Point Cloud Motion Correction for Accurate Moving Object Shape
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Solution Overview
Problem
Existing optical distance measuring apparatuses struggle to accurately capture the shape of moving objects due to changing distances over time, resulting in distorted point cloud data.
Innovation Solution
A point cloud processing apparatus that acquires first point cloud data, estimates speed information of moving objects based on second point cloud data, and corrects the position of the second point cloud data using speed information and time differences to align it with a reference time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical distance measuring apparatus is used to measure moving objects, then distance measurement is achieved, but the shape indicated by point cloud data cannot accurately indicate the shape of the moving object due to changing distances over time
Solution Approach 1:
The system performs preliminary actions by estimating speed information of the moving object and calculating corrected positions before finalizing the point cloud data. The correction unit uses estimated speed and time difference to pre-calculate where the object should be positioned, compensating for the changing distance issue in advance.
Solution Approach 2:
The system implements feedback by continuously monitoring the point cloud data, estimating speed information from the data itself, and using this feedback to correct the positions. The correction unit references the estimated speed information to adjust positions, creating a closed-loop system that adapts to the moving object's characteristics.
2Area of stationary object
If point cloud data is collected over a predetermined period, then measurement coverage is improved, but the data represents a composite of positions at different times rather than a single moment
Solution Approach 1:
The system segments the collected point cloud data into multiple groups based on temporal information. By dividing the data into segments corresponding to different time periods, the system can then process and correct each segment separately, allowing it to distinguish between points that belong to the same object at different times versus points that represent the object's position at a specific reference time.
Solution Approach 2:
The system applies dynamics by introducing dynamic correction based on speed information. Instead of treating all point cloud data equally, the correction unit dynamically adjusts positions based on the estimated speed of the moving object and the time difference, transforming static spatial data into dynamically corrected data that reflects the object's position at the reference time.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus effectively corrects the position of point cloud data to accurately represent the shape of moving objects, enhancing the clarity and recognition of their forms in the data.
Implementation Method 1
The LiDAR measures a distance to an object existing in the surroundings using light
Implementation Method 2
The optical distance measuring apparatus disclosed in Patent Literature 1 measures the distance to the measurement target, using an optical coherent method
Data Source
AI summary
A point cloud processing apparatus according to the present disclosure is a point cloud processing apparatus that includes an acquisition unit that acquires first point cloud data generated by measuring a space including a moving object for a predetermined period, an estimation unit that estimates speed information of the moving object, based on second point cloud data constituting the moving object, the second point cloud data being included in the first point cloud data, and a correction unit that corrects a position of the second point cloud data using the speed information and difference information between a time when the second point cloud data is generated and a reference time.