The present invention relates to a technology for assisting adjustment of attachment of a three-dimensional measurement device.
Light detection and ranging (lidar) (laser imaging detection and ranging) is known as a time-of-flight (ToF) sensor that irradiates an object with pulsed light and measures a distance to the object based on a time until the light returns (for example, see Patent Literature 1).
In general, the lidar includes a scanning mechanism, and can acquire 3-D point cloud information by emitting pulsed light while changing an emission angle and detecting light returning from an object. Thus, the lidar can function as a 3-D measurement device.
Patent Literature 1: JP 2020-001562 A
When lidar is mounted on a moving body such as a vehicle, it is necessary to perform adjustment to an appropriate position and orientation according to a field of view (sensing region) of the lidar. However, it is difficult to determine whether or not the position and the orientation are appropriate simply by displaying 3-D point cloud information acquired by the lidar on a screen. Therefore, a technology for assisting adjustment of a mounting position and mounting orientation of lidar is desired.
Therefore, an example of the problem to be solved by the present invention is to provide a technology for assisting adjustment of a mounting position and mounting orientation of a 3-D measurement device.
An information processing device according to the present invention includes: a position and orientation acquisition unit configured to acquire a mounting position and mounting orientation of a three-dimensional measurement device with respect to a moving body for mounting the three-dimensional measurement device thereto; a field-of-view information acquisition unit configured to acquire field-of-view information of the three-dimensional measurement device; a measurement information acquisition unit configured to acquire measurement information from the three-dimensional measurement device; and an image generation unit configured to create display data in which a guide indicating the field of view is superimposed on three-dimensional point cloud information based on the acquired measurement information, the mounting position, and the mounting orientation.
An information processing device according to the present invention includes: a position and orientation acquisition unit configured to acquire a mounting position and mounting orientation of each of a plurality of three-dimensional measurement devices with respect to a moving body for mounting the three-dimensional measurement devices thereto; a field-of-view information acquisition unit configured to acquire field-of-view information of each of the three-dimensional measurement devices; and an image generation unit configured to create data for displaying a guide indicating a field of view of each of the three-dimensional measurement devices with respect to the moving body.
A computer program according to the present invention causes a computer to function as: a position and orientation acquisition unit that acquires a mounting position and mounting orientation of a three-dimensional measurement device with respect to a moving body for mounting the three-dimensional measurement device thereto; a field-of-view information acquisition unit that acquires field-of-view information of the three-dimensional measurement device; a measurement information acquisition unit that acquires measurement information from the three-dimensional measurement device; and an image generation unit that creates display data in which a guide indicating the field of view is superimposed on three-dimensional point cloud information based on the acquired measurement information, the mounting position, and the mounting orientation.
A storage medium according to the present invention has the program stored therein.
A display data creation method according to the present invention is a display data creation method which is performed in an information processing device, the display data creation method including: a position and orientation acquisition step of acquiring a mounting position and mounting orientation of a three-dimensional measurement device with respect to a moving body for mounting the three-dimensional measurement device thereto; a field-of-view information acquisition step of acquiring field-of-view information of the three-dimensional measurement device; a measurement information acquisition step of acquiring measurement information from the three-dimensional measurement device; and an image generation step of creating display data in which a guide indicating the field of view is superimposed on three-dimensional point cloud information based on the acquired measurement information, the mounting position, and the mounting orientation.
Hereinafter, an embodiment of the present invention will be described. An information processing device according to an embodiment of the present invention includes: a position and orientation acquisition unit configured to acquire a mounting position and mounting orientation of a 3-D measurement device with respect to a moving body for mounting the three-dimensional measurement device thereto; a field-of-view information acquisition unit configured to acquire field-of-view information of the 3-D measurement device; a measurement information acquisition unit configured to acquire measurement information from the 3-D measurement device; and an image generation unit configured to create display data in which a guide indicating the field of view is superimposed on 3-D point cloud information based on the acquired measurement information, the mounting position, and the mounting orientation. According to the present invention, since the position of a measurement target object with respect to the field of view (sensing region) of the 3-D measurement device is visualized, it is useful for adjusting the mounting position and mounting orientation of the 3-D measurement device.
An information processing device according to an embodiment of the present invention includes: a position and orientation acquisition unit configured to acquire a mounting position and mounting orientation of each of a plurality of 3-D measurement devices with respect to a moving body for mounting the three-dimensional measurement device thereto; a field-of-view information acquisition unit configured to acquire field-of-view information of each of the 3-D measurement devices; and an image generation unit configured to create data for displaying a guide indicating a field of view of each of the 3-D measurement devices with respect to the moving body. According to the present invention, fields of view (sensing regions) of a plurality of 3-D measurement devices are visualized, and the relative position of the plurality of 3-D measurement devices can be grasped. Therefore, it is useful for adjusting the mounting positions and mounting orientations of the 3-D measurement devices.
The guide may include lines representing four corners of the field of view. These lines make it easier to visually recognize the field of view of the 3-D measurement device.
The guide may include a surface which is equidistant from the mounting position in the field of view. This surface makes it easier to visually recognize the field of view of the 3-D measurement device.
The distance from the mounting position to the surface may correspond to a detection limit distance of the 3-D measurement device. This makes it easier to visually recognize the field of view of the 3-D measurement device.
A computer program according to an embodiment of the present invention causes a computer to function as: a position and orientation acquisition unit configured to acquire a mounting position and mounting orientation of a 3-D measurement device with respect to a moving body for mounting the three-dimensional measurement device thereto; a field-of-view information acquisition unit configured to acquire field-of-view information of the 3-D measurement device; a measurement information acquisition unit configured to acquire measurement information from the 3-D measurement device; and an image generation unit configured to create display data in which a guide indicating the field of view is superimposed on 3-D point cloud information based on the acquired measurement information, the mounting position, and the mounting orientation.
A storage medium according to an embodiment of the present invention has the computer program stored therein.
A display data creation method according to an embodiment of the present invention is a display data creation method in an information processing device, the display data creation method including: a position and orientation acquisition step of acquiring a mounting position and mounting orientation of a 3-D measurement device with respect to a mounting target moving body; a field-of-view information acquisition step of acquiring field-of-view information of the 3-D measurement device; a measurement information acquisition step of acquiring measurement information from the 3-D measurement device; and an image generation step of creating display data in which a guide indicating the field of view is superimposed on 3-D point cloud information based on the acquired measurement information, the mounting position, and the mounting orientation.
The information processing device 10 is for assisting adjustment (calibration) of mounting positions and mounting orientations of the lidars 1 and 2 mounted on the vehicle 3. This adjustment takes place in the workspace as illustrated in
In the present specification, an angle around an X axis which is a front-rear direction of the vehicle 3 illustrated in
The lidars 1 and 2 continuously emit pulsed light while changing an emission angle, and measure a distance to an object by detecting light returning from the object. These lidars 1 and 2 are attached to a roof or the like of the vehicle 3. In the present invention, the number of lidars mounted on the vehicle 3 may be one or more.
The information processing device 10 displays 3-D point cloud information of the target 9 acquired by the lidars 1 and 2 and guides indicating fields of view of the lidars 1 and 2 on a display device 4, thereby assisting adjustment of the mounting positions and mounting orientations of the lidars 1 and 2.
As illustrated in
The field-of-view information acquisition unit 11 acquires field-of-view information of each of the lidars 1 and 2. The field-of-view information is information of a sensing region, and specifically, upper and lower detection angle ranges, left and right detection angle ranges, and a detection limit distance. Each of the lidars 1 and 2 has the field-of-view information, and the field-of-view information can be acquired by connecting each of the lidars 1 and 2 and the information processing device 10.
The position and orientation acquisition unit 12 acquires the mounting position (an x coordinate, a y coordinate, and a z coordinate) and the mounting orientation (the roll angle, the pitch angle, and the yaw angle) of each of the lidars 1 and 2 with respect to the vehicle 3. As an example of the acquisition method, for example, the mounting position of each of the lidars 1 and 2 is detected by another lidar, or a gyro sensor is mounted on each of the lidars 1 and 2 to detect the mounting orientation. The coordinates and angles obtained in this manner are automatically or manually input to the position and orientation acquisition unit 12.
The measurement information acquisition unit 13 acquires measurement information measured by each of the lidars 1 and 2, that is, distance information to the target 9 for each emission angle in this example.
The 3-D point cloud information generation unit 14 generates 3-D point cloud information of the target 9 based on the measurement information acquired by the measurement information acquisition unit 13 and the mounting position and mounting orientation acquired by the position and orientation acquisition unit 12.
The image generation unit 15 creates display data in which the guides indicating the ranges of the fields of view of the respective lidars 1 and 2 are superimposed on a 3-D point cloud of the target 9, and data for displaying only the guides of the respective lidars 1 and 2, and outputs the created data to the display device 4.
Next, an image displayed on the display device 4 by the information processing device 10 will be described.
A guide 5 illustrated in
Similarly to the guide 5, a guide 6 illustrated in
The guides 5 and 6 in
As can be seen from
As can be seen from
In order to display the display images of
As can be seen from
As described above, the information processing device 10 causes the display device 4 to display the two guides 5 and 6 of the lidars 1 and 2 superimposed on the 3-D point clouds 91 and 92 representing the target 9, so that the operator can grasp the position of the target 9 with respect to the field of view of the lidar 1, the position of the target 9 with respect to the field of view of the lidar 2, and the relative position and overlapping state of these fields of view by viewing the image displayed on the display device 4, and can easily adjust the mounting positions and mounting orientations of the lidar 1 and 2. For example, in a case where the 3-D point cloud 91 and the 3-D point cloud 92 are displaced in a vertical direction in the display image of
Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and modifications and the like in design within the gist of the present invention are also included in the present invention. The contents of embodiments illustrated in the above-described drawings can be combined with each other as long as there is no particular contradiction or problem in the purpose, configuration, and the like of the embodiments. Further, the contents of the drawings can be independent embodiments, and the embodiments of the present invention are not limited to one embodiment in which the drawings are combined.
Number | Date | Country | Kind |
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2020-063858 | Mar 2020 | JP | national |
Filing Document | Filing Date | Country | Kind |
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PCT/JP2021/005464 | 2/15/2021 | WO |