Information processing device, information processing method, and program

Abstract

To display point group data in such a way to easily know the way of irradiation with light from a distance measurement device, for example.SOLUTION: An information processing apparatus (20) includes a generation unit (210). The generation unit (210) generates display data of point group data including position information of a plurality of data points. In addition, the generation unit (210) determines the display size of the data point such that the display size increases as the distance from a reference point to the data point increases. The position information included in the point group data is, for example, information based on the measurement result of a distance measurement device, and the reference point indicates the position of the distance measurement device. In addition, for example, the distance measurement device is a device that measures a distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] In recent years, distance measurement devices that can be used for automatic driving of automobiles, etc. One example of a distance measurement device is one that measures the distance to a surrounding object by measuring the time it takes for emitted light to be reflected by the object and return.

[0003] Such measurement devices generate point cloud data representing the measurement results, which represent the positions of the measured objects in three-dimensional space.

[0004] Patent Document 1 describes that when point cloud data is displayed, the size of the displayed figure is increased as it approaches the viewpoint coordinates, in order to make it easier to intuitively grasp the shape and presence or absence of an object. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-210670 Summary of the Invention [Problem to be solved by the invention]

[0006] On the other hand, when a distance measuring device is attached to a moving object, it is necessary to adjust the attachment position and angle. In this case, adjustment work is difficult unless it is known how the light emitted from the distance measuring device strikes a specific target.

[0007] One example of a problem that the present invention aims to solve is to display point cloud data in a way that makes it easy to understand how light from a distance measuring device is irradiated. [Means for solving the problem]

[0008] The first invention is a generation unit that generates display data of point cloud data including position information of a plurality of data points; The generation unit determines the display size of the data point so that the display size increases as the distance from the reference point to the data point increases. It is an information processing device.

[0009] The second invention is: a generating step of generating display data of the point cloud data including position information of a plurality of data points; In the generating step, the display size of the data point is determined so that the display size increases as the distance from the reference point to the data point increases. It is an information processing method.

[0010] The third invention is A program that causes a computer to execute each step of the information processing method according to the second invention. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram illustrating a configuration of an information processing apparatus according to an embodiment. [Figure 2] FIG. 1 is a diagram illustrating an example of a usage environment of an information processing apparatus according to an embodiment. [Figure 3] FIG. 1 is a diagram illustrating a configuration of a distance measurement device according to an embodiment. [Figure 4] 10A and 10B are diagrams illustrating how a target is used to adjust the position and angle of a distance measuring device. [Figure 5] FIG. 10 is a diagram showing an example of displaying point cloud data using a method of a comparative example. [Figure 6] FIG. 10 is a diagram illustrating an example of displaying point cloud data according to the embodiment. [Figure 7] 10A and 10B are diagrams showing an example of the relationship between a light irradiation region and a target, and a display example of point cloud data according to a comparative example. [Figure 8]10A to 10C are diagrams illustrating an example of the relationship between a light irradiation region and a target, and an example of displaying point cloud data according to the embodiment. [Figure 9] FIG. 1 is a diagram illustrating a computer for realizing an information processing device. [Figure 10] 10 is a diagram showing the relationship between the divergence angle θ of pulsed light, the distance D, and the spot size w of pulsed light. [Figure 11] FIG. 10 is a diagram illustrating an example of an image in which an image captured by a camera is superimposed with a plurality of data points. [Figure 12] 10A and 10B are diagrams illustrating examples of images displayed using display data generated by a generation unit. [Figure 13] 10A and 10B are diagrams illustrating examples of images displayed using display data generated by a generation unit. [Figure 14] FIG. 10 is a diagram illustrating an example of an image in which data points are displayed with display marks that are less transparent toward the center. [Figure 15] 10 is a flowchart illustrating the flow of an information processing method performed by the information processing apparatus according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, like components are designated by like reference numerals, and the description thereof will be omitted as appropriate.

[0013] In the following description, the generation unit 210 of the information processing device 20 and the measurement control unit 17 of the distance measurement device 10 are shown as functional blocks rather than as hardware units unless otherwise specified. The generation unit 210 of the information processing device 20 and the measurement control unit 17 of the distance measurement device 10 are each realized by any combination of hardware and software, centered around the CPU of any computer, memory, a program loaded into the memory, a storage medium such as a hard disk that stores the program, and a network connection interface. There are various variations in the realization method and device.

[0014] (Embodiment) FIG. 1 is a block diagram illustrating the configuration of an information processing device 20 according to the first embodiment. The information processing device 20 according to this embodiment includes a generation unit 210. The generation unit 210 generates display data for point cloud data including position information of a plurality of data points. The generation unit 210 also determines the display size of the data points so that the display size increases as the distance from the reference point to the data point increases. This will be explained in detail below.

[0015] FIG. 2 is a diagram illustrating an example of a usage environment of an information processing device 20 according to this embodiment. In this embodiment, the position information included in the point cloud data is information based on the measurement results of the distance measurement device 10. The reference point indicates the position of the distance measurement device 10. The distance measurement device 10 is a device that measures the distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object. While this diagram shows an example in which the information processing device 20 is provided as a device separate from the distance measurement device 10, the information processing device 20 may be a part of the distance measurement device 10.

[0016] FIG. 3 is a diagram illustrating the configuration of a distance measurement device 10 according to this embodiment. In this diagram, the optical path is indicated by dashed arrows. The distance measurement device 10 will be described in detail with reference to this diagram. In the example shown in this diagram, the distance measurement device 10 includes a condenser lens 13, a light-emitting element 14, a holed mirror 15, a movable mirror 16, a measurement control unit 17, a light-receiving element 18, a drive circuit 141, a drive circuit 161, and a detection circuit 181.

[0017] The distance measurement device 10 measures the distance from the distance measurement device 10 to an object (target) within a scanning range 170, for example, based on the difference between the emission timing of pulsed light and the reception timing of reflected light (reflected pulsed light). The pulsed light is, for example, infrared light or other light. The pulsed light is, for example, a laser pulse. The pulsed light is output from a light-emitting element 14 provided in the distance measurement device 10 and emitted to the outside of the distance measurement device 10, and is reflected by the object, with at least a portion returning toward the distance measurement device 10. The reflected light then enters the distance measurement device 10. The reflected light that enters the distance measurement device 10 is received by a light-receiving element 18, and its intensity is detected. Here, the distance measurement device 10 measures the time from when the pulsed light is emitted from the light-emitting element 14 to when the reflected light is detected by the light-receiving element 18. The measurement control unit 17 then calculates the distance between the distance measurement device 10 and the object using the measured time and the propagation speed of the pulsed light. The distance measuring device 10 is, for example, a LIDAR (Laser Imaging Detection and Ranging, Laser Illuminated Detection and Ranging, or LiDAR: Light Detection and Ranging) device.

[0018] The light-emitting element 14 emits pulsed light. The light-emitting element 14 is, for example, a laser diode. The drive circuit 141 is a circuit that generates a drive signal based on a control signal from the measurement control unit 17 to cause the light-emitting element 14 to emit light, and is configured to include, for example, a switching circuit and a capacitive element.

[0019] The light receiving element 18 receives the pulsed light incident on the distance measurement device 10. The light receiving element 18 is, for example, a photodiode such as an avalanche photodiode (APD). The detection circuit 181 includes an IV converter and an A / D conversion circuit, and outputs a signal indicating the intensity of light detected by the light receiving element 18.

[0020] The movable mirror 16 is, for example, a MEMS mirror that is movable along one axis or two axes. The drive circuit 161 generates a drive signal for driving the movable mirror 16 based on a control signal from the measurement control unit 17. The direction of the reflective surface of the movable mirror 16 is changed by the drive signal, thereby changing the emission direction of the pulsed light emitted from the distance measurement device 10. When the movable mirror 16 is a MEMS mirror that is movable along two axes, raster scanning of a predetermined range with the pulsed light can be performed by driving the movable mirror 16 along two axes.

[0021] The measurement control unit 17 generates point cloud data including measurement results obtained using multiple pulsed beams. For example, when raster scanning within a scanning range 170, line-shaped scanning is performed by changing the light emission direction in a first direction 171. Then, by performing multiple line-shaped scanning while changing the light emission direction in a second direction 172, point cloud data including multiple measurement results within the scanning range 170 can be generated. In the example shown in this figure, the first direction 171 and the second direction 172 are orthogonal to each other.

[0022] The unit of point cloud data generated by one raster scan is called a frame. When measurement for one frame is completed, the light emission direction returns to the initial position, and measurement for the next frame is performed. In this manner, frames are repeatedly generated. In the point cloud data, the distance measured by the pulsed light is associated with information indicating the emission direction of the pulsed light. Alternatively, the point cloud data may include three-dimensional coordinates indicating the reflection points of the pulsed light. The measurement control unit 17 generates the point cloud data using the calculated distance and information indicating the angle of the movable mirror 16 when each pulsed light is emitted. The generated point cloud data may be output to an external device of the distance measurement device 10, or may be stored in a storage device accessible from the measurement control unit 17.

[0023] The pulsed light output from light-emitting element 14 passes through the hole in holed mirror 15, is reflected by movable mirror 16, and then is emitted from distance measurement device 10. The reflected light incident on distance measurement device 10 is reflected by movable mirror 16 and holed mirror 15, and then enters light-receiving element 18 via condenser lens 13. Note that distance measurement device 10 may further include a collimating lens, a mirror, etc.

[0024] The measurement control unit 17 controls the light emitting element 14, the light receiving element 18, and the movable mirror 16. The measurement control unit 17 also receives a light receiving signal from the detection circuit 181, and calculates the distance from the distance measurement device 10 to an object within the scanning range 170, as described above. Note that the configuration of the distance measurement device 10 is not limited to the example shown in this figure.

[0025] FIG. 4 illustrates an example of adjusting the position and angle of the distance measurement device 10 using a target 40. The distance measurement device 10 is mounted on a mobile object such as a vehicle. When attaching the distance measurement device 10 to an attachment object 42 such as a mobile object, the attachment position and attachment angle of the distance measurement device 10 relative to the attachment object 42 must be adjusted so that the desired area can be measured. For example, the distance measurement device 10 is adjusted so that a target 40 placed at a predetermined position relative to the attachment object 42 can be properly measured. During the adjustment, it is necessary to display point cloud data obtained by the distance measurement device 10 and understand the positional relationship between the scanning range 170 of the distance measurement device 10 and the target 40. As will be described in detail later, the generation unit 210 generates display data for displaying an image captured by a camera and multiple data points superimposed on the image. A user can adjust the distance measurement device 10 while viewing an image displayed using such display data.

[0026] The adjustment elements for the position and angle of the distance measurement device 10 include the position in three mutually orthogonal axial directions (vertical, horizontal, and sensing directions) and the rotation angle around each of these three axes. The degrees of freedom for adjustment of the distance measurement device 10 do not necessarily have to be in these six elements. For example, the degrees of freedom for adjustment of the distance measurement device 10 may be in only some of these six elements. Furthermore, the arrows shown in this figure are examples of adjustment elements, and adjustment of the distance measurement device 10 is not limited to the example shown in this figure.

[0027] A comparative example of a method for displaying point cloud data is a method for displaying each point included in the point cloud data as a mark of the same predetermined size.

[0028] FIG. 5 shows an example of point cloud data displayed using a method according to a comparative example. In this figure, the position of the distance measurement device that acquired this point cloud data is shown in the lower left. As shown in this figure, the distance between measurement points, i.e., the distance between data points in the point cloud data, increases with increasing distance from the distance measurement device. On the other hand, since the displayed marks are all the same size, the mark display becomes coarser the further away from the distance measurement device.

[0029] FIG. 6 is a diagram showing an example of the display of point cloud data according to this embodiment. Note that the display example of point cloud data according to this embodiment is an example of an image displayed using display data generated by the information processing device 20 according to this embodiment. In this figure, the distance measurement device 10 that acquired this point cloud data is located at the bottom left of the figure. In this example, the center-to-center spacing of measurement points, i.e., the center-to-center distance spacing of data points in the point cloud data, increases with increasing distance from the distance measurement device. However, on the other hand, the display size of data points increases with increasing distance from the distance measurement device. In fact, the pulsed light spot becomes larger with increasing distance from the distance measurement device 10, and therefore the light irradiation area of ​​each pulsed light becomes larger. Therefore, it can be said that the example of FIG. 6 more accurately represents the light irradiation area of ​​actual pulsed light than the example of FIG. 5.

[0030] FIG. 7 shows an example of the relationship between the light irradiation area 51 and the target 40, and an example of displaying point cloud data according to a comparative example. In measurements using a distance measurement device, the actual pulsed light spot shape is, for example, a rectangle as shown on the left side of the figure. In the example shown in the figure, the light irradiation area 51 overlaps with the target 40. That is, the target 40 is irradiated with pulsed light, and reflected light is detected. Although a portion of each light irradiation area 51 extends beyond the target 40, if some of the light is reflected and detected by the distance measurement device 10, distance measurement is performed, and the target 40 appears as a measured data point. Note that in the figure, a non-reflective area 52, where pulsed light was irradiated but did not hit the target 40 and reflected light was not detected, is shown by a dashed rectangle.

[0031] In addition, in the display example according to the comparative example on the right side of the figure, an image of the target 40 is displayed together with a plurality of marks 60 indicating data points. In the display example according to the comparative example, the marks 60 are sparse, and the gaps between the marks 60 are displayed larger than the gaps between the actual light irradiation areas 51. Furthermore, because the marks 60 reflect only the positions of the light irradiation areas 51, in the state shown in the upper part of the figure, the target 40 is displayed in the gaps between the marks 60. Looking at this display, one intuitively feels that the pulsed light is barely hitting the target 40, which is quite different from the actual situation.

[0032] Furthermore, if the distance measurement device is shifted to the upper right and one pulse of light is irradiated onto approximately the center of the target 40, the state shown in the lower part of the figure will result. In reality, in addition to the central pulse of light, part of the pulse of light irradiated around 40 is reflected by 40 and detected. In this state, in the display example according to the comparative example, a mark 60 is displayed at a position away from the target 40, making it difficult to intuitively grasp the actual irradiation status of the pulse of light.

[0033] FIG. 8 shows an example of the relationship between the light irradiation area 51 and the target 40, as well as an example of displaying point cloud data according to this embodiment. The relationship between the light irradiation area 51 and the target 40 is the same as that shown in FIG. 7. In this example display according to this embodiment, an image of the target 40 is displayed together with multiple marks 61 representing data points. In this example display, the marks 61 are displayed at a size corresponding to their distance from the reference point. That is, because the measurement results of a distant target 40 are displayed using large marks 61, the size of the gaps between the marks 61 corresponds to the size of the gaps between the actual light irradiation areas 51. In other words, the display area of ​​the marks corresponds to the area of ​​the actual light irradiation areas. Therefore, the relationship between the target 40 and the marks 61 makes it easy to intuitively understand the relationship between the actual target 40 and the light irradiation area 51. Even in the example shown at the bottom of this figure, which shows the state after the distance measurement device 10 has been moved to the upper right, the display according to this embodiment allows one to see that part of the pulsed light is reflected by the target 40.

[0034] The information processing device 20 according to this embodiment will be described in detail below.

[0035] The hardware configuration of the information processing device 20 will be described below. Each functional component of the information processing device 20 may be realized by hardware that realizes the functional component (e.g., a hardwired electronic circuit, etc.), or may be realized by a combination of hardware and software (e.g., a combination of an electronic circuit and a program that controls it, etc.). Below, a case where each functional component of the information processing device 20 is realized by a combination of hardware and software will be further described.

[0036] 9 is a diagram illustrating a computer 1000 for realizing the information processing device 20. The computer 1000 is any computer. For example, the computer 1000 is an SoC (System On Chip), a Personal Computer (PC), a server machine, a tablet terminal, or a smartphone. The computer 1000 may be a dedicated computer designed to realize the information processing device 20, or may be a general-purpose computer.

[0037] The computer 1000 includes a bus 1020, a processor 1040, a memory 1060, a storage device 1080, an input / output interface 1100, and a network interface 1120. The bus 1020 is a data transmission path through which the processor 1040, the memory 1060, the storage device 1080, the input / output interface 1100, and the network interface 1120 transmit and receive data to and from each other. However, the method of interconnecting the processor 1040 and other components is not limited to bus connection. The processor 1040 may be any of various processors, such as a central processing unit (CPU), a graphics processing unit (GPU), or a field-programmable gate array (FPGA). The memory 1060 is a main storage device implemented using a random access memory (RAM) or the like. The storage device 1080 is an auxiliary storage device implemented using a hard disk, a solid state drive (SSD), a memory card, a read-only memory (ROM), or the like.

[0038] The input / output interface 1100 is an interface for connecting the computer 1000 with an input / output device. For example, an input device such as a keyboard and an output device such as a display device are connected to the input / output interface 1100. In this embodiment, the distance measuring device 10 may also be connected to the input / output interface 1100.

[0039] The network interface 1120 is an interface for connecting the computer 1000 to a network. This communication network is, for example, a LAN (Local Area Network) or a WAN (Wide Area Network). The network interface 1120 may be connected to the network wirelessly or by wire.

[0040] The storage device 1080 stores program modules that realize the various functional components of the information processing device 20. The processor 1040 reads these program modules into the memory 1060 and executes them to realize the functions corresponding to the respective program modules.

[0041] Returning to FIG. 2 , the processing performed by the information processing device 20 will be described. The information processing device 20 acquires point cloud data from, for example, the distance measurement device 10. However, the information processing device 20 may acquire the point cloud data by reading it from a storage device accessible from the information processing device 20. The point cloud data includes position information indicating the positions of multiple data points in three-dimensional space. Each data point corresponds to a measurement point of the distance measurement device 10. The position information may be in three-dimensional Cartesian coordinates or three-dimensional polar coordinates. The origin of the three-dimensional coordinates of the position information may be the reference point or a point other than the reference point. When the origin of the three-dimensional coordinates of the position information is a point other than the reference point, the information processing device 20 acquires information indicating the position (coordinates) of the reference point in the three-dimensional coordinates from the distance measurement device 10 or from a storage device accessible from the information processing device 20. Alternatively, the distance measurement device 10 may generate point cloud data including information indicating the position of the reference point. Then, the information processing device 20 may acquire point cloud data including information indicating the position of the reference point.

[0042] As described above, the information processing device 20 includes the generation unit 210. The generation unit 210 generates display data for point cloud data including position information of multiple data points. The display data is data for displaying an image in which multiple data points included in the point cloud data are indicated by multiple marks. One mark in the image corresponds to one data point. Specifically, the generation unit 210 performs the following process. The generation unit 210 calculates the distance from a reference point to each data point included in the point cloud data. That is, for each data point, the generation unit 210 calculates the distance of the data point based on the position information of the data point and the position information of the reference point. When the origin of the three-dimensional coordinates of the position information is the reference point, the generation unit 210 can set the distance from the origin to the data point as the distance from the reference point to the data point.

[0043] Next, the generation unit 210 determines the display size of the mark indicating the data point in the display data based on the calculated distance. For example, size information indicating the relationship between distance and display size is stored in advance in the storage unit 220 accessible from the generation unit 210. In the example of FIG. 2, the storage unit 220 is provided in the information processing device 20. The size information is, for example, a table or a formula indicating the relationship between distance and display size. The generation unit 210 reads and acquires the size information from the storage unit 220. Then, the generation unit 210 derives the display size corresponding to the calculated distance using the size information. According to the size information, the longer the distance from the reference point to the data point, the larger the display size of the data point.

[0044] Here, the generation unit 210 can determine the display size of each data point further based on the divergence angle θ of the pulsed light from the distance measurement device 10.

[0045] 10 is a diagram showing the relationship between the divergence angle θ of the pulsed light, the distance D, and the spot size w of the pulsed light. As shown in the figure, the spot size w of the pulsed light increases as the distance D from the distance measurement device 10, i.e., the distance D from the reference point, increases. Specifically, w=2D×tan(θ / 2) holds.

[0046] The information processing device 20 can acquire divergence angle information indicating the divergence angle θ of the pulsed light of the distance measurement device 10 from the distance measurement device 10. Alternatively, the distance measurement device 10 may generate point cloud data including the divergence angle information, and the information processing device 20 may acquire the point cloud data, thereby acquiring the divergence angle information. Alternatively, a user of the information processing device 20 may input the divergence angle information to the information processing device 20, and the information processing device 20 may accept the input, thereby acquiring the divergence angle information.

[0047] For example, when the size information is a table, size information corresponding to each of a plurality of spread angles θ is stored in the storage unit 220. The generation unit 210 acquires size information corresponding to the spread angle θ indicated in the acquired spread angle information from the plurality of size information stored in the storage unit 220. Then, the generation unit 210 uses the acquired size information to derive the display size as described above.

[0048] If the size information is a mathematical formula, the formula includes θ as a variable. The generation unit 210 derives the display size by substituting the spread angle θ indicated in the acquired spread angle information and the calculated distance into the mathematical formula. The size information is, for example, a mathematical formula such as w=2D×tan(θ / 2).

[0049] Furthermore, the generating unit 210 determines the display positions of the plurality of data points based on the position information. That is, the generating unit 210 generates display data in which marks of the plurality of data points are arranged according to the position information of each data point.

[0050] Returning to FIG. 2 , a camera 30 is provided near the distance measurement device 10. The imaging area captured by the camera 30 includes a scanning range 170 of the distance measurement device 10. The information processing device 20 acquires an image captured by the camera 30 from the camera 30. The generation unit 210 then generates display data for displaying the image captured by the camera 30 superimposed on multiple data points. The positional relationship between the image captured by the camera 30 and the coordinates of the point cloud data is predetermined, and the generation unit 210 can superimpose the image captured by the camera 30 on multiple data points based on this positional relationship. Note that the image captured by the camera 30 may include an object indicating a reference point, and the generation unit 210 may superimpose the image captured by the camera 30 on multiple data points so that the reference point is at a predetermined coordinate position.

[0051] Here, the camera 30 is a visible light camera. When the pulsed light emitted from the distance measurement device 10 is infrared light, an infrared camera is required to directly capture the state of reflection of the pulsed light on an object. On the other hand, according to the information processing device 20 of this embodiment, a mark that resembles the actual irradiation area of ​​the data points of the point cloud data is displayed superimposed on an image obtained by the visible light camera, allowing the user to confirm the situation with a feeling similar to directly viewing the reflection area.

[0052] 11 is a diagram illustrating an example of an image in which an image captured by camera 30 is superimposed with a plurality of data points. The image displays target 40 and marks 61 indicating the data points at which target 40 was measured. Such an image makes it easy to understand how an object in an actual space is irradiated with pulsed light.

[0053] The shape of the mark is not particularly limited, and may be a circle, a rectangle, another polygon, a cross mark, an X mark, etc. In particular, it is preferable that the generation unit 210 generates display data that displays each data point in a shape and size that resembles the shape and size of the actual irradiation area of ​​the pulsed light from the distance measurement device 10. In other words, it is preferable that the generation unit 210 makes the display shape of the multiple data points similar to the shape of the pulsed light.

[0054] FIG. 12 is a diagram showing an example of an image displayed using the display data generated by the generation unit 210. An image of the target 40 is displayed together with multiple marks 61 indicating data points. In this example, the pulsed light emitted by the distance measurement device 10 is assumed to be rectangular. In the image shown in this figure, a mark 61, which is rectangular like the pulsed light, is displayed. The mark 61 has a shape similar to the shape of the pulsed light. As in the example shown in FIG. 8, shifting the distance measurement device 10 from the situation shown in the upper part of this figure to the upper right results in the situation shown in the middle part of this figure. Furthermore, rotating the distance measurement device 10 counterclockwise results in the situation shown in the lower part of this figure. In this way, since the mark 61 has a shape similar to the shape of the pulsed light, the actual irradiation area of ​​the pulsed light can be intuitively grasped, and adjustments, including the mounting angle of the distance measurement device 10, can be easily performed.

[0055] FIG. 13 is a diagram showing an example of an image displayed using the display data generated by the generation unit 210. In this figure, the distance measurement device 10 that acquired this point cloud data is located at the bottom left of the figure. In this example, the display size of the data points increases as they move away from the distance measurement device 10. Furthermore, the shape of the marks is rectangular, similar to the shape of the pulsed light spot of the distance measurement device 10. This makes it easy to intuitively grasp the image of the object measured by the distance measurement device 10.

[0056] The information processing device 20 can acquire shape information indicating the shape of the pulsed light of the distance measurement device 10 from the distance measurement device 10. Alternatively, the distance measurement device 10 may generate point cloud data including the shape information, and the information processing device 20 may acquire the point cloud data, thereby acquiring the shape information. Alternatively, a user of the information processing device 20 may input the shape information to the information processing device 20, and the information processing device 20 may acquire the shape information by accepting the input. The generation unit 210 generates display data so as to display the mark in the shape indicated in the shape information. Note that the information processing device 20 may be capable of switching the shape of the mark in response to a user input.

[0057] In the image displayed based on the display data, the mark may be displayed as an outline only, or as a figure filled with a predetermined color. The mark may also be displayed in a color that indicates the intensity of the reflected light received by the light receiving element 18. However, when the mark is displayed superimposed on the image captured by the camera 30, it is preferable that the mark has transparency so that the image can be seen to some extent.

[0058] The generating unit 210 may generate display data that displays a plurality of data points with display marks that are less transparent toward the center.

[0059] 14 is a diagram showing an example of an image in which data points are displayed using display marks with a degree of transparency that decreases toward the center. In this way, by providing a gradation in the transparency of the marks superimposed on the image captured by camera 30, it is possible to reproduce the brightness distribution of the actual pulsed light.

[0060] The generation unit 210 outputs the generated display data. For example, the information processing device 20 can output the display data to the display device 22 and display an image on the display device 22. Note that the information processing device 20 may store the display data in a storage device accessible from the information processing device 20.

[0061] For example, every time the distance measurement device 10 generates point cloud data, the generation unit 210 generates display data using the point cloud data. Then, every time display data is generated, the image displayed on the display device 22 is updated with the latest display data. The user can adjust the position and angle of the distance measurement device 10 while viewing the displayed image. Note that the acquisition of the spread angle information and shape information described above only needs to be performed once at the beginning, and does not need to be performed every time display data is generated.

[0062] The information processing device 20 may be switchable between a first display mode in which display data for displaying each data point at a display size determined based on the position information of the data point is generated, and a second display mode in which display data for displaying multiple data points at the same display size is generated. The display mode is selected by a user of the information processing device 20. The information processing device 20 accepts a display mode selection operation by the user. Then, display data corresponding to the selected display mode is output. In the first display mode, the generation unit 210 determines the display size of each data point using at least the above-described size information and the calculated distance from the reference point. Then, display data in which the marker is displayed at the determined display size is generated and output. On the other hand, in the second display mode, the generation unit 210 generates and outputs display data in which all data points are displayed at a predetermined size.

[0063] 15 is a flowchart illustrating the flow of an information processing method performed by the information processing device 20 according to this embodiment. The information processing method according to this embodiment includes a generation step S210. In the generation step S210, display data of point cloud data including position information of a plurality of data points is generated. Also, in the generation step S210, the display size of the data points is determined so that the display size increases as the distance from the reference point to the data point increases.

[0064] As described above, according to this embodiment, the generation unit 210 determines the display size of the data points so that the display size increases as the distance from the reference point to the data point increases. Therefore, the point cloud data can be displayed in a way that makes it easy to understand how light from the distance measurement device is irradiated.

[0065] Although the embodiments and examples have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted. Below, examples of reference forms are given. 1. A generating unit is provided for generating display data of point cloud data including position information of a plurality of data points; The generation unit determines the display size of the data point so that the display size increases as the distance from the reference point to the data point increases. Information processing device. 2. In the information processing device described in 1., the position information included in the point cloud data is information based on a measurement result of a distance measuring device, The reference point indicates the position of the distance measuring device Information processing device. 3. In the information processing device described in 2., The distance measurement device is a device that measures the distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object. Information processing device. 4. In the information processing device described in 3., The generation unit determines the display size of each of the data points further based on a divergence angle of the pulsed light from the distance measurement device. Information processing device. 5. In the information processing device according to 3. or 4., The generation unit sets the display shapes of the plurality of data points to a shape similar to the shape of the pulsed light. Information processing device. 6. In the information processing device according to any one of 3. to 5., The generating unit generates the display data for displaying each of the data points in a shape and size that resembles the actual irradiation area of ​​the pulsed light from the distance measuring device. Information processing device. 7. In the information processing device according to any one of 1. to 6., The generating unit generates the display data for displaying an image captured by a camera and the plurality of data points in a superimposed manner. Information processing device. 8. In the information processing device according to any one of 1. to 7., The generating unit generates the display data for displaying the plurality of data points with a display mark that has a lower transparency toward the center. Information processing device. 9. In the information processing device according to any one of 1. to 8., The display mode is switchable between a first display mode in which the display data is generated to display each of the data points at a display size determined based on the position information of the data points, and a second display mode in which the display data is generated to display the plurality of data points at the same display size. Information processing device. 10. In the information processing device described in any one of 1. to 9., The generation unit determines display positions of the plurality of data points based on the position information. Information processing device. 11. A generating step of generating display data of point cloud data including position information of a plurality of data points, In the generating step, the display size of the data point is determined so that the display size increases as the distance from the reference point to the data point increases. Information processing methods. 12. A program that causes a computer to execute each step of the information processing method described in 11.

[0066] This application claims priority based on Japanese Patent Application No. 2021-042241, filed on March 16, 2021, the disclosure of which is incorporated herein in its entirety. [Explanation of symbols]

[0067] 10 Distance measuring device 14 Light-emitting element 17 Measurement control section 18 Photodetector 20 Information processing equipment 30 Camera 40 Targets 42 Mounting object 51 Light irradiation area 52 Non-reflective area 170 scanning range 210 Generation part 220 Storage section 1000 calculator

Claims

1. a generation unit that generates display data of point cloud data including position information of a plurality of data points; the generation unit determines a display size of the data point so that the display size increases as the distance from the reference point to the data point increases; the position information included in the point cloud data is information based on a measurement result of a distance measuring device, the reference point indicates the position of the distance measuring device; the distance measurement device is a device that measures a distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object, The generation unit determines the display size of each of the data points further based on a divergence angle of the pulsed light from the distance measurement device. Information processing device.

2. A generating unit that generates display data for point cloud data including position information of a plurality of data points, the generation unit determines a display size of the data point so that the display size increases as the distance from the reference point to the data point increases; the position information included in the point cloud data is information based on a measurement result of a distance measuring device, the reference point indicates the position of the distance measuring device; the distance measurement device is a device that measures a distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object, The generation unit sets the display shapes of the plurality of data points to a shape similar to the shape of the pulsed light. Information processing device.

3. A generation unit that generates display data for point cloud data including position information of a plurality of data points, the generation unit determines a display size of the data point so that the display size increases as the distance from the reference point to the data point increases; the position information included in the point cloud data is information based on a measurement result of a distance measuring device, the reference point indicates the position of the distance measuring device; The generating unit generates the display data for displaying an image captured by a camera and the plurality of data points in a superimposed manner. Information processing device.

4. In the information processing device according to claim 3, The distance measurement device is a device that measures the distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object. Information processing device.

5. In the information processing device according to claim 4, The generation unit determines the display size of each of the data points further based on a divergence angle of the pulsed light from the distance measurement device. Information processing device.

6. In the information processing device according to claim 4 or 5, The generation unit sets the display shapes of the plurality of data points to a shape similar to the shape of the pulsed light. Information processing device.

7. In the information processing device according to any one of claims 1 to 6, The generating unit generates the display data for displaying the plurality of data points with a display mark that has a lower transparency toward the center. Information processing device.

8. In the information processing device according to any one of claims 1 to 7, The display mode is switchable between a first display mode in which the display data is generated to display each of the data points at a display size determined based on the position information of the data points, and a second display mode in which the display data is generated to display the plurality of data points at the same display size. Information processing device.

9. In the information processing device according to any one of claims 1 to 8, The generation unit determines display positions of the plurality of data points based on the position information. Information processing device.

10. A generating step of generating display data for point cloud data including position information of a plurality of data points, In the generating step, a display size of the data point is determined so that the display size increases as the distance from the reference point to the data point increases; the position information included in the point cloud data is information based on a measurement result of a distance measuring device, the reference point indicates the position of the distance measuring device; the distance measurement device is a device that measures a distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object, In the generating step, the display size of each of the data points is determined further based on a divergence angle of the pulsed light from the distance measuring device. Information processing methods.

11. A generating step of generating display data for point cloud data including position information of a plurality of data points, In the generating step, a display size of the data point is determined so that the display size increases as the distance from the reference point to the data point increases; the position information included in the point cloud data is information based on a measurement result of a distance measuring device, the reference point indicates the position of the distance measuring device; the distance measurement device is a device that measures a distance to an object by emitting pulsed light and receiving the pulsed light reflected by the object, In the generating step, the display shape of the plurality of data points is set to a shape similar to the shape of the pulsed light. Information processing methods.

12. A generating step of generating display data for point cloud data including position information of a plurality of data points, In the generating step, a display size of the data point is determined so that the display size increases as the distance from the reference point to the data point increases; the position information included in the point cloud data is information based on a measurement result of a distance measuring device, the reference point indicates the position of the distance measuring device; In the generating step, the display data is generated to display an image captured by a camera and the plurality of data points superimposed on each other. Information processing methods.

13. A program that causes a computer to execute each step of the information processing method described in any one of claims 10 to 12.

Images