CVPR2017勉強会: 3D点群の取り扱い

Transcript

1. 1.

   %఺܈ͷऔѻ͍ $713ษڧձ େ֞ܚհ 

2. 2.

   "
   1PJOU
   4FU
   (FOFSBUJPO
   /FUXPSL
   GPS
   %
   0CKFDU
   3FDPOTUSVDUJPO
   GSPN
   B
   4JOHMF
   *NBHF  ୯؟Point Cloudਪఆ ໰୊ઃఆ Ұຕը૾͔Βɺ1PJOU$MPVEΛਪఆ͢Δ
   ΩʔΞΠσΞ ϩεؔ਺ΛͲ͏͢Δ͔
   HSPVOEUSVUI͔ΒͷαϯϓϦϯάͱɺ

   ੜ੒͞Εͨ1$ͷ఺܈ಉ࢜ͷڑ཭ͱ͢ Δɻ&BSUI.PWFSڑ཭ 8("/ͷ΍ͭ Λ࢖͏
   ٙ໰఺ɾײ૝ &.ڑ཭ྲྀߦͬͯΔɻɻʁͳ͓8("/ ΑΓલͷ࿦จ )BPRJBOH
   'BO
   )BP
   4V
   -FPOJEBT
   (VJCBT ࿦จ'JH
   ΑΓ
3. 3.

    "
   1PJOU
   4FU
   (FOFSBUJPO
   /FUXPSL
   GPS
   %
   0CKFDU
   3FDPOTUSVDUJPO
   GSPN
   B
   4JOHMF
   *NBHF $POW &ODPEFS
   
   %FDPOW %FDPEFS ͷ͋ͱʹɺ͞Βʹ $POW%FDPOWΛ܁Γฦ͢ࣄʹΑͬͯ(MPCBMͱ-PDBMͳಛ௃ΛޮՌత ʹ·ͱΊΒΕΔͱ͍ͯ͠Δ
   

   
   ͞ΒʹMBZFSͷTLJQ΋ೖΕͯΔɻϞμϯʈʈ
   
   ि໨ΛεΩοϓ͢Δͷ΋ೖΕͯΔɻɻɻ΋͏Կ͕ͳΜ΍Β
   
4. 4.

   1PJOU/FU
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   -FBSOJOH
   PO
   1PJOU
   4FUT
   GPS
   %
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   BOE
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   #PYFMͱҧͬͯ੔વͱฒΜͰͳ͍ͷͰɺ %$//͕࢖͑ͳ͍
   ΩʔΞΠσΞ ֤఺Λಠཱʹඇઢܗม׵ͨ͠ޙʹNBY
   QPPMJOHͱΔ͚ͩͰ݁ߏੑೳ͕ग़Δ
   

   w ηάϝϯςʔγϣϯͷͱ͖Ͱ΋ɺQPPMJOH ͨ݁͠ՌΛݩͷO఺ͷಛ௃ʹDPODBU͢ Δ͚ͩͰ0,
   ٙ໰఺ɾײ૝ άϥϑίϯϘϦϡʔγϣϯ͸Ͳ͏ͳΜͰ͢ ͔ͶɻXLUL
   ਫ਼౓͚ͩͩͱϚϧνϏϡʔ$//͕Ұ൪͍ ͍ͷ͔͊ɻͰ΋͔֬ʹϚϧνϏϡʔ͕μα ͍ͷ͸Θ͔Δ 3D఺܈(Point cloud)Λͦͷ··Nx3ͷ࠲ඪྻͱͯ͠ѻ͏ೝࣝ ࿦จ'JH
   ΑΓ
5. 5.

   1PJOU/FU
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   PO
   1PJOU
   4FUT
   GPS
   %
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6. 6.

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   -FBSOJOHCBTFE
   *NBHF
   $BQUJPOJOH
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   CZ
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   BOE
   UFMMͷ΍ͭ
   

   ΩʔΞΠσΞ จੜ੒ΛXPSE
   CZ
   XPSEͷ1PMJDZ
   /FUXPSL ͱɺจষຖͷ7BMVF
   /FUXPSLʹΑΔධՁͱ Έͳ͢͜ͱͰɺڧԽֶशͷήʔϜ໦ͱશ͘ ಉ͡໰୊ઃఆʹͰ͖Δ %FFQ;FO(PΈ͍ͨ ͳ΍ͭͶ
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   7BMVF/FUͰͲ͏ྑ͘ͳΔ͔ͷ۩ମྫ͸ ΋ͬͱΘ͔Γ΍͍͢ͷ͸ͳ͍ͷ͔ͳ ͓·͚: Ωϟϓγϣϯੜ੒ΛڧԽֶशͷϑϨʔϜϫʔΫͰղ͘ (by Snapchatͷதͷਓ) ;IPV
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   ڭࢣ͋Γ
   
   1PMJDZ͚ͩ ࿦จ'JH
   ΑΓ ࿦จ'JH
   ΑΓ