DISTANCE INFORMATION PROCESSING DEVICE, DISTANCE INFORMATION PROCESSING METHOD, AND DISTANCE INFORMATION PROCESSING PROGRAM
FIG10 is a diagram for illustrating a process of specifying a neighbor point
FIG10 is a diagram for illustrating the process of specifying the neighbor point. The specifying unit 120c selects, as a target pixel, one pixel from among the pixels included in the edge portion. In the example illustrated in FIG10, the specifying unit 120 selects a target pixel A. The specifying unit 120 obtains, from the parameter 110c, a value of the radius r for calculating the point group density, and sets a rectangular range 140 that corresponds to a circle of the radius r with the target pixel A serving as a reference. Here, for the sake of convenience, the distance ix is set to be 0.010 m, and the distance iy is set to be 0.020 m. Furthermore, assuming that the radius for determining the point group density satisfies radius r = 0.040 m, the rectangular range is two pixels on the upper and lower sides and four pixels on the right and left sides, which is the rectangular range 140 illustrated in FIG10. Note that, in FIG10, an x-coordinate of the point on the three-dimensional point cloud data corresponding to the target pixel A is "-0.030", an x-coordinate of the point on the three-dimensional point cloud data corresponding to a pixel B is "-0.020", an x-coordinate of the point on the three-dimensional point cloud data corresponding to a pixel C is "-0.010", an x-coordinate of the point on the three-dimensional point cloud data corresponding to a pixel D is "0", and an x-coordinate of the point on the three-dimensional point cloud data corresponding to an image E is "0.010". A y-coordinate of the point on the three-dimensional point cloud data corresponding to the target pixel A is "0.020", a y-coordinate of the point on the three-dimensional point cloud data corresponding to a pixel F is "0.040", and a y-coordinate of the point on the three-dimensional point cloud data corresponding to a pixel G is "0.060".
diagram
140
rectangular range
10
distance sensor
20
three-dimensional point cloud data
['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.']