Environmental map generation program product and three-dimensional sensor control device

Abstract

The invention provides an environment map generation program product and a three-dimensional sensor control device capable of generating an environment map accurately and at a high speed even in an environment in which a moving body exists. The environment map generation program causes a computer to serve as a data acquisition unit (21) for acquiring orthogonal coordinate point cloud data of a plurality of imaging frames imaged by a three-dimensional sensor having a fixed imaging range, and a first coordinate conversion unit (23) for converting the orthogonal coordinate point cloud data into polar coordinate point cloud data on the basis of a first conversion formula, and a second coordinate conversion unit (23) for converting the polar coordinate point cloud data into polar coordinate point cloud data on the basis of a second conversion formula. A farthest point search unit (24) that searches for polar point cloud data farthest from the three-dimensional sensor for each small region of the imaging range as farthest point data; a second coordinate conversion unit (25) that converts the farthest point data into orthogonal point cloud data on the basis of a second conversion formula; and an environment map output unit (26) that outputs environment map data of the imaging range on the basis of the orthogonal coordinate point cloud data obtained by the second coordinate conversion unit (25).

Description

Technical Field

[0001] The present invention relates to an environmental map generation program product for generating an environmental map and a three-dimensional sensor control device. Background Art

[0002] In the fields of autonomous driving of vehicles, control of autonomous mobile robots (AGVs: Automatic Guided Vehicles), collaborative robots, food delivery robots, cleaning robots, drones, AR (Augmented Reality) technology, etc., an environmental map of the surroundings is required. Conventionally, a method such as SLAM (Simultaneous Localization and Mapping: simultaneous execution of self-position estimation and environmental map creation) has been used as a technology for creating an environmental map. SLAM can perform self-position estimation and environmental map creation under certain conditions. For example, Patent Document 1 describes content such as collecting spatial data using LiDAR (Light Detection and Ranging) SLAM using a LiDAR sensor. Generally, a three-dimensional sensor such as a LiDAR sensor acquires point cloud data represented by three-dimensional coordinates (x, y, z).

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2022-134119 Summary of the Invention

[0006] Problems to be Solved by the Invention

[0007] However, there are three problems in existing SLAM. First, the density of point cloud data is coarser than the resolution of a general still image. Therefore, sometimes it is not possible to sufficiently perform matching between point cloud data (= point cloud matching). For example, in a place lacking structural features such as a plain, point cloud matching cannot be sufficiently performed, and thus an environmental map cannot be generated smoothly. Second, the processing load of point cloud matching is high, so a high-specification computer or a high-speed design is required. Third, since SLAM assumes a static environment, in an environment where there are moving objects such as people, a moving object may sometimes be recognized as a landmark and an incorrect environmental map may be created.

[0008] The present invention has been completed in view of the above problems, and an object thereof is to provide an environmental map generation program product and a three-dimensional sensor control device that can accurately and quickly generate an environmental map even in an environment where there are moving objects.

[0009] Solution to the problem

[0010] The first invention for achieving the above object is an environmental map generation program product, which includes an environmental map generation program, and is characterized in that the environmental map generation program product causes a computer to function as the following parts: a data acquisition unit that acquires orthographic coordinate point cloud data of a plurality of captured frames captured by a three-dimensional sensor with a fixed capture range; a first coordinate conversion unit that converts the orthographic coordinate point cloud data into polar coordinate point cloud data based on a first conversion formula for converting from orthographic coordinates to polar coordinates; a farthest point search unit that searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor as the farthest point data for each small area of the capture range; a second coordinate conversion unit that converts the farthest point data into the orthographic coordinate point cloud data based on a second conversion formula for converting from the polar coordinates to the orthographic coordinates; and an environmental map output unit that outputs environmental map data of the capture range based on the orthographic coordinate point cloud data obtained by the second coordinate conversion unit.

[0011] Alternatively, the polar coordinates may be spherical coordinates with a radial vector, a polar angle, and an azimuth angle as components, and the small area is divided by the polar angle and the azimuth angle, and the farthest point search unit searches for the polar coordinate point cloud data with the largest value of the radial vector as the farthest point data for each small area.

[0012] In addition, alternatively, the first coordinate conversion unit assigns identification information for identifying the small area based on the values of the polar angle and the azimuth angle of the polar coordinate point cloud data, and the farthest point search unit searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor as the farthest point data for each piece of identification information.

[0013] The second invention is a three-dimensional sensor control device, which is characterized in that the three-dimensional sensor control device includes: a data acquisition unit that acquires orthographic coordinate point cloud data of a plurality of captured frames captured by a three-dimensional sensor with a fixed capture range; a first coordinate conversion unit that converts the orthographic coordinate point cloud data into polar coordinate point cloud data based on a first conversion formula for converting from orthographic coordinates to polar coordinates; a farthest point search unit that searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor as the farthest point data for each small area of the capture range; a second coordinate conversion unit that converts the farthest point data into the orthographic coordinate point cloud data based on a second conversion formula for converting from the polar coordinates to the orthographic coordinates; and an environmental map output unit that outputs environmental map data of the capture range based on the orthographic coordinate point cloud data obtained by the second coordinate conversion unit.

[0014] Alternatively, the polar coordinates may be spherical coordinates with a radial vector, a polar angle, and an azimuth angle as components, and the small area is divided by the polar angle and the azimuth angle. The farthest point search unit searches for the polar coordinate point cloud data with the largest value of the radial vector for each small area as the farthest point data.

[0015] Alternatively, the first coordinate conversion unit assigns identification information for identifying the small area based on the values of the polar angle and the azimuth angle of the polar coordinate point cloud data, and the farthest point search unit searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor for each piece of identification information as the farthest point data.

[0016] Advantages of the Invention

[0017] According to the present invention, it is possible to provide an environmental map generation program product, a three-dimensional sensor control device, etc. that can accurately and quickly generate an environmental map even in an environment where moving objects exist. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 FIG. is a block diagram showing an example of the hardware of a computer constituting the three-dimensional sensor control device of the present invention.

[0019] Figure 2 FIG. shows Figure 1 the functions of the three-dimensional sensor control device.

[0020] Figure 3 FIG. is a diagram schematically illustrating environmental map data generated by the environmental map generation program of the present invention.

[0021] Figure 4 FIG. shows Figure 2 an example of the flow of the environmental map generation process implemented by the environmental map generation program.

[0022] Figure 5 FIG. is a diagram schematically illustrating an example of polar coordinates.

[0023] Figure 6 FIG. is a diagram schematically illustrating the processing performed by the small area and the farthest point search unit.

[0024] REFERENCE SIGNS LIST

[0025] 1... Three-dimensional sensor control device

[0026] 2... Three-dimensional sensor

[0027] 3... Shooting range

[0028] 4... Environmental map data

[0029] 5……Small area

[0030] 10……Environmental map generation program

[0031] 21……Data acquisition unit

[0032] 22……Data synthesis unit

[0033] 23……First coordinate conversion unit

[0034] 24……Farthest point search unit

[0035] 25……Second coordinate conversion unit

[0036] 26……Environmental map output unit. Detailed implementation mode

[0037] Hereinafter, this embodiment will be described in detail based on the drawings. Figure 1 FIG. is a block diagram showing an example of the hardware of a computer constituting the three-dimensional sensor control device of the present invention. The three-dimensional sensor control device 1 is a computer that controls the operation of the three-dimensional sensor 2 (performs control related to obtaining depth information of the three-dimensional sensor), and hardware such as a CPU (Central Processing Unit) 11, a memory 12, an auxiliary storage device 13, and an input / output interface 14 are connected via a bus 15.

[0038] The CPU 11 executes the processes described later by reading programs pre-stored in the auxiliary storage device 13 or the like into the memory 12 and executing them. The auxiliary storage device 13 is a hard disk drive, a solid state drive, etc., and stores data used in the processes described later. The input / output interface 14 receives signals input from the three-dimensional sensor 2, a mouse, a keyboard, a microphone, etc., or outputs signals to the three-dimensional sensor 2, a display, a speaker, etc. In addition, the input / output interface 14 also includes a communication interface for sending and receiving data to and from an external computer. The input / output interface 14 is, for example, a port of a USB (Universal Serial Bus) standard, an HDMI (registered trademark) standard, a LAN (Local Area Network) standard, etc., or a communication device of a Bluetooth (registered trademark) standard, a wireless LAN standard, etc. The input / output interface 14 can be wired or wireless and is not limited to the above examples.

[0039] The computer that constitutes the three-dimensional sensor control device 1 can be a general-purpose PC (Personal Computer) or a device equipped with dedicated hardware. In addition, part or all of the functions of the three-dimensional sensor control device 1 described later can also be implemented by a dedicated integrated circuit constructed for a specific purpose, such as a hardware circuit, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate Array). In addition, in the present embodiment, the number of computers executing the program is not particularly limited. For example, the three-dimensional sensor control device 1 can also execute processing in cooperation with an external computer.

[0040] The three-dimensional sensor 2 is a sensor capable of measuring the three-dimensional position of an object and obtains point cloud data, which is a set of points representing the positions of detection points on the surface of the object. Examples of the three-dimensional sensor 2 include an active stereo camera, a passive stereo camera, a three-dimensional LiDAR (Light Detection And Ranging) sensor, a ToF (Time of Flight) camera, etc., but are not limited to these examples. The point cloud data obtained by the three-dimensional sensor 2 is orthogonal coordinate point cloud data represented by three-dimensional orthogonal coordinates (x, y, z). The value ranges of the respective components of the three-dimensional coordinates (x, y, z) are based on the field of view angle and detection distance range of the three-dimensional sensor 2. Examples of the file format of the point cloud data include PCD (Point Cloud Data) files developed by the open-source library PCL (Point Cloud Library), etc., but are not limited thereto.

[0041] Figure 2 is a functional block diagram showing Figure 1 the functions of the three-dimensional sensor control device. Figure 2 The functions of the three-dimensional sensor control device 1 shown are realized by installing the environmental map generation program 10 of the present invention. The environmental map generation program 10 can be distributed in a state stored in a computer-readable storage medium or downloaded from a network such as the Internet.

[0042] The environmental map generation program 10 is a program for causing a computer (= three-dimensional sensor control device 1) to function as a data acquisition unit 21, a data synthesis unit 22, a first coordinate conversion unit 23, a farthest point search unit 24, a second coordinate conversion unit 25, and an environmental map output unit 26.

[0043] The data acquisition unit 21 acquires the orthogonal coordinate point cloud data of a plurality of captured frames captured by the three-dimensional sensor 2 with a fixed shooting range. The data synthesis unit 22 synthesizes the orthogonal coordinate point cloud data of the plurality of captured frames acquired by the data acquisition unit 21 into a single arrangement. The first coordinate conversion unit 23 converts the orthogonal coordinate point cloud data into polar coordinate point cloud data based on a first conversion formula for converting from orthogonal coordinates to polar coordinates. The farthest point search unit 24 searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor 2 as the farthest point data for each small area of the shooting range. The second coordinate conversion unit 25 converts the farthest point data into orthogonal coordinate point cloud data based on a second conversion formula for converting from polar coordinates to orthogonal coordinates. The environment map output unit 26 outputs the environment map data of the shooting range based on the orthogonal coordinate point cloud data obtained by the second coordinate conversion unit 25. The detailed content of each function will be described with reference to Figure 4 described later.

[0044] In addition to the Figure 2 functions shown, the three-dimensional sensor control device 1 also has functions for controlling the operation of the three-dimensional sensor 2, or functions for performing specified processing using the environment map data, etc., but the detailed content thereof is omitted.

[0045] Figure 3 FIG. is a schematic illustration of the environment map data generated by the environment map generation program of the present invention. For simplicity, in Figure 3 , a schematic diagram of a two-dimensional XZ plane is used, but in reality, the three-dimensional sensor control device 1 targets a three-dimensional XYZ space. In Figure 3 the example shown, the number of captured frames captured by the three-dimensional sensor 2 is N from the first captured frame to the Nth captured frame in chronological order. In the shooting range 3 of the first captured frame, there are moving objects MB such as people and static objects SB such as devices, tables, and floors. The moving object MB moves before the Nth captured frame is captured, so that only the static object SB is included in the shooting range 3 of the Nth captured frame.

[0046] In Figure 3 , the shooting direction of the three-dimensional sensor 2 is from the upper part of the vertical direction to the lower part of the vertical direction, but it is not limited thereto. The shooting direction of the three-dimensional sensor 2 can be from the lower part of the vertical direction to the upper part of the vertical direction, can be the horizontal direction, or can be any other direction. In addition, in addition to the ceiling, floor, wall, tripod, etc., the installation location of the three-dimensional sensor 2 can also be a vehicle, robot, drone, computer, etc. that uses the environment map data 4.

[0047] The environmental map generation process implemented by the environmental map generation program 10 of the present invention accurately and rapidly generates environmental map data 4 even in an environment where there is a moving body MB. More specifically, the environmental map generation process of the present embodiment treats the moving body MB as a non-existent object even in an environment where the moving body MB and the static object SB coexist, and thus rapidly generates environmental map data 4 with only the static object SB as a landmark.

[0048] Figure 4 is a flowchart showing an example of the flow of the environmental map generation process implemented by Figure 2 the environmental map generation program. As Figure 4 shown, the data acquisition unit 21 of the three-dimensional sensor control device 1 compares a preset specified number N with the number of shooting times i of the shooting by the three-dimensional sensor 2 for the environmental map generation process, and executes the following repetitive process (step S1) during the period when the number of shooting times i is equal to or less than the specified number N.

[0049] In the repetitive process, the data acquisition unit 21 acquires orthogonal coordinate point cloud data from the three-dimensional sensor 2 via the input / output interface 14 (step S2), adds the number of shooting times i, that is, substitutes i + 1 for i (step S3), and executes the determination of step S1. Through this process, the data acquisition unit 21 acquires orthogonal coordinate point cloud data related to N shooting frames.

[0050] Next, the data synthesis unit 22 of the three-dimensional sensor control device 1 synthesizes the orthogonal coordinate point cloud data of the N shooting frames acquired by the data acquisition unit into a single arrangement (step S4). For example, when the number of orthogonal coordinate point cloud data in each shooting frame is D, the data synthesis unit 22 synthesizes an arrangement with the number of elements N×D by taking each element as a single orthogonal coordinate point cloud data. Since the orthogonal coordinate point cloud data is represented by three-dimensional orthogonal coordinates (x, y, z), the arrangement synthesized in step S4 is a set of N×D orthogonal coordinates.

[0051] Next, the first coordinate conversion unit 23 of the three-dimensional sensor control device 1 converts each element of the arrangement synthesized in step S4, that is, the orthogonal coordinate point cloud data, into polar coordinate point cloud data based on the first conversion formula for converting from orthogonal coordinates to polar coordinates (step S5).

[0052] Figure 5 is a diagram schematically illustrating an example of polar coordinates. Regarding polar coordinates, spherical coordinates in three-dimensional space, circular coordinates in two-dimensional space, cylindrical coordinates obtained by adding the Z axis to circular coordinates, etc. are considered. As Figure 5As shown, the spherical coordinates (r, θ, φ) have components of the radial vector r, the polar angle (also known as the zenith angle) θ, and the azimuth angle φ. The circular coordinates (r, θ) have components of the radial vector r and the declination angle θ. The cylindrical coordinates (ρ, φ, z) have components of the axial distance (also known as the radial distance) ρ, the azimuth angle φ, and the axial coordinate (also known as the height) z. Hereinafter, the polar coordinates will be described as the spherical coordinates.

[0053] The value ranges of the respective components of the spherical coordinates (r, θ, φ) are based on the field of view angle and the detection distance range of the three-dimensional sensor 2. The conversion formulas from the three-dimensional orthogonal coordinates (x, y, z) to the spherical coordinates (r, θ, φ) are as shown in Equations (1) to (3).

[0054]

[0055]

[0056]

[0057] Return to Figure 4 the description. Next, the first coordinate conversion unit 23 of the three-dimensional sensor control device 1 assigns identification information for identifying a small area of the identification shooting range 3 to each element of the arrangement synthesized in step S4 based on the values of the polar angle θ and the azimuth angle φ of the polar coordinate point cloud data (step S6).

[0058] Figure 6 is a diagram schematically illustrating the processing performed by the small area and the farthest point search unit. The small area 5 is divided by the polar angle θ and the azimuth angle φ. More specifically, as Figure 6 shown, the small area 5 is a three-dimensional region in a pyramid shape delimited by the division interval of the polar angle θ (θ j+1 -θ j ), where θ j+1 > θ j ), and the division interval of the azimuth angle φ (φ j+1 -φ j ), where φ j+1 > φ j ). For example, if the division intervals of both the polar angle θ and the azimuth angle φ are set to 1 degree, the small area 5 is divided into (the first area) 0° < θ ≤ 1° and 0° < φ ≤ 1°, (the second area) 0° < θ ≤ 1° and 1° < φ ≤ 2°,.... The identification information can be any information that uniquely identifies these areas, and can be a serial number or a combination of two numbers such as (1, 1), (1, 2),....

[0059] The arrangement synthesized in step S4 includes the point cloud data of the captured frames taken at different times within the same shooting range 3, so there are also elements that are the same in both the polar angle θ and the azimuth angle φ. That is, sometimes the same identification information is assigned to multiple elements of the arrangement. And for the elements of the arrangement to which the same identification information is assigned, there are cases where the values of the radial distance r are the same, and there are also cases where the values of the radial distance r are different.

[0060] Return to Figure 4 the description of. The farthest point search unit 24 of the three-dimensional sensor control device 1 confirms the value of the radial distance r of each element for each identification information (= small area 5) assigned in step S6, and searches for the element (= polar coordinate point cloud data) with the largest value of the radial distance r as the farthest point data (step S7). In Figure 2 the description of, the farthest point data is defined as the polar coordinate point cloud data that is the farthest from the three-dimensional sensor 2. Therefore, if the position of the three-dimensional sensor 2 is taken as the origin of the coordinates, the polar coordinate point cloud data with the largest value of the radial distance r is the farthest point data.

[0061] In Figure 6 the example shown, within the small area 5 delimited by θ j <θ ≤ θ j+1 and φ j <φ ≤ φ j+1 there are included three polar coordinate point cloud data P1(r1, θ1, φ1), P2(r2, θ2, φ2), P3(r3, θ3, φ3). For example, if r1 < r2 < r3, the farthest point search unit 24 takes P3 with the largest value of the radial distance as the farthest point data.

[0062] If a captured frame without the moving body MB is successfully obtained at each position in the shooting range 3, the position information of the moving body MB is not included in the farthest point data searched by the farthest point search unit 24. This is because the radial distance r of the polar coordinate point cloud data related to the position of the moving body MB such as a person is a value smaller than the radial distance r of the polar coordinate point cloud data related to the position of the static object SB such as the floor. Therefore, if only the farthest point data is used, the environmental map data 4 can be generated in such a way that the moving body MB is treated as a non-existent object.

[0063] Next, the data synthesis unit 22 of the three-dimensional sensor control device 1 synthesizes the farthest point data searched by the farthest point search unit 24 into a single arrangement (step S8). The arrangement synthesized in step S8 is a set of spherical coordinates with an undetermined number of elements (roughly D).

[0064] Next, the second coordinate conversion unit 25 of the three-dimensional sensor control device 1 converts each element of the synthesized arrangement in step S8, that is, the farthest point data (= polar coordinate point cloud data), into orthogonal coordinate point cloud data based on the second conversion formula for converting from polar coordinates to orthogonal coordinates (step S9). The conversion formulas from spherical coordinates (r, θ, φ) to three-dimensional orthogonal coordinates (x, y, z) are shown in formulas (4) to (6).

[0065]

[0066]

[0067]

[0068]

[0069] Next, the environment map output unit 26 of the three-dimensional sensor control device 1 generates environment map data 4 using only the orthogonal coordinate point cloud data converted from the farthest point data in step S9. Then, the environment map output unit 26 outputs the environment map data 4 to an output device such as a display or an external computer via the input / output interface 14 (step S10). The output environment map data 4 does not include the position information of the moving body MB and only includes the position information of the static object SB.

[0070] As described above, the three-dimensional sensor control device 1 converts the orthogonal coordinate point cloud data into polar coordinate point cloud data, and searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor 2 as the farthest point data for each small area 5. Thus, even in an environment where the moving body MB and the static object SB coexist, the moving body MB can be treated as a non-existent object, and the environment map data 4 with only the static object SB as the landmark can be generated.

[0071] For a general still image, the moving body MB can be excluded by the background difference method. However, in the case of the point cloud data obtained by the three-dimensional sensor 2, there will be deviations even when shooting in the same environment. Therefore, the difference cannot be simply extracted as in the background difference method. Therefore, the three-dimensional sensor control device 1 distinguishes between the moving body MB and the static object SB based on the distance information in polar coordinates. If this method is adopted, point cloud matching between point cloud data is not required, and high-speed processing can be achieved. In addition, the moving body MB will not be recognized as a landmark to generate incorrect environment map data 4.

[0072] In the present embodiment, the polar coordinates are spherical coordinates with the radial vector r, the polar angle θ, and the azimuth angle φ as components. Additionally, the three-dimensional sensor control device 1 searches for the polar coordinate point cloud data with the largest value of the radial vector r as the farthest point data for each small area 5 divided by the polar angle θ and the azimuth angle φ. The detectable distance, vertical field of view angle, and horizontal field of view angle of the three-dimensional sensor 2 respectively correspond to the value ranges of the radial vector r, the polar angle θ, and the azimuth angle φ of the spherical coordinates. That is, since the value ranges of the respective components of the spherical coordinates (r, θ, φ) can be predicted based on the performance of the three-dimensional sensor 2, it is reasonable to use spherical coordinates. Additionally, in the case of spherical coordinates, it is easy to intuitively understand the reason why the moving body MB can be excluded by the present invention.

[0073] In addition, the three-dimensional sensor control device 1 assigns identification information for identifying the small area 5 based on the values of the polar angle θ and the azimuth angle φ of the polar coordinate point cloud data, and searches for the farthest point data for each piece of identification information. Thereby, the search process for the farthest point data can be executed at high speed.

[0074] In the foregoing description, the orthogonal coordinate point cloud data is represented by the three-dimensional orthogonal coordinates (x, y, z), but it can also be represented by the two-dimensional orthogonal coordinates (x, y). In this case, the three-dimensional sensor control device 1 uses the polar coordinates as Figure 5 the so-called circular coordinates (r, θ), and uses the conversion formula from known two-dimensional orthogonal coordinates to circular coordinates and the conversion formula from known circular coordinates to two-dimensional orthogonal coordinates. Then, the three-dimensional sensor control device 1 searches for the polar coordinate point cloud data with the largest value of the radial vector r as the farthest point data for each triangular small area 5 divided by the declination angle θ. For example, sometimes, when the three-dimensional sensor 2 is provided in a cleaning robot that is small in the vertical direction and moves only in the horizontal direction and generates environmental map data 4, two-dimensional information is sufficient.

[0075] In addition, the polar coordinates can also be used as Figure 5 the so-called cylindrical coordinates (ρ, φ, z) as shown. In this case, the three-dimensional sensor control device 1 uses the conversion formula from known three-dimensional orthogonal coordinates to cylindrical coordinates and the conversion formula from known cylindrical coordinates to three-dimensional orthogonal coordinates. Then, the three-dimensional sensor control device 1 searches for the polar coordinate point cloud data with the largest value of the axial distance ρ as the farthest point data for each triangular prism-shaped small area 5 divided by the axial coordinate z and the azimuth angle φ. For example, sometimes, when the three-dimensional sensor 2 is provided in a cylindrical coordinate robot having at least one joint with a rotational motion and one joint with a linear motion and generates environmental map data 4, it is reasonable to use cylindrical coordinates.

[0076] As described above, the preferred embodiments of the environmental map generation program product, the three-dimensional sensor control device, etc. according to the present invention have been described with reference to the accompanying drawings. However, the present invention is not limited to the above examples. Obviously, those skilled in the art can conceive of various modification examples or correction examples within the scope of the technical idea disclosed in the present application, and it should be understood that these modification examples and correction examples also naturally belong to the technical scope of the present invention.

Claims

1. An environmental map generation program product, characterized in that: The environmental map generation program product includes an environmental map generation program, The environmental map generation program causes a computer to function as the following parts: A data acquisition unit that acquires orthogonal coordinate point cloud data of a plurality of captured frames captured by a three-dimensional sensor with a fixed capture range; A first coordinate conversion unit that converts the orthogonal coordinate point cloud data into polar coordinate point cloud data based on a first conversion formula for converting from orthogonal coordinates to polar coordinates; A farthest point search unit that searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor as the farthest point data for each small area of the capture range; A second coordinate conversion unit that converts the farthest point data into the orthogonal coordinate point cloud data based on a second conversion formula for converting from the polar coordinates to the orthogonal coordinates; And An environmental map output unit that outputs environmental map data of the capture range based on the orthogonal coordinate point cloud data obtained by the second coordinate conversion unit.

2. The environmental map generation program product according to claim 1, characterized in that: The polar coordinates are spherical coordinates with a radial distance, a polar angle, and an azimuth angle as components, and the small area is divided by the polar angle and the azimuth angle, The farthest point search unit searches for the polar coordinate point cloud data with the largest value of the radial distance as the farthest point data for each small area.

3. The environmental map generation program product according to claim 2, characterized in that: The first coordinate conversion unit assigns identification information for identifying the small area based on the values of the polar angle and the azimuth angle of the polar coordinate point cloud data, The farthest point search unit searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor as the farthest point data for each piece of identification information.

4. A three-dimensional sensor control device, characterized in that: The three-dimensional sensor control device includes: A data acquisition unit that acquires orthogonal coordinate point cloud data of a plurality of captured frames captured by a three-dimensional sensor with a fixed capture range; A first coordinate conversion unit that converts the orthogonal coordinate point cloud data into polar coordinate point cloud data based on a first conversion formula for converting from orthogonal coordinates to polar coordinates; A farthest point search unit that searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor as the farthest point data for each small area of the capture range; A second coordinate conversion unit that converts the farthest point data into the orthogonal coordinate point cloud data based on a second conversion formula for converting from the polar coordinates to the orthogonal coordinates; And An environmental map output unit that outputs environmental map data of the capture range based on the orthogonal coordinate point cloud data obtained by the second coordinate conversion unit.

5. The three-dimensional sensor control device according to claim 4, characterized in that: The polar coordinates are spherical coordinates with a radial distance, a polar angle, and an azimuth angle as components, and the small area is divided by the polar angle and the azimuth angle, The farthest point search unit searches for the polar coordinate point cloud data with the largest value of the radial distance as the farthest point data for each small area.

6. The three-dimensional sensor control device according to claim 5, wherein the first coordinate conversion unit assigns identification information for identifying the small area based on the polar angle and the azimuth value of the polar coordinate point cloud data, the farthest point search unit searches for the polar coordinate point cloud data with the farthest distance from the three-dimensional sensor for each piece of the identification information as the farthest point data.

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