Point cloud data generation apparatus, point cloud data generation method, and program

Abstract

To convert coordinates of three-dimensional point cloud data into a specific coordinate system without using GPS signals.SOLUTION: A point cloud data generation apparatus 10 comprises: a point cloud data generation unit 11 that generates three-dimensional point cloud data of a region using a plurality of pieces of image data obtained by capturing an area in which a plurality of communication devices that present two-dimensional codes serving as identifiers are arranged; a device coordinate calculation unit 12 that calculates coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices obtained by mutual communication among the communication devices; and a coordinate determination unit 13 that determines coordinates of the three-dimensional point cloud data using the coordinates of each communication device and positions, in the three-dimensional point cloud data, of the two-dimensional code presented by each communication device.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a point cloud data generation device and a point cloud data generation method for generating three-dimensional point cloud data, and further to a program for realizing these. [Background technology]

[0002] In recent years, in the field of surveying, three-dimensional point cloud data has been created to enable three-dimensional confirmation of terrain. For example, Patent Document 1 proposes a system that creates three-dimensional point cloud data using SfM (Structure from Motion). The system disclosed in Patent Document 1 creates three-dimensional point cloud data by extracting feature points from a large number of images taken of the area to be surveyed.

[0003] Furthermore, when using the system disclosed in Patent Document 1, GCPs (Ground Control Points) for identifying coordinates are placed in the area to be surveyed, and photography is performed in that state. Therefore, in addition to the structures existing in the area, the GCPs are also captured as subjects in the image.

[0004] The exact positions of GCPs are observed by GPS, so when the operator specifies a GCP on the screen, its position on the 3D point cloud data is linked to its actual position. In other words, the coordinates of the 3D point cloud data are converted into a world coordinate system or a local coordinate system expressed in actual dimensions, depending on the operator's specification. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-151414 Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, there are cases where 3D point cloud data needs to be created not only outdoors but also inside tunnels, buildings, etc. However, in such cases, it is not possible to receive GPS signals and identify the exact positions of GCPs, so it is difficult for the system disclosed in Patent Document 1 to convert the coordinates of the 3D point cloud data into world coordinates or local coordinates.

[0007] An example of the objective of the present disclosure is to convert coordinates of three-dimensional point cloud data into a specific coordinate system without using GPS signals. [Means for solving the problem]

[0008] In order to achieve the above object, a point cloud data generation device according to one aspect of the present disclosure includes: a point cloud data generation unit that generates three-dimensional point cloud data of an area using a plurality of image data obtained by photographing the area where a plurality of communication devices that present two-dimensional codes serving as identifiers are arranged; a device coordinate calculation unit that calculates coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination unit that calculates coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and the position in the three-dimensional point cloud data of the two-dimensional code presented by each of the communication devices; The present invention is characterized in that it is provided with:

[0009] In order to achieve the above object, a point cloud data generation method according to one aspect of the present disclosure includes: a point cloud data generation step of generating three-dimensional point cloud data of an area in which a plurality of communication devices presenting two-dimensional codes serving as identifiers are arranged, using a plurality of image data obtained by photographing the area; a device coordinate calculation step of calculating coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination step of calculating coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and the positions in the three-dimensional point cloud data of the two-dimensional codes presented by each of the communication devices; The present invention is characterized by having the following:

[0010] Furthermore, in order to achieve the above object, a program according to one aspect of the present disclosure includes: On the computer, a point cloud data generation step of generating three-dimensional point cloud data of an area in which a plurality of communication devices presenting two-dimensional codes serving as identifiers are arranged, using a plurality of image data obtained by photographing the area; a device coordinate calculation step of calculating coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination step of calculating coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and the positions in the three-dimensional point cloud data of the two-dimensional codes presented by each of the communication devices; The method is characterized in that: [Effects of the Invention]

[0011] As described above, according to the present disclosure, the coordinates of three-dimensional point cloud data can be converted into a specific coordinate system without using a GPS signal. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an example of a point cloud data generating device. [Figure 2] FIG. 2 is a diagram showing a more specific configuration of an example of a point cloud data generating device. [Figure 3] FIG. 3 is a diagram for explaining the communication device shown in FIG. [Figure 4] FIG. 4 is a diagram for explaining the coordinates of communication devices and the distance between communication devices. [Figure 5]FIG. 5 is a flow diagram showing an example of the operation of the point cloud data generating device. [Figure 6] FIG. 6 is a block diagram showing an example of a computer that realizes the point cloud data generating device. DETAILED DESCRIPTION OF THE INVENTION

[0013] (Embodiment) Hereinafter, a point cloud data generating device, a point cloud data generating method, and a program according to the first embodiment will be described with reference to FIGS.

[0014] [Device configuration] First, the schematic configuration of an example of a point cloud data generating device will be described with reference to Fig. 1. Fig. 1 is a diagram showing the schematic configuration of an example of a point cloud data generating device.

[0015] The point cloud data generation device 10 shown in Fig. 1 is a device that generates three-dimensional point cloud data of a specific area. As shown in Fig. 1, the point cloud data generation device 10 includes a point cloud data generation unit 11, a device coordinate calculation unit 12, and a coordinate determination unit 13.

[0016] The point cloud data generator 11 generates three-dimensional point cloud data for a specific area using multiple image data obtained by photographing the specific area. In addition, multiple communication devices that present two-dimensional codes as identifiers are placed in this specific area.

[0017] The device coordinate calculation unit 12 calculates the coordinates of each communication device using the distance between the communication devices, which is determined by the communication devices communicating with each other. The coordinate determination unit 13 calculates the coordinates of the 3D point cloud data using the calculated coordinates of each communication device and the positions in the 3D point cloud data of the 2D codes presented by each communication device.

[0018] In this way, the point cloud data generation device 10 can calculate the coordinates of the communication devices installed in the area to be the subject, and can use these coordinates to calculate the coordinates of the generated 3D point cloud data. Therefore, the point cloud data generation device 10 can convert the coordinates of the 3D point cloud data into a specific coordinate system without using GPS signals.

[0019] Next, the configuration and functions of an example of a point cloud data generating device will be specifically described with reference to Figures 2 to 4. Figure 2 is a configuration diagram showing the configuration of an example of a point cloud data generating device in more detail. Figure 3 is a diagram for explaining the communication devices shown in Figure 2. Figure 4 is a diagram for explaining the coordinates of the communication devices and the distance between the communication devices.

[0020] 2, a plurality of communication devices 21 are arranged in a specific area 30. These communication devices 21 are managed by a management device 20. In the example of FIG. 2, the management device 20 is connected to each of the communication devices 21 so as to be able to communicate data with each other via wireless communication such as a wireless LAN.

[0021] 3, each communication device 21 includes an antenna 22 for communication and a two-dimensional code 23. The two-dimensional code 23 is arranged so as to be presented externally. The two-dimensional code indicates the identifier of the communication device 21 presenting it. Examples of two-dimensional codes include a barcode and a QR code (registered trademark).

[0022] The multiple communication devices 21 are arranged in a specific area 30 to be photographed so that the two-dimensional code 23 can be photographed from the sky by an air vehicle such as an unmanned aerial vehicle. The multiple communication devices 21 function as GCPs (Ground Control Points).

[0023] Each communication device 21 communicates with other communication devices 21 using a frequency band such as UWB (Ultra-Wide Band) via an antenna 22, and measures the distance to the other communication devices. Fig. 4 shows an example of the distance measured between the communication devices.

[0024] Specifically, when each communication device 21 receives radio waves transmitted from another communication device 21, it identifies the transmission time from the data carried by the radio waves, and calculates the distance to the communication device 21 that received the radio waves using the difference between the identified transmission time and the reception time.

[0025] Furthermore, each communication device 21 notifies the management device 20 of the calculated distance to the other communication device 21. When the management device 20 receives the distance notification from each communication device 21, it determines the distance between the communication devices using the notified distance.

[0026] Specifically, the distance between the communication devices is notified by each of the communication devices, and there may be slight differences between the distances notified by each of them depending on the communication state, etc. For this reason, the management device 20 optimizes each value of the distance between the communication devices using the least squares method or the like based on the overall distance relationship, and determines each optimized value as the distance between the communication devices.

[0027] The management device 20 is connected to the point cloud data generation device 10 so as to be able to perform data communication with the point cloud data generation device 10. Therefore, the management device 20 notifies the point cloud data generation device 10 of the determined distances between the communication devices.

[0028] The point cloud data generator 11 creates three-dimensional point cloud data using, for example, a structure from motion (SfM) technique. Specifically, the point cloud data generator 11 first acquires a plurality of image data images of a specific area, as shown in Fig. 2. At this time, the number of image data images to be acquired is not particularly limited. In addition, the communication device 21 and the two-dimensional code are captured in some or all of the image data.

[0029] Next, the point cloud data generation unit 11 calculates feature quantities such as SIFT features or SURF features for each image data to identify feature points, and extracts corresponding feature points between the image data as combinations of corresponding feature points.

[0030] Furthermore, the point cloud data generation unit 11 calculates the geometric relationship between the feature points for each combination of feature points using the parameters of the camera used for shooting, identifies incorrect combinations of feature points based on the calculation results, and eliminates the identified combinations of feature points.

[0031] Thereafter, the point cloud data generation unit 11 calculates the three-dimensional coordinates of each feature point in the local coordinate system using the combination of the remaining feature points, and generates three-dimensional point cloud data using the feature points whose three-dimensional coordinates have been calculated.

[0032] Furthermore, in the embodiments, the method for generating point cloud data is not particularly limited, and three-dimensional point cloud data may be generated by a method other than the above-described method.

[0033] The device coordinate calculation unit 12 sets a specific coordinate system using the coordinates of one of the communication devices 21 as the origin, and calculates the coordinates of each of the other communication devices using the distance between the communication devices in the set specific coordinate system.

[0034] 4, the device coordinate calculation unit 12 sets a coordinate system with the coordinates (x0, y0, z0) of the communication device U0 as the origin, and calculates the coordinates of each of the other communication devices U1, U2, and U3 in this coordinate system. Furthermore, if the coordinates (latitude and longitude) of any of the communication devices 21 in the world coordinate system are known, the device coordinate calculation unit 12 calculates the coordinates of the other communication device using the communication device 21 whose coordinates are known as the origin, and then converts the calculated coordinates into coordinates in the world coordinate system.

[0035] The coordinate determination unit 13 first identifies the position of the two-dimensional code presented by each communication device 21 in the three-dimensional point cloud data. Specifically, the coordinate determination unit 13 extracts a group of feature points corresponding to the two-dimensional code from the three-dimensional point cloud data using feature amounts of a pre-registered two-dimensional code image. The coordinate determination unit 13 then identifies, for example, a central feature point of the extracted group of feature points, and specifies the coordinates of the central feature point in the three-dimensional point cloud data as the position of the two-dimensional code. Note that the identified feature point is not limited to the center. The identified feature point is determined, for example, from the positional relationship between the antenna 22 and the two-dimensional code 23 on the communication device 21.

[0036] Next, the coordinate determination unit 13 specifies the position of each identified two-dimensional code as the position of the communication device 21 in the three-dimensional point cloud data. Thereafter, the coordinate determination unit 13 calculates the coordinates of each communication device 21 calculated by the device coordinate calculation unit 12 to the identified position of each communication device 21. That is, the coordinate determination unit 13 converts the coordinate system of the identified position of each communication device 21 into a specific coordinate system set by the device coordinate calculation unit 12, and calculates the coordinates of the three-dimensional point cloud data in this specific coordinate system.

[0037] When the specific coordinate system is a world coordinate system, the coordinates of each feature point of the 3D point cloud data in the world coordinate system are calculated as a result. As described above, according to the embodiment, the coordinates of the 3D point cloud data can be converted into the specific coordinate system without using a GPS signal. Note that when the specific coordinate system is a world coordinate system, it is preferable that the world coordinates of at least two of the communication devices 21 have been measured in advance.

[0038] [Device operation] Next, the operation of the point cloud data generation device 10 in the first embodiment will be described with reference to Fig. 5. Fig. 5 is a flow diagram showing an example of the operation of the point cloud data generation device. In the following description, Figs. 1 to 4 will be referred to as appropriate. In addition, in the embodiment, a point cloud data generation method is implemented by operating the point cloud data generation device 10. Therefore, the description of the point cloud data generation method in the embodiment will be replaced by the following description of the operation of the point cloud data generation device 10.

[0039] 5, first, the point cloud data generation unit 11 acquires a plurality of image data obtained by photographing a specific area (step A1). Next, the point cloud data generation unit 11 generates three-dimensional point cloud data of the specific area using the image data acquired in step A1 (step A2).

[0040] Furthermore, before or simultaneously with the execution of steps A1 and A2, each communication device 21 calculates and notifies the distance to other communication devices 21, and the management device 20 determines the distances between each communication device. Then, the management device 20 notifies the point cloud data generation device 10 of the determined distances between each communication device.

[0041] Next, the device coordinate calculation unit 12 sets a specific coordinate system using the coordinates of one of the communication devices 21 as the origin, and calculates the coordinates of each of the other communication devices in the set specific coordinate system using the distances between each communication device notified by the management device 20 (step A3).

[0042] In step A3, if the coordinates (latitude and longitude) of any communication device 21 in the world coordinate system are known, the device coordinate calculation unit 12 calculates the coordinates of other communication devices using the communication device 21 whose coordinates are known as the origin, and then converts the calculated coordinates into coordinates in the world coordinate system.

[0043] Next, the coordinate determination unit 13 identifies the position in the three-dimensional point cloud data of the two-dimensional code presented by each communication device 21, and identifies the identified position of each two-dimensional code as the position of the communication device 21 in the three-dimensional point cloud data (step A4).

[0044] Next, the coordinate determination unit 13 applies the coordinates of each communication device 21 calculated in step A3 to the position of each communication device 21 identified in step A4, thereby calculating the coordinates of the three-dimensional point cloud data (step A5).

[0045] When step A5 is executed, the coordinate system of the position of each communication device 21 identified in step A4 is converted into the specific coordinate system set in step A3, and the coordinates of the 3D point cloud data in this specific coordinate system are calculated. If the specific coordinate system is a world coordinate system, the coordinates of each feature point of the 3D point cloud data in the world coordinate system are calculated as a result.

[0046] As described above, in the embodiment, the point cloud data generation device 10 can convert the coordinates of the three-dimensional point cloud data into a specific coordinate system without using a GPS signal.

[0047] [program] In the embodiment, the program may be any program that causes a computer to execute steps A1 to A5 shown in Fig. 5. By installing and executing this program on a computer, the point cloud data generation device 10 and the point cloud data generation method can be realized. In this case, the processor of the computer functions and performs processing as a point cloud data generation unit 11, a device coordinate calculation unit 12, and a coordinate determination unit 13. Examples of the computer include a general-purpose PC, a server computer, a smartphone, and a tablet terminal device.

[0048] The program in the embodiment may be executed by a computer system constructed by a plurality of computers, in which case, for example, each computer may function as one of the point cloud data generator 11, device coordinate calculator 12, and coordinate determiner 13.

[0049] [Physical configuration] Here, a computer that realizes the point cloud data generation device 10 by executing a program in the embodiment will be described with reference to Fig. 6. Fig. 6 is a block diagram showing an example of a computer that realizes the point cloud data generation device.

[0050] 6, the computer 110 includes a CPU (Central Processing Unit) 111, a main memory 112, a storage device 113, an input interface 114, a display controller 115, a data reader / writer 116, and a communication interface 117. These components are connected to each other via a bus 121 so as to be able to communicate data with each other.

[0051] Furthermore, the computer 110 may include a GPU (Graphics Processing Unit) or an FPGA (Field-Programmable Gate Array) in addition to or instead of the CPU 111. In this aspect, the GPU or FPGA can execute the programs in the embodiments.

[0052] The CPU 111 loads a program in the embodiment, which is composed of a group of codes and stored in the storage device 113, into the main memory 112 and executes each code in a predetermined order to perform various calculations. The main memory 112 is typically a volatile storage device such as a DRAM (Dynamic Random Access Memory).

[0053] The program in the embodiment is provided in a state stored in a computer-readable recording medium 120. The program in the embodiment may be distributed over the Internet connected via the communication interface 117.

[0054] Specific examples of the storage device 113 include a hard disk drive and a semiconductor storage device such as a flash memory. The input interface 114 mediates data transmission between the CPU 111 and input devices 118 such as a keyboard and a mouse. The display controller 115 is connected to a display device 119 and controls the display on the display device 119.

[0055] The data reader / writer 116 mediates data transmission between the CPU 111 and the recording medium 120, reads programs from the recording medium 120, and writes processing results from the computer 110 to the recording medium 120. The communication interface 117 mediates data transmission between the CPU 111 and other computers.

[0056] Specific examples of the recording medium 120 include general-purpose semiconductor storage devices such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), magnetic recording media such as flexible disks, or optical recording media such as CD-ROMs (Compact Disk Read Only Memory).

[0057] The point cloud data generation device 10 can be realized not by a computer on which a program is installed, but by hardware corresponding to each unit, such as an electronic circuit. Furthermore, the point cloud data generation device 10 may be partially realized by a program and the remaining unit by hardware. In the embodiments, the computer is not limited to the computer shown in FIG. 6.

[0058] Some or all of the above-described embodiments can be expressed by (Supplementary Note 1) to (Supplementary Note 12) described below, but are not limited to the following descriptions.

[0059] (Appendix 1) a point cloud data generation unit that generates three-dimensional point cloud data of an area using a plurality of image data obtained by photographing the area where a plurality of communication devices that present two-dimensional codes serving as identifiers are arranged; a device coordinate calculation unit that calculates coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination unit that calculates coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and the position in the three-dimensional point cloud data of the two-dimensional code presented by each of the communication devices; Equipped with A point cloud data generation device that is characterized by the above.

[0060] (Appendix 2) the coordinate determination unit specifies the positions of the communication devices in the three-dimensional point cloud data from the positions in the three-dimensional point cloud data of the two-dimensional codes presented by the communication devices, and calculates the coordinates of the three-dimensional point cloud data by applying the calculated coordinates of the communication devices to the specified positions of the communication devices. 2. A point cloud data generation device according to claim 1.

[0061] (Appendix 3) the device coordinate calculation unit sets a coordinate system with the coordinates of one of the communication devices as the origin, and calculates the coordinates of each of the other communication devices in the set coordinate system; 2. A point cloud data generation device according to claim 1.

[0062] (Appendix 4) the coordinate determination unit calculates the coordinates of each point constituting the three-dimensional point cloud data in the set specific coordinate system. 4. The point cloud data generation device according to claim 3.

[0063] (Appendix 5) a point cloud data generation step of generating three-dimensional point cloud data of an area in which a plurality of communication devices presenting two-dimensional codes serving as identifiers are arranged, using a plurality of image data obtained by photographing the area; a device coordinate calculation step of calculating coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination step of calculating coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and the positions in the three-dimensional point cloud data of the two-dimensional codes presented by each of the communication devices; having A point cloud data generation method that is characterized by the above.

[0064] (Appendix 6) In the coordinate determination step, the positions of the communication devices in the three-dimensional point cloud data are identified from the positions in the three-dimensional point cloud data of the two-dimensional codes presented by the communication devices, and the calculated coordinates of the communication devices are applied to the identified positions of the communication devices to calculate the coordinates of the three-dimensional point cloud data. 6. A point cloud data generation method according to claim 5.

[0065] (Appendix 7) In the device coordinate calculation step, a coordinate system is set with the coordinate of one of the communication devices as an origin, and the coordinates of each of the other communication devices are calculated in the set coordinate system. 6. A point cloud data generation method according to claim 5.

[0066] (Appendix 8) In the coordinate determination step, coordinates of each point constituting the three-dimensional point cloud data are calculated in the set specific coordinate system. 8. The point cloud data generation method according to claim 7.

[0067] (Appendix 9) On the computer, a point cloud data generation step of generating three-dimensional point cloud data of an area in which a plurality of communication devices presenting two-dimensional codes serving as identifiers are arranged, using a plurality of image data obtained by photographing the area; a device coordinate calculation step of calculating coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination step of calculating coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and the positions in the three-dimensional point cloud data of the two-dimensional codes presented by each of the communication devices; A program that executes.

[0068] In the coordinate determination step, the positions of the communication devices in the three-dimensional point cloud data are identified from the positions in the three-dimensional point cloud data of the two-dimensional codes presented by the communication devices, and the calculated coordinates of the communication devices are applied to the identified positions of the communication devices to calculate the coordinates of the three-dimensional point cloud data. 10. The program described in Appendix 9. (Appendix 10)

[0069] (Appendix 11) In the device coordinate calculation step, a coordinate system is set with the coordinate of one of the communication devices as an origin, and the coordinates of each of the other communication devices are calculated in the set coordinate system. 10. The program described in Appendix 9.

[0070] (Appendix 12) In the coordinate determination step, coordinates of each point constituting the three-dimensional point cloud data are calculated in the set specific coordinate system. 12. The program described in Appendix 11. [Industrial Applicability]

[0071] As described above, according to the present disclosure, it is possible to convert the coordinates of 3D point cloud data into a specific coordinate system without using GPS signals. The present disclosure is useful for a system that generates 3D point cloud data. [Explanation of symbols]

[0072] 10 Point cloud data generator 11 Point cloud data generation unit 12. Device coordinate calculation unit 13 Coordinate determination unit 20 Management device 21 Communication equipment 22 Antenna 23 2D Code 110 Computer 111 CPU 112 main memory 113 Storage device 114 Input Interface 115 Display Controller 116 Data Reader / Writer 117 Communication Interface 118 Input Devices 119 Display Device 120 Recording Media 121 Bus

Claims

1. a point cloud data generation unit that generates three-dimensional point cloud data of an area using a plurality of image data obtained by capturing an image of the area where a plurality of communication devices presenting two-dimensional codes serving as identifiers are arranged; a device coordinate calculation unit that calculates coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination unit that calculates coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and positions in the three-dimensional point cloud data of the two-dimensional codes presented by each of the communication devices; Equipped with A point cloud data generation device that is characterized by the above.

2. the coordinate determination unit specifies a position of each of the communication devices in the three-dimensional point cloud data from a position in the three-dimensional point cloud data of the two-dimensional code presented by each of the communication devices, and calculates coordinates of the three-dimensional point cloud data by applying the calculated coordinates of each of the communication devices to the specified position of each of the communication devices. The point cloud data generating device according to claim 1 .

3. the device coordinate calculation unit sets a coordinate system with the coordinates of one of the communication devices as an origin, and calculates the coordinates of each of the other communication devices in the set coordinate system; The point cloud data generating device according to claim 1 .

4. the coordinate determination unit calculates the coordinates of each point constituting the three-dimensional point cloud data in the set specific coordinate system. The point cloud data generating device according to claim 3 .

5. a point cloud data generation step of generating three-dimensional point cloud data of an area in which a plurality of communication devices presenting two-dimensional codes serving as identifiers are arranged, using a plurality of image data obtained by photographing the area; a device coordinate calculation step of calculating coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination step of calculating coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and positions in the three-dimensional point cloud data of the two-dimensional codes presented by each of the communication devices; having A point cloud data generation method that is characterized by the above.

6. In the coordinate determination step, a position of each of the communication devices in the three-dimensional point cloud data is identified from a position in the three-dimensional point cloud data of the two-dimensional code presented by each of the communication devices, and the calculated coordinates of each of the communication devices are applied to the identified position of each of the communication devices to calculate coordinates of the three-dimensional point cloud data. The point cloud data generating method according to claim 5 .

7. In the device coordinate calculation step, a coordinate system is set with the coordinates of one of the communication devices as an origin, and the coordinates of each of the other communication devices are calculated in the set coordinate system. The point cloud data generating method according to claim 5 .

8. In the coordinate determination step, coordinates of each point constituting the three-dimensional point cloud data are calculated in the set specific coordinate system. The point cloud data generating method according to claim 7 .

9. On the computer, a point cloud data generation step of generating three-dimensional point cloud data of an area in which a plurality of communication devices presenting two-dimensional codes serving as identifiers are arranged, using a plurality of image data obtained by photographing the area; a device coordinate calculation step of calculating coordinates of each of the communication devices in a specific coordinate system using distances between the communication devices that are determined by the communication devices communicating with each other; a coordinate determination step of calculating coordinates of the three-dimensional point cloud data using the calculated coordinates of each of the communication devices and positions in the three-dimensional point cloud data of the two-dimensional codes presented by each of the communication devices; A program that executes.

10. In the coordinate determination step, a position of each of the communication devices in the three-dimensional point cloud data is identified from a position in the three-dimensional point cloud data of the two-dimensional code presented by each of the communication devices, and the calculated coordinates of each of the communication devices are applied to the identified position of each of the communication devices to calculate coordinates of the three-dimensional point cloud data. The program according to claim 9.

11. In the device coordinate calculation step, a coordinate system is set with the coordinates of one of the communication devices as an origin, and the coordinates of each of the other communication devices are calculated in the set coordinate system. The program according to claim 9.

12. In the coordinate determination step, coordinates of each point constituting the three-dimensional point cloud data are calculated in the set specific coordinate system. The program according to claim 11.

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