THREE-DIMENSIONAL POINT CLOUD POSITION DATA PROCESSING DEVICE, THREE-DIMENSIONAL POINT CLOUD POSITION DATA PROCESSING SYSTEM, AND THREE-DIMENSIONAL POINT CLOUD POSITION DATA PROCESSING METHOD AND PROGRAM

摘要

A technique is provided for efficiently process three-dimensional point cloud position data that are obtained at different viewpoints. A projecting plane is set in a measurement space as a parameter for characterizing a target plane contained in plural planes that form an object. The target plane and other planes are projected on the projecting plane. Then, a distance between each plane and the projecting plane is calculated at each grid point on the projecting plane, and the calculated matrix data is used as a range image that characterizes the target plane. The range image is also formed with respect to the other planes and with respect to planes that are viewed from another viewpoint. The range images of the two viewpoints are compared, and a pair of the planes having the smallest difference between the range images thereof is identified as matching planes between the two viewpoints.

主权项

1. A three-dimensional point cloud position data processing device comprising:
a three-dimensional point cloud position data obtaining unit for obtaining first and second three-dimensional point cloud position data of an object, and the first and the second three-dimensional point cloud position data including points of planes and obtained at a first viewpoint and at a second viewpoint, respectively; a plane extracting unit for adding identical labels to the points in the same planes and extracting plural first planes and plural second planes, based on each of the first and the second three-dimensional point cloud position data, the first planes forming the object viewed from the first viewpoint, and the second planes forming the object viewed from the second viewpoint; a relative position calculating unit for calculating a relative position between a target plane and each of the other planes at each location with respect to each of the first planes and the second planes; and a matching plane identifying unit for comparing the relative positions of the first planes and the relative positions of the second planes and identifying a pair of the first plane and the second plane, which are most similar in the relative positions, as matching planes between the first planes and the second planes.