US 12,175,601 B2
Shooting method, shooting instruction method, shooting device, and shooting instruction device
Satoshi Yoshikawa, Hyogo (JP); Toru Matsunobu, Osaka (JP); Kensho Teranishi, Osaka (JP); Masaki Fukuda, Osaka (JP); and Ukyou Katsura, Osaka (JP)
Assigned to PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD., Osaka (JP)
Filed by Panasonic Intellectual Property Management Co., Ltd., Osaka (JP)
Filed on Sep. 13, 2022, as Appl. No. 17/943,415.
Application 17/943,415 is a continuation of application No. PCT/JP2021/012156, filed on Mar. 24, 2021.
Claims priority of application No. 2020-059676 (JP), filed on Mar. 30, 2020; and application No. 2020-179647 (JP), filed on Oct. 27, 2020.
Prior Publication US 2023/0005220 A1, Jan. 5, 2023
Int. Cl. G06T 17/00 (2006.01); G06T 7/13 (2017.01); G06T 7/70 (2017.01); G06T 17/20 (2006.01); G06V 10/25 (2022.01); G06V 10/74 (2022.01)
CPC G06T 17/20 (2013.01) [G06T 7/13 (2017.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/761 (2022.01); G06T 2207/10028 (2013.01); G06T 2207/30244 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A shooting method executed by a shooting device, the shooting method comprising:
shooting first images of a target space;
generating a first three-dimensional point cloud of the target space, based on the first images and a first shooting position and a first shooting orientation of each of the first images;
determining a first region of the target space for which generating a second three-dimensional point cloud is difficult, using the first three-dimensional point cloud and without generating the second three-dimensional point cloud, the second three-dimensional point cloud being denser than the first three-dimensional point cloud, the first region including at least one of a region for which the second three-dimensional point cloud cannot be calculated or a region for which an error between the second three-dimensional point cloud and an actual position is greater than a predetermined threshold;
shooting second images of the first region; and
generating the second three-dimensional point cloud of the target space, using the first images and the second images, wherein
the determining includes:
generating a mesh using the first three-dimensional point cloud; and
determining the region other than a second region of the target space, the second region being a region for which the mesh is generated.