Barrier data collection device, barrier data collection method, and barrier data collection program

Patent metadata

Field	Value
Publication number	US-12283098-B2
Application number	US-201917620063-A
Country	US
Kind code	B2
Filing date	Jun 19, 2019
Priority date	Jun 19, 2019
Publication date	Apr 22, 2025
Grant date	Apr 22, 2025

Abstract

A barrier data collection device includes a unit estimation unit that estimates, based on sensor data with position information including height at a time when a mobile body including a flying mobile body moving in the air moves, the sensor data being collected in advance about each of geographical ranges, with an estimator, about each of sets of the geographical ranges and heights included in the sensor data in a predetermined time unit, a barrier state obtained by estimating a state of which of barrier types the set is, a shape estimation unit that estimates, about a set satisfying a condition among the sets, a barrier shape based on the sensor data and an estimation result of the barrier state estimated about each of the sets in the time unit.

First claim

The invention claimed is:

1. A barrier data collection device comprising circuitry configured to execute a method comprising:
estimating, with an estimator based on sensor data collected from a sensor mounted on a flying mobile body, with position information including height at a time when the flying mobile body moves in the air, the sensor data being collected in advance for each of sets of geographical ranges and heights included in the sensor data in a predetermined time unit, a barrier state;
estimating, a set satisfying a condition among one or more of the sets, a barrier shape based on the sensor data and an estimation result of the barrier state estimated for each of the sets in the predetermined time unit; and
estimating, based on the estimation result of the barrier state estimated for the each of the sets, the estimated barrier shape, and a correct answer ratio of the estimator calculated in advance, a probability for each of the barrier types corresponding to each of the sets and estimates the barrier type corresponding to the set from the estimated probability for each of the barrier types.

2. The barrier data collection device according to claim 1 , wherein
an obstacle is included in the barrier types, and
the circuitry further configured to execute a method comprising:
when the condition is that a value of the obstacle in the barrier state of the set is equal to or larger than a threshold, estimating, from the sensor data, a shape and a lateral width of an object corresponding to the obstacle as the barrier shape.

3. The barrier data collection device according to claim 1 , the circuitry further configured to execute a method comprising:
estimating, based on the estimation result of the barrier state estimated for each of the sets and the correct answer ratio of the estimator calculated in advance, for each of the sets, a probability for each of the barrier types, estimates the barrier type from the estimated probability for each of the barrier types, and estimates, based on the barrier type estimated for each of the sets and the barrier shape estimated for each of the sets, the barrier type at height different from the height of the set.

4. A computer-implemented method for collecting barrier data, comprising:
estimating, with an estimator based on sensor data collected from a sensor mounted on a flying mobile body, with position information including height at a time when the flying mobile body moves in the air, the sensor data being collected in advance for each of sets of geographical ranges and heights included in the sensor data in a predetermined time unit, a barrier state;
estimating, a set satisfying a condition among one or more of the sets, a barrier shape based on the sensor data and an estimation result of the barrier state estimated for each of the sets in the predetermined time unit; and
estimating, based on the estimation result of the barrier state estimated for the each of the sets, the estimated barrier shape, and a correct answer ratio of the estimator calculated in advance, a probability for each of the barrier types corresponding to each of the sets and estimating the barrier type corresponding to the set from the estimated probability for each of the barrier types.

5. The computer-implemented method according to claim 4 , wherein
the barrier types include an obstacle, and
the method further comprising:
when the condition is that a value of the obstacle in the barrier state of the set is equal to or larger than a threshold, estimating, from the sensor data, a shape and a lateral width of an object corresponding to the obstacle are estimated as the barrier shape.

6. The computer-implemented method according to claim 4 , the circuitry further configured to execute a method comprising:
estimating, based on the estimation result of the barrier state estimated for each of the sets and the correct answer ratio of the estimator calculated in advance, for each of the sets, a probability for each of the barrier types, estimates the barrier type from the estimated probability for each of the barrier types, and estimates, based on the barrier type estimated for each of the sets and the barrier shape estimated for each of the sets, the barrier type at height different from the height of the set.

7. A computer-readable non-transitory recording medium storing computer-executable program instructions that when executed by a processor cause a computer to execute a method comprising:
estimating, with an estimator based on sensor data collected from a sensor mounted on a flying mobile body, with position information including height at a time when the flying moving body moves in the air, the sensor data being collected in advance for each of sets of geographical ranges and heights included in the sensor data in a predetermined time unit, a barrier state;
estimating, a set satisfying a condition among one or more of the sets, a barrier shape based on the sensor data and an estimation result of the barrier state estimated for each of the sets in the predetermined time unit; and
estimating, based on the estimation result of the barrier state estimated for the each of the sets, the estimated barrier shape, and a correct answer ratio of the estimator calculated in advance, a probability for each of the barrier types corresponding to each of the sets and estimating the barrier type corresponding to the set from the estimated probability for each of the barrier types.

8. The barrier data collection device according to claim 2 , the circuitry further configured to execute a method comprising:
estimating, based on the estimation result of the barrier state estimated for each of the sets and the correct answer ratio of the estimator calculated in advance, for each of the sets, a probability for each of the barrier types, estimates the barrier type from the estimated probability for each of the barrier types, and estimates, based on the barrier type estimated for each of the sets and the barrier shape estimated for each of the sets, the barrier type at height different from the height of the set.

9. The computer-implemented method according to claim 5 , the circuitry further configured to execute a method comprising:
estimating, based on the estimation result of the barrier state estimated for each of the sets and the correct answer ratio of the estimator calculated in advance, for each of the sets, a probability for each of the barrier types, estimates the barrier type from the estimated probability for each of the barrier types, and estimates, based on the barrier type estimated for each of the sets and the barrier shape estimated for each of the sets, the barrier type at height different from the height of the set.

10. The computer-readable non-transitory recording medium according to claim 7 , wherein
the barrier types include an obstacle, and
the method further comprising:
when the condition is that value of the obstacle in the barrier state of the set is equal to or larger than a threshold, estimating, from the sensor data, a shape and a lateral width of an object corresponding to the obstacle are estimated as the barrier shape.

11. The computer-readable non-transitory recording medium according to claim 7 , the computer-executable program instructions when executed further causing the system to execute a method comprising:
estimating, based on the estimation result of the barrier state estimated for each of the sets and the correct answer ratio of the estimator calculated in advance, for each of the sets, a probability for each of the barrier types, estimates the barrier type from the estimated probability for each of the barrier types, and estimates, based o

Assignees

• Nippon Telegraph & Telephone

Inventors

• Kurauchi Yuki
• Abe Naoto
• Seshimo Hitoshi

Classifications

• G05D1/46

  Control of position or course in three dimensions [3D] · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• G06T2207/30261

  Obstacle · CPC title

• G06T2207/30181

  Earth observation · CPC title