Point cloud data processing apparatus, point cloud data processing method, and program

Patent metadata

Field	Value
Publication number	US-2023011921-A1
Application number	US-202217931878-A
Country	US
Kind code	A1
Filing date	Sep 13, 2022
Priority date	Mar 30, 2020
Publication date	Jan 12, 2023
Grant date	—

Abstract

A point cloud data processing apparatus 11 includes a processor configured to acquire first form information that indicates a feature of a form of a first object, specify an object region of a second object that is identified from an image and that corresponds to the first form information, select second-object point cloud data, in point cloud data, that corresponds to the object region, on the basis of the object region, acquire second form information that indicates a feature of a form of the second object, on the basis of the second-object point cloud data, and compare the first form information with the second form information and perform determination as to whether the second object is the first object.

First claim

What is claimed is:

1 . A point cloud data processing apparatus comprising:
a memory configured to store an image of a first object that is a detection target and that is a photographic subject and point cloud data that includes a large number of points on a surface of the first object and that represents at least three-dimensional information, in association with positions of pixels that constitute the image and pieces of point data that constitute the point cloud data; and a processor, the processor being configured to acquire first form information that indicates a feature of a form of the first object, specify an object region of a second object that is identified from the image and that corresponds to the first form information, select second-object point cloud data, in the point cloud data, that corresponds to the object region, on the basis of the object region, acquire second form information that indicates a feature of a form of the second object, on the basis of the second-object point cloud data, and compare the first form information with the second form information and perform determination as to whether the second object is the first object.

2 . The point cloud data processing apparatus according to claim 1 , wherein the processor is configured to assign an attribute to the second-object point cloud data on the basis of a result of the determination.

3 . The point cloud data processing apparatus according to claim 1 , wherein the processor is configured to cause a display unit to display a result of the determination.

4 . The point cloud data processing apparatus according to claim 2 , wherein the processor is configured to cause a display unit to display a result of the determination.

5 . The point cloud data processing apparatus according to claim 2 , wherein the first form information is at least one of information about a type of the form of the first object, information about the surface of the first object, or information about a size of the first object.

6 . The point cloud data processing apparatus according to claim 2 , wherein the first form information is at least one of information about a type of the form of the first object, information about the surface of the first object, or information about a size of the first object.

7 . The point cloud data processing apparatus according to claim 3 , wherein the first form information is at least one of information about a type of the form of the first object, information about the surface of the first object, or information about a size of the first object.

8 . The point cloud data processing apparatus according to claim 1 , wherein the form of the first object is a cylindrical form.

9 . The point cloud data processing apparatus according to claim 2 , wherein the form of the first object is a cylindrical form.

10 . The point cloud data processing apparatus according to claim 3 , wherein the form of the first object is a cylindrical form.

11 . The point cloud data processing apparatus according to claim 5 , wherein the form of the first object is a cylindrical form.

12 . The point cloud data processing apparatus according to claim 8 , wherein the processor is configured to acquire the second form information on the basis of the second-object point cloud data by at least one of a Hough transformation process, a RANSAC algorithm, or a detector subjected to machine learning.

13 . The point cloud data processing apparatus according to claim 1 , wherein the first object is piping.

14 . The point cloud data processing apparatus according to claim 2 , wherein the first object is piping.

15 . The point cloud data processing apparatus according to claim 3 , wherein the first object is piping.

16 . The point cloud data processing apparatus according to claim 5 , wherein the first object is piping.

17 . The point cloud data processing apparatus according to claim 8 , wherein the first object is piping.

18 . The point cloud data processing apparatus according to claim 12 , wherein the first object is piping.

19 . A point cloud data processing method using a point cloud data processing apparatus comprising: a memory configured to store an image of a first object that is a detection target and that is a photographic subject and point cloud data that includes a large number of points on a surface of the first object and that represents at least three-dimensional information, in association with positions of pixels that constitute the image and pieces of point data that constitute the point cloud data; and a processor,
the processor being configured to perform a step of acquiring first form information that indicates a feature of a form f the first object, a step of specifying an object region of a second object that is identified from the image and that corresponds to the first form information, a step of selecting second-object point cloud data, in the point cloud data, that corresponds to the object region, on the basis of the object region, a step of acquiring second form information that indicates a feature of a form of the second object, on the basis of the second-object point cloud data, and a step of comparing the first form information with the second form information and performing determination as to whether the second object is the first object.

20 . A non-transitory computer recording medium storing a program for causing a point cloud data processing apparatus to perform a point cloud data processing method, the point cloud data processing apparatus comprising: a memory configured to store an image of a first object that is a detection target and that is a photographic subject and point cloud data that includes a large number of points on a surface of the first object and that represents at least three-dimensional information, in association with positions of pixels that constitute the image and pieces of point data that constitute the point cloud data; and a processor,
the program causing the processor to perform a step of acquiring first form information that indicates a feature of a form of the first object, a step of specifying an object region of a second object that is identified from the image and that corresponds to the first form information, a step of selecting second-object point cloud data, in the point cloud data, that corresponds to the object region, on the basis of the object region, a step of acquiring second form information that indicates a feature of a form of the second object, on the basis of the second-object point cloud data, and a step of comparing the first form information with the second form information and performing determination as to whether the second object is the first object.

Assignees

• Fujifilm Corp

Inventors

• Iwami Kazuchika

Classifications

• G06V10/757 Primary

  Matching configurations of points or features · CPC title

• G06V10/22

  by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition · CPC title

• G01S7/4802 Primary

  using analysis of echo signal for target characterisation; Target signature; Target cross-section · CPC title

• G06V10/46

  Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features (colour feature extraction G06V10/56) · CPC title

• G06T2207/10028

  Range image; Depth image; 3D point clouds · CPC title