POINT GROUP ANALYSIS PROCESSING APPARATUS, POINT GROUP ANALYSIS PROCESSING METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To detect a three-dimensional point group composing a columnar object with high accuracy even when the columnar object is obliquely inclined or the columnar object is adjacent to the other object.SOLUTION: A columnar object detection apparatus 100 includes: a columnar object parameter estimation part 105 which estimates a columnar parameter of a columnar object by round column application to a three-dimensional point group to be an apparatus processing target by RANSAC; and a columnar object identification part 106 which identifies whether or not a point group existing on a position of the estimated columnar object is a columnar object on the basis of the columnar object parameter estimated by the columnar object parameter estimation part 105 and outputs a determination result of the presence/absence of the columnar object, and when determining that the columnar object exists, outputs center positions and radiuses of respective columnar objects in a plurality of small areas obtained by dividing the three-dimensional point group.