US 12,437,476 B2
Three-dimensional point cloud densification device, three-dimensional point cloud densification method, and recording medium
Toru Matsunobu, Osaka (JP); Kensho Teranishi, Osaka (JP); Masaki Fukuda, Osaka (JP); Ukyou Katsura, Osaka (JP); Makoto Kohrin, Ishikawa (JP); and Satoshi Yoshikawa, Hyogo (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on May 10, 2023, as Appl. No. 18/195,606.
Application 18/195,606 is a continuation of application No. PCT/JP2021/040435, filed on Nov. 2, 2021.
Claims priority of application No. 2020-190367 (JP), filed on Nov. 16, 2020.
Prior Publication US 2023/0281927 A1, Sep. 7, 2023
Int. Cl. G06T 17/20 (2006.01); G06T 7/70 (2017.01)
CPC G06T 17/20 (2013.01) [G06T 7/70 (2017.01)] 9 Claims
OG exemplary drawing
 
1. A three-dimensional point cloud densification device comprising:
a processor; and
memory, wherein
using the memory, the processor:
obtains a plurality of three-dimensional points and auxiliary information, the plurality of three-dimensional points each indicating a three-dimensional position of at least one object, the auxiliary information being provided for creating a polygon;
identifies the polygon having, as vertices, at least three three-dimensional points among the plurality of three-dimensional points, based on the auxiliary information; and
generates a new three-dimensional point inside the polygon,
the auxiliary information is provided for selecting at least one of:
at least one three-dimensional point among the plurality of three dimensional points; or
a mesh line connecting any two three-dimensional points among the plurality of three-dimensional points,
in obtaining the plurality of three-dimensional points and the auxiliary information, the processor obtains, as the auxiliary information, camera information indicating a position and an orientation of a camera at a time of shooting, the camera generating image data items obtained by shooting the at least one object,
in identifying the polygon, the processor identifies the polygon based on the camera information, and
in identifying the polygon, the processor identifies the polygon having, as vertices, the at least three three-dimensional points that are located below a predetermined position among the plurality of three-dimensional points, based on a vertical direction in a virtual three-dimensional space representing the plurality of three-dimensional points, the vertical direction being determined based on the camera information.