3D Data Generating Device Using Variable Height Cuboid Partitioning
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Solution Overview
Problem
The existing 3D data formats, such as occupancy maps, struggle to reduce data size effectively, leading to increased processing loads for spatial recognition devices, especially when cuboids are treated as cubes with equal dimensions.
Innovation Solution
A 3D data generating device and method that partitions a space into cuboids based on varying heights corresponding to specific objects, such as a standard vehicle's passable heights, reducing the number of cuboids and thus the data size, by deciding positions in the height direction for partitioning the space.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If all cuboids are set with the same dimensions (treated as cubes), then the data structure is simple and uniform, but the data size cannot be reduced adequately and processing load increases
Solution Approach 1:
The patent applies local quality by making cuboid dimensions variable rather than uniform. Specifically, the height of each cuboid is adjusted according to the height of objects it represents, while width and depth remain uniform. This allows the data structure to adapt locally to object characteristics, reducing the number of cuboids needed to represent the same space and thereby reducing data size without increasing overall structural complexity.
2Measurement precision
If the space is partitioned into many small cuboids to accurately represent objects, then the precision of object representation is improved, but the data size increases and processing load increases
Solution Approach 1:
The patent changes the height parameter of cuboids to match object heights, allowing each cuboid to accurately represent the vertical extent of objects. This parameter adjustment enables precise object representation while reducing the total number of cuboids required, as taller objects are represented by fewer, taller cuboids rather than multiple stacked small cuboids.
Solution Approach 2:
The space is segmented into cuboids with heights corresponding to object heights, creating a segmentation that matches the natural vertical boundaries of objects. This segmentation strategy reduces the number of partitions needed compared to uniform small cuboids, thereby reducing data size while maintaining representation precision.
3Productivity
If uniform cuboids are used for partitioning, then the partitioning process is simple and fast, but the number of cuboids is large leading to increased processing load
Solution Approach 1:
The partitioning process uses local quality by setting cuboid heights based on object heights rather than using a uniform height for all cuboids. This approach maintains relatively simple partitioning logic while significantly reducing the total number of cuboids generated, as the height parameter adapts to object characteristics rather than requiring fine-grained uniform partitioning throughout the entire space.
Data Source
AI summary
Provided is a 3D data generating device and the like capable of generating 3D data having a small data size.When generating three-dimensional (3D) data in which a predetermined space is expressed by a plurality of cuboids obtained by partitioning the predetermined space, a position in the height direction for partitioning the predetermined space is decided on the basis of heights corresponding to predetermined objects, and the predetermined space is partitioned at the decided position in the height direction.