Distance information processing device, distance information processing method, and distance information processing program

A technology of an information processing device and an information processing method, which can be applied to measurement devices, image data processing, and optical devices, etc., and can solve problems such as increased calculation amount.

Active Publication Date: 2022-01-11
FUJITSU LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, if the number of points increases, the calculation amount increases

Method used

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  • Distance information processing device, distance information processing method, and distance information processing program
  • Distance information processing device, distance information processing method, and distance information processing program
  • Distance information processing device, distance information processing method, and distance information processing program

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Experimental program
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Embodiment

[0033] figure 1 is a functional block diagram showing the configuration of the distance information processing device according to the present embodiment. Such as figure 1 As shown, the distance information processing device 100 is connected to a distance sensor 50 . The distance sensor 50 outputs three-dimensional point cloud data representing the three-dimensional coordinates of each point on the three-dimensional object to the distance information processing device 100 .

[0034] figure 2 It is a figure which shows an example of a distance sensor. The distance sensor 50 has a light emitting unit 11 and a light receiving unit 12 . The light emitting unit 11 is a device that emits laser light on the three-dimensional object 15 . The light receiving unit 12 is a device that receives laser light reflected from the three-dimensional object 15 .

[0035] The light emitting unit 11 has a control circuit 11a, a light emitting circuit 11b, a reflector 11c, and a lens 11d. ...

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PUM

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Abstract

The distance information processing device (100) generates image data in which the two-dimensional coordinates of each point and the depth of each point are associated based on three-dimensional point cloud data representing three-dimensional coordinates of each point on a three-dimensional object. The distance information processing device (100) determines a point of three-dimensional point cloud data corresponding to an outline pixel included in an outline part of the image data as a focus point, and determines a point of three-dimensional point cloud data corresponding to a pixel around the outline pixel for the surrounding points. A distance information processing device (100) deletes a point of interest based on the number of surrounding points whose distance from the point of interest is less than a predetermined distance.

Description

technical field [0001] The present invention relates to a distance information processing device and the like. Background technique [0002] When the shape of a three-dimensional object is measured using a distance sensor, edge noise may occur in the depth direction of the outline of the three-dimensional object compared to the actual position. Figure 15 as well as Figure 16 is a diagram for explaining edge noise. Such as Figure 15 As shown, if the distance sensor 10 is used to measure the three-dimensional object 15, then Figure 16 The three-dimensional point group data 20 shown. exist Figure 16 In the example shown, in the three-dimensional point cloud data, each point 21 becomes edge noise. [0003] An example of conventional techniques for removing edge noise will be described. Figure 17 It is a figure for explaining an example of the prior art. In the prior art, the point cloud density is calculated by calculating the distance from each point included in the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B21/00G01B11/00
CPCG01B11/00G01B21/00G06T5/002G06T2207/10028G06T7/521G06T7/73G06T7/13
Inventor 吉村和浩
Owner FUJITSU LTD
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