VEHICLE ATTITUDE OUTPUT DEVICE, POINT CLOUD THREE-DIMENSIONING SYSTEM, VEHICLE ATTITUDE OUTPUT METHOD, POINT CLOUD THREE-DIMENSIONING METHOD, VEHICLE ATTITUDE OUTPUT PROGRAM, AND POINT CLOUD THREE-DIMENSIONING PROGRAM

To increase the accuracy of three-dimensioning of an object point cloud when three-dimensioning an object point cloud by a laser or a radar, and to reduce the amount of calculation in the axial direction of three-dimensional spatial coordinates to which the object point cloud is mapped.SOLUTION: The present disclosure calculates the absolute value of a difference between the vehicle attitude data of a high sampling frequency and the vehicle attitude data of a low sampling frequency. When the absolute value of the difference is small, the vehicle attitude data of the high sampling frequency is thinned out, the vehicle attitude data of the low sampling frequency is outputted, and the amount of calculation in the axial direction of three-dimensional spatial coordinates to which an object point cloud is mapped is reduced. Meanwhile, when the absolute value of the difference is large, the vehicle attitude data of the high sampling frequency is outputted and the accuracy of three-dimensioning of the object point cloud is heightened. Finally, the object point cloud is three-dimensioned on the basis of the vehicle attitude data and the object point cloud data.SELECTED DRAWING: Figure 1 【課題】本開示は、レーザ又はレーダによる物体点群を３次元化するにあたり、物体点群の３次元化の精度を高くするとともに、物体点群をマッピングする３次元空間座標の軸方向の計算量を少なくすることを目的とする。【解決手段】本開示は、高サンプリング周波数の車両姿勢のデータと、低サンプリング周波数の車両姿勢のデータと、の間の差分の絶対値を算出する。そして、差分の絶対値が小さいときは、高サンプリング周波数の車両姿勢のデータを間引き、低サンプリング周波数の車両姿勢のデータを出力し、物体点群をマッピングする３次元空間座標の軸方向の計算量を少なくする。一方で、差分の絶対値が大きいときは、高サンプリング周波数の車両姿勢のデータを出力し、物体点群の３次元化の精度を高くする。最後に、車両姿勢のデータ及び物体点群のデータに基づいて、物体点群を３次元化する。【選択図】図１