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Extraction device and method

A technology for extracting equipment and equipment, applied in character and pattern recognition, image enhancement, instruments, etc., can solve problems such as inability to extract feature points

Inactive Publication Date: 2015-09-23
KK TOSHIBA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] However, since the technology in the above-mentioned prior art is not a technology of extracting feature points, but a technology of extracting and thinning non-feature points, so in addition to the feature points of points obtained through the process of thinning point group data, there are still few non-characteristic points
Therefore, even if the technique in the prior art described above is applied to the first-stage positioning, feature points cannot be extracted from the point cloud data with high accuracy

Method used

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Examples

Experimental program
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no. 1 example

[0034] figure 1 is a configuration diagram showing an example of the extraction device 10 according to the first embodiment. Such as figure 1 As shown, the extraction device 10 includes an acquisition unit 11 , a first calculator 13 , a first extractor 15 and an output unit 21 . The acquisition unit 11 may be realized by causing a processing device such as a central processing unit (CPU) to execute a program (that is, by software), by hardware such as an integrated circuit (IC), or by a combination of software and hardware. A first calculator 13 , a first extractor 15 and an output unit 21 .

[0035] The acquisition unit 11 acquires point cloud data, which is a set of points including three-dimensional coordinates on the object surface and normal vectors perpendicular to the object surface at the three-dimensional coordinates.

[0036] The three-dimensional coordinates are preferably three-dimensional position coordinates arranged in a three-dimensional Cartesian coordinate...

no. 2 example

[0088] In the second embodiment, an example is shown in which feature points are extracted so that non-feature points as noise are not included. In the following, differences from the first embodiment will be mainly described, and components having similar functions to those in the first embodiment will be indicated with the same names and reference numerals as those in the first embodiment, and descriptions of these components will not be repeated. description of.

[0089] Figure 12 is a configuration diagram showing an example of the extraction device 110 according to the second embodiment. Such as Figure 12 As shown, the extraction device 110 of the second embodiment differs from the first embodiment in the second calculator 117 and the second extractor 119 .

[0090] Figure 13 is a diagram showing an example in which the feature point group data 141 at a part of the object 30 is extracted by the first extractor 15 according to the second embodiment. exist Figure ...

no. 3 example

[0111] In the third embodiment, an example in which extracted feature points are output for display will be described. In the following, differences from the first embodiment will be mainly described, and components having similar functions to those in the first embodiment will be denoted by the same names and reference numerals as those in the first embodiment, and descriptions of these components will not be repeated .

[0112] Figure 18 is a configuration diagram showing an example of the extraction device 210 according to the third embodiment. Such as Figure 18 As shown, the extraction device 210 according to the third embodiment differs from the first embodiment in the display 223 .

[0113] The display 223 can be realized by a display device such as a liquid crystal display, for example.

[0114] The output unit 21 outputs one or more points (feature point group data) extracted by the first extractor 15 to the display 223 for display. For display by the display 22...

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Abstract

According to an embodiment, an extraction device includes an acquisition unit, a first calculator, a first extractor, and an output unit. The acquisition unit acquires point group data that are a set of points including three-dimensional coordinates on a surface of an object and normal vectors perpendicular to the surface of the object at the three-dimensional coordinates. The first calculator calculates, using the normal vectors of the respective points of the point group data, a normal space point density representing a density of points of the point group data in a normal space defined by axes that are parameters expressing the normal vectors. The first extractor extracts, from the point group data, one or more points at which the normal space point densities satisfy a predetermined condition of lowness. The output unit outputs the extracted one or more points.

Description

[0001] Cross References to Related Applications [0002] This application is based on and claims priority from Japanese Patent Application No. 2014-058805 filed on March 20, 2014; the entire contents of which are incorporated herein by reference. technical field [0003] Embodiments described herein relate generally to extraction devices and extraction methods. Background technique [0004] In order to measure the three-dimensional shape of an object, since it is difficult to measure the entire object by one measurement, multiple measurements are generally performed. In this case, since the point cloud data obtained by respective measurements have different coordinate systems, positioning is performed between the point cloud data to unify the coordinate systems of all the point cloud data and integrate all the point cloud data. [0005] In a typical positioning method, a plurality of feature points are first extracted from one point group data, points corresponding to each ...

Claims

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Application Information

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IPC IPC(8): G01B11/24G06V10/44
CPCG06K9/4604G06T7/60G06T2207/10028G06V20/64G06V10/44
Inventor 金崎朝子伊藤聪
Owner KK TOSHIBA
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