Measurement device and measurement method

A measurement method comprising:

• acquiring a plurality of images captured in time series by an image capturing unit installed in a moving object;
• acquiring first position information that indicates a position of the moving object and first direction information that indicates a direction of the moving object;
• acquiring, through a communication device separated from the moving object by performing road-vehicle communication, moving object information that includes second position information indicating a position of other moving object moving in surroundings of the moving object;
• identifying a moving object region in which the other moving object is present for each of the images based on the first position information, the first direction information, and the moving object information;
• estimating a position and a posture of the image capturing unit based on the images;
• searching for a plurality of sets of corresponding points among non-moving object regions other than the moving object regions in the respective images;
• and
• performing three-dimensional measurement based on the position and the posture of the image capturing unit and the sets of the corresponding points;
• estimating a movement plane on which the moving object moves based on a three-dimensional point group that is obtained as a result of performing the three-dimensional measurement;
• and
• detecting an obstacle based on the three-dimensional point group and the movement plane,
• wherein the three-dimensional point group is obtained by extracting three-dimensional points each having a distance from the moving object equal to or smaller than a threshold in a movement direction of the moving object, the threshold being set such that with an increase in a time series change in the posture of the image capturing unit, the threshold is reduced.

A measurement device comprising:

• a processor;
• and
• a memory that stores processor-executable instructions that, when executed by the processor, cause the processor to:
• acquire a plurality of images captured in time series by an image capturing unit installed in a moving object;
• acquire first position information that indicates a position of the moving object and first direction information that indicates a direction of the moving object;
• acquire, through a communication device separated from the moving object by performing road-vehicle communication, moving object information that includes second position information indicating a position of other moving object moving in surroundings of the moving object;
• identify a moving object region in which the other moving object is present for each of the images, based on the first position information, the first direction information, and the moving object information;
• estimate a position and a posture of the image capturing unit based on the images;
• search for a plurality of sets of corresponding points among non-moving object regions other than the moving object regions in the respective images;
• and
• perform three-dimensional measurement based on the position and the posture of the image capturing unit and the sets of the corresponding points;
• estimate a movement plane on which the moving object moves based on a three-dimensional point group that is obtained as a result of performing the three-dimensional measurement;
• and
• detect an obstacle based on the three-dimensional point group and the movement plane,
• wherein the three-dimensional point group is obtained by extracting three-dimensional points each having a distance from the moving object equal to or smaller than a threshold in a movement direction of the moving object, the threshold being set such that with an increase in a time series change in the posture of the image capturing unit, the threshold is reduced.