Patent ID: 8300048
Filing Date: 2012-10-30
Classification: G01B,G01S,G06T

Abstract:
1. A three-dimensional shape data recording/displaying method for reproducing a three-dimensional shape from coordinate values of measured points on a three-dimensional shape, the method comprising the steps of: (a) inputting, into a computer, coordinate values on a three-dimensional shape in a data inputting step; (b) structuring, in a model structuring step, an environment model that partitions a spatial region, in which the three-dimensional shape exists into a plurality of voxels formed from rectangular solids, of which boundary surfaces are mutually perpendicular, and storing positions of individual voxels; (c) setting and recording, in a matching step, a representative point and an error distribution within a first voxel corresponding to a first coordinate value, wherein the error distribution is an existence probability of the representative point, and the error distribution extends three dimensionally in the environment model, wherein the representative point corresponds to a measured point obtained by using a range sensor, and the error distribution is longer in a measuring direction of the range sensor than in a direction perpendicular to the measuring direction, wherein the matching step further includes setting and recording a plurality of representative points in the plurality of voxels, respectively, and a plurality of error distributions of the plurality of representative points are set and recorded in the plurality of voxels, respectively, wherein the plurality of representative points include the representative point, and the plurality of voxels include the first voxel, and the plurality of error distributions include the error distribution; and (d) outputting, to an outputting device, a voxel position, the representative point, and the error distribution in an outputting step.