| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately detect an object from three-dimensional point group data obtained by laser measurement or the like. <P>SOLUTION: Resampling processing for removing a noise is performed to three-dimensional point group data obtained by laser measurement. Then, the matching of the point group data with a preliminarily prepared template is performed. In the template matching, the point group data and the template are both divided into grids with a predetermined size, and the number of data points existing in each grid is defined as the featured value of the grid. On the basis of the featured value defined as mentioned above, the point group data are collated with the template so that it is possible to relatively easily determine the positional relation and matching/mismatching of the both point group data and template. After an object is detected by the template matching, the positional relation of the template and the point group data is much more precisely matched by ICP matching, and the object is detected. <P>COPYRIGHT: (C)2013,JPO&INPIT |
