2021-05-11 2022-04-14 情報処理装置、情報処理方法、及びプログラム

Country Status (5)

Country Link
US (1) US20240054612A1 (https=)
JP (1) JP7753356B2 (https=)
CN (1) CN117280247A (https=)
DE (1) DE112022001481T5 (https=)
WO (1) WO2022239600A1 (https=)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7561683B2 (ja) * 2021-05-13 2024-10-04 日立Astemo株式会社 地図生成・自己位置推定装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009174898A (ja) * 2008-01-22 2009-08-06 Toyota Motor Corp 移動体および環境情報作成方法
JP2014035702A (ja) * 2012-08-09 2014-02-24 Topcon Corp 光学データ処理装置、光学データ処理システム、光学データ処理方法、および光学データ処理用プログラム
JP2016218694A (ja) * 2015-05-19 2016-12-22 株式会社パスコ ３次元モデル生成装置、３次元モデル生成方法、及びプログラム
WO2019044500A1 (ja) * 2017-09-04 2019-03-07 日本電産株式会社 位置推定システム、および当該位置推定システムを備える移動体
WO2019193642A1 (ja) * 2018-04-03 2019-10-10 株式会社自律制御システム研究所 無人航空機用の自己位置推定装置及び自己位置推定方法

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6322960B2 (ja) * 2013-02-01 2018-05-16 株式会社リコー 慣性装置、方法及びプログラム
WO2015072199A1 (ja) * 2013-11-15 2015-05-21 ソニー株式会社 情報処理装置、情報処理方法およびプログラム
US9715016B2 (en) 2015-03-11 2017-07-25 The Boeing Company Real time multi dimensional image fusing
WO2018081328A1 (en) * 2016-10-26 2018-05-03 Ring Inc. Customizable intrusion zones for audio/video recording and communication devices
US10677897B2 (en) * 2017-04-14 2020-06-09 Luminar Technologies, Inc. Combining lidar and camera data
JPWO2020031806A1 (ja) * 2018-08-10 2021-08-02 パイオニア株式会社 データ構造、記憶媒体、記憶装置及び受信装置
US11501490B2 (en) * 2020-07-28 2022-11-15 Toyota Research Institute, Inc. Systems and methods for multi-resolution fusion of pseudo-LiDAR features

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009174898A (ja) * 2008-01-22 2009-08-06 Toyota Motor Corp 移動体および環境情報作成方法
JP2014035702A (ja) * 2012-08-09 2014-02-24 Topcon Corp 光学データ処理装置、光学データ処理システム、光学データ処理方法、および光学データ処理用プログラム
JP2016218694A (ja) * 2015-05-19 2016-12-22 株式会社パスコ ３次元モデル生成装置、３次元モデル生成方法、及びプログラム
WO2019044500A1 (ja) * 2017-09-04 2019-03-07 日本電産株式会社 位置推定システム、および当該位置推定システムを備える移動体
WO2019193642A1 (ja) * 2018-04-03 2019-10-10 株式会社自律制御システム研究所 無人航空機用の自己位置推定装置及び自己位置推定方法

Also Published As

Publication number Publication date
US20240054612A1 (en) 2024-02-15
DE112022001481T5 (de) 2024-01-11
JPWO2022239600A1 (https=) 2022-11-17
CN117280247A (zh) 2023-12-22
JP7753356B2 (ja) 2025-10-14

Similar Documents

Publication Publication Date Title
JP6029446B2 (ja) 自律飛行ロボット
JP6195450B2 (ja) 自律飛行ロボット
JP5990453B2 (ja) 自律移動ロボット
KR102460225B1 (ko) 레이저 스캔 시스템, 레이저 스캔 방법, 이동 레이저 스캔 시스템 및 프로그램
JP6658001B2 (ja) 位置推定装置、プログラム、位置推定方法
Loianno et al. Cooperative localization and mapping of MAVs using RGB-D sensors
JP6140458B2 (ja) 自律移動ロボット
Queralta et al. Fpga-based architecture for a low-cost 3d lidar design and implementation from multiple rotating 2d lidars with ros
CN108027440A (zh) 运动检测装置及使用它的三维形状测量装置
US11504608B2 (en) 6DoF inside-out tracking game controller
JP6527726B2 (ja) 自律移動ロボット
CN110597296A (zh) 一种无人机的飞行控制方法、装置、无人机和存储介质
JP6014484B2 (ja) 自律移動ロボット
US20210229810A1 (en) Information processing device, flight control method, and flight control system
JP6530212B2 (ja) 自律移動ロボット
JP2017182690A (ja) 自律移動ロボット
JP7753356B2 (ja) 情報処理装置、情報処理方法、及びプログラム
JP2016181177A (ja) 自律移動ロボット
KR20230082497A (ko) 3차원 포인트 클라우드를 이용한 구조물의 실시간 검진 자동화 방법 및 장치
JP2021047744A (ja) 情報処理装置、情報処理方法及び情報処理プログラム
Stowers et al. Optical flow for heading estimation of a quadrotor helicopter
US12146964B2 (en) Image processing method, image processing apparatus, and image processing program
CN116952229A (zh) 无人机定位方法、装置、系统和存储介质
WO2021117388A1 (ja) 移動体、制御装置、及び撮像方法
HK1259865A1 (en) Laser scanning system, laser scanning method, moving laser scanning system, and program

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22807303

Country of ref document: EP

Kind code of ref document: A1

DPE1 Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101)
WWE Wipo information: entry into national phase

Ref document number: 202280032497.8

Country of ref document: CN

WWE Wipo information: entry into national phase

Ref document number: 2023520937

Country of ref document: JP

WWE Wipo information: entry into national phase

Ref document number: 112022001481

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22807303

Country of ref document: EP

Kind code of ref document: A1