公开(公告)号：US12067763B2

公开(公告)日：2024-08-20

申请号：US17612373

申请日：2019-05-23

申请人： NIPPON TELEGRAPH AND TELEPHONE CORPORATION

发明人： Yasuhiro Yao ,  Hitoshi Niigaki ,  Kana Kurata ,  Kazuhiko Murasaki ,  Shingo Ando ,  Atsushi Sagata

IPC分类号： G06V10/82 ,  G06N3/08 ,  G06V10/40 ,  G06V10/762

CPC分类号： G06V10/82 ,  G06N3/08 ,  G06V10/40 ,  G06V10/762

摘要： A three-dimensional point cloud label learning and estimation device includes: a clustering unit that clusters a three-dimensional point cloud into clusters; a learning unit that makes a neural network learn to estimate a label corresponding to an object to which points contained in each of the clusters belong; and an estimation unit that estimates a label for the cluster using the neural network learned at the learning unit. In the three-dimensional point cloud label learning and estimation device, the neural network uses a total sum of sigmoid function values (sum of sigmoid) when performing feature extraction on the cluster.

公开(公告)号：US12094153B2

公开(公告)日：2024-09-17

申请号：US17608963

申请日：2019-05-08

申请人： NIPPON TELEGRAPH AND TELEPHONE CORPORATION

发明人： Hitoshi Niigaki ,  Yasuhiro Yao ,  Masaaki Inoue ,  Tomoya Shimizu ,  Yukihiro Goto ,  Shigehiro Matsuda ,  Ryuji Honda ,  Hiroyuki Oshida ,  Kana Kurata ,  Shingo Ando ,  Atsushi Sagata

IPC分类号： G06T7/70 ,  G06T7/00

CPC分类号： G06T7/70 ,  G06T7/0002 ,  G06T2207/10028

摘要： Provided is a point cloud analysis device that curbs a decrease in model estimation accuracy due to a laser measurement point cloud. A clustering unit (30) clusters a point cloud representing a three-dimensional point on an object obtained by a measurement unit mounted on a moving body and performing measurement while scanning a measurement position, within a scan line, to obtain a point cloud cluster. A central axis direction estimation unit (32) estimates a central axis direction based on the point cloud cluster. A direction-dependent local effective length estimation unit (34) estimates a local effective length based on an estimated central axis direction and an interval of scan lines, the local effective length being a length when a length of projection of the point cloud cluster in a central axis direction for each of the point cloud clusters is interpolated by an amount of a loss part of the point cloud.

公开(公告)号：US12106438B2

公开(公告)日：2024-10-01

申请号：US17608735

申请日：2019-05-08

申请人： NIPPON TELEGRAPH AND TELEPHONE CORPORATION

发明人： Hitoshi Niigaki ,  Yasuhiro Yao ,  Shingo Ando ,  Kana Kurata ,  Atsushi Sagata

IPC分类号： G06T19/00 ,  G06T7/00

CPC分类号： G06T19/00 ,  G06T7/0002 ,  G06T2200/24 ,  G06T2207/10028 ,  G06T2207/20092 ,  G06T2210/56 ,  G06T2219/004

摘要： Annotation can be easily performed on a three-dimensional point cloud and a working time can be reduced. An interface unit 22 displays a point cloud indicating a three-dimensional point on an object, and receives designation of a three-dimensional point indicating an annotation target object and designation of a three-dimensional point not indicating the annotation target object. A candidate cluster calculation unit 32 calculates a value of a predetermined evaluation function indicating a likelihood of a point cloud cluster being the annotation target object based on the designation of a three-dimensional point for point cloud clusters obtained by clustering the point clouds. A cluster selection and storage designation unit 34 causes the interface unit 22 to display the point cloud clusters in descending order of the value of the evaluation function, and receives a selection of a point cloud cluster to be annotated. An annotation execution unit 36 executes annotation indicating the annotation target object for each three-dimensional point included in the selected point cloud cluster.

公开(公告)号：US11887387B2

公开(公告)日：2024-01-30

申请号：US17627883

申请日：2019-07-23

申请人： NIPPON TELEGRAPH AND TELEPHONE CORPORATION

发明人： Yasuhiro Yao ,  Hitoshi Niigaki ,  Kana Kurata ,  Shingo Ando ,  Atsushi Sagata

IPC分类号： G06V20/64 ,  G06T7/60 ,  G06V10/46 ,  G06V10/762 ,  G06V10/764

CPC分类号： G06V20/64 ,  G06T7/60 ,  G06V10/46 ,  G06V10/762 ,  G06V10/764 ,  G06T2207/10028

摘要： A mesh structure facility detection device detects data corresponding to a mesh structure facility from three-dimensional structure data representing a space including an outer shape of an object, and projects the three-dimensional structure data in a predetermined direction to obtain two-dimensional structure data; and detects a point included in a region in which the two-dimensional structure data has a density of more than or equal to a predetermined threshold value as a point corresponding to the mesh structure facility.

公开(公告)号：US11922650B2

公开(公告)日：2024-03-05

申请号：US17608975

申请日：2019-05-08

申请人： NIPPON TELEGRAPH AND TELEPHONE CORPORATION

发明人： Hitoshi Niigaki ,  Masaki Waki ,  Masaaki Inoue ,  Yasuhiro Yao ,  Tomoya Shimizu ,  Hiroyuki Oshida ,  Kana Kurata ,  Shingo Ando ,  Atsushi Sagata

IPC分类号： G06T7/66 ,  G06V10/25 ,  G06V10/75

CPC分类号： G06T7/66 ,  G06V10/25 ,  G06V10/755 ,  G06T2207/10028

摘要： It is possible to estimate a slack level accurately in consideration of a shape of a deformed cable. A point cloud analysis device sets a plurality of regions of interest obtained by window-searching a wire model including a quadratic curve model representing a cable obtained from a point cloud consisting of three-dimensional points on an object, the region of interest being divided into a first region and a second region. The point cloud analysis device compares information on the first region with information on the second region based on the point cloud included in the region of interest and the quadratic curve model for each of the plurality of regions of interest, calculates a degree of division boundary representing a degree to which a division position between the first region and the second region of the plurality of regions of interest is a branch point of the cable, and detects a division boundary point that is a branch point of a cable represented by the quadratic curve model based on the degree of division boundary calculated for each of the plurality of regions of interest.

公开(公告)号：US11900622B2

公开(公告)日：2024-02-13

申请号：US17425916

申请日：2020-01-27

申请人： NIPPON TELEGRAPH AND TELEPHONE CORPORATION

发明人： Yasuhiro Yao ,  Shingo Ando ,  Kana Kurata ,  Hitoshi Niigaki ,  Atsushi Sagata

IPC分类号： G06T7/50 ,  G06T3/40

CPC分类号： G06T7/50 ,  G06T3/4046 ,  G06T2200/04 ,  G06T2207/20084

摘要： Dense depth information can be generated using only a monocular image and sparse depth information.
A depth hyper-resolving apparatus 100 includes: an input data processing unit 22 that outputs a hierarchical input image and hierarchical input depth information by resolution conversion in accordance with a predetermined number of tiers for an input image and input depth information; a depth continuity estimation unit 24 that derives hierarchical estimated depth continuity based on the hierarchical input image; a depth continuity mask deriving unit 26 that outputs a hierarchical depth continuity mask representing values of locations depending on whether a depth is continuous based on the hierarchical input image and the hierarchical estimated depth continuity; and a cost function minimization unit 30 that derives hyper-resolved depth information to minimize a cost function expressed by using the hierarchical input depth information, the hierarchical depth continuity mask, and the hyper-resolved depth information.