公开(公告)号：US20240312047A1

公开(公告)日：2024-09-19

申请号：US18577966

申请日：2021-07-14

Applicant: NIPPON TELEGRAPH AND TELEPHONE CORPORATION

Inventor： Taiga YOSHIDA ,  Naoki ITO ,  Jun SHIMAMURA

IPC: G06T7/70 ,  G06T17/00 ,  G06V10/25

CPC classification number: G06T7/70 ,  G06T17/00 ,  G06V10/25 ,  G06T2207/20084 ,  G06V2201/07

Abstract: There is provided a position detection device that recognizes a presence position of a target object in a three-dimensional space. The device acquires three-dimensional point cloud information of the space and a plurality of images obtained by imaging an area including surroundings of an object in the space from different imaging points. A region detection unit receives, as an input, the plurality of acquired images, determines whether a target object appears in the plurality of images, and detects a region of the object in each of the plurality of images in a case where the target object appears in each of the images. A specifying unit specifies a region of a point cloud corresponding to the target object based on the point cloud information and the region of the object detected in each of the images. A position detection unit specifies a position of the target object in the space by recognizing points corresponding to the target object from the point cloud information of the region specified by the specifying unit.

公开(公告)号：US20250052590A1

公开(公告)日：2025-02-13

申请号：US18717379

申请日：2021-12-08

Applicant: NIPPON TELEGRAPH AND TELEPHONE CORPORATION

Inventor： Taiga YOSHIDA ,  Yasuhiro YAO ,  Naoki ITO ,  Jun SHIMAMURA

IPC: G01C21/00

Abstract: A road boundary detection device is a road boundary detection device that acquires a set of lines corresponding to a road boundary from point cloud data as road boundary information. The road boundary detection device includes: a candidate point detection unit that detects each point of road boundary candidates corresponding to candidates of a road boundary from the point cloud data; a candidate point clustering unit that clusters each point of the road boundary candidates; an adjacent cluster reduction unit that reduces a cluster from a distribution of points in clusters in an adjacency relationship by using a predetermined cluster reduction method; a line fitting unit that fits one or more straight lines or curved lines to one or more of the clusters and output fitted lines as road boundary candidates; a line connecting unit that connects some of the fitted lines by using a predetermined analysis method; and an information output unit that outputs a calculated line as the road boundary information.