WO2025197048A1 - Dispositif de traitement de données - Google Patents

Dispositif de traitement de données

Info

Publication number
WO2025197048A1
WO2025197048A1 PCT/JP2024/011158 JP2024011158W WO2025197048A1 WO 2025197048 A1 WO2025197048 A1 WO 2025197048A1 JP 2024011158 W JP2024011158 W JP 2024011158W WO 2025197048 A1 WO2025197048 A1 WO 2025197048A1
Authority
WO
WIPO (PCT)
Prior art keywords
point cloud
pipeline
data
processing device
data processing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/JP2024/011158
Other languages
English (en)
Japanese (ja)
Inventor
翔平 山下
陽介 岡村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NTT Inc
NTT Inc
Original Assignee
Nippon Telegraph and Telephone Corp
NTT Inc
NTT Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nippon Telegraph and Telephone Corp, NTT Inc, NTT Inc filed Critical Nippon Telegraph and Telephone Corp
Priority to PCT/JP2024/011158 priority Critical patent/WO2025197048A1/fr
Publication of WO2025197048A1 publication Critical patent/WO2025197048A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics

Definitions

  • This disclosure relates to a data processing device.
  • Non-Patent Document 1 proposes a method for combining point clouds acquired using a laser scanner to create a continuous 3D model of an underground road tunnel.
  • DX is an abbreviation for digital transformation.
  • 3D modeling reproduces the shape and position of social infrastructure facilities as digital information, and point clouds containing coordinate information are widely used for 3D modeling.
  • 3D modeling using point clouds involves connecting intermittently acquired point clouds by overlaying the position and orientation at the time the images were captured, as well as the geometric features of the point clouds, to create a continuous 3D model of the object.
  • MMS Mobile Mapping System
  • the purpose of this disclosure is to accurately create a three-dimensional model of the continuous shape inside a pipeline.
  • a data processing device includes: A control unit that uses a point cloud matching technique to sequentially combine point cloud data obtained through multiple observations by a sensor that observes the partial shapes within the pipeline as a point cloud while moving within the pipeline, thereby creating a three-dimensional model of the continuous shape within the pipeline, wherein the combining includes excluding points that correspond outside the common range within the pipeline in each of the point cloud of the point cloud data to be combined and the point cloud of the point cloud data to be combined from the target of point cloud matching.
  • This disclosure makes it possible to accurately create a three-dimensional model of the continuous shape inside a pipeline.
  • FIG. 1 is a diagram illustrating a configuration of a three-dimensional modeling system according to an embodiment.
  • FIG. 10 is a diagram showing an example of a pipeline between manholes.
  • FIG. 2 is a block diagram showing the configuration of a data processing device and a measurement device included in the three-dimensional modeling system.
  • FIG. 2 is a diagram showing data obtained by a measurement device and operations performed by a data processing device.
  • 10A and 10B are diagrams illustrating an example of posture/coordinate calculation during point cloud photography.
  • FIG. 10 is a diagram illustrating an example of a point cloud plot.
  • FIG. 10 is a diagram illustrating an example of point cloud matching pre-processing.
  • FIG. 10 is a diagram illustrating an example of point cloud matching.
  • FIG. 10 is a diagram illustrating an example of a result of point cloud matching.
  • FIG. 10 is a diagram showing an example of a point cloud plot.
  • FIG. 10 is a diagram showing an example of a three-dimensional model of the entire length of a pipeline.
  • FIG. 10 is a diagram showing a case where multiple pipelines are laid.
  • the three-dimensional modeling system 10 comprises a data processing device 20 and a measurement device 30.
  • the three-dimensional modeling system 10 is a system in which the measurement device 30 scans the pipeline 11, and the data processing device 20 creates a three-dimensional model of the continuous shape of the pipeline 11 from its start point to its end point.
  • the conduit 11 is laid between manholes 13 underground as shown in Figure 2. Ducts 14 leading to the manholes 13 are formed at both ends of the conduit 11.
  • the conduit 11 is a narrow, underground buried conduit with little distinctive shape.
  • the underground buried conduit is, for example, a communication conduit through which a communication cable passes, or a power transmission conduit through which a power transmission line passes.
  • the diameter of the underground buried conduit is 1 m or less, and in small ones it is 10 cm or less.
  • the diameter of the underground buried conduit can vary along its axial direction due to dimensional errors. When the underground buried conduit is laid, it may be bent, causing unevenness in the underground buried conduit. After the underground buried conduit is laid, its position or shape may change due to the surrounding earth pressure.
  • the data processing device 20 is used by the worker 12 inside the manhole 13.
  • the data processing device 20 is, for example, a general-purpose computer such as a PC, or a dedicated computer. "PC" is an abbreviation for personal computer.
  • the data processing device 20 creates a 3D model of the pipeline 11 using point clouds. Specifically, the data processing device 20 combines point clouds acquired inside a narrow underground pipeline with few geometric features to create a continuous 3D model. In this embodiment, use of the data processing device 20 makes it possible to improve the efficiency of buried object design, burial consultations, test excavation, and construction supervision.
  • the data processing device 20 communicates with the measurement device 30.
  • the data processing device 20 is connected to the measurement device 30 via an optical media converter 40 and a communication cable 41, and performs optical communication with the measurement device 30.
  • the data processing device 20 may perform electrical communication with the measurement device 30.
  • the data processing device 20 may also perform wireless communication with the measurement device 30.
  • the measuring device 30 moves within the pipeline 11.
  • the measuring device 30 is pulled between the ducts 14 by a towing cable 51.
  • the data processing device 20 may detect the distance traveled by the measuring device 30 via an encoder 50 attached to the towing cable 51.
  • the towing cable 51 is manually wound by the operator 12.
  • the towing cable 51 may be automatically wound by a motor.
  • the measuring device 30 may be self-propelled.
  • the data processing device 20 includes a control unit 21, a memory unit 22, a communication unit 23, an input unit 24, and an output unit 25.
  • the control unit 21 includes at least one processor, at least one programmable circuit, at least one dedicated circuit, or any combination of these.
  • the processor is a general-purpose processor such as a CPU or GPU, or a dedicated processor specialized for specific processing.
  • CPU is an abbreviation for central processing unit.
  • GPU is an abbreviation for graphics processing unit.
  • An example of a programmable circuit is an FPGA.
  • FPGA is an abbreviation for field-programmable gate array.
  • An example of a dedicated circuit is an ASIC.
  • ASIC is an abbreviation for application specific integrated circuit.
  • the control unit 21 controls each part of the data processing device 20 and executes processing related to the operation of the data processing device 20.
  • the memory unit 22 includes at least one semiconductor memory, at least one magnetic memory, at least one optical memory, or any combination thereof.
  • Semiconductor memory is, for example, RAM, ROM, or flash memory.
  • RAM is an abbreviation for random access memory.
  • ROM is an abbreviation for read only memory.
  • RAM is, for example, SRAM or DRAM.
  • SRAM is an abbreviation for static random access memory.
  • DRAM is an abbreviation for dynamic random access memory.
  • ROM is, for example, EEPROM.
  • EEPROM electrically erasable programmable read only memory.
  • Flash memory is, for example, an SSD.
  • SSD is an abbreviation for solid-state drive.
  • Magnetic memory is, for example, an HDD.
  • the storage unit 22 functions as, for example, a main storage device, an auxiliary storage device, or a cache memory.
  • the storage unit 22 stores data used in the operation of the data processing device 20 and data obtained by the operation of the data processing device 20.
  • the communication unit 23 includes at least one communication module.
  • the communication module is, for example, a module that complies with optical communication standards.
  • the communication unit 23 communicates with the measuring device 30 via the optical media converter 40.
  • the communication unit 23 receives data used in the operation of the data processing device 20, and also transmits data obtained by the operation of the data processing device 20.
  • the input unit 24 includes at least one input device.
  • the input device may be, for example, a physical key, a capacitive key, a pointing device, a touch screen integrated with a display, a visible light camera, or a microphone.
  • the input unit 24 accepts operations to input data used in the operation of the data processing device 20. Instead of being provided in the data processing device 20, the input unit 24 may be connected to the data processing device 20 as an external input device.
  • the connection interface may be an interface compatible with standards such as USB, HDMI (registered trademark), or Bluetooth (registered trademark).
  • USB is an abbreviation for Universal Serial Bus.
  • HDMI registered trademark
  • HDMI registered trademark
  • HDMI registered trademark
  • HDMI registered trademark
  • the output unit 25 includes at least one output device.
  • the output device is, for example, a display or a speaker.
  • the display is, for example, an LCD or organic EL display.
  • LCD is an abbreviation for liquid crystal display.
  • EL is an abbreviation for electroluminescent.
  • the output unit 25 outputs data obtained by the operation of the data processing device 20. Instead of being provided in the data processing device 20, the output unit 25 may be connected to the data processing device 20 as an external output device.
  • the connection interface may be an interface compatible with standards such as USB, HDMI (registered trademark), or Bluetooth (registered trademark).
  • the functions of the data processing device 20 are realized by executing a program according to this embodiment on a processor serving as the control unit 21. That is, the functions of the data processing device 20 are realized by software.
  • the program causes a computer to execute the operations of the data processing device 20, thereby causing the computer to function as the data processing device 20. That is, the computer functions as the data processing device 20 by executing the operations of the data processing device 20 in accordance with the program.
  • the program can be stored on a non-transitory computer-readable medium.
  • non-transitory computer-readable media include flash memory, magnetic recording devices, optical discs, magneto-optical recording media, and ROM.
  • the program can be distributed by selling, transferring, or lending portable media such as SD cards, DVDs, or CD-ROMs that store the program.
  • SD is an abbreviation for Secure Digital.
  • DVD is an abbreviation for digital versatile disc.
  • CD-ROM is an abbreviation for compact disc read-only memory.
  • the program can also be distributed by storing it in server storage and transferring it from the server to other computers.
  • the program can also be provided as a program product.
  • a computer temporarily stores a program stored on portable media or transferred from a server in its main storage device.
  • the computer then reads the program stored in its main storage device using its processor, which then executes processing in accordance with the read program.
  • the computer may also read the program directly from portable media and execute processing in accordance with the program.
  • the computer may also execute processing in accordance with the received program each time a program is transferred to the computer from the server. Processing may also be executed using a so-called ASP-type service, which does not transfer a program from the server to the computer but instead realizes its function simply by issuing execution instructions and obtaining results.
  • "ASP" is an abbreviation for application service provider.
  • a program is information used for processing by a computer, and includes items equivalent to a program. For example, data that is not a direct instruction to a computer but has properties that define computer processing falls under the category of "items equivalent to a program.”
  • Some or all of the functions of the data processing device 20 may be implemented by a programmable circuit or dedicated circuit serving as the control unit 21. In other words, some or all of the functions of the data processing device 20 may be implemented by hardware.
  • the measurement device 30 includes a sensor 31, an attitude measurement device 32, a distance measurement device 33, data storage 34, a battery 35, and an optical media converter 36.
  • the sensor 31 is, for example, a TOF camera.
  • TOF is an abbreviation for time-of-flight.
  • the attitude measuring device 32 is, for example, an IMU.
  • IMU is an abbreviation for inertial measurement unit.
  • the distance measuring device 33 is, for example, an encoder or odometer.
  • the data storage 34 is, for example, a mini PC.
  • the battery 35 is, for example, a storage battery.
  • the optical media converter 36 communicates with the data processing device 20 via the optical media converter 40.
  • the data processing device 20 When the data processing device 20 receives the posture data 62, travel distance data 63, and point cloud data 61 acquired by the measurement device 30 scanning between the ducts 14 in the pipeline 11, it creates a three-dimensional model of the shape inside the pipeline 11. Specifically, the data processing device 20 assigns coordinates and posture to the point cloud data 61 acquired with each image capture by the sensor 31. When matching the first point cloud data acquired in the first image capture with the second point cloud data acquired in the second image capture, the data processing device 20 performs pre-processing and then repeats the matching process to reproduce the continuous shape between the manholes 13 inside the pipeline 11 from the point cloud data 61 acquired in multiple images.
  • the pre-processing is a process that masks areas outside the common area between the first point cloud data and the second point cloud data and assigns markers to common points between the first point cloud data and the second point cloud data. According to this embodiment, the pre-processing can improve the accuracy of point cloud matching, making it possible to accurately reproduce the shape inside the pipeline 11. Furthermore, it is possible to create a 3D model of the pipeline 11 without excavation. The position of the pipeline 11, i.e., its coordinates, can also be obtained. This will enable more efficient design of buried objects, burial consultations, trial excavation, and on-site supervision, as well as a reduction in accidents during excavation work.
  • the measuring device 30 is capable of moving along the inner surface of the pipeline 11. While moving within the pipeline 11, the measuring device 30 observes the shape of the interior of the pipeline 11 as a point cloud using the sensor 31 to acquire point cloud data 61. The measuring device 30 measures its posture at the time the point cloud data 61 was acquired using the posture measuring device 32 to acquire posture data 62. The measuring device 30 measures the travel distance at the time the point cloud data 61 was acquired using the distance measuring device 33 to acquire this as travel distance data 63. The measuring device 30 stores the point cloud data 61, posture data 62, and travel distance data 63 in data storage 34. The measuring device 30 synchronizes the point cloud data 61, posture data 62, and travel distance data 63 via the data storage 34.
  • a worker 12 can monitor the logging status of the measuring device 30 using the data processing device 20 inside the manhole 13.
  • the worker 12 can check the consistency of the travel distance data 63 by passing the towing cable 51 through the encoder 50 inside the manhole 13.
  • the measurement device 30 is unitized, enabling automated and synchronized data acquisition, thereby shortening the scanning time inside the pipeline 11.
  • the operation of the data processing device 20 according to this embodiment will be described with reference to FIG. 4.
  • the operation described below corresponds to the 3D modeling method according to this embodiment.
  • the 3D modeling method according to this embodiment includes steps S1 to S5 shown in FIG. 4.
  • S1 is the step of calculating the posture/coordinates when photographing the point cloud.
  • the measuring device 30 can move along the inner surface of the pipeline 11, so the direction of movement can always be approximated as the negative direction of the Z axis, i.e., the direction toward the back of the measuring device 30. Therefore, the control unit 21 of the data processing device 20 converts the trajectory of the measuring device 30 into coordinates from the posture and movement distance.
  • the initial position is the position of the measurement device 30 at the time the first point cloud is captured by the sensor 31.
  • the initial orientation is the orientation of the measurement device 30 at the time the first point cloud is captured by the sensor 31.
  • the initial movement distance is the movement distance of the measurement device 30 from the time the first point cloud is captured by the sensor 31 to the time the second point cloud is captured by the sensor 31.
  • the orientation after movement is the orientation of the measurement device 30 at the time the second point cloud is captured by the sensor 31.
  • the control unit 21 of the data processing device 20 refers to the posture data 62 to identify the posture at each time point.
  • the control unit 21 of the data processing device 20 refers to the movement distance data 63 to identify the movement distance from the previous time point to each time point.
  • the settings of the X-axis, Y-axis, and Z-axis may vary depending on the coordinate system of the device used as the measuring device 30.
  • This embodiment makes it possible to calculate coordinates underground, where satellite positioning is not possible. While the distance traveled can be calculated by integrating acceleration twice, this embodiment uses directly measured values, making it possible to reduce errors.
  • S2 is a step of plotting point clouds.
  • the control unit 21 of the data processing device 20 plots the point cloud captured first and the point cloud captured second in the same three-dimensional space as a first point cloud 71 and a second point cloud 72, respectively. Then, the control unit 21 of the data processing device 20 assigns coordinates and orientations to the first point cloud 71 and the second point cloud 72.
  • the coordinates assigned to the first point cloud 71 are ( X0 , Y0 , Z0 ).
  • the orientation assigned to the first point cloud 71 is ( Yaw0 , Pitch0 , Roll0 ).
  • the coordinates assigned to the second point cloud 72 are ( X1 , Y1 , Z1 ), which are relative coordinates based on the coordinates assigned to the first point cloud 71.
  • the orientation assigned to the second point cloud 72 is (Yaw 1 -Yaw 0 , Pitch 1 -Pitch 0 , Roll 1 -Roll 0 ).
  • the control unit 21 of the data processing device 20 refers to the point cloud data 61 to identify the point cloud photographed at each point in time.
  • the coordinates and orientation acquired/calculated by the orientation measuring device 32 and distance measuring device 33 are assigned to the point cloud captured by the sensor 31, and the point cloud is plotted, thereby improving the accuracy of subsequent point cloud matching.
  • S3 is the step of pre-processing for point cloud matching.
  • the connections between the plotted point clouds are not smooth. Therefore, it is possible to combine the point clouds using a point cloud combining method such as ICP.
  • a point cloud combining method such as ICP.
  • ICP is an abbreviation for iterative closest point.
  • the control unit 21 of the data processing device 20 applies a mask 81 to areas other than the common range.
  • the control unit 21 of the data processing device 20 further estimates the common points between the first point cloud 71 and the second point cloud 72 and assigns markers 82.
  • the markers 82 include an artificially created spherical point cloud with a diameter equal to the inner diameter of the pipeline 11.
  • the mark 82 may further include an artificially created linear point cloud that is located at least partially within a spherical point cloud and extends in the vertical direction.
  • the "vertical direction" does not refer to the up-down direction in the three-dimensional space in which the first point cloud 71 and the second point cloud 72 are plotted, but rather to the up-down direction in the real space in which the pipeline 11 exists.
  • S4 is the point cloud matching step.
  • the control unit 21 of the data processing device 20 matches the common area marked with markers 82 while applying a mask 81, and then removes the mask 81 and markers 82 as shown in FIG. 9.
  • the control unit 21 of the data processing device 20 matches the common area of the first point cloud 71 with the common area of the second point cloud 72, and superimposes the first point cloud 71 and the second point cloud 72 to integrate them into a single point cloud.
  • the matching itself is performed only on the common area, but the integration is performed on the entire first point cloud 71 and the entire second point cloud 72.
  • the control unit 21 of the data processing device 20 re-assigns the corrected coordinates and orientation to the integrated point cloud 72A.
  • Steps S1 to S4 are repeated.
  • the control unit 21 of the data processing device 20 determines the position (X 2 , Y 2 , Z 2 ) after the second movement in S1, and then plots the third captured point cloud as the third point cloud 73 in the same three-dimensional space as the integrated point cloud 72A in S2, as shown in FIG. 10 .
  • the control unit 21 of the data processing device 20 then assigns coordinates and an orientation to the third point cloud 73.
  • the coordinates assigned to the third point cloud 73 are (X 2 , Y 2 , Z 2 ), which are relative coordinates based on the coordinates assigned to the integrated point cloud 72A.
  • the orientation assigned to the third point cloud 73 is (Yaw 2 - Yaw 1 , Pitch 2 - Pitch 1 , Roll 2 - Roll 1 ).
  • the procedure of the point cloud matching pre-processing in S3 and the point cloud matching in S4 is the same as the procedure for the first point cloud 71 and the second point cloud 72.
  • S5 is a step for creating a 3D model of the entire length of the pipeline 11.
  • the control unit 21 of the data processing device 20 continuously reproduces the shape of the pipeline 11 from its start point to its end point as a 3D model 90, as shown in FIG. 11.
  • the shape of the pipeline 11 from its start point to its end point can be accurately reproduced in three dimensions.
  • the control unit 21 of the data processing device 20 uses a point cloud matching technique to sequentially combine point cloud data 61 obtained through multiple observations by a sensor 31 that observes the partial shapes of the inside of the pipeline 11 as a point cloud while moving within the pipeline 11, thereby creating a three-dimensional model of the continuous shape inside the pipeline 11.
  • "Combining” includes excluding points that correspond to outside the common range within the pipeline 11 in each of the point clouds of the point cloud data 61 to be combined and the point cloud of the point cloud data 61 to be combined from the point cloud matching targets.
  • the mask 81 is applied to 20 cm of the front side of the first point cloud 71 and 20 cm of the back side of the second point cloud 72.
  • "combining" includes inserting a mark point cloud corresponding to a common position within the pipeline 11 into each of the point clouds of the point cloud data 61 to be combined and the point cloud of the point cloud data 61 to be combined, and then performing point cloud matching.
  • the mark point cloud is, for example, a spherical point cloud having the same diameter as the diameter within the pipeline 11.
  • a spherical point cloud whose center is located at one end B of the common range and whose diameter is the same as the inner diameter of the pipeline 11 is assigned as mark 82 to the second point cloud 72 corresponding to the point cloud of the point cloud data 61 to be combined.
  • a spherical point cloud whose center is located at one end B of the common range and whose diameter is the same as the inner diameter of the pipeline 11 is also assigned as mark 82 to the first point cloud 71 corresponding to the point cloud data 61 to be combined. Because the markers 82 share the same characteristics, even when using a general point cloud matching method such as ICP, the first point cloud 71 and the second point cloud 72 are less likely to be combined in different ranges, allowing for accurate 3D modeling of the continuous shape inside the pipeline 11.
  • the number of points included in the spherical point cloud of the markers 82 is, for example, 5,000, but this may be adjusted as appropriate depending on the granularity of the point cloud data 61.
  • a linear point cloud extending vertically through the center of the spherical point cloud may also be assigned as a mark 82 to each of the second point cloud 72 and the first point cloud 71.
  • the linear point cloud may be shorter than the inner diameter of the pipeline 11, may be the same length as the inner diameter of the pipeline 11, or may be longer than the inner diameter of the pipeline 11.
  • the mark 82 resembles a spherical point cloud impaled on a skewer-shaped point cloud.
  • the number of points included in the skewer-shaped point cloud is, for example, 5,000, but may be adjusted as appropriate.
  • the length of the skewer-shaped point cloud is, for example, equivalent to 1 meter when the diameter of the pipeline 11 is approximately 8 cm, but may be adjusted as appropriate.
  • a linear point cloud such as a comb-shaped point cloud
  • the continuous shape inside the pipeline 11 can be 3D modeled with greater accuracy than when only a spherical point cloud is used as the marker 82.
  • twisting in the axial direction can be suppressed, improving accuracy.
  • "combining” includes plotting the point clouds of the point cloud data 61 to be combined and the point clouds of the point cloud data 61 to be combined in the same three-dimensional space in a positional relationship corresponding to the difference between the attitude and travel distance of the sensor 31 at the time the point cloud of the point cloud data 61 to be combined was observed and the attitude and travel distance of the sensor 31 at the time the point cloud of the point cloud data 61 to be combined was observed.
  • FIG. 1 the attitude and travel distance of the sensor 31 at the time the point cloud of the point cloud data 61 to be combined was observed.
  • a second point cloud 72 corresponding to the point cloud of the point cloud data 61 to be combined and a first point cloud 71 corresponding to the point cloud data 61 to be combined are plotted in the same three-dimensional space in a positional relationship corresponding to the difference between the attitude and travel distance of the sensor 31 at the time the second point cloud 72 was observed and the attitude and travel distance of the sensor 31 at the time the first point cloud 71 was observed. This allows for more accurate three-dimensional modeling of the continuous shape inside the pipeline 11.
  • the pipeline 11 may be laid in a single line, or in multiple lines as shown in Figure 12. In either case, the position of the iron cover 15 of the manhole 13 can be confirmed from the ground, and the relative positions of the ducts 14 that are the start and end points of the pipeline 11 from the iron cover 15 can also be obtained, so the absolute coordinates of the start and end points of the pipeline 11 can be determined by surveying. Absolute coordinates are a combination of latitude, longitude, and altitude.
  • the position of the pipeline 11 can be easily output on any topographical map or other drawing that can be plotted using latitude, longitude, and elevation.
  • the measurement device 30 is equipped with only one sensor 31, such as a TOF camera, but two may be equipped, one at the front and one at the back.
  • the point cloud acquisition area can be expanded.
  • the accuracy of the 3D model can also be improved.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

Un dispositif de traitement de données (20) comprend une unité de commande qui modélise en trois dimensions une forme continue dans un pipeline par couplage séquentiel de données de groupe de points (61) à l'aide d'un procédé de mise en correspondance de groupes de points, les données de groupe de points (61) étant obtenues par l'intermédiaire d'une pluralité d'observations à l'aide d'un capteur permettant d'observer une forme partielle dans le pipeline en tant que groupe de points tout en se déplaçant dans le pipeline. Dans le groupe de points des données de groupe de points (61) d'une destination de couplage et du groupe de points des données de groupe de points (61) d'une cible de couplage, ledit couplage comprend l'exclusion d'un point correspondant à l'extérieur d'une plage commune dans le pipeline, à partir de cibles d'adaptation de groupe de points.
PCT/JP2024/011158 2024-03-21 2024-03-21 Dispositif de traitement de données Pending WO2025197048A1 (fr)

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JP2018065171A (ja) * 2016-10-19 2018-04-26 三菱日立パワーシステムズ株式会社 配管内移動ロボットによる施工システムおよび施工方法
JP2021060666A (ja) * 2019-10-03 2021-04-15 デンカ株式会社 三次元画像の生成方法、三次元画像生成装置、ガイダンス装置、およびプログラム
JP2023013441A (ja) * 2021-07-16 2023-01-26 大成建設株式会社 自動運転システム
JP2023073944A (ja) * 2021-11-16 2023-05-26 サンリツオートメイシヨン株式会社 情報処理方法、情報処理装置、プログラム、及び計測システム

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