Filling rate measurement method, information processing device, and recording medium

An information processing device comprising:

• a processor;
• and
• a memory,
• wherein, using the memory, the processor:
• obtains a space three-dimensional model generated by measuring a first storage including an opening and a first storage space for storing a measurement target, a shape of the opening being an outline of the first storage, the measuring being performed through the opening using a range sensor facing the first storage;
• obtains a storage three-dimensional model that is a three-dimensional model of the first storage in which the measurement target is not stored;
• obtains a two-dimensional image of the opening and position orientation information corresponding to the two-dimensional image;
• identifies a line segment indicating the shape of the opening in the two-dimensional image, using the storage three-dimensional model;
• calculates a position of the opening in a three-dimensional space, based on the position orientation information and the line segment identified;
• associates a position of the storage three-dimensional model with a position of the space three-dimensional model based on the calculated position of the opening;
• estimates a target three-dimensional model that is a three-dimensional model of the measurement target in the first storage space, based on the storage three-dimensional model and the space three-dimensional model associated with each other;
• and
• calculates 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.

A non-transitory computer-readable recording medium having recorded thereon a program for causing a computer to perform a filling rate measurement method, the filling rate measurement method including:

• obtaining a space three-dimensional model generated by measuring a first storage including an opening and a first storage space for storing a measurement target, a shape of the opening being an outline of the first storage, 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;
• obtaining a two-dimensional image of the opening and position orientation information corresponding to the two-dimensional image;
• identifying a line segment indicating the shape of the opening in the two-dimensional image, using the storage three-dimensional model;
• calculating a position of the opening in a three-dimensional space, based on the position orientation information and the line segment identified;
• associating a position of the storage three-dimensional model with a position of the space three-dimensional model based on the calculated position of the opening;
• estimating a target three-dimensional model that is a three-dimensional model of the measurement target in the first storage space, based on the storage three-dimensional model and the space three-dimensional model associated with each other;
• 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.