Method for estimating a plane in a range image and range image camera
3D data of pixels arranged in a square lattice is converted to a houndstooth arrangement, a largest value among respective magnitudes of cross products of all pairings of the normal vector of a small triangle of interest and the normal vectors of three adjacent small triangles is derived, and a large triangle composed of the small triangle of interest and the adjacent small triangles is determined to be a plane candidate if the largest value is less than or equal to a first threshold, after which similar processing is repeated with this large triangle taken as a small triangle, and this repetition is recursively performed while enlarging the small triangle of interest, and when the area of a new large triangle is greater than or equal to a predetermined area, the region thereof is determined to be a plane and separated from a range image.
1. A method for estimating a plane in a range image, comprising:
a data conversion step of converting three-dimensional data of pixels arranged in a square lattice to a houndstooth arrangement;
a triangle-of-interest computation step of focusing on a small triangle of interest that constitutes a smallest unit of the houndstooth arrangement, and computing, based on converted three-dimensional data corresponding to three vertices of the small triangle of interest, an equation of a plane defined by the three vertices, and a cross product of two vectors corresponding respectively to two sides of the small triangle of interest as a normal vector of the plane;
an adjacent triangle computation step of computing a normal vector for each of three small triangles that are adjacent in such a manner as to respectively share a different one of three sides of the small triangle of interest;
a plane candidate search step of searching for a plane candidate by performing, for all of the converted three-dimensional data while shifting the small triangle of interest focused on in the triangle-of-interest computation step, a process of deriving a largest value among respective magnitudes of cross products of all pairings of the normal vector computed in the triangle-of-interest computation step and the three normal vectors computed in the adjacent triangle computation step, and a process of determining a large triangle composed of the small triangle of interest and the three adjacent small triangles to be a plane candidate if the largest value is less than or equal to a first threshold;
a plane determination step of sequentially repeating the triangle-of-interest computation step, the adjacent triangle computation step and the plane candidate search step with a large triangle determined to be a plane candidate in the plane candidate search step taken as the small triangle of interest in the triangle-of-interest computation step, recursively performing the repetition while enlarging the small triangle of interest, and, when an area of a new large triangle determined to be a plane candidate is greater than or equal to a second threshold, determining a region corresponding to the large triangle to be a plane; and
a plane-determined region separation step of separating the region determined to be a plane in the plane determination step from a range image.
2. The method for estimating a plane in a range image according to claim 1 ,
wherein even in a case where a second large triangle that is adjacent in such a manner as to share one side of a first large triangle determined to be a plane candidate in the plane candidate search step is not determined to be a plane candidate, if a magnitude of a cross product of a normal vector of the first large triangle and a normal vector of each of three small triangles included in the second large triangle and adjacent to the first large triangle is less than or equal to a third threshold, the small triangles are each taken as a plane candidate.
3. The method for estimating a plane in a range image according to claim 1 ,
wherein in a case where a plurality of regions are determined to be a plane in the plane determination step, a largest of the regions is taken as a floor surface.
4. The method for estimating a plane in a range image according to claim 1 ,
wherein in a case where a plurality of regions are determined to be a plane in the plane determination step, which of the regions is a floor surface is selectable by an external operation.
5. The method for estimating a plane in a range image according to claim 3 ,
wherein, based on an equation of the plane taken or selected as the floor surface, a range image serving as a camera coordinate system is converted to a coordinate system in which an origin of a Z-axis is the floor surface.
6. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 1 is executed.
7. The method for estimating a plane in a range image according to claim 2 ,
wherein in a case where a plurality of regions are determined to be a plane in the plane determination step, a largest of the regions is taken as a floor surface.
8. The method for estimating a plane in a range image according to claim 2 ,
wherein in a case where a plurality of regions are determined to be a plane in the plane determination step, which of the regions is a floor surface is selectable by an external operation.
9. The method for estimating a plane in a range image according to claim 4 ,
wherein, based on an equation of the plane taken or selected as the floor surface, a range image serving as a camera coordinate system is converted to a coordinate system in which an origin of a Z-axis is the floor surface.
10. The method for estimating a plane in a range image according to claim 8 ,
wherein, based on an equation of the plane taken or selected as the floor surface, a range image serving as a camera coordinate system is converted to a coordinate system in which an origin of a Z-axis is the floor surface.
11. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 2 is executed.
12. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 3 is executed.
13. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 4 is executed.
14. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 5 is executed.
15. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 7 is executed.
16. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 8 is executed.
17. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 9 is executed.
18. A range image camera comprising:
an imaging element capable of acquiring range information for pixel values and generating a range image; and
an image processing unit that performs image processing on the range image,
wherein in the image processing by the image processing unit, the method for estimating a plane in a range image according to claim 10 is executed.