Information processing device, control method, program, and storage medium
AssigneesPioneer Corporation, Pioneer Smart Sensing Innovations Corporation
InventorsMasahiro KATO, Masami SUZUKI
Life of this patent
Estimating the term…
Abstract
The controller 13 of the in-vehicle device 1 acquires point cloud data outputted by a lidar 2. Then, the controller 13 generates processed point cloud data obtained by down-sampling the point cloud data. The controller 13 matches the processed point cloud data with voxel data VD which represents a position of an object with respect to each voxel that is a unit area and thereby associates a measurement point of the processed point cloud data with the each voxel. Then, the controller 13 changes the size of the subsequent down-sampling based on the associated measurement points number Nc which is the number of measurement points associated with the each voxel among the measurement points of the processed point cloud data.
Claims12
An information processing device comprising:
- an acquisition unit configured to acquire point cloud data outputted by a measurement device;
- a down-sampling processing unit configured to generate processed point cloud data obtained by down-sampling the point cloud data;
- and
- an association unit configured to match the processed point cloud data with voxel data which represents a position of an object with respect to each voxel that is a unit area and thereby associate a measurement point of the processed point cloud data with the each voxel,
- wherein the down-sampling processing unit is configured to change a size of the subsequent down-sampling based on an associated measurement points number which is the number of the measurement points associated with the each voxel.
A control method executed by a computer, the control method comprising:
- acquiring point cloud data outputted by a measurement device;
- generating processed point cloud data obtained by down-sampling the point cloud data;
- matching the processed point cloud data to voxel data which represents a position of an object with respect to each voxel that is a unit area and thereby associating a measurement point of the processed point cloud data with the each voxel;
- and
- changing a size of the subsequent down-sampling based on an associated measurement points number which is the number of the measurement points associated with the each voxel.
A non-transitory computer readable medium storing a program executed by a computer, the program causing the computer to:
- acquire point cloud data outputted by a measurement device;
- generate processed point cloud data obtained by down-sampling the point cloud data;
- match the processed point cloud data with voxel data which represents a position of an object with respect to each voxel that is a unit area and thereby associate a measurement point of the processed point cloud data with the each voxel;
- and
- change a size of the subsequent down-sampling based on an associated measurement points number which is the number of the measurement points associated with the each voxel.
(canceled)
Dependencies are inferred from the claim text.