Information processing apparatus and information processing method using correlation between attributes

Patent metadata

Field	Value
Publication number	US-11250288-B2
Application number	US-201715450377-A
Country	US
Kind code	B2
Filing date	Mar 6, 2017
Priority date	May 30, 2016
Publication date	Feb 15, 2022
Grant date	Feb 15, 2022

Abstract

According to an embodiment, an information processing apparatus includes an attribute determiner and a setter. Each of acquired first sets indicates a combination of observation information indicating a result of observation of an area surrounding a moving body and position information. The attribute determiner is configured to determine, based on the observation information, an attribute of each of areas into which the area surrounding the moving body is divided, and to generate second sets, each indicating a combination of attribute information indicating the attribute of each area and the position information. The setter is configured to set, based on the second sets, reliability of the attribute of the area of a target second set, from correlation between the attribute of the area of the target second set and the attribute of corresponding areas each indicating the area corresponding to the target area in the areas of the other second sets.

First claim

What is claimed is:

1. An information processing apparatus, comprising:
circuitry configured to
acquire observation information and position information of an observation position in time series, wherein the observation information is a captured image obtained through imaging by an imaging device that images an area surrounding a vehicle;
determine, every time the captured image is acquired, based on the observation information, an attribute of each of a plurality of areas into which the area surrounding the vehicle is divided, wherein determining the attribute of each of the plurality of areas comprises determining an attribute of a plurality of pixels included in the captured image, projecting the attributes on a road surface based on positional relationship information between the imaging device and the road surface, and transforming into pixels of an upper surface image as viewed from above the road surface, wherein the attribute is a roadway or as other than the roadway, and
set a stability of the attribute for each of the plurality of areas, wherein the circuitry is configured to set the stability of the attribute of a given area from the attribute of the given area and one or more attributes of one or more corresponding areas determined in the past, each of the one or more corresponding areas being at a same position as the given area, wherein the circuitry is configured to set the stability to be a higher value as a number of the one or more corresponding areas indicating a same attribute as the given area is larger, and sets the stability to be a lower value as the number of the one or more corresponding areas indicating the same attribute as the given area is smaller, wherein the circuitry is configured to identify the one or more corresponding areas based on the position information, wherein an amount of movement of the vehicle between a current time and a previous time is calculated from the position information, and areas at the previous time corresponding to the areas at the current time are obtained based on the calculated amount of movement of the vehicle, wherein the circuitry is configured to set the stability of the attribute of the given area based on a difference between (1) a numerical value corresponding to the attribute of the given area, and (2) an average value of the attribute of the given area over a past N times, where N is an integer greater than 2.

2. The information processing apparatus according to claim 1 , wherein the circuitry is further configured to calculate, for each area of the plurality of areas, a travelable probability indicating a probability that the vehicle is travelable in the area, based on the attribute of the area.

3. The information processing apparatus according to claim 2 , wherein the circuitry is further configured to calculate the travelable probability of an area where the attribute of the area is the roadway, to be a higher value than the travelable probability of an area where the attribute of the area is other than the roadway.

4. The information processing apparatus according to claim 2 , wherein the circuitry is further configured to
acquire, for each of a plurality of sensors for observing the area surrounding the vehicle, probability information of the travelable probabilities of the plurality of areas and stability information of the stability of the attribute for each of the plurality of areas, and
determine a final probability of the travelable probabilities of the plurality of areas based on the probability information and the stability information of each of the plurality of sensors.

5. The information processing apparatus according to claim 4 , wherein the circuitry is further configured to determine a travelable probability corresponding to a particular sensor of the plurality of sensors having a highest stability as the final probability.

6. The information processing apparatus according to claim 4 , wherein the circuitry is further configured to perform a weighted summing of the travelable probabilities of each of the plurality of sensors to determine the final probability, according to the stability information of each of the plurality of sensors.

7. An information processing method, comprising:
acquiring observation information and position information of an observation position in time series, wherein the observation information is a captured image obtained through imaging by an imaging device that images an area surrounding a vehicle;
every time the captured image is acquired, determining, based on the observation information, an attribute of each of a plurality of areas into which the area surrounding vehicle is divided, wherein determining the attribute of each of the plurality of areas comprises determining an attribute of a plurality of pixels included in the captured image, projecting the attributes on a road surface based on positional relationship information between the imaging device and the road surface, and transforming into pixels of an upper surface image as viewed from above the road surface, wherein the attribute is a roadway or as other than the roadway, and
setting a stability of the attribute for each of the plurality of areas, wherein setting of the stability of the attribute of a given area includes setting the stability from the attribute of the given area and one or more attributes of one or more corresponding areas determined in the past, each of the one or more corresponding areas being at a same position as the given area, wherein the setting includes setting the stability to be a higher value as a number of the one or more corresponding areas indicating a same attribute as the given area is larger, and setting the stability to be a lower value as the number of the one or more corresponding areas indicating the same attribute as the given area is smaller, wherein the one or more corresponding areas are identified based on the position information, wherein an amount of movement of the vehicle between a current time and a previous time is calculated from the position information, and areas at the previous time corresponding to the areas at the current time are obtained based on the calculated amount of movement of the vehicle, wherein the step of setting the stability comprises setting the stability of the attribute of the given area based on a difference between (1) a numerical value corresponding to the attribute of the given area, and (2) an average value of the attribute of the given area over a past N times, where N is an integer greater than 2.

Assignees

• Toshiba Kk

Inventors

• Sano Yuma
• Watanabe Tomoki

Classifications

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06F18/256

  of results relating to different input data, e.g. multimodal recognition · CPC title

• G06F18/254

  of classification results, e.g. of results related to same input data · CPC title

• G06F18/22

  Matching criteria, e.g. proximity measures · CPC title

• G06F18/25

  Fusion techniques · CPC title