DISTANCE INFORMATION PROCESSING DEVICE, DISTANCE INFORMATION PROCESSING METHOD, AND DISTANCE INFORMATION PROCESSING PROGRAM
FIG12 is a flowchart (2) illustrating a processing procedure of the distance information processing apparatus according to the present embodiment
The specifying unit 120c calculates the focal lengths fx and fy from the respective angles of view θx and θy of the x-axis and the y-axis (step S105). The specifying unit 120c calculates the distances ix and iy of the x-axis and the y-axis per pixel (step S106), and proceeds to step S107A of FIG12.
flowchart
4
formula
12
light receiving unit
22
point
['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.']