US 12,292,508 B2
Processing apparatus and point cloud elimination method
Masayoshi Kuroda, Hitachinaka (JP); and Kosuke Sakata, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/788,579
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Sep. 8, 2020, PCT No. PCT/JP2020/033882
§ 371(c)(1), (2) Date Jun. 23, 2022,
PCT Pub. No. WO2021/065371, PCT Pub. Date Apr. 8, 2021.
Claims priority of application No. 2019-181145 (JP), filed on Oct. 1, 2019.
Prior Publication US 2023/0034208 A1, Feb. 2, 2023
Int. Cl. G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 17/89 (2013.01) [G01S 17/931 (2020.01)] 9 Claims
OG exemplary drawing
 
1. A processing apparatus comprising:
a storage apparatus that stores data of a point cloud of an object; and
a processor that eliminates data of a second point that is included in the point cloud and is next to a first point that is included in the point cloud from the data of the point cloud when a difference between a distance to the first point and a distance to the second point is smaller than a first threshold, wherein
the processor keeps the data of the second point uneliminated when a sign of a first distance change amount representing a difference between the distance to the second point and the distance to the first point, and a sign of a second distance change amount representing a difference between the distance to the second point and a distance to a third point that is included in the point cloud and is next to the second point are different from each other.