Measurement apparatus, information processing apparatus, data specifying method, and non-transitory computer-readable medium

Patent metadata

Field	Value
Publication number	US-2023036969-A1
Application number	US-201917778496-A
Country	US
Kind code	A1
Filing date	Nov 29, 2019
Priority date	Nov 29, 2019
Publication date	Feb 2, 2023
Grant date	—

Abstract

An object is to provide a measurement apparatus adapted to correctly integrate three-dimensional data acquired at a plurality of points. A measurement apparatus (10) according to the present disclosure includes a position specifying unit (11) configured to specify, using an apparatus reference coordinate system having a position of the measurement apparatus set as a reference, a position of each of a plurality of other measurement apparatuses; a candidate specifying unit (12) configured to extract at least three measurement apparatuses out of the measurement apparatus and the plurality of the other measurement apparatuses and to specify, based on the positions of the extracted measurement apparatuses, a candidate region that serves as a candidate of a common region referred to in performing alignment of data captured by the measurement apparatus and the plurality of the other measurement apparatuses; and a common region determining unit (13) configured to determine the common region based on the distribution of the plurality of the candidate regions obtained by changing combinations of the measurement apparatuses to be extracted.

First claim

1 . A measurement apparatus comprising:
a position specifying unit configured to specify, using an apparatus reference coordinate system having a position of the measurement apparatus set as a reference, a position of each of a plurality of other measurement apparatuses; a candidate specifying unit configured to extract at least three measurement apparatuses out of the measurement apparatus and the plurality of the other measurement apparatuses and to specify, based on the positions of the extracted measurement apparatuses, a candidate region that serves as a candidate of a common region referred to in performing alignment of data captured by the measurement apparatus and the plurality of the other measurement apparatuses; and a common region determining unit configured to determine the common region based on the distribution of the plurality of the candidate regions obtained by changing combinations of the measurement apparatuses to be extracted.

2 . The measurement apparatus according to claim 1 , wherein the position specifying unit is configured to specify the positions of the plurality of the other measurement apparatuses using first distance data indicating a distance from the measurement apparatus to an object in the surroundings thereof specified using data captured by the measurement apparatus, a second distance data acquired at each of the plurality of the other measurement apparatuses, and a third distance data indicating a distance between the measurement apparatus and the plurality of the other measurement apparatuses.

3 . The measurement apparatus according to claim 2 , wherein the position specifying unit is configured to specify the positions of the plurality of the other measurement apparatuses by superimposing the second distance data on a position distant from the measurement apparatus by a distance specified in the third distance data.

4 . The measurement apparatus according to claim 1 , wherein the position specifying unit is configured to specify the positions of the plurality of the other measurement apparatuses using data including the plurality of the other measurement apparatuses captured by the measurement apparatus.

5 . The measurement apparatus according to any one of claims 1 to 4 , wherein the candidate specifying unit is configured to specify the candidate region based on a shape of a triangle in which the positions of the three measurement apparatuses in the apparatus reference coordinate system are vertices thereof.

6 . The measurement apparatus according to claim 5 , wherein the candidate specifying unit is configured to set a region including a symmetrical position of a third vertex as the candidate region with reference to a line connecting a first vertex and a second vertex included in the triangle.

7 . The measurement apparatus according to claim 5 , wherein the candidate specifying unit is configured to set a region including an arbitrary point on a straight line connecting a midpoint of a straight line connecting the second vertex and the third vertex with the first vertex, the first vertex included in the triangle being an end point, as the candidate region.

8 . The measurement apparatus according to any one of claims 1 to 7 , wherein the common region determining unit is configured to set a region in which the number of the duplicate candidate regions is greater than a prescribed number as the common region.

9 . The measurement apparatus according to any one of claims 1 to 8 , wherein the captured data is point cloud data.

10 . The measurement apparatus according to claim 2 , wherein
the position specifying unit is configured to generate an object presence/absence observation map indicating whether there is an object present in the surroundings of the measurement apparatus using point cloud data captured by the measurement apparatus, and the first distance data indicates a distance from the measurement apparatus to the object indicated in the object present/absence observation map and the second distance data indicates a distance from the other measurement apparatuses to the object indicated in the object presence/absence observation map generated by the other measurement apparatuses.

11 . An information processing apparatus for collecting information from a plurality of measurement apparatuses, comprising:
a communication unit configured to receive first distance data indicating a distance from each of the plurality of the measurement apparatuses to an object in the surroundings thereof specified by the respective measurement apparatuses; a position specifying unit configured to specify a position of each of the plurality of the measurement apparatuses using the first distance data and third distance data indicating a distance between the apparatuses included in the plurality of the measurement apparatuses; a candidate specifying unit configured to extract at least three measurement apparatuses out of the plurality of the measurement apparatuses and to specify, based on the positions of the extracted measurement apparatuses, a candidate region that serves as a candidate of a common region referred to in performing alignment of data captured by the plurality of the measurement apparatuses; and a common region determining unit configured to determine the common region based on distribution of a plurality of the candidate regions obtained by changing combinations of the measurement apparatuses to be extracted.

12 . The information processing apparatus according to claim 11 , wherein the position specifying unit is configured to specify positions of the first measurement apparatus and the second measurement apparatus by superimposing the first distance data of a second measurement apparatus included in the plurality of the measurement apparatuses on a position distant from the first measurement apparatus included in the plurality of the measurement apparatuses by a distance specified in the third distance data in the apparatus reference coordinate system having the position of the information processing apparatus set as a reference.

13 . A data determining method performed in a measurement apparatus, the method comprising:
specifying, using an apparatus reference coordinate system having a position of the measurement apparatus set as a reference, a position of each of a plurality of other measurement apparatuses; extracting at least three measurement apparatuses out of the measurement apparatus and the plurality of the other measurement apparatuses; specifying, based on the positions of the extracted measurement apparatuses, a candidate region that serves as a candidate of a common region referred to in performing alignment of data captured by the measurement apparatus and the plurality of the other measurement apparatuses; and determining the common region based on the distribution of the plurality of the candidate regions obtained by changing combinations of the measurement apparatuses to be extracted.

14 . A non-transitory computer-readable medium storing a program for causing a computer apparatus to execute the processes of:
specifying, using an apparatus reference coordinate system having a position of the measurement apparatus set as a reference, a position of each of a plurality of other measurement apparatuses; extracting at least three measurement apparatuses out of the measurement apparatus and the plurality of the other measurement apparatuses; specifying, based on the positions of the extracted measurement apparatuses, a candidate region that serves as a candidate of a common region referred to in performing alignment of data captured by the measurement apparatus and

Assignees

• Nec Corp

Inventors

• Abe Jiro
• Tsuji Akira
• Abe Junichi
• Ono Yoshimasa

Classifications

• G01S17/89 Primary

  for mapping or imaging · CPC title

• G01S17/87

  Combinations of systems using electromagnetic waves other than radio waves · CPC title

• G01S7/497

  Means for monitoring or calibrating · CPC title