DISTANCE INFORMATION PROCESSING DEVICE, DISTANCE INFORMATION PROCESSING METHOD, AND DISTANCE INFORMATION PROCESSING PROGRAM
FIG1 is a functional block diagram illustrating a configuration of a distance information processing apparatus according to the present embodiment
FIG1 is a functional block diagram illustrating a configuration of a distance information processing apparatus according to the present embodiment. As illustrated in FIG1, a distance information processing apparatus 100 is coupled to a distance sensor 50. The distance sensor 50 outputs, to the distance information processing apparatus 100, three-dimensional point cloud data indicating three-dimensional coordinates of each point on a three-dimensional object. The description returns to the description of FIG1. The distance information processing apparatus 100 includes a storage 110, and a controller 120. The storage 110 includes three-dimensional point cloud data 110a, 2.5D image data 110b, and a parameter 110c. The storage 110 corresponds to a semiconductor memory element such as a random access memory (RAM), a read only memory (ROM), and a flash memory, or a storage device such as a hard disk drive (HDD) .
block diagram
11
light emission unit
1
formula
100
distance information processing apparatus
50
distance sensor
110
storage
120
controller
['1. A distance information processing apparatus, comprising: a generation unit that generates, on a basis of three-dimensional point cloud data indicating three-dimensional coordinates of each point on a three-dimensional object, image data in which two-dimensional coordinates of each point and a depth of each point are associated with each other; a specifying unit that specifies, as a target point, a point of the three-dimensional point cloud data corresponding to an edge pixel included in an edge portion of the image data, and specifies, as a neighbor point, a point of the three-dimensional point cloud data corresponding to a neighbor pixel of the edge pixel; and an elimination unit that eliminates the target point on a basis of a number of the neighbor points at which a distance to the target point is less than a predetermined distance.', '2. The distance information processing apparatus according to claim 1, further comprising: an acquisition unit that obtains the three-dimensional point cloud data from a distance sensor, wherein the distance sensor generates the three-dimensional point cloud data by executing a raster scan on the three-dimensional object and obtaining the three-dimensional coordinates of each point on the three-dimensional object in a predetermined order.']