RECORDING MEDIUM RECORDING INFORMATION PROCESSING PROGRAM, INFORMATION PROCESSING APPARATUS, AND INFORMATION PROCESSING METHOD

• US 20190310348A1
• Filed: 06/24/2019
• Published: 10/10/2019
• Est. Priority Date: 01/16/2017
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Yamao, Sosuke
• Granted Patent: US 11,506,755 B2
• Time in Patent Office: Days
• CPC Class Codes: G01C 15/00 Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06V 10/50 by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
• CPC Class Codes: G06V 10/758 Involving statistics of pixels or of feature values, e.g. histogram matching
• CPC Class Codes: G06V 20/653 by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces

Abstract

A recording medium records a program that causes a computer to execute processing of: obtaining pieces of three-dimensional point data observed a mobile body; calculating a feature amount according to a distance between a position of the mobile body and each of three-dimensional points indicated by the pieces of three-dimensional point data; and specifying a reference point that corresponds to the position of the mobile body from among reference points in a mobile space of the mobile body which are registered in a database that registers a combinations each of the respective reference points and the feature amounts according to the distance between the position of the respective reference points and each of three-dimensional points indicated by a pieces of three-dimensional point data observed from the position of the respective reference points, based on the calculated feature amount and the database.

Claims

1. A non-transitory computer-readable recording medium recording an information processing program that causes a computer to execute processing of:

obtaining a plurality of pieces of three-dimensional point data observed by an observation circuit mounted on a mobile body;

calculating a feature amount according to a distance between a position of the mobile body and each of three-dimensional points indicated by the plurality of pieces of three-dimensional point data, based on a position of the mobile body and the plurality of pieces of three-dimensional point data; and

specifying a reference point that corresponds to the position of the mobile body from among a plurality of reference points in a mobile space of the mobile body which are registered in a database that registers a plurality of combinations each of the respective reference points and the feature amounts according to the distance between the position of the respective reference points and each of three-dimensional points indicated by a plurality of pieces of three-dimensional point data observed from the position of the respective reference points, based on the calculated feature amount and the database.

2. The non-transitory computer-readable recording medium according to claim 1,

wherein the feature amount is a feature amount which is related to a shape of a visible space observed from the position of the mobile body and is calculated based on the plurality of pieces of three-dimensional point data.

3. The non-transitory computer-readable recording medium according to claim 1,

wherein the feature amount is a histogram representing frequency of three-dimensional points present in observation directions, corresponding to each of the distances between the position of the mobile body and the three-dimensional point indicated by the three-dimensional point data, for each of the observation directions from the position of the mobile body.

4. The non-transitory computer-readable recording medium according to claim 3,

wherein the database registers a plurality of combinations of the reference point and the histogram which is, in each of observation directions, calculated based on a plurality of pieces of three-dimensional point data observed from the position of the reference point, and

at the time of specification of the reference point that corresponds to the position of the mobile body,

the reference point that corresponds to the position of the mobile body is specified based on a similarity level between the histogram which is, in each of the observation directions, calculated based on the plurality of pieces of three-dimensional point data observed by the observation unit from the position of the mobile body and the histogram in each of the observation directions stored in the database.

5. The non-transitory computer-readable recording medium according to claim 3,

wherein the database registers a plurality of combinations of the reference point and the histogram which is, in each of observation directions corresponding to each of faces of a regular n-hedron centered on the position of the reference point, is calculated based on a plurality of pieces of three-dimensional point data observed from the position of the reference point, and

at the time of specification of the reference point that corresponds to the position of the mobile body, and

for each of the reference points,

and with respect to each of overlapping modes between a regular n-hedron centered on the position of the mobile body and a regular n-hedron centered on the position of the reference point, obtained by rotating the regular n-hedron centered on the position of the mobile body,

a similarity level is calculated between the histogram in each of observation directions corresponding to each of faces of the regular n-hedron centered on the position of the mobile body, calculated based on the plurality of pieces of three-dimensional point data observed by the observation unit from the position of the mobile body, and the histogram in each of observation directions corresponding to each of faces of the regular n-hedron centered on the position of the reference point stored in the database, with the calculation performed for each of the faces, and a sum of the similarity levels calculated for each of the faces is obtained, and

the reference point that corresponds to the position of the mobile body is specified based on the greatest sum of the similarity levels from among the calculated sums of the similarity levels.

6. The non-transitory computer-readable recording medium according to claim 1 wherein the processing further includes:

extracting a reference point in the mobile space of the mobile body from a plurality of points in a space where the mobile body is movable in accordance with a distance between each of the points and each of the three-dimensional points indicated by the plurality of pieces of three-dimensional point data, for each of the points based on the plurality of pieces of three-dimensional point data,

calculating the feature amount according to the distance between the extracted reference point and each of the three-dimensional points indicated by the plurality of pieces of three-dimensional point data; and

registering a combination of the reference point and the feature amount calculated for the reference point, into the database.

7. An information processing apparatus comprising:

a memory; and

a processor coupled to the memory and configured to execute a processing of;

obtaining a plurality of pieces of three-dimensional point data observed by an observation circuit mounted on a mobile body;

calculating a feature amount according to a distance between a position of the mobile body and each of three-dimensional points indicated by the plurality of pieces of three-dimensional point data, based on a position of the mobile body and the plurality of pieces of three-dimensional point data; and

specifying a reference point that corresponds to the position of the mobile body from among a plurality of reference points in a mobile space of the mobile body which are registered in a database that registers a plurality of combinations each of the respective reference points and the feature amounts according to the distance between the position of the respective reference points and each of three-dimensional points indicated by a plurality of pieces of three-dimensional point data observed from the position of the respective reference points, based on the calculated feature amount and the database.

8. The information processing apparatus according to claim 7,

wherein the feature amount is a feature amount which is related to a shape of a visible space observed from the position of the mobile body and is calculated based on the plurality of pieces of three-dimensional point data.

9. The information processing apparatus according to claim 7,

wherein the feature amount is a histogram representing frequency of three-dimensional points present in observation directions, corresponding to each of the distances between the position of the mobile body and the three-dimensional point indicated by the three-dimensional point data, for each of the observation directions from the position of the mobile body.

10. The information processing apparatus according to claim 9,

wherein the database registers a plurality of combinations of the reference point and the histogram which is, in each of observation directions, calculated based on a plurality of pieces of three-dimensional point data observed from the position of the reference point, and

at the time of specification of the reference point that corresponds to the position of the mobile body,

the reference point that corresponds to the position of the mobile body is specified based on a similarity level between the histogram which is, in each of the observation directions, calculated based on the plurality of pieces of three-dimensional point data observed by the observation unit from the position of the mobile body and the histogram in each of the observation directions stored in the database.

11. The information processing apparatus according to claim 9,

wherein the database registers a plurality of combinations of the reference point and the histogram which is, in each of observation directions corresponding to each of faces of a regular n-hedron centered on the position of the reference point, is calculated based on a plurality of pieces of three-dimensional point data observed from the position of the reference point, and

at the time of specification of the reference point that corresponds to the position of the mobile body, and

for each of the reference points,

and with respect to each of overlapping modes between a regular n-hedron centered on the position of the mobile body and a regular n-hedron centered on the position of the reference point, obtained by rotating the regular n-hedron centered on the position of the mobile body,

a similarity level is calculated between the histogram in each of observation directions corresponding to each of faces of the regular n-hedron centered on the position of the mobile body, calculated based on the plurality of pieces of three-dimensional point data observed by the observation unit from the position of the mobile body, and the histogram in each of observation directions corresponding to each of faces of the regular n-hedron centered on the position of the reference point stored in the database, with the calculation performed for each of the faces, and a sum of the similarity levels calculated for each of the faces is obtained, and

the reference point that corresponds to the position of the mobile body is specified based on the greatest sum of the similarity levels from among the calculated sums of the similarity levels.

12. The information processing apparatus according to claim 7 wherein the processing further includes:

extracting a reference point in the mobile space of the mobile body from a plurality of points in a space where the mobile body is movable in accordance with a distance between each of the points and each of the three-dimensional points indicated by the plurality of pieces of three-dimensional point data, for each of the points based on the plurality of pieces of three-dimensional point data;

calculating the feature amount according to the distance between the extracted reference point and each of the three-dimensional points indicated by the plurality of pieces of three-dimensional point data; and

registering a combination of the reference point and the feature amount calculated for the reference point, into the database.

13. An information processing method comprising:

obtaining a plurality of pieces of three-dimensional point data observed by an observation circuit mounted on a mobile body;

calculating a feature amount according to a distance between a position of the mobile body and each of three-dimensional points indicated by the plurality of pieces of three-dimensional point data, based on a position of the mobile body and the plurality of pieces of three-dimensional point data; and

specifying a reference point that corresponds to the position of the mobile body from among a plurality of reference points in a mobile space of the mobile body which are registered in a database that registers a plurality of combinations each of the respective reference points and the feature amounts according to the distance between the position of the respective reference points and each of three-dimensional points indicated by a plurality of pieces of three-dimensional point data observed from the position of the respective reference points, based on the calculated feature amount and the database.

14. The information processing method according to claim 13,

wherein the feature amount is a feature amount which is related to a shape of a visible space observed from the position of the mobile body and is calculated based on the plurality of pieces of three-dimensional point data.

15. The information processing method according to claim 13,

wherein the feature amount is a histogram representing frequency of three-dimensional points present in observation directions, corresponding to each of the distances between the position of the mobile body and the three-dimensional point indicated by the three-dimensional point data, for each of the observation directions from the position of the mobile body.

16. The information processing method according to claim 15,

wherein the database registers a plurality of combinations of the reference point and the histogram which is, in each of observation directions, calculated based on a plurality of pieces of three-dimensional point data observed from the position of the reference point, and

at the time of specification of the reference point that corresponds to the position of the mobile body,

the reference point that corresponds to the position of the mobile body is specified based on a similarity level between the histogram which is, in each of the observation directions, calculated based on the plurality of pieces of three-dimensional point data observed by the observation unit from the position of the mobile body and the histogram in each of the observation directions stored in the database.

17. The information processing method according to claim 15,

wherein the database registers a plurality of combinations of the reference point and the histogram which is, in each of observation directions corresponding to each of faces of a regular n-hedron centered on the position of the reference point, is calculated based on a plurality of pieces of three-dimensional point data observed from the position of the reference point, and

at the time of specification of the reference point that corresponds to the position of the mobile body, and

for each of the reference points,

and with respect to each of overlapping modes between a regular n-hedron centered on the position of the mobile body and a regular n-hedron centered on the position of the reference point, obtained by rotating the regular n-hedron centered on the position of the mobile body,

a similarity level is calculated between the histogram in each of observation directions corresponding to each of faces of the regular n-hedron centered on the position of the mobile body, calculated based on the plurality of pieces of three-dimensional point data observed by the observation unit from the position of the mobile body, and the histogram in each of observation directions corresponding to each of faces of the regular n-hedron centered on the position of the reference point stored in the database, with the calculation performed for each of the faces, and a sum of the similarity levels calculated for each of the faces is obtained, and

the reference point that corresponds to the position of the mobile body is specified based on the greatest sum of the similarity levels from among the calculated sums of the similarity levels.

18. The information processing method according to claim 13, further comprising:

extracting a reference point in the mobile space of the mobile body from a plurality of points in a space where the mobile body is movable in accordance with a distance between each of the points and each of the three-dimensional points indicated by the plurality of pieces of three-dimensional point data, for each of the points based on the plurality of pieces of three-dimensional point data;

calculating the feature amount according to the distance between the extracted reference point and each of the three-dimensional points indicated by the plurality of pieces of three-dimensional point data; and

registering a combination of the reference point and the feature amount calculated for the reference point, into the database.