Signal processing apparatus, signal processing method, and program

Patent metadata

Field	Value
Publication number	US-11719788-B2
Application number	US-202017139290-A
Country	US
Kind code	B2
Filing date	Dec 31, 2020
Priority date	Sep 30, 2015
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

Abstract

A signal processing apparatus including a first position calculation unit that calculates a three-dimensional position of a target on a first coordinate system from a stereo image captured by a stereo camera, a second position calculation unit that calculates a three-dimensional position of the target on a second coordinate system from a sensor signal of a sensor capable of obtaining position information of at least one of a lateral direction and a longitudinal direction and position information of a depth direction, a correspondence detection unit that detects a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system, and a positional relationship information estimating unit that estimates positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

First claim

The invention claimed is:

1. A signal processing apparatus comprising:
circuitry configured to:
calculate a three-dimensional position of a target on a first coordinate system from first data obtained by a first sensor;
calculate a three-dimensional position of the target on a second coordinate system from second data obtained by a second sensor other than the first sensor;
detect a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system; and
estimate positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

2. The signal processing apparatus according to claim 1 ,
wherein the circuitry is configured to detect the correspondence relationship after collating individual targets on the first coordinate system and the second coordinate system with prior arrangement information of the target and identifying the target.

3. The signal processing apparatus according to claim 1 ,
wherein the circuitry is configured to detect the correspondence relationship by superimposing the three-dimensional position of the target on the first coordinate system and the three-dimensional position of the target on the second coordinate system over each other and making the targets arranged closest to each other correspond to each other.

4. The signal processing apparatus according to claim 1 ,
wherein the circuitry is configured to calculate the three-dimensional position of the target whose motion is detected, and
the circuitry is configured to calculate the three-dimensional position of the target whose motion is detected.

5. The signal processing apparatus according to claim 1 ,
wherein the circuitry is configured to calculate three-dimensional positions of a plurality of the targets from at least first data at one or more times,
the circuitry is configured to calculate three-dimensional positions of the plurality of the targets from second data at one or more times, and
the circuitry is configured to detect correspondence relationships between the plurality of the targets.

6. The signal processing apparatus according to claim 5 ,
wherein the circuitry is configured to calculate three-dimensional positions of a plurality of the targets from first data, and
the circuitry is configured to calculate three-dimensional positions of the plurality of the targets from second data.

7. The signal processing apparatus according to claim 1 , further comprising:
a memory that stores the three-dimensional positions of the target calculated by the circuitry,
wherein, where a predetermined number or more of three-dimensional positions of the target are accumulated in the memory, the circuitry starts detection of the correspondence relationship.

8. The signal processing apparatus according to claim 1 ,
wherein a plurality of the targets is arranged at different positions in a depth direction.

9. The signal processing apparatus according to claim 1 ,
wherein a plurality of the targets is arranged at different positions in a lateral direction.

10. The signal processing apparatus according to claim 1 ,
wherein a plurality of the targets is arranged at an identical height position.

11. The signal processing apparatus according to claim 1 ,
wherein a plurality of the targets is arranged at positions that are not overlapped with each other when viewed from the first sensor.

12. The signal processing apparatus according to claim 1 ,
wherein the target is a human.

13. The signal processing apparatus according to claim 1 ,
wherein the target is an object with a predetermined texture.

14. The signal processing apparatus according to claim 1 ,
wherein the target is a pole-like object.

15. The signal processing apparatus according to claim 1 ,
wherein the positional relationship information of the first coordinate system and the second coordinate system is a rotation matrix and a translation vector.

16. The signal processing apparatus according to claim 1 ,
wherein the second sensor is a millimeter-wave radar.

17. A signal processing method comprising the steps of:
using at least one processor:
calculating a three-dimensional position of a target on a first coordinate system from first data obtained by a first sensor;
calculating a three-dimensional position of the target on a second coordinate system from second data obtained by a second sensor other than the first sensor;
detecting a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system; and
estimating positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

18. At least one non-transitory computer-readable storage medium encoded with executable instructions that, when executed by at least one processor, cause the at least one processor to perform a method comprising:
calculating a three-dimensional position of a target on a first coordinate system from first data obtained by a first sensor;
calculating a three-dimensional position of the target on a second coordinate system from second data obtained by a second sensor other than the first sensor;
detecting a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system; and
estimating positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

Assignees

• Sony Corp

Inventors

• Motoyama Takuto
• Sutou Yasuhiro
• Yamazaki Toshio
• Oyaizu Hideki
• Kawasaki Kenichi

Classifications

• G01S7/40 Primary

  Means for monitoring or calibrating · CPC title

• G01C3/08

  Use of electric radiation detectors · CPC title

• G01C3/14

  with binocular observation at a single point, e.g. stereoscopic type (G01C3/20 takes precedence) · CPC title

• G01S13/86

  Combinations of radar systems with non-radar systems, e.g. sonar, direction finder · CPC title

• G01S13/867

  Combination of radar systems with cameras · CPC title