# US 12,770,283 B2 · Plane detecting device, and plane detecting method

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 12,770,283 B2
- Document ID: US12770283B2
- Status: Granted
- Kind: B2
- Application number: 18/372,066
- Filed: 2023-09-23
- Published: 2024-01-11
- Granted: 2026-10-20
- Earliest claimed: 2021-03-31
- Assignees: Panasonic Intellectual Property Management Co., Ltd.
- Applicants: Panasonic Intellectual Property Management Co., Ltd.
- Inventors: Riku Matsumoto; Masamitsu Murase; Ken Hatsuda
- Web page: https://patentgrep.com/patent/US12770283B2

## CPC

- G06T 7/60: Analysis of geometric attributes
- G06T 7/50: Depth or shape recovery
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06T 2207/10028: Range image; Depth image; 3D point clouds
- G06T 2207/20076: Probabilistic image processing
- G06T 2207/20081: Training; Learning
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL

## Abstract

A plane detecting device according to the present disclosure includes an information acquisition unit, a likelihood acquisition unit, and a plane detector. The information acquisition unit acquires visible image information of a target having a predetermined plane and 3D coordinate information corresponding to the visible image information. The likelihood acquisition unit acquires likelihoods indicating a planarity of the predetermined plane of the target from the visible image information. The plane detector detects the predetermined plane of the target through a robust estimation method by using the 3D coordinate information and the likelihood.

## Claims

### Claim 1

A plane detecting device comprising:
a camera that captures an image data of a target having a predetermined plane; and
a processor that processes the image data;
wherein the processor is configured to function as:
an information acquisition unit that acquires visible image information and 3D coordinate information corresponding to the visible image information from the image data;
a likelihood acquisition unit that acquires likelihoods indicating a planarity of the predetermined plane of the target from the visible image information;
a plane detector that detects the predetermined plane of the target through a robust estimation method by using the 3D coordinate information and the likelihoods; and
a storage that stores a machine learning model constructed by machine learning,
wherein the likelihood acquisition unit acquires the likelihoods for each pixel from the visible image information by using the visible image information as input information and the machine learning model.

### Claim 2 (depends on 1)

The plane detecting device according to claim 1, wherein the target includes a pallet capable of stacking an object.

### Claim 3 (depends on 2)

The plane detecting device according to claim 2, wherein the pallet includes:
a flat plate that stacks the object; and
a first strut extending from the flat plate in a direction where the object is stacked; and
the predetermined plane includes a first surface of the first strut.

### Claim 4 (depends on 1)

The plane detecting device according to claim 1, wherein
the plane detector detects the predetermined plane of the target through RANSAC by using a plurality of sample points randomly selected from the 3D coordinate information and the likelihoods each corresponding to a respective one of the plurality of sample points.

### Claim 5 (depends on 3)

The plane detecting device according to claim 3, wherein
the pallet includes a second strut extending from the flat plate in a direction where the object is stacked separately from the first strut;
the second strut includes a second surface; and
the predetermined plane has the first surface and the second surface.

### Claim 6 (depends on 5)

The plane detecting device according to claim 5, wherein
the plane detector detects the predetermined plane of the pallet through the RANSAC by using a plurality of sample points randomly selected from the 3D coordinate information and the likelihoods each corresponding to a respective one of the plurality of sample points; and
the plurality of sample points include at least one sample point selected for the first surface and at least one sample point selected for the second surface.

### Claim 7

A plane detecting method comprising:
acquiring visible image information of a target having a predetermined plane and 3D coordinate information corresponding to the visible image information from an image data of a target captured by a camera;
acquiring likelihoods indicating a planarity of the predetermined plane of the target from the visible image information;
detecting the predetermined plane of the target through a robust estimation method by using the 3D coordinate information and the likelihoods; and
storing a machine learning model constructed by machine learning,
wherein the acquiring acquires the likelihoods for each pixel from the visible image information by using the visible image information as input information and the machine learning model.

### Claim 8 (depends on 7)

A computer-readable recording medium recording a program for causing a computer to execute the method according to claim 7.