US 11,922,650 B2
Point cloud analysis device, estimation device, point cloud analysis method, and program
Hitoshi Niigaki, Tokyo (JP); Masaki Waki, Tokyo (JP); Masaaki Inoue, Tokyo (JP); Yasuhiro Yao, Tokyo (JP); Tomoya Shimizu, Tokyo (JP); Hiroyuki Oshida, Tokyo (JP); Kana Kurata, Tokyo (JP); Shingo Ando, Tokyo (JP); and Atsushi Sagata, Tokyo (JP)
Assigned to NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
Appl. No. 17/608,975
Filed by NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
PCT Filed May 8, 2019, PCT No. PCT/JP2019/018450
§ 371(c)(1), (2) Date Nov. 4, 2021,
PCT Pub. No. WO2020/225887, PCT Pub. Date Nov. 12, 2020.
Prior Publication US 2022/0230347 A1, Jul. 21, 2022
Int. Cl. G06T 7/66 (2017.01); G06V 10/25 (2022.01); G06V 10/75 (2022.01)
CPC G06T 7/66 (2017.01) [G06V 10/25 (2022.01); G06V 10/755 (2022.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A point cloud analysis device comprising:
a region-of-interest determiner configured to set a plurality of regions of interest obtained by window-searching a wire model including a quadratic curve model representing a cable obtained from a point cloud consisting of three-dimensional points on an object, the region of interest being divided into a first region and a second region; and
a boundary point detector configured to:
compare information on the first region with information on the second region based on a point cloud included in the region of interest and the quadratic curve model for each of the plurality of regions of interest,
determine, based at least on a distance between the wire model around the region of interest and the region of interest using a predetermined machine learning, a degree of division boundary representing a degree to which a division position between the first region and the second region of each of the plurality of regions of interest is a branch point of the cable, and
detect a division boundary point that is a branch point of a cable represented by the wire model based on the degree of division boundary determined for each of the plurality of regions of interest.