Title:
POSITION DETECTION METHOD AND POSITION DETECTION APPARATUS OF OBJECT TO BE DETECTED
Document Type and Number:
Japanese Patent JP2023084382
Kind Code:
A
Abstract:
To rapidly detect a position of an object to be detected by using a Hough transform of point group data related to position information.SOLUTION: A method of detecting a position of an object to be detected includes: a point group data acquisition step S11 of acquiring preliminary point group data D1 relating to position information on a surface of an object C to be detected; a voxel generation step S12 of generating a plurality of voxels B based on the preliminary point group data D1; a data number reduction step S13 of reducing the number of the preliminary point group data D1 located in each voxel B; a provisional outline detection step S14 of applying a Hough transform to secondary point group data D2 obtained in the data number reduction step S13 to detect provisional outlines Ls1 and Lf1 of the object C to be detected; a main outline detection step S15 of applying the Hough transform to the preliminary point group data D1 located around the provisional outlines Ls1 and Lf1 in the preliminary point group data D1 to detect main outlines Ls2 and Lf2 of the object C to be detected; and a position detection step S16 of detecting a position of the object C to be detected based on the main outlines Ls2 and Lf2.SELECTED DRAWING: Figure 15
Inventors:
CHANG DANG
UOZUMI HIROKI
IBARAKI MINORU
UOZUMI HIROKI
IBARAKI MINORU
Application Number:
JP2021198538A
Publication Date:
June 19, 2023
Filing Date:
December 07, 2021
Export Citation:
Assignee:
DAIHATSU MOTOR CO LTD
International Classes:
G06T7/70; G06T7/543; G06T7/60
Attorney, Agent or Firm:
Kunihiko Shiromura
Takeshi Kumano
Takashi Yoshikawa
Takeshi Kumano
Takashi Yoshikawa