US 12,469,157 B2
Filling rate measurement method, information processing device, and recording medium
Ukyou Katsura, Osaka (JP); Toru Matsunobu, Osaka (JP); Toshiyasu Sugio, Osaka (JP); Tomokazu Ichiriki, Kanagawa (JP); and Masanori Kimura, Osaka (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Oct. 17, 2022, as Appl. No. 17/967,066.
Application 17/967,066 is a continuation of application No. PCT/JP2021/015149, filed on Apr. 12, 2021.
Claims priority of application No. 2020-079081 (JP), filed on Apr. 28, 2020.
Prior Publication US 2023/0035883 A1, Feb. 2, 2023
Int. Cl. G06T 7/60 (2017.01); G06V 10/46 (2022.01); G06V 20/64 (2022.01)
CPC G06T 7/60 (2013.01) [G06V 10/469 (2022.01); G06V 20/64 (2022.01)] 11 Claims
OG exemplary drawing
 
1. A filling rate measurement method comprising:
obtaining a space three-dimensional model generated by measuring a first storage having an opening and a first storage space in which a measurement target is to be stored, the measuring being performed through the opening using a range sensor facing the first storage;
obtaining a storage three-dimensional model that is a three-dimensional model of the first storage in which the measurement target is not stored;
extracting a target portion corresponding to the measurement target from the space three-dimensional model using the space three-dimensional model obtained and the storage three-dimensional model obtained;
calculating a first three-dimensional coordinate system by determining an origin thereof to be a point on a shape of the opening of the first storage;
estimating a target three-dimensional model using the target portion extracted and the first three-dimensional coordinate system calculated, the target three-dimensional model being a three-dimensional model of the measurement target in the first storage space; and
calculating a first filling rate of the measurement target with respect to the first storage space, using the storage three-dimensional model and the target three-dimensional model.