Title:
MEASUREMENT CALIBRATION DEVICE, MEASUREMENT CALIBRATION METHOD, AND PROGRAM
Document Type and Number:
WIPO Patent Application WO/2020/031950
Kind Code:
A9
Abstract:
The present invention makes it possible to easily estimate the location and attitude of a local coordinate system for a laser measurement device relative to the world coordinate system. According to the present invention, on the basis of three-dimensional coordinate data for a specific object as in each of a plurality of locations/attitudes, a distance image generation unit 120 generates distance images that represent the distance to the specific object as in the plurality of locations/attitudes. A corresponding point detection unit 130 detects corresponding points that, of corner points that have been detected for each of the distance images for the plurality of locations/attitudes and are points at which the tone of the distance images changes, are points that correspond between distance images. An attitude/location calculation unit 140 calculates the location and attitude of an individual coordinate system for a laser measurement device relative to the world coordinate system on the basis of a matrix that is for a plane projective transformation between two-dimensional coordinates on the distance image for a reference location/attitude and two-dimensional coordinates on the world coordinate system and is calculated on the basis of the corresponding points and of reference coordinates that correspond to the corresponding points from among reference coordinates that are three-dimensional coordinates for each of the points on the specific object on the world coordinate system as found from the three-dimensional coordinate data for the reference location/attitude.
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Inventors:
MIYAGAWA ISAO (JP)
KINEBUCHI TETSUYA (JP)
KINEBUCHI TETSUYA (JP)
Application Number:
PCT/JP2019/030705
Publication Date:
February 11, 2021
Filing Date:
August 05, 2019
Export Citation:
Assignee:
NIPPON TELEGRAPH & TELEPHONE (JP)
International Classes:
G01B11/00; G01B11/26; G01C15/00
Attorney, Agent or Firm:
TAIYO, NAKAJIMA & KATO (JP)
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