THREE-DIMENSIONAL POINT GROUP IDENTIFICATION DEVICE, LEARNING DEVICE, THREE-DIMENSIONAL POINT GROUP IDENTIFICATION METHOD, LEARNING METHOD AND PROGRAM

摘要

The present invention makes it possible to identify a three-dimensional point group class label at a high performance level.　A key point selection unit 22 extracts a key point group 35, which are three-dimensional points which efficiently express the features of an object, and a non-key-point point group 37. An inference unit 24 sets each of a plurality of points selected by downsampling from each of the key point group 35 and the non-key-point point group 37 as representative points, and extracts the features of the representative points from the features and coordinates of each of the representative points and from the features and coordinates of nearby points to the representative points. The inference unit 24 extracts the features of a plurality of new representative points from the features and coordinates of the plurality of representative points, the features and coordinates of a plurality of pre-downsampling three-dimensional points which are the new representative points, and the features and coordinates of nearby points to the new representative points. The inference unit 24 derives and outputs a class label from the features and coordinates of the plurality of representative points or from the features and coordinates of the plurality of new representative points.