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1.发明授权公开(公告)号：US12175601B2
公开(公告)日：2024-12-24
申请号：US17943415
申请日：2022-09-13
Inventor： Satoshi Yoshikawa , Toru Matsunobu , Kensho Teranishi , Masaki Fukuda , Ukyou Katsura
Abstract: A shooting method executed by a shooting device includes: 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; and determining a first region of the target space for which generating a second three-dimensional point cloud which is denser than the first three-dimensional point cloud is difficult, using the first three-dimensional point cloud and without generating the second three-dimensional point cloud. 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 for which the mesh is generated.
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公开(公告)号：US12211230B2
公开(公告)日：2025-01-28
申请号：US17879127
申请日：2022-08-02
Inventor： Ukyou Katsura , Tsukasa Okada , Tomohide Ishigami
Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.
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