Information processing device and information processing program

Abstract

To generate three-dimensional data with high accuracy while suppressing the amount of processing.SOLUTION: An information processing apparatus of an embodiment includes first, second, and third acquisition units, a determination unit, and a generation unit. The first acquisition unit acquires point group data including a plurality of distance point data representing a distance and a direction to an object disposed in a target space from a measurement position with respect to a plurality of different measurement positions. The second acquisition unit acquires positional data representing a measurement position with respect to the point group data. The third acquisition unit acquires scope data representing an error scope with respect to the positional data. The determination unit determines an error of a position identified by the distance point data included in the point group data based on the scope data with respect to the positional data acquired with respect to the point group data including the distance point data. The generation unit generates three-dimensional data representing a disposition status in the target space of the object based on a plurality of positions in which an error matching a predefined condition is determined by the determination unit.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] An embodiment of the present invention relates to an information processing device and an information processing program. [Background technology]

[0002] There is already a known technology for generating 3D data representing the existence status of an object from multiple point cloud data related to a 3D target space in which the object is located. Here, the point cloud data is a collection of multiple distance point data representing the distance and direction from one measurement position to multiple points located on the surface of the object located in the target space that is exposed to the measurement position side. With such technology, the greater the number of distance point data contained in the point cloud data and the greater the amount of point cloud data, the more accurate the 3D data that can be generated. However, the larger the number of distance point data, the greater the amount of information processing required to generate the three-dimensional data. For these reasons, it has been desirable to be able to generate three-dimensional data with high accuracy while minimizing the amount of processing required for generating the three-dimensional data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2009-237848 A Summary of the Invention [Problem to be solved by the invention]

[0004] An object of the present invention is to provide an information processing device and an information processing program capable of generating three-dimensional data with high accuracy while suppressing the amount of processing required for generating the three-dimensional data. [Means for solving the problem]

[0005] The information processing apparatus according to the embodiment includes a first acquisition unit, a second acquisition unit, a third acquisition unit,calculation The system includes a distance acquisition unit and a generation unit. The first acquisition unit acquires point cloud data including a plurality of distance point data representing a distance and a direction from one measurement position to an object placed in a target space for each of a plurality of different measurement positions. The second acquisition unit acquires position data representing a measurement position for the point cloud data acquired by the first acquisition unit. The third acquisition unit acquires range data representing an error range for the position data acquired by the second acquisition unit. calculation The unit calculates an error of a position specified by distance point data included in the point cloud data acquired by the first acquisition unit based on range data acquired by the third acquisition unit with respect to position data acquired by the second acquisition unit with respect to the point cloud data including the distance point data. calculation The generation unit generates the error that meets the predetermined conditions. Calculated by the calculation unit Based on the multiple positions thus determined, three-dimensional data is generated that represents the arrangement of the object within the target space. [Brief description of the drawings]

[0006] [Figure 1] FIG. 2 is a block diagram showing the main circuit configuration of a three-dimensional measuring device according to an embodiment. [Diagram 2] FIG. 2 is a perspective view showing the appearance of the three-dimensional measuring device shown in FIG. 1. [Diagram 3] FIG. 2 is a diagram showing an example of two-dimensional map data. [Figure 4] 2 is a flowchart of information processing by the processor shown in FIG. 1 . [Diagram 5] FIG. 11 is a diagram showing an example of an error range. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0007] An example of an embodiment will be described below with reference to the drawings. Note that in this embodiment, a three-dimensional measuring device having a function as an information processing device will be described as an example. The three-dimensional measuring device of this embodiment detects the presence of objects in a space such as a warehouse or a store, and generates three-dimensional data that represents the presence or absence of objects in a three-dimensional manner.

[0008] Fig. 1 is a block diagram showing the main circuit configuration of a three-dimensional measuring device 100 according to this embodiment. Fig. 2 is a perspective view showing the external appearance of the three-dimensional measuring device 100. Common elements shown in Fig. 1 and Fig. 2 are given common reference numerals. Fig. 2 shows a situation in which the three-dimensional measuring device 100 is used to generate three-dimensional data showing the display state of products CO displayed on a shelf board BO of a display shelf. As shown in FIG. 1, the three-dimensional measuring device 100 includes a laser range finder (hereinafter referred to as LRF) 1, an encoder 2, a map memory 3, a position detection unit 4, a driving mechanism 5, a movement controller 6, a distance sensor 7, and an information processing unit 8. 2, the three-dimensional measuring device 100 includes a cart 9 and a housing 10. The cart 9 includes wheels 91 and is capable of running.

[0009] The LRF 1 is attached to the front side in the traveling direction of the dolly 9. The LRF 1 measures the distance to an object present in front of the dolly 9. The encoder 2 is attached to one of the wheels 91. The encoder 2 measures the amount of rotation of the wheel.

[0010] The map memory 3 is housed in the housing 10. The map memory 3 stores two-dimensional map data that two-dimensionally represents the existence of objects that constantly exist in the target space for which the three-dimensional data is generated and that can be detected by the LRF 1. The two-dimensional map data is generated in advance and written to the map memory 3 as data representing the walls and columns that form the target space, or shelves that are fixedly arranged within the target space. FIG. 3 is a diagram showing an example of two-dimensional map data.

[0011] The position detection unit 4 is housed in a housing 10. The position detection unit 4 detects and outputs two-dimensional coordinates and a direction of the current position of the three-dimensional measuring device 100 in the target space based on the distance measured by the LRF 1, the amount of rotation measured by the encoder 2, and the two-dimensional map data stored in the map memory 3. The position detection unit 4 outputs a covariance matrix obtained when detecting the coordinates as a representation of the reliability of the coordinates. As the position detection unit 4, a well-known adaptive Monte Carlo localization (AMCL) unit can be used.

[0012] 2, the driving mechanism 5 is attached to, for example, the cart 9. The driving mechanism 5 includes a motor, a steering mechanism, and the like, and rotates the wheels 91 and changes the direction of the wheels 91 to move the three-dimensional measuring device 100. The movement controller 6 is housed in a housing 10. The movement controller 6 controls the drive mechanism 5 to move the three-dimensional measuring device 100 along a predetermined route, while referring to the coordinates and orientation detected by the position detection unit 4.

[0013] The distance sensor 7 measures the distance and direction to each of a plurality of points located on the surface exposed on the measurement position side of an object located in the target space, and generates distance point data indicating the distance and direction. The distance sensor 7 then outputs point cloud data that is a collection of the plurality of distance point data. For example, a well-known stereo camera can be used as the distance sensor 7. Such a distance sensor 7 is an example of a measuring device that measures the distance from one measurement position to an object in each of a plurality of directions. The distance sensor 7 acquires the distance point data by measurement, and corresponds to a first acquisition unit.

[0014] The information processing unit 8 is housed in a housing 10. The information processing unit 8 performs information processing for generating three-dimensional data based on the two-dimensional coordinates, orientation, and covariance matrix output from the position detection unit 4, and the point cloud data output from the distance sensor 7. The information processing unit 8 includes a processor 81, a main memory 82, an auxiliary storage unit 83, an interface unit 84, and a transmission path 85.

[0015] A processor 81, a main memory 82, and an auxiliary storage unit 83 are connected via a transmission line 85 to constitute a computer that performs the above information processing. The processor 81 corresponds to the central part of the computer. The processor 81 executes information processing, which will be described later, in accordance with information processing programs, such as an operating system, middleware, and application programs.

[0016] The main memory 82 corresponds to the main storage portion of the computer. The main memory 82 includes a nonvolatile memory area and a volatile memory area. The main memory 82 stores an information processing program in the nonvolatile memory area. The main memory 82 may also store data required for the processor 81 to execute processes for controlling each part in the nonvolatile or volatile memory area. The main memory 82 uses the volatile memory area as a work area where data is appropriately rewritten by the processor 81.

[0017] The auxiliary storage unit 83 corresponds to the auxiliary storage portion of the computer. The auxiliary storage unit 83 is, for example, an EEPROM (electric erasable programmable read-only memory). The auxiliary storage unit 83 may be another well-known storage device such as an HDD (hard disc drive) or an SSD (solid state drive). The auxiliary storage unit 83 stores data used by the processor 81 in performing various processes and data generated by the processes in the processor 81. The auxiliary storage unit 83 stores an information processing program.

[0018] One of the information processing programs stored in the auxiliary storage unit 83 is an application program (hereinafter referred to as a processing program) PA for data processing to generate three-dimensional data. A part of the storage area of ​​the auxiliary storage unit 83 is used as a setting value table TA and a point cloud database DA. The setting value table TA stores various setting values ​​for generating three-dimensional data. The setting values ​​stored in the setting value table TA may be appropriately determined, for example, by the designer of the three-dimensional measuring device 100, the creator of the processing program PA, or the user of the three-dimensional measuring device 100. The point cloud database DA accumulates and stores the point cloud data output from the distance sensor 7 and processed as described below.

[0019] The interface unit 84 receives the two-dimensional coordinates, orientation, and covariance matrix output from the position detection unit 4, as well as the point cloud data output from the distance sensor 7. As the interface unit 84, a well-known device such as an interface device for a USB (universal serial bus) can be used. The transmission path 85 includes an address bus, a data bus, and control signal lines, and transmits data and control signals between the connected components.

[0020] The information processing unit 8 can use, for example, a general-purpose computer device as basic hardware. In this case, typically, the computer device and the processing program PA in a state where the processing program PA is not stored in the auxiliary storage unit 83 are transferred to the user separately. The processing program PA can be transferred by recording it on a removable recording medium such as a magnetic disk, a magneto-optical disk, an optical disk, or a semiconductor memory, or by downloading it via a network. In this case, the processing program PA is written to the auxiliary storage unit 83 in response to an operation by the user or a maintenance worker. However, the computer device in a state where the processing program PA is stored in the auxiliary storage unit 83 may be transferred to the user.

[0021] Next, a description will be given of the operation of the three-dimensional measuring device 100 configured as above. Note that the contents of the processes described below are merely examples, and it is possible to change the order of some of the processes, omit some of the processes, or add other processes as appropriate.

[0022] A user of the three-dimensional measuring device 100 places the three-dimensional measuring device 100 at the starting point of a predetermined route and issues an instruction to start measurement. This instruction may be input by, for example, providing a user interface unit in the three-dimensional measuring device 100 and performing a predetermined operation on this user interface unit. Alternatively, the instruction may be input by a separate information communication terminal. In this case, the three-dimensional measuring device 100 is provided with a communication device for communicating with the information communication terminal, and the information communication terminal notifies the three-dimensional measuring device 100 by communication that the instruction has been issued.

[0023] When the start of measurement is instructed, the movement controller 6 controls the drive mechanism 5 to move the three-dimensional measuring device 100 along a predetermined route. Specifically, the movement controller 6 controls the drive mechanism 5 so that the two-dimensional coordinates and orientation detected by the position detection unit 4 show a predetermined transition. When the three-dimensional measuring device 100 moves, the position detection unit 4 determines the movement status of the three-dimensional measuring device 100 based on the distance to the object detected by the LRF 1 and the movement distance calculated from the amount of rotation measured by the encoder 2, and detects the two-dimensional coordinates where the three-dimensional measuring device 100 is located and the orientation of the three-dimensional measuring device 100 by collating the determined status with the two-dimensional map data stored in the map memory 3. For this reason, the two-dimensional coordinates detected by the position detection unit 4 may contain an error with respect to the actual two-dimensional coordinates where the three-dimensional measuring device 100 is located. This error changes from moment to moment.

[0024] On the other hand, when an instruction to start measurement is given, the processor 81 starts information processing in accordance with the data processing program PA. FIG. 4 is a flowchart of information processing by the processor 81.

[0025] In ACT 11, the processor 81 acquires the two-dimensional coordinates output by the position detection unit 4. In ACT12, the processor 81 checks whether or not the device is in a predetermined measurement state. The measurement state is a state in which the device is facing a predetermined direction at a predetermined measurement position. If the processor 81 cannot check that the device is in the measurement state, the result is NO, and the process proceeds to ACT13. In ACT 13, the processor 81 checks whether the end point of the route has been reached. If the processor 81 cannot check whether the end point has been reached, it determines NO and returns to ACT 11. Thus, the processor 81 waits for the three-dimensional measuring device 100 to enter a measurement state or reach an end point as the three-dimensional measuring device 100 moves.

[0026] If a plurality of measurement positions are predefined on the route along which the three-dimensional measuring device 100 moves, the processor 81 determines that the device is in the measurement state when it acquires the two-dimensional coordinates and the orientation indicating the measurement state for any of the measurement positions in ACT 11. The processor 81 may determine that the device has reached the measurement position based on the moving distance or the elapsed time. Thus, position data indicating the measurement position is acquired by LRF 1, encoder 2, map memory 3, and position detection unit 4. Because distance sensor 7 is fixedly provided to three-dimensional measuring device 100, the position of three-dimensional measuring device 100 corresponds to the position of distance sensor 7. Therefore, LRF 1, encoder 2, map memory 3, and position detection unit 4 detect the position of distance sensor 7 as a measuring device as the measurement position, and LRF 1, encoder 2, map memory 3, and position detection unit 4 constitute a detection section and correspond to a second acquisition section.

[0027] As ACT 14 , the processor 81 acquires the covariance matrix output from the position detection unit 4 . The processor 81 as ACT15 calculates an error range based on the acquired covariance matrix. The error range is a range in which the three-dimensional measuring device 100 can exist with a predetermined reliability. The reliability is included in the set value table TA. The reliability is assumed to be, for example, 90%. The error range is typically calculated as an elliptical range centered on the coordinates acquired in ACT11. The process of calculating the error range based on the covariance matrix obtained by the AMCL in the position detection unit 4 is well known. Thus, the processor 81 acquires the error range as range data by calculation. Therefore, the processor 81 executes information processing based on the processing program PA, and the computer with the processor 81 as the central part functions as a third acquisition unit that acquires range data.

[0028] FIG. 5 is a diagram showing an example of the error range. The curve CU in the figure represents the transition of coordinates detected by the position detection unit 4 on the two-dimensional map TM represented by the two-dimensional map data. Each x-shaped mark MA indicates a measurement position. An ellipse EL represents an error range calculated for the measurement position indicated by the underlying mark MA.

[0029] The distance sensor 7 uses two cameras to capture an image of a predetermined field of view centered on the direction indicated by the dashed line in FIG. 2, and measures the distance to the surface of an object reflected at multiple points in the image based on the parallax between the two images obtained by this. For example, the distance sensor 7 captures an image of 640×480 pixels and measures the distance for each pixel. That is, in this case, the distance sensor 7 measures the distance for each of the 640×480 points reflected in the field of view. For example, the distance sensor 7 measures the direction of each point as a direction shifted from the direction indicated by the dashed line in FIG. 2 by an angle that is uniquely determined depending on the shift of the pixel corresponding to that point from the pixel at the center of the image. The distance sensor 7 then outputs point cloud data, which is a collection of 640×480 distance point data representing the distance and direction to each of the 640×480 points. Note that it may not be possible to measure the distance for a pixel due to circumstances such as no object being reflected. In this case, the distance sensor 7 includes, as distance point data, invalid data that is predetermined to be distinguishable from valid distance point data, as distance point data representing the absence of an object, in the point cloud data.

[0030] In ACT16, the processor 81 acquires point cloud data output by the distance sensor 7. Then, the processor 81 adds the point cloud data to the point cloud database DA. When the processor 81 executes ACT16 for the first time after starting the information processing shown in FIG. 4, the processor 81 newly generates a point cloud database DA including the acquired point cloud data and writes it to the auxiliary storage unit 83.

[0031] In ACT 17, the processor 81 selects one of the valid distance point data included in the acquired point cloud data. That is, the processor 81 does not select the distance point data that is determined to be invalid data. In ACT 18, the processor 81 performs coordinate conversion on the selected distance point data. That is, the processor 81 obtains three-dimensional coordinates that represent the position of a point related to the selected distance point data. For example, the processor 81 calculates the three-dimensional coordinates of a point that is away from the three-dimensional coordinates of the position of the distance sensor 7 when the two-dimensional coordinates acquired in ACT 11 are detected by the position detection unit 4 in the direction represented by the selected distance point data, by the distance represented by the selected distance point data.

[0032] As ACT19, the processor 81 calculates an error for the three-dimensional coordinates obtained by the above coordinate transformation. The three-dimensional coordinates obtained by the coordinate transformation include the error between the two-dimensional coordinates acquired in ACT11 and the two-dimensional coordinates where the three-dimensional measuring device 100 is actually located. Therefore, the processor 81 calculates the error for the coordinates obtained by the coordinate transformation based on the error range calculated in ACT15, for example. In this way, the processor 81 executes information processing based on the processing program PA, and the computer with the processor 81 as its central part functions as a determination unit.

[0033] In ACT20, the processor 81 checks whether or not it is in a low error state. For example, the processor 81 compares the error calculated in ACT19 with a threshold value included in the setting value table TA to determine whether or not it is in a low error state. More specifically, the processor 81 determines that it is in a low error state if the error is equal to or less than the threshold value. Alternatively, the processor 81 may determine that it is in a low error state if the error is less than the threshold value. Then, if the processor 81 can determine that it is in a low error state, it determines YES in ACT20 and proceeds to ACT21. In ACT21, the processor 81 rewrites the distance point data selected in ACT17 in the point cloud database DA into coordinate data representing the three-dimensional coordinates obtained in ACT18.

[0034] On the other hand, if the processor 81 cannot determine that the state is a low error state, it makes a NO determination in ACT20 and proceeds to ACT22. In ACT 22, the processor 81 rewrites the distance point data selected in ACT 17 in the point cloud database DA to invalid data.

[0035] When the processor 81 finishes ACT21 or ACT22, it proceeds to ACT23. In ACT23, the processor 81 checks whether there is valid distance point data that has not yet been selected in the point cloud data acquired in ACT16. If the relevant distance point data is present, the processor 81 judges YES and repeats ACT17 and subsequent steps in the same manner as described above. However, when the processor 81 executes ACT17 again, it selects valid distance point data that has not yet been selected in the point cloud data acquired in ACT16. Thus, the processor 81 executes ACT18 to ACT20 and ACT21 or ACT22 for each of the valid distance point data in the point cloud data acquired in ACT16, and rewrites the relevant distance point data to coordinate data or invalid data.

[0036] Then, when the processor 81 has completed executing ACT21 or ACT22 for all of the valid distance point data in the point cloud data acquired in ACT16, it determines NO in ACT23 and returns to the standby state of ACT11 to ACT13. Thus, with subsequent movement of three-dimensional measuring device 100, processor 81 executes the processes of ACT14 to ACT23 each time three-dimensional measuring device 100 enters a measurement state, and accumulates point cloud data consisting of coordinate data and invalid data in point cloud database DA.

[0037] Then, when the three-dimensional measuring device 100 reaches the end point of the predetermined route and acquires the two-dimensional coordinates predetermined as the end point in ACT11, the processor 81 judges YES in ACT13 and proceeds to ACT24. As ACT 24, the processor 81 creates a three-dimensional map. For this process, for example, a well-known process for reconstructing a three-dimensional map showing the three-dimensional existence situation of an object from a large number of coordinate data included in the point cloud database DA can be used.

[0038] In ACT 25, the processor 81 stores the 3D map data representing the 3D map generated in ACT 24 in the auxiliary storage unit 83. Then, the processor 81 ends the information processing shown in FIG. Thus, the processor 81 executes information processing based on the processing program PA, so that the computer with the processor 81 as its central part functions as a generating unit.

[0039] As described above, the three-dimensional measuring device 100 excludes coordinate data based on distance point data that may have large errors from the process for creating the three-dimensional data. Therefore, compared to using all of the coordinate data based on all of the distance point data included in the point cloud data for the process for creating the three-dimensional data, the amount of data used for creating the three-dimensional data can be reduced, and as a result, the amount of processing required for generating the three-dimensional data can be suppressed. Moreover, since the three-dimensional data is not affected by large errors occurring in the distance point data, it is possible to generate the three-dimensional data with high accuracy.

[0040] This embodiment can be modified in various ways as follows. The measurement unit, which is composed of the LRF 1, the encoder 2, the map memory 3, the position detection unit 4, the drive mechanism 5, the movement controller 6, the distance sensor 7, and the dolly 9, and the information processing unit 8 may be configured as separate entities, and the point cloud data and position data obtained by the measurement unit may be acquired by the information processing unit 8 via communication or a storage medium. In this case, the information processing unit 8 corresponds to an information processing device, and a communication unit that communicates with the measurement unit or a read unit that reads the point cloud data and position data from the storage medium functions as the first acquisition unit and the second acquisition unit. In this case, the calculation of the error range may be performed by a processing unit provided in the position detection unit 4 or the measurement unit, and the data of the error range may be acquired by the information processing unit 8 via communication or a storage medium. In this case, the communication unit that communicates with the measurement unit or the read unit that reads the data of the error range from the storage medium functions as the third acquisition unit.

[0041] It can also be realized as an information processing device that imports a data set including point cloud data, which is a set of distance point data indicating distance and orientation, and a plurality of data sets of two-dimensional coordinates, orientation, and covariance matrix, and executes ACT15, ACT17 to ACT23 in Fig. 4 for each of the above data sets. Alternatively, it can also be realized as an information processing device that imports a data set including point cloud data, which is a set of distance point data indicating distance and orientation, and a plurality of data sets of two-dimensional coordinates, orientation, and error range, and executes ACT17 to ACT23 in Fig. 4 for each of the above data sets.

[0042] Each function realized by the processor 81 through information processing can be realized in part or in whole by hardware that executes information processing not based on a program, such as a logic circuit. Each of the above functions can also be realized by combining the above hardware, such as the logic circuit, with software control.

[0043] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. The invention as originally claimed in the present application is set forth below. [Supplementary Note 1] A first acquisition unit acquires point cloud data including a plurality of distance point data representing distances and directions from one measurement position to an object disposed in a target space, for each of a plurality of different measurement positions; a second acquisition unit that acquires position data representing a measurement position related to the point cloud data acquired by the first acquisition unit; a third acquisition unit that acquires range data representing an error range related to the position data acquired by the second acquisition unit; a determination unit that determines an error in a position specified by distance point data included in the point cloud data acquired by the first acquisition unit based on range data acquired by the third acquisition unit with respect to position data acquired by the second acquisition unit with respect to the point cloud data including the distance point data; a generating unit that generates three-dimensional data representing a positional situation of the object in the target space based on a plurality of positions at which an error that meets a predetermined condition has been determined by the determining unit; and An information processing device comprising: [Additional Note 2] The first acquisition unit is a measuring device that measures distances from one measurement position to an object in multiple directions, 2. An information processing device according to claim 1. [Supplementary Note 3] The second acquisition unit is a detection unit that detects, as a measurement position, a position of the measuring device when the measuring device measures a distance to an object. 3. The information processing device according to claim 2, further comprising: [Supplementary Note 4] The third acquisition unit generates the range data as a data representing an error range of the position detected by the detection unit. 4. The information processing device according to claim 3. [Supplementary Note 5] A first acquisition unit acquires point cloud data including a plurality of distance point data representing distances and directions from one measurement position to an object disposed in a target space, for each of a plurality of different measurement positions; a second acquisition unit that acquires position data representing a measurement position related to the point cloud data acquired by the first acquisition unit; a third acquisition unit that acquires range data representing an error range related to the position data acquired by the second acquisition unit; Both of the computers are provided in the information processing device. a determination unit that determines an error in a position specified by distance point data included in the point cloud data acquired by the first acquisition unit based on range data acquired by the third acquisition unit with respect to position data acquired by the second acquisition unit with respect to the point cloud data including the distance point data; a generating unit that generates three-dimensional data representing a positional situation of the object in the target space based on a plurality of positions at which an error that meets a predetermined condition has been determined by the determining unit; and An information processing program that enables the system to function as such. [Explanation of symbols]

[0044] 1...laser range finder, 2...encoder, 3...map memory, 4...position detection unit, 5...drive mechanism, 6...movement controller, 7...distance sensor, 8...information processing unit, 9...cart, 10...housing, 81...processor, 82...main memory, 83...auxiliary memory unit, 84...interface unit, 85...transmission path, 100...3D measuring device.

Claims

1. a first acquisition unit that acquires point cloud data including a plurality of distance point data representing distances and directions from one measurement position to an object disposed in a target space, for each of a plurality of different measurement positions; a second acquisition unit that acquires position data representing a measurement position related to the point cloud data acquired by the first acquisition unit; a third acquisition unit that acquires range data representing an error range related to the position data acquired by the second acquisition unit; a calculation unit that calculates an error of a position specified by distance point data included in the point cloud data acquired by the first acquisition unit based on range data acquired by the third acquisition unit with respect to position data acquired by the second acquisition unit with respect to the point cloud data including the distance point data; a generating unit that generates three-dimensional data representing a positional situation of the object in the target space based on a plurality of positions for which an error that meets a predetermined condition has been calculated by the calculating unit; and An information processing device comprising:

2. The first acquisition unit is a measuring device that measures distances from one measurement position to an object in each of a plurality of directions. The information processing device according to claim 1 .

3. The second acquisition unit is a detection unit that detects, as a measurement position, a position of the measuring device when the measuring device measures a distance to an object. The information processing device according to claim 2 , further comprising:

4. the third acquisition unit generates the range data as data representing an error range of the position detected by the detection unit; The information processing device according to claim 3 .

5. a first acquisition unit that acquires point cloud data including a plurality of distance point data representing distances and directions from one measurement position to an object disposed in a target space, for each of a plurality of different measurement positions; a second acquisition unit that acquires position data representing a measurement position related to the point cloud data acquired by the first acquisition unit; a third acquisition unit that acquires range data representing an error range related to the position data acquired by the second acquisition unit; Both of the computers are provided in the information processing device. a calculation unit that calculates an error of a position specified by distance point data included in the point cloud data acquired by the first acquisition unit based on range data acquired by the third acquisition unit with respect to position data acquired by the second acquisition unit with respect to the point cloud data including the distance point data; a generating unit that generates three-dimensional data representing a positional situation of the object in the target space based on a plurality of positions for which an error that meets a predetermined condition has been calculated by the calculating unit; and An information processing program that enables the system to function as such.

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