Abstract: To provide an elevator 3D data processing device that can reduce a load of calculation. The elevator 3D data processing device includes a projection image generating unit that, when 3D data of a shaft of an elevator is aligned with a preset coordinate system, generates a 2D projection image from the 3D data, a projection image feature extracting unit that extracts a feature of the projection image generated by the projection image generating unit, and a reference position specifying unit that specifies a reference position for processing of the 3D data from the feature extracted by the projection image feature extracting unit.

Abstract: To provide a 3D data acquisition device, a 3D data acquisition system, and a 3D data acquisition method for an elevator which are capable of improving measurement accuracy of 3D point group data on an inside of a shaft. The 3D data acquisition device for the elevator includes: a housing that constitutes an outer shell; and a plurality of 3D distance imaging sensors which are provided in the housing so as to directly face each of a plurality of side walls of a shaft of the elevator on a horizontal projection plane and which acquire 3D point group data. According to the configuration, measurement accuracy of 3D point group data on the inside of the shaft can be improved.

Abstract: A system for reconstructing a three-dimensional (3D) model of a scene including a point cloud having points identified by 3D coordinates includes at least one sensor to acquire a set of images of the scene from different poses defining viewpoints of the images and a memory to store the set of images and the 3D model of the scene. The system also includes a processor operatively connected to the memory and coupled with stored instructions to transform the images from the set of images to produce a set of virtual images of the scene viewed from virtual viewpoints; compare at least some features from the images and the virtual images to determine the viewpoint of each image in the set of images; and update 3D coordinates of at least one point in the model of the scene to match coordinates of intersections of ray back-projections from pixels of at least two images corresponding to the point according to the viewpoints of the two images.

Abstract: A system controls motion of vehicle according to a first parking path ending at a target state and determines a second parking path from a current state to the target state using a model of the parking space. The system acquires images of the parking space during the motion of the vehicle along the first parking path and constructs the model of the parking space. The model is used to generate a set of virtual images of the environment of the parking space as viewed from virtual viewpoints outside of the first parking path. The current state of the vehicle is determined by comparing a current image of the parking space with at least one virtual image. The second parking path is determined from the current state to the target state.

Abstract: A system for parking a vehicle within a parking space controls motion of the vehicle according to a first parking path ending at a target state and determines a second parking path from a current state to the target state using a model of the parking space. The system acquires a set of images of the parking space using at least one sensor during the motion of the vehicle along the first parking path and constructs the model of the parking space using the set of images. The model is used to generate a set of virtual images of the environment of the parking space as viewed from a set of virtual viewpoints defining states of the vehicle outside of the first parking path. The current state of the vehicle is determined by comparing a current image of the parking space acquired by the sensor while the vehicle is in the current state with at least one virtual image. The second parking path is determined from the current state to the target state.

Abstract: A system for reconstructing a three-dimensional (3D) model of a scene including a point cloud having points identified by 3D coordinates includes at least one sensor to acquire a set of images of the scene from different poses defining viewpoints of the images and a memory to store the set of images and the 3D model of the scene. The system also includes a processor operatively connected to the memory and coupled with stored instructions to transform the images from the set of images to produce a set of virtual images of the scene viewed from virtual viewpoints; compare at least some features from the images and the virtual images to determine the viewpoint of each image in the set of images; and update 3D coordinates of at least one point in the model of the scene to match coordinates of intersections of ray back-projections from pixels of at least two images corresponding to the point according to the viewpoints of the two images.

Abstract: According to a method, distortion of a picked-up image is corrected. A vertical line relative to a road surface is detected from the picked-up image. A vanishing point of a group of the detected vertical lines is calculated. A rotation angle around a Z axis of an in-vehicle camera is calculated as a roll angle of the camera. A rotation angle around an X axis of the camera is calculated as a pitch angle of the camera. A boundary line between a specific part and the road surface is detected from the picked-up image, and a reference line of the vehicle is calculated based on the detected boundary line. A rotation angle around a Y axis of the camera is calculated as a yaw angle of the camera. The roll angle, pitch angle, and the yaw angle are outputted as a mounting posture of the camera.