Abstract: A measurement condition optimization system according to an aspect of the present disclosure includes: a three-dimensional data input unit that inputs three-dimensional data of a measurement target installation in a predetermined facility measured using a measurement device; an overlapping portion determination unit that performs alignment processing on each piece of the input three-dimensional data, and determines an overlapping portion included in the three-dimensional data after the alignment processing; a measurement policy acquisition unit that acquires a measurement policy at the time of acquiring the three-dimensional data of the measurement target installation in the facility using the measurement device; and a measurement condition adjustment unit that adjusts a measurement condition to satisfy the measurement policy acquired by the measurement policy acquisition unit and make the overlapping portion included in the three-dimensional data determined by the overlapping portion determination unit withi

Abstract: An object is to construct an accurate correspondence relation between points included in 3D data and pixels that form an image. An alignment unit receives image data acquired by capturing an image of an object, and 3D data of the object, performs alignment between the image data and the 3D data, and outputs data after the alignment. A pixel selection unit selects a target pixel from a plurality of pixels included in the image data. The pixel point association unit selects, from a plurality of point data items of 3D data included in the data after the alignment, three or more point data items near the target pixel as neighboring point data, estimates one surface based on the neighboring point data, and performs association for calculating a position of the target pixel on the one surface in a space which the plurality of point data items belong to.

Abstract: An information processing apparatus includes a data acquisition unit that obtains first moving image data from a first specific portion to a second specific portion and second moving image data from the second specific portion to an inspection point, a camera posture calculation unit that calculates a posture at the first specific portion (first three-dimensional camera posture) in three-dimensional data, calculates the posture at the second specific portion (second three-dimensional camera posture) in the three-dimensional data from the first three-dimensional camera posture and the posture in a frame of the second specific portion, and calculates the posture at the inspection point (third three-dimensional camera posture) in the three-dimensional data from the second three-dimensional camera posture and the posture in a frame of the inspection point, and a position identification unit that identifies a position of the inspection point in the three-dimensional data using the third three-dimensional camera po

Abstract: An information processing apparatus includes a data acquisition unit that acquires moving image data generated by moving image capturing from a specific portion to an inspection portion of an object and holding a camera posture at a time of capturing as a first camera posture for each frame, a camera posture calculation unit that collates a frame including the specific portion with three-dimensional data of the object, calculates a camera posture in the specific portion in the three-dimensional data as a second camera posture, and calculates a second camera posture of the inspection portion on the three-dimensional data using a first camera posture of a frame of the inspection portion and a second camera posture of the specific portion on the three-dimensional data, and a position identification unit that identifies a position of the inspection portion on the three-dimensional data using the second camera posture of the inspection portion.

Abstract: An imaging condition determination system according to the present disclosure includes: a reference data holding unit (101) configured to hold reference data representing a position of an object; an indication object holding unit (102) configured to hold an indication object representing a position of a target object on the reference data; an imaging condition determination unit (103) configured to determine an imaging condition of LiDAR for imaging the target object based on the reference data and the indication object; and an imaging condition output unit (104) configured to output the imaging condition.

Abstract: An information processing apparatus according to the present disclosure includes: at least one memory configured to store instructions; and at least one processor configured to execute the instructions to: generate, for each of a plurality of virtual cameras in a three-dimensional space, a virtual camera image shot by the respective one of the virtual cameras on the basis of point cloud data of the three-dimensional space; and estimate, on the basis of similarity between the virtual camera image generated by having the processor execute the generation instruction and a camera image shot by a camera, location and orientation of the camera when it shot the camera image.

Abstract: A measurement apparatus according to the present disclosure includes a position specifying unit configured to specify, using an apparatus reference coordinate system having a position of the measurement apparatus set as a reference, a position of each of a plurality of other measurement apparatuses; a candidate specifying unit configured to extract at least three measurement apparatuses out of the measurement apparatus and the plurality of the other measurement apparatuses and to specify, based on the positions of the extracted measurement apparatuses, a candidate region that serves as a candidate of a common region referred to in performing alignment of data captured by the measurement apparatus and the plurality of the other measurement apparatuses; and a common region determining unit configured to determine the common region based on the distribution of the plurality of the candidate regions obtained by changing combinations of the measurement apparatuses to be extracted.

Abstract: To maintain the accuracy of the estimation of a photographing position and a photographing posture of a photographed image in the case where 3D data containing no color information is used. A photographing position and posture estimation apparatus according the present disclosure includes: feature value calculation unit configured to calculate shape feature values from specific 3D (three-dimensional) data; generation unit configured to generate virtual image information by associating the shape feature values projected onto an image area when the 3D data is converted into an image based on specific virtual camera information with respective pixel positions in the image area; and similarity calculation unit configured to calculate a degree of similarity between the virtual image information and an input image.

Abstract: Provided is an information processing apparatus including: an acquisition unit configured to acquire three-dimensional point cloud data and a captured image captured by an imaging apparatus under a first imaging condition; a generation unit configured to generate a projection image under a second imaging condition, based on the three-dimensional point cloud data, and generate a pseudo-projection image, based on the projection image and the captured image; and a setting unit configured to set learning data for performing supervised learning by using the pseudo-projection image as an explanatory variable and using the captured image as ground truth data.

Abstract: In the deformation composition data generation apparatus which is implemented by one or more processors, an acquisition unit acquires a distribution of amount of displacement for points in point cloud data, and a composition unit composes the amount of displacement to the points in the point cloud data according to the distribution.

Abstract: A detection device (10) according to the present disclosure includes an acquisition unit (11) that acquires point cloud data indicating a distance from a measurement device to an object and luminance information obtained from reflected light of a beam emitted when the point cloud data is measured, an edge detection unit (12) that performs edge detection based on the luminance information, and a crack determination unit (13) that determines whether an area indicates a crack by using a shape of the area in which, of a plurality of points indicated by the point cloud data, points having luminance within a predetermined range of difference from luminance of a point detected as an edge are distributed.

Abstract: A measurement device acquires first point cloud data at a first measurement position and second point cloud data at a second measurement position; determines a rotation axis for positional adjustment; determines, based on the rotation axis, the first point cloud data, and the second point cloud data, an evaluation function indicating a region that is a union set of one or more columnar bodies as an evaluation function representing desirability of a positional adjustment result; and calculates a positional adjustment parameter that optimizes the evaluation function based on the rotation axis, the first point cloud data, and the second point cloud data.

Abstract: A data display system includes a photographing position pose estimation means for estimating a photographing position pose of image data in a coordinate system of three-dimensional data, a matter analysis means for detecting a position of a predetermined matter from the image data, and a diagram data display means for displaying a position of the matter on diagram data in a superposed manner, based on the photographing position pose and an analysis result of the matter analysis means.

Abstract: A model training apparatus (10) includes a first patch generation unit (110), a second patch generation unit (120), and a training unit (130). The first patch generation unit (110) generates, by using three-dimensional data indicating a shape of an object, at least one first patch being a subset of the three-dimensional data, and causes a first storage unit (20) to store the first patch. The second patch generation unit (120) reads out any of the first patches from the first storage unit (20), and generates at least one second patch being a subset of the first patch. The training unit (130) trains, with the second patch as training data, a model for evaluating a 10 three-dimensional shape. Then, the second patch generation unit (120) and the training unit (130) repeat processing until a criterion is satisfied.

Abstract: A display device (10) according to the present disclosure includes: a detection unit (11) that detects, in a three-dimensional space including measurement point group data measured by a three-dimensional optical sensor, intermediate point group data of an intermediate region from a viewpoint for two-dimensionally displaying the measurement point group data to target point group data within the measurement point group data; a setting unit (12) that sets, based on the detected intermediate point group data, a display aspect of the measurement point group data or the target point group data in such a way that the target point group data become visually recognizable from the viewpoint; and a display unit (13) that two-dimensionally displays the measurement point group data and the target point group data according to the set display aspect.

Abstract: A display device and the like capable of displaying an entire measurement target and desired details are provided. A display device according to the present disclosure includes: a global display unit that displays a point cloud image generated using three-dimensional data including three-dimensional coordinate values of a measurement target; a position designation unit that designates a one-dimensional position in the three-dimensional data; and a local display unit that generates and displays a detailed image of the three-dimensional data based on the one-dimensional position designated by the position designation unit.

Abstract: A mapping system includes a non-transitory computer readable medium configured to store instructions. The mapping system includes a processor connected to the non-transitory computer readable medium. The processor is configured to execute the instructions for receiving an input signal including image data of a scene; and determining a position of a sensor used to capture the image data relative to a reference map of the scene. The processor is configured to execute the instructions for determining a change point and a change score in the scene based on the determined position of the sensor and the reference map; and generating a change map based on the change point and the change score. The processor is configured to execute the instructions for generating an update map based on a comparison between the change map and the reference map; and maintaining a content of the reference map unchanged.

Abstract: An imaging condition determination system according to the present disclosure includes: a reference data holding unit (101) configured to hold reference data representing a position of an object; an indication object holding unit (102) configured to hold an indication object representing a position of a target object on the reference data; an imaging condition determination unit (103) configured to determine an imaging condition of LiDAR for imaging the target object based on the reference data and the indication object; and an imaging condition output unit (104) configured to output the imaging condition.

Abstract: A patrol route determination system according to one aspect of the present disclosure includes: a measurement position information storage unit configured to store information regarding a plurality of pieces of equipment and information regarding measurement positions for the plurality of pieces of equipment in association with each other; a measurement position determination unit configured to determine a measurement position based on information regarding the measurement target, information regarding the measurement device, and the information regarding the measurement position set for each piece of equipment stored in the measurement position information storage unit; and a patrol route determination unit configured to determine a patrol route along which the measurement device autonomously moves in the facility and makes a patrol of the measurement target equipment by using information regarding the measurement position for the measurement target equipment.

Abstract: A measurement condition optimization system according to an aspect of the present disclosure includes: a three-dimensional data input unit that inputs three-dimensional data of a measurement target installation in a predetermined facility measured using a measurement device; an overlapping portion determination unit that performs alignment processing on each piece of the input three-dimensional data, and determines an overlapping portion included in the three-dimensional data after the alignment processing; a measurement policy acquisition unit that acquires a measurement policy at the time of acquiring the three-dimensional data of the measurement target installation in the facility using the measurement device; and a measurement condition adjustment unit that adjusts a measurement condition to satisfy the measurement policy acquired by the measurement policy acquisition unit and make the overlapping portion included in the three-dimensional data determined by the overlapping portion determination unit withi