Three-dimensional point cloud generation method, position estimation method, three-dimensional point cloud generation device, and position estimation device

A three-dimensional point cloud data processing method for processing, using a processor, three-dimensional point cloud data, the three-dimensional point cloud data processing method comprising:

• obtaining (i) a two-dimensional image and (ii) a first three-dimensional point cloud;
• detecting, from the two-dimensional image obtained in the obtaining, a feature value of the two-dimensional image, the feature value being associated with a two-dimensional coordinate value in the two-dimensional image;
• and
• generating first three-dimensional point cloud data that includes a plurality of first three-dimensional point data items associated one to one with a plurality of first three-dimensional points included in the first three-dimensional point cloud, the plurality of first three-dimensional point data items each being a combination of (i) a three-dimensional coordinate value, (ii) the feature value of the associated first three-dimensional point, and (iii) a confidence value, each of the plurality of first three-dimensional point data items being associated with corresponding one of first three-dimensional points included in the first three-dimensional point cloud,
• wherein the confidence value is calculated based on a total number of two-dimensional images in which the associated first three-dimensional point is observed, the confidence value increasing as the total number of two-dimensional images in which the associated first three-dimensional point is observed increases.