RECORDING MEDIUM STORING TOPOGRAPHIC FEATURE ESTIMATION PROGRAM, TOPOGRAPHIC FEATURE ESTIMATION METHOD, AND TOPOGRAPHIC FEATURE ESTIMATION DEVICE

• US 20200134914A1
• Filed: 10/02/2019
• Published: 04/30/2020
• Est. Priority Date: 10/29/2018
• Status: Abandoned Application

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: HIDAKA, Hiroshi
• Application Number:
  US16/590,540
• Publication Number:
  US 20200134914A1
• Time in Patent Office: Days
• CPC Class Codes: G06T 17/00 Three dimensional [3D] modelling, e.g. data description of 3D objects
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20041 Distance transform
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/155 involving morphological operators
• CPC Class Codes: G06T 7/50 Depth or shape recovery

Abstract

A topographic feature estimation processing that includes: classifying a plurality of measurement points, acquired by three-dimensional measurement of a scene and respectively including measurement information, into a plurality of point group sub-regions, each of which corresponds to a respective one of the plurality of classification vectors; and estimating topographic features of the scene by: for each of the plurality of point group sub-regions that have been classified for each of the measurement points included in the point group sub-region corresponding to a reference plane, taking a distance from the reference plane to each of the measurement points as a height of each of the measurement points, and by applying a progressive morphological filter to each of the plurality of point group sub-regions, removing a measurement point corresponding to a non-ground object from the plurality of measurement points acquired by the three-dimensional measurement.

Claims

1. A non-transitory recording medium storing a program that causes a computer to execute topographic feature estimation processing, the topographic feature estimation processing comprising:

by using a plurality of classification vectors having mutually different orientations, classifying a plurality of measurement points, acquired by three-dimensional measurement of a scene and respectively including measurement information, into a plurality of point group sub-regions, each of which corresponds to a respective one of the plurality of classification vectors; and

estimating topographic features of the scene by;

for each of the plurality of point group sub-regions that have been classified, setting a plane intersecting the classification vector corresponding to the point group sub-region as a reference plane,

for each of the measurement points included in the point group sub-region corresponding to the reference plane, taking a distance from the reference plane to each of the measurement points, the distance being acquired based on the measurement information of each of the measurement points, as a height of each of the measurement points, and

by applying a progressive morphological filter to each of the plurality of point group sub-regions, removing a measurement point corresponding to a non-ground object from the plurality of measurement points acquired by the three-dimensional measurement.

2. The non-transitory recording medium of claim 1, wherein each of the plurality of measurement points is classified into a point group sub-region corresponding to one classification vector of the plurality of classification vectors, in which an inner product of each of the plurality of classification vectors and a normal vector estimated from the measurement point is a maximum value.

3. The non-transitory recording medium of claim 1, wherein:

a three-dimensional model is generated using a combined point group that is made by combining together the plurality of point group sub-regions to which the progressive morphological filter has been applied; and

the generated three-dimensional model is displayed on a display device or stored in a storage medium.

4. The non-transitory recording medium of claim 3, wherein a mark is appended to an element included in the three-dimensional model, the element corresponding to a missing portion at which a measurement point corresponding to the element is missing from the combined point group.

5. The non-transitory recording medium of claim 4, wherein a missing portion in a first three-dimensional model is patched over using an element included in a second three-dimensional model corresponding to a plurality of measurement points acquired by three-dimensional measurement of a similar scene to a scene corresponding to the first three-dimensional model.

6. A topographic feature estimation method, comprising:

by a processor,

by using a plurality of classification vectors having mutually different orientations, classifying a plurality of measurement points, acquired by three-dimensional measurement of a scene and respectively including measurement information, into a plurality of point group sub-regions, each of which corresponds to a respective one of the plurality of classification vectors; and

estimating topographic features of the scene by;

for each of the plurality of point group sub-regions that have been classified, setting a plane intersecting the classification vector corresponding to the point group sub-region as a reference plane,

for each of the measurement points included in the point group sub-region corresponding to the reference plane, taking a distance from the reference plane to each of the measurement points, the distance being acquired based on the measurement information of each of the measurement points, as a height of each of the measurement points, and

by applying a progressive morphological filter to each of the plurality of point group sub-regions, removing a measurement point corresponding to a non-ground object from the plurality of measurement points acquired by the three-dimensional measurement.

7. The topographic feature estimation method of claim 6, wherein each of the plurality of measurement points is classified into a point group sub-region corresponding to one classification vector of the plurality of classification vectors, in which an inner product of each of the plurality of classification vectors and a normal vector estimated from the measurement point is a maximum value.

8. The topographic feature estimation method of claim 6, wherein:

a three-dimensional model is generated using a combined point group that is made by combining together the plurality of point group sub-regions to which the progressive morphological filter has been applied; and

the generated three-dimensional model is displayed on a display device or stored in a storage medium.

9. The topographic feature estimation method of claim 8, wherein a mark is appended to an element included in the three-dimensional model, the element corresponding to a missing portion at which a measurement point corresponding to the element is missing from the combined point group.

10. The topographic feature estimation method of claim 9, wherein a missing portion in a first three-dimensional model is patched over using an element included in a second three-dimensional model corresponding to a plurality of measurement points acquired by three-dimensional measurement of a similar scene to a scene corresponding to the first three-dimensional model.

11. A topographic feature estimation device, comprising:

a memory; and

a processer that is coupled to the memory, the processer being configured to;

by using a plurality of classification vectors having mutually different orientations, classify a plurality of measurement points, acquired by three-dimensional measurement of a scene and respectively including measurement information, into a plurality of point group sub-regions, each of which corresponds to a respective one of the plurality of classification vectors; and

estimate topographic features of the scene by;

for each of the plurality of point group sub-regions that have been classified, setting a plane intersecting the classification vector corresponding to the point group sub-region as a reference plane,

for each of the measurement points included in the point group sub-region corresponding to the reference plane, taking a distance from the reference plane to each of the measurement points, the distance being acquired based on the measurement information of each of the measurement points, as a height of each of the measurement points, and

by applying a progressive morphological filter to each of the plurality of point group sub-regions, removing a measurement point corresponding to a non-ground object from the plurality of measurement points acquired by the three-dimensional measurement.

12. The topographic feature estimation device of claim 11, wherein each of the plurality of measurement points is classified into a point group sub-region corresponding to one classification vector of the plurality of classification vectors, in which an inner product of each of the plurality of classification vectors and a normal vector estimated from the measurement point is a maximum value.

13. The topographic feature estimation device of claim 11, wherein:

a three-dimensional model is generated using a combined point group that is made by combining together the plurality of point group sub-regions to which the progressive morphological filter has been applied; and

the generated three-dimensional model is displayed on a display device or stored in a storage medium.

14. The topographic feature estimation device of claim 13, wherein a mark is appended to an element included in the three-dimensional model, the element corresponding to a missing portion at which a measurement point corresponding to the element is missing from the combined point group.

15. The topographic feature estimation device of claim 14, wherein a missing portion in a first three-dimensional model is patched over using an element included in a second three-dimensional model corresponding to a plurality of measurement points acquired by three-dimensional measurement of a similar scene to a scene corresponding to the first three-dimensional model.