3D Point Cloud Calculation Device Defect Handling
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Solution Overview
Problem
The accuracy of position and orientation calculations for a mobile object, such as a vehicle, using three-dimensional point cloud data can decrease when the data is defective due to obstacles between the mobile object detection device and the object.
Innovation Solution
A calculation device that acquires three-dimensional point cloud data, calculates the position and orientation of the mobile object, and executes a second calculation process when the data is expected to be defective, using graphic data to estimate information corresponding to defective portions of the point cloud.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If three-dimensional point cloud data is used to calculate position and orientation of the mobile object, then the calculation accuracy is improved, but the accuracy decreases when the data is defective due to obstacles
Solution Approach 1:
The system performs preliminary actions by predicting potential defects in point cloud data before they affect calculation accuracy. The prediction unit anticipates defective regions based on obstacle information, and the system prepares alternative calculation methods in advance. This allows the system to switch to robust calculation processes proactively, maintaining accuracy even when defects are present in the point cloud data.
2Device complexity
If the calculation device uses only point cloud data for position and orientation calculation, then the device complexity is reduced, but the accuracy decreases when obstacles are present
Solution Approach 1:
The calculation device incorporates multiple calculation processes that serve different functions: a first calculation process for normal conditions and a second calculation process for defective data conditions. The prediction unit, detection unit, and determination unit work together to identify when to switch between these processes. This multi-functionality allows the system to maintain high accuracy across various scenarios without requiring completely separate systems for each condition.
Data Source
AI summary
A calculation device includes an acquisition unit configured to acquire three-dimensional point cloud data, a calculation unit configured to calculate at least either of a position and an orientation of a mobile object using the three-dimensional point cloud data, and at least one of (i) a prediction unit configured to predict that the three-dimensional point cloud data is expected to be defective, (ii) a detection unit configured to detect that the three-dimensional point cloud data is defective, and (iii) a determination unit configured to determine whether the mobile object is present in a specific area where the three-dimensional point cloud data is presumed in advance to be defective. The calculation unit is configured to execute at least a second calculation process when at least one of a first case, a second case, and a third case applies.