公开(公告)号：US09977983B2

公开(公告)日：2018-05-22

申请号：US14420401

申请日：2013-06-20

Applicant: KABUSHIKI KAISHA TOPCON

Inventor： Nobuo Kochi ,  Kazuo Kitamura

IPC: G06K9/46 ,  G01B11/00 ,  G06K9/62 ,  G06T3/40 ,  G06T15/20 ,  G06T17/00 ,  G06T17/05 ,  G06T17/10 ,  G06T7/593

CPC classification number: G06K9/4604 ,  G01B11/00 ,  G06K9/6215 ,  G06T3/403 ,  G06T7/593 ,  G06T15/20 ,  G06T17/00 ,  G06T17/05 ,  G06T17/10 ,  G06T2210/56

Abstract: A processing for specifying a correspondence relationship of feature points between two sets of optical data can be highly precise and efficiently carried out. The correspondence relationship of the perpendicular edges is obtained based on the assumption that the object is a building, in the processing for integrating the three-dimensional model obtained from the point cloud position data and the three-dimensional model obtained from the stereophotographic image. In this case, one perpendicular edge is defined by the relative position relationship with the other perpendicular edge, and the correspondence relationship is high-precisely and rapidly searched.

公开(公告)号：US09053547B2

公开(公告)日：2015-06-09

申请号：US14051096

申请日：2013-10-10

Applicant: Kabushiki Kaisha Topcon

Inventor： Kazuo Kitamura ,  Nobuo Kochi ,  Tadayuki Ito ,  Hitoshi Otani

IPC: G06T7/00 ,  G01B11/24

CPC classification number: G01B11/24 ,  G06T7/344 ,  G06T2207/10028 ,  G06T2207/30184

Abstract: 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.

Abstract translation: 提供了一种有效处理在不同视点获得的三维点云位置数据的技术。 投影平面被设置在测量空间中作为用于表征包含在形成对象的多个平面中的目标平面的参数。 目标平面和其他平面投影在投影平面上。 然后，在投影平面上的每个网格点处计算每个平面与投影平面之间的距离，并将所计算的矩阵数据用作表征目标平面的范围图像。 范围图像也是相对于其他平面形成的，并且相对于从另一角度观察的平面也形成。 将两个视点的范围图像进行比较，将其范围图像之间的差最小的一对平面识别为两个视点之间的匹配平面。

公开(公告)号：US20130181983A1

公开(公告)日：2013-07-18

申请号：US13724916

申请日：2012-12-21

Applicant: Kabushiki Kaisha Topcon

Inventor： Kazuo Kitamura ,  Nobuo Kochi ,  Tadayuki Ito ,  Hitoshi Otani

IPC: G06T15/00

CPC classification number: G06T15/00 ,  G01B11/24 ,  G06F17/50 ,  G06T17/00 ,  G06T17/10 ,  G06T2210/56

Abstract: A point cloud data processing device is equipped with a non-plane area removing unit 101, a plane labeling unit 102, and a contour calculating unit 106. The non-plane area removing unit 101 removes point cloud data relating to non-plane areas from point cloud data because the non-plane areas apply a high load in calculation. In the point cloud data, a two-dimensional image of an object is linked with data of three-dimensional coordinates of plural points that form the two-dimensional image. The plane labeling unit 102 adds labels for identifying planes with respect to the point cloud data in which the data of the non-plane areas are removed. The contour calculating unit 106 calculates a contour of the object by using local flat planes based on a local area that is connected with the labeled plane.

Abstract translation: 点云数据处理装置配备有非平面区域去除单元101，平面标注单元102和轮廓计算单元106.非平面区域去除单元101从与非平面区域相关的非平面区域 点云数据，因为非平面区域在计算中应用高负载。 在点云数据中，对象的二维图像与形成二维图像的多个点的三维坐标的数据相关联。 平面标注单元102相对于去除非平面区域的数据的点云数据添加用于识别平面的标签。 轮廓计算单元106通过使用基于与标记平面连接的局部区域的局部平面来计算对象的轮廓。

公开(公告)号：US09251624B2

公开(公告)日：2016-02-02

申请号：US13763336

申请日：2013-02-08

Applicant: KABUSHIKI KAISHA TOPCON

Inventor： Tadayuki Ito ,  Nobuo Kochi ,  Hitoshi Otani ,  Kazuo Kitamura

IPC: G06T15/00 ,  G06T17/00 ,  G06T17/10 ,  G01C15/00

CPC classification number: G01C15/002 ,  G06T17/00 ,  G06T17/10 ,  G06T2200/08 ,  G06T2200/24 ,  G06T2210/56

Abstract: The device includes a unit obtaining an object's point cloud position data, a unit obtaining the object's image data, a unit in which co-relationship between point cloud position data obtained in the point cloud position data obtaining unit through a primary viewpoint or image data obtained in the image data obtaining unit through the primary viewpoint and image data obtained in the image data obtaining unit through a secondary (different from the primary) viewpoint are identified, a unit forming a three-dimensional model by the data obtained in the point cloud position data obtaining unit, and a unit controlling displaying of the model formed in the model forming unit on a displaying device. The model forming unit forms a three-dimensional model having direction seen from the secondary viewpoint, depending on the co-relationship identified in the co-relationship identifying unit. Operators see the model seen from the secondary viewpoint as an image.

Abstract translation: 该装置包括获得对象的点云位置数据的单位，获取对象的图像数据的单位，其中通过主视点在点云位置数据获取单元中获得的点云位置数据与获得的图像数据之间的相互关系的单位 在图像数据获取单元中通过主视点识别图像数据，并且通过次要（与主要视点不同）在图像数据获得单元中获得的图像数据被识别，通过在点云位置获得的数据形成三维模型的单元 数据获取单元，以及控制在显示装置上在模型形成单元中形成的模型的显示的单元。 模型形成单元根据在共同关系识别单元中识别的共同关系形成具有从次要观点看到的方向的三维模型。 操作者将从次要观点看到的模型视为图像。

公开(公告)号：US20150206023A1

公开(公告)日：2015-07-23

申请号：US14420401

申请日：2013-06-20

Applicant: KABUSHIKI KAISHA TOPCON

Inventor： Nobuo Kochi ,  Kazuo Kitamura

IPC: G06K9/46 ,  G06T3/40 ,  G06T17/00 ,  G06T15/20 ,  G06K9/62

CPC classification number: G06K9/4604 ,  G01B11/00 ,  G06K9/6215 ,  G06T3/403 ,  G06T7/593 ,  G06T15/20 ,  G06T17/00 ,  G06T17/05 ,  G06T17/10 ,  G06T2210/56

Abstract: A processing for specifying a correspondence relationship of feature points between two sets of optical data can be highly precise and efficiently carried out. The correspondence relationship of the perpendicular edges is obtained based on the assumption that the object is a building, in the processing for integrating the three-dimensional model obtained from the point cloud position data and the three-dimensional model obtained from the stereophotographic image. In this case, one perpendicular edge is defined by the relative position relationship with the other perpendicular edge, and the correspondence relationship is high-precisely and rapidly searched.

Abstract translation: 可以高精度且有效地执行用于指定两组光学数据之间的特征点的对应关系的处理。 在从点云位置数据获得的三维模型和从立体摄影图像获得的三维模型的积分处理中，基于对象是建筑物的假设获得垂直边缘的对应关系。 在这种情况下，一个垂直边缘由与另一个垂直边缘的相对位置关系定义，并且对应关系被高精度快速搜索。