Distance measurement apparatus, information processing method, and information processing apparatus
A distance measurement apparatus comprises a light emitter that emits a plurality of light beams toward a scene in different directions and at different timings, a light receiver that includes an array of a plurality of light-receiving elements and detects reflected light from the scene produced by the emission of each light beam with the plurality of light-receiving elements, and a signal processing circuit that generates and outputs output data including measurement data indicating the positions or distances of a plurality of points in the scene on the basis of a signal outputted by the light receiver. The output data includes the data of a plurality of blocks, and individual time data is attached to each of the plurality of blocks.
1. A distance measurement apparatus comprising:
a light emitter that emits a plurality of light beams toward a scene in different directions and at different timings;
a light receiver that includes an array of a plurality of light-receiving elements, and detects reflected light from the scene produced by the emission of each light beam with the plurality of light-receiving elements; and
a signal processing circuit that generates and outputs output data including measurement data indicating positions or distances of a plurality of points in the scene on a basis of a signal outputted by the light receiver, wherein
the output data includes a plurality of data sets, and individual time data is attached to each of the plurality of data sets, and
each of the plurality of data sets includes a plurality of data points representing the measurement data of each of the plurality of points in the scene, measured using the same light beam from among the plurality of light beams.
2. The distance measurement apparatus according to claim 1 , wherein
the time data attached to each of the plurality of data sets indicates a time at which the light beam for a corresponding one of the plurality of data sets from among the plurality of light beams was emitted.
3. The distance measurement apparatus according to claim 1 , wherein
the time data attached to each of the plurality of data sets indicates a time at which reflected light of the light beam for a corresponding one of the plurality of data sets from among the plurality of light beams was received by one of the plurality of light-receiving elements.
4. The distance measurement apparatus according to claim 1 , wherein
the light emitter varies a parameter of the emitted plurality of light beams including at least one of a shape or a diameter of the emitted plurality of light beams, and
a number or range of the plurality of points belonging to each of the plurality of data sets is different according to the parameter of a light beam for a corresponding one of the plurality of data sets.
5. The distance measurement apparatus according to claim 1 , wherein
the plurality of data sets includes two or more data sets that share the time data.
6. The distance measurement apparatus according to claim 1 , wherein
the signal processing circuit generates point cloud data including information about three-dimensional coordinates of the plurality of points as the output data.
7. The distance measurement apparatus according to claim 1 , wherein
the signal processing circuit generates depth map data expressing a distance distribution of the plurality of points as the output data.
8. The distance measurement apparatus according to claim 1 , wherein
the time data expresses time in units of microseconds or in units of nanoseconds.
9. The distance measurement apparatus according to claim 1 , wherein the output data includes a plurality of frames, and the plurality of data sets are included in single frame of the output data.
10. An information processing method comprising:
acquiring first output data and second output data, the first output data including first measurement data indicating positions or distances of a plurality of points in a scene and including a plurality of data sets that each include the first measurement data for a subset of points from among the plurality of points, with individual time data attached to each of the plurality of data sets, and the second output data including second measurement data indicating positions or distances of another plurality of points in the scene, with time data attached to the second measurement data for each of the other plurality of points; and
generating three-dimensional point cloud data by respectively extracting, from the first output data and the second output data, the first measurement data for one or more points and the second measurement data for one or more points having time data included within a predetermined time range, and combining the extracted data into the same coordinate system,
wherein each of the plurality of data sets includes a plurality of data points representing the measurement data of each of the plurality of points in the scene.
11. The information processing method according to claim 10 , wherein
the combining includes merging data from the first measurement data and the second measurement data that overlap each other in a spatiotemporal region on a basis of a confidence level of the first measurement data and a confidence level of the second measurement data.
12. The information processing method according to claim 11 , wherein
the confidence level is determined on a basis of at least one selected from the group consisting of:
(a) at least one of a movement speed of a first measurement apparatus that generated the first measurement data or a movement speed of a second measurement apparatus that generated the second measurement data,
(b) a relationship between a position and an attitude of at least one of the first measurement apparatus or the second measurement apparatus, and a direction of the sun,
(c) at least one of a spatial density of the plurality of points expressed by the first measurement data or a spatial density of the other plurality of points expressed by the second measurement data, and
(d) a relationship between at least one of the positions of the plurality of points expressed by the first measurement data or the positions of the other plurality of points expressed by the second measurement data, and a position of one or more structures indicated by map data.
13. The information processing method according to claim 9 , wherein
at least one of the first measurement apparatus that measured the first measurement data or the second measurement apparatus that measured the second measurement data is installed in a moving body,
the combining is executed by an information processing apparatus provided in a stationary object or in communication with the stationary object, and
in a case where the moving body is positioned within a predetermined distance range from the stationary object, the information processing apparatus acquires the measurement data from at least one of the first measurement apparatus or the second measurement apparatus.
14. The information processing method according to claim 10 , further comprising:
extracting, in response to an analysis request signal, partial three-dimensional point cloud data from the combined three-dimensional point cloud data that corresponds to a spatiotemporal region designated by the analysis request signal.
15. The information processing method according to claim 14 , wherein
the extracting includes configuring the partial three-dimensional point cloud data as the data of a plurality of frames sampled at a predetermined period.
16. The information processing method according to claim 14 , wherein
the extracting includes extracting point cloud data corresponding to a moving body from among the three-dimensional point cloud data, and
the method further comprises generating tracking data expressing a temporal change in the position of the moving body.
17. An information processing apparatus comprising:
a processor executing a process to:
acquire first output data and second output data, the first output data including first measurement data indicating positions or distances of a plurality of points in a scene and including a plurality of data sets that each include the first measurement data for a subset of points from among the plurality of points, with individual time data attached to each of the plurality of data sets, and the second output data including second measurement data indicating positions or distances of another plurality of points in the scene, with time data attached to the second measurement data for each of the other plurality of points; and
generate three-dimensional point cloud data by respectively extracting, from the first output data and the second output data, the first measurement data for one or more points and the second measurement data for one or more points having time data included within a predetermined time range, and combining the extracted data into the same coordinate system,
wherein each of the plurality of data sets includes a plurality of data points representing the measurement data of each of the plurality of points in the scene.
18. An information processing apparatus comprising:
a processor executing a process to:
acquire light reception data generated at different timings by a light receiver including an array of a plurality of light-receiving elements;
generate measurement data indicating positions or distances of a plurality of points in a scene on a basis of the light reception data; and
generate and output, on a basis of the measurement data, output data including a plurality of data sets, with individual time data attached to each of the plurality of data sets,
wherein each of the plurality of data sets includes a plurality of data points representing the measurement data of each of the plurality of points in the scene, measured using the same light beam.