JP2021021639A - Information processing apparatus, information processing method, program, recording medium, and detection system - Google Patents

Abstract

To detect an object located near a reflector in a new method.SOLUTION: An acquisition unit 210 acquires information on a location of a reflector 300. A specifying unit 220 specifies a first signal indicating electromagnetic waves emitted from a detection apparatus 100 to at least one of an object O and a background section 310 through reflection of the reflector 300 and reflected by at least one of the object O and the background section 310, by use of the information on the location of the reflector 300, and specifies a second signal indicating electromagnetic waves emitted from the detection apparatus 100 to at least one of the object O and the background section 310 without reflection of the reflector 300 and reflected by at least one of the object O and the background section 310. A generation unit 230 processes the first signal by use of the information on the location of the reflector 300, and processes the second signal, to generate information on at least one of the object O and the background section 310.SELECTED DRAWING: Figure 1

Description

The present invention relates to an information processing device, an information processing method, a program, a recording medium, and a detection system.

In recent years, a detection system for detecting an object such as a person has been developed by a detection device using light. The detection device includes a transmission unit and a reception unit. The light transmitted from the transmitter is reflected by an object outside the detector and returns to the receiver. The detection device measures the distance from the detection device to the object based on TOF (Time Of Flight).

Patent Document 1 describes an example of a detection system. The detection system includes a reflector located behind an area through which an object (eg, a person) passes. The detection device detects the presence or absence of an object by using not only the reflected light from the object but also the reflected light from the reflector.

JP-A-2018-44919

The present inventor has investigated a novel method for detecting an object existing in the vicinity of a reflector, such as a person existing on a floor having specular reflection by wax or the like, by a detection device using electromagnetic waves such as light.

One example of the problem to be solved by the present invention is to detect an object existing in the vicinity of the reflector by a novel method.

The invention according to claim 1
An acquisition unit that acquires information about the position of the reflector,
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the detection is performed. A specific unit that identifies a second signal that indicates an electromagnetic wave that is irradiated from the device and is irradiated to the object without being reflected by the reflector and is reflected by the object.
A generation unit that processes the first signal using the information about the position of the reflector and generates information about the object by processing the second signal.
It is an information processing device provided with.

The invention according to claim 12
The computer
The process of acquiring information about the position of the reflector and
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the detection is performed. A step of identifying a second signal that indicates an electromagnetic wave that is irradiated from the device and is irradiated to the object without being reflected by the reflector and reflected by the object.
A step of processing the first signal using the information about the position of the reflector and generating information about the object by processing the second signal.
It is an information processing method including.

The invention according to claim 13
On the computer
The process of acquiring information about the position of the reflector and
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the detection is performed. A step of identifying a second signal that indicates an electromagnetic wave that is irradiated from the device and is irradiated to the object without being reflected by the reflector and reflected by the object.
A step of processing the first signal using the information about the position of the reflector and generating information about the object by processing the second signal.
It is a program to execute.

The invention according to claim 14
A computer-readable recording medium containing the program according to claim 13.

The invention according to claim 15
With the detector
Information processing device and
With
The information processing device
An acquisition unit that acquires information about the position of the reflector,
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the above. A specific unit that identifies a second signal that indicates an electromagnetic wave that is emitted from the detection device and is emitted from the object without being reflected by the reflector and is reflected by the object.
A generation unit that processes the first signal using the information about the position of the reflector and generates information about the object by processing the second signal.
It is a detection system including.

It is a figure for demonstrating the detection system which concerns on embodiment. It is a flowchart for demonstrating the information processing method which concerns on embodiment. It is a figure for demonstrating the acquisition method of the information about the position of the reflector in Example 1. FIG. It is a figure which shows an example of the point group detected by the detection apparatus in the method shown in FIG. It is a figure for demonstrating the detection apparatus which concerns on Example 2. FIG. It is a figure which shows an example of the hardware configuration of the information processing apparatus which concerns on Example 3. FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all drawings, similar components are designated by the same reference numerals, and description thereof will be omitted as appropriate.

FIG. 1 is a diagram for explaining the detection system 10 according to the embodiment. FIG. 2 is a flowchart for explaining an information processing method according to an embodiment.

The outline of the detection system 10 will be described with reference to FIGS. 1 and 2. The detection system 10 includes a detection device 100 and an information processing device 200. The information processing device 200 includes an acquisition unit 210, a specific unit 220, and a generation unit 230. The acquisition unit 210 acquires information regarding the position of the reflector 300 (step S10). Using the information regarding the position of the reflector 300, the specific portion 220 is irradiated from the detection device 100, reflected by the reflector 300, and then irradiated to at least one of the object O and the background portion 310, and the object O and the background portion 310 are irradiated. The first signal indicating the electromagnetic wave reflected by at least one of them (in the example shown in FIG. 1, the electromagnetic wave 1 to the electromagnetic wave 3) is specified, and the object O and the object O and the object O and the object O are irradiated from the detection device 100 and are not reflected by the reflector 300. A second signal indicating an electromagnetic wave (in the example shown in FIG. 1, electromagnetic waves 4 to 8) that is irradiated to at least one of the background portions 310 and reflected by the object O and at least one of the background portions 310 is specified (step S20). .. The generation unit 230 processes the first signal using the information regarding the position of the reflector 300, and generates information regarding at least one of the object O and the background unit 310 by processing the second signal (step S30). ..

According to the present embodiment, at least one of the object O and the background portion 310 existing in the vicinity of the reflector 300 is detected by a novel method. Specifically, in the present embodiment, not only the electromagnetic wave directly irradiated to at least one of the object O and the background portion 310, but also at least one of the object O and the background portion 310 is irradiated through reflection by the reflector 300. At least one of the object O and the background portion 310 is detected by using electromagnetic waves.

The details of the detection system 10 will be described with reference to FIG.

The detection device 100 is, for example, LiDAR (Light Detector And Ranging). In this example, the detection device 100 irradiates light, for example, infrared rays. As another example, the detection device 100 may be RADAR (Radio And Detector And Ringing). In this example, the detection device 100 irradiates radio waves.

In FIG. 1, the detection device 100 schematically irradiates eight electromagnetic waves, that is, electromagnetic waves 1 to electromagnetic waves 8. The electromagnetic waves 1 to 3 are reflected on the object O by the reflector 300. The electromagnetic waves 4 to 6 are directly applied to the object O without being reflected by the reflector 300. The electromagnetic wave 7 and the electromagnetic wave 8 irradiate the background portion 310 without being reflected by the reflector 300 and irradiating the object O. Each electromagnetic wave reaches the irradiated position indicated by the solid line circle in FIG. 1 from the detection device 100 via the path shown by the solid line in FIG. 1, and is detected from the irradiated position via the path. Return to device 100. The detection device 100 calculates the distance of the electromagnetic wave path according to TOF (Time Of Flight) based on the time difference from the time when the electromagnetic wave is irradiated from the detection device 100 to the time when the electromagnetic wave returns to the detection device 100.

For electromagnetic waves 1 to 3, the actual length of the electromagnetic wave path from the detection device 100 to the object O is determined in FIG. 1 from the detection device 100 via the path shown by the solid line and the broken line in FIG. It is equal to the length of the pseudo-path to the pseudo-irradiated position indicated by the dashed circle. The pseudo-irradiated position indicated by the broken line circle in FIG. 1 is a position symmetrical with respect to the actual irradiated position of the electromagnetic wave with respect to the reflector 300. The object O detected by using the time difference between the electromagnetic wave 1 and the electromagnetic wave 3 without considering the reflection of the electromagnetic wave by the reflector 300 is detected as if it exists at a pseudo-irradiated position. In the present embodiment, the actual position of the object O is detected by processing the first signal using the information about the position of the reflector 300.

The electromagnetic waves 4 to 6 can follow the path shown by the broken line in FIG. 1 in the absence of the object O. In the absence of the object O, the electromagnetic wave 4 reaches the reflector 300 (the boundary between the reflector 300 and the background 310), and the electromagnetic waves 5 and 6 reach the background 310.

In the example shown in FIG. 1, the reflector 300 is a floor, the object O is a person, and the background portion 310 is a wall. The detection device 100 is provided, for example, inside a room of a building. The floor as the reflector 300 mirror-reflects the electromagnetic waves emitted from the detection device 100 by wax or the like. That is, the reflector 300 substantially functions as a mirror surface with respect to the electromagnetic wave emitted from the detection device 100. This embodiment can be applied to a reflector 300 different from the floor, and can be applied to an object O different from a human. This embodiment can be applied even when the background portion 310 does not exist, and can also be applied to the background portion 310 different from the wall. In the present embodiment, both the object O and the background portion 310 can be detected by using the electromagnetic wave reflected by the reflector 300 and the electromagnetic wave not reflected by the reflector 300. However, this embodiment is also applicable to the case where only one of the object O and the background portion 310 is detected by using the electromagnetic wave reflected by the reflector 300 and the electromagnetic wave not reflected by the reflector 300. ..

Next, steps S10 to S30 of FIG. 2 will be described in detail in order.

In step S10, the information regarding the position of the reflector 300 includes, for example, information indicating the arrival position of the electromagnetic wave in the region including the reflector 300 (for example, the reflector 300 and the background portion 310) and each arrival position of the reflector 300. Includes information indicating the orientation in. This information is acquired, for example, by calibrating the detection device 100 in the absence of the object O, as will be described later. As another example, when the relative position of the detection device 100 with respect to the region including the reflector 300 (for example, the reflector 300 and the background portion 310) and the irradiation direction of the electromagnetic wave from the detection device 100 are known, the above The information may be read in advance by the information processing apparatus 200.

By using the information indicating the arrival position of the electromagnetic wave in the region including the reflector 300 (for example, the reflector 300 and the background 310), the electromagnetic wave emitted from the detection device 100 is directed from the detection device 100 toward the reflector 300. (In the example shown in FIG. 1, electromagnetic waves 1 to 4) and electromagnetic waves emitted from the detection device 100 toward a region different from the reflector 300 (for example, the background portion 310) (in FIG. 1). In the example shown, it can be classified into electromagnetic waves 5 to 8).

By using the information indicating the direction of the reflector 300 at each arrival position, the direction of reflection of the electromagnetic wave by the reflector 300 can be calculated. In FIG. 1, for the sake of simplicity, the reflector 300 is in a horizontal plane and faces upward regardless of its position in the reflector 300. However, the reflector 300 may be, for example, a surface having irregularities, or may be oriented in a different direction depending on the position in the reflector 300. Even if the reflector 300 is a surface having irregularities and faces different directions depending on the position in the reflector 300, the reflection direction of the electromagnetic wave by the reflector 300 is calculated for each arrival position by using the above information. can do.

In step S20, the identification unit 220 uses the electromagnetic waves emitted from the detection device 100 (electromagnetic waves 1 to 8 in the example shown in FIG. 1) as follows, and the electromagnetic waves of the first signal (example shown in FIG. 1). Then, it is classified into electromagnetic wave 1 to electromagnetic wave 3) and electromagnetic wave of the second signal (in the example shown in FIG. 1, electromagnetic wave 4 to electromagnetic wave 8).

The identification unit 220 transmits an electromagnetic wave (from electromagnetic wave 1 to electromagnetic wave 4 in the example shown in FIG. 1) emitted from the detection device 100 toward the reflector 300 and reflected by the object O from the irradiation of the detection device 100 to the object O. The length of the path of this electromagnetic wave from the irradiation of the detection device 100 (in the example shown in FIG. 1, the solid line extending from the detection device 100 to the object O) is the path of this electromagnetic wave from the irradiation of the detection device 100 to the arrival at the reflector 300. When it is longer than the length of (the solid line extending from the detection device 100 to the reflector 300 in the example shown in FIG. 1), it is classified into the electromagnetic wave of the first signal (in the example shown in FIG. 1, electromagnetic waves 1 to 3). The length of the path of the electromagnetic wave from the irradiation of the detection device 100 to the irradiation of the object O is calculated using, for example, the detection result of the detection device 100. The length of the path of the electromagnetic wave from the irradiation of the detection device 100 to the arrival at the reflector 300 is calculated by using, for example, the information regarding the position of the reflector 300 in step S10.

The identification unit 220 transmits an electromagnetic wave (from electromagnetic wave 1 to electromagnetic wave 4 in the example shown in FIG. 1) emitted from the detection device 100 toward the reflector 300 and reflected by the object O from the irradiation of the detection device 100 to the object O. The length of the path of this electromagnetic wave from the irradiation of the detection device 100 (in the example shown in FIG. 1, the solid line extending from the detection device 100 to the object O) is the path of this electromagnetic wave from the irradiation of the detection device 100 to the arrival at the reflector 300. (In the example shown in FIG. 1, if it is shorter than the length of the solid line extending from the detection device 100 to the object O and the broken line extending from the object O to the reflector 300), the electromagnetic wave of the second signal (in the example shown in FIG. 1, the electromagnetic wave Classify into 4). The length of the path of the electromagnetic wave from the irradiation of the detection device 100 to the irradiation of the object O is calculated using, for example, the detection result of the detection device 100. The length of the path of the electromagnetic wave from the irradiation of the detection device 100 to the arrival at the reflector 300 is calculated by using, for example, the information regarding the position of the reflector 300 in step S10.

The identification unit 220 emits an electromagnetic wave emitted from the detection device 100 toward a region different from the reflector 300 (for example, the background unit 310) and reflected by at least one of the object O and the background unit 310 as the electromagnetic wave of the second signal (for example, the electromagnetic wave of the second signal). In the example shown in FIG. 1, it is classified into electromagnetic waves 5 to 8). Whether or not the electromagnetic wave is emitted toward a region different from the reflector 300 is determined by using, for example, information regarding the position of the reflector 300 in step S10.

The method of classifying the electromagnetic wave of the first signal and the electromagnetic wave of the second signal is not limited to the above-mentioned example. For example, when the intensity of the electromagnetic wave is attenuated by the reflection by the reflector 300, the specific unit 220 may classify the electromagnetic wave of the first signal and the electromagnetic wave of the second signal based on the intensity of the electromagnetic wave. Specifically, the intensity of the electromagnetic wave of the first signal tends to be lower than the intensity of the electromagnetic wave of the second signal due to the reflection by the reflector 300. Therefore, when the electromagnetic wave emitted from the detection device 100 and reflected by at least one of the object O and the background unit 310 is equal to or less than the reference intensity of the electromagnetic wave detected by the detection device 100, the specific unit 220 is the first. Classify as one signal electromagnetic wave. Further, the specific unit 220 receives an electromagnetic wave emitted from the detection device 100 and reflected by at least one of the object O and the background unit 310 when the intensity of the electromagnetic wave detected by the detection device 100 exceeds the reference intensity. Classify as electromagnetic waves of 2 signals.

The first signal and the second signal may be the raw data of the electromagnetic wave detected by the detection device 100, or may be the data generated by processing the raw data. The data format of the first signal and the second signal can specify whether the electromagnetic wave indicated by the output signal has been reflected by the reflector 300 or has not been reflected by the reflector 300. For example, it is not limited to a specific format. The first signal and the second signal are output from the detection device 100 as, for example, an electric signal.

In step S30, the information about the object is, for example, the profile of the object or the type of object estimated from the profile of the object. As another example, the information about the object may be the presence or absence of the object.

The generation unit 230 calculates the reflection direction of the electromagnetic wave of the first signal by the reflector 300. Further, the generation unit 230 calculates the irradiation position of the electromagnetic wave of the first signal of at least one of the object O and the background unit 310 using this reflection direction. The reflection direction of the electromagnetic wave of the first signal by the reflector 300 is calculated by using, for example, the information regarding the position of the reflector 300 in step S10. The generation unit 230 can estimate the profile of at least one of the object O and the background unit 310 from the irradiation position of the electromagnetic wave of the first signal of at least one of the object O and the background unit 310.

The generation unit 230 may estimate at least one type of the object O and the background unit 310 by using a cluster formed by a plurality of irradiation positions of electromagnetic waves. The generation unit 230 is a cluster (a cluster) in which a plurality of irradiated positions of electromagnetic waves (a plurality of irradiated positions formed on the object O and the background portion 310) are formed on the object O according to the distance between adjacent irradiation positions. In the example shown in FIG. 1, a cluster formed by electromagnetic waves 1 to 6 and a cluster formed in a region (background portion 310) different from the object O (in the example shown in FIG. 1, by electromagnetic waves 7 and 8). It is classified into (clusters formed) and. The generation unit 230 can estimate the profile of the object O from the cluster formed on the object O. Similarly, the generation unit 230 can estimate the profile of the background unit 310 from the cluster formed in the background unit 310. The generation unit 230 uses artificial intelligence (for example, a neutral network) to generate an object O and a background from a cluster (at least one profile of the object O and the background unit 310) formed on the object O and the background unit 310. Estimate at least one type of part 310. In the present embodiment, not only the electromagnetic wave directly radiated to at least one of the object O and the background portion 310, but also the electromagnetic wave radiated to at least one of the object O and the background portion 310 through reflection by the reflector 300 is used. Therefore, the number of electromagnetic waves used for detecting at least one of the object O and the background portion 310 is increasing. Therefore, the accuracy of estimation of at least one of the object O and the background portion 310 can be improved.

When the intensity of the electromagnetic wave is attenuated by the reflection by the reflector 300, the generation unit 230 corrects the intensity of the electromagnetic wave of the first signal detected by the detection device 100 according to the attenuation of the intensity of the electromagnetic wave by the reflection of the reflector 300. You may. For example, the generation unit 230 corrects the intensity of the electromagnetic wave of the first signal so that the intensity of the electromagnetic wave of the first signal is substantially equal to the intensity of the electromagnetic wave of the second signal.

(Example 1)
FIG. 3 is a diagram for explaining a method of acquiring information regarding the position of the reflector 300 in the first embodiment. FIG. 4 is a diagram showing an example of a point cloud detected by the detection device 100 in the method shown in FIG.

In this embodiment, as follows, the acquisition unit 210 is a group of points generated by electromagnetic waves emitted from the detection device 100 toward the region including the reflector 300 (reflector 300 and background unit 310). The intensity distribution is used to obtain information about the position of the reflector 300.

In FIG. 3, an electromagnetic wave is irradiated from the detection device 100 in a state where the object O shown in FIG. 1 does not exist. The electromagnetic waves 1 to 3 are reflected by the reflector 300 and irradiated to the background portion 310. The electromagnetic waves 4 to 8 are directly applied to the background portion 310 without being reflected by the reflector 300 (the electromagnetic wave 4 is applied to the boundary between the reflector 300 and the background portion 310).

For electromagnetic waves 1 to 3, the length of the actual path of the electromagnetic wave (solid line in FIG. 1) from the detection device 100 to the background portion 310 is the path shown by the solid line and the broken line in FIG. 1 from the detection device 100. Via, it becomes equal to the length of the pseudo path to the pseudo-irradiated position indicated by the broken line circle in FIG. The pseudo-irradiated position indicated by the broken line circle in FIG. 1 is a position symmetrical with respect to the actual irradiated position of the electromagnetic wave with respect to the reflector 300. When the reflection of the electromagnetic wave by the reflector 300 is not taken into consideration, the background portion 310 detected by the electromagnetic wave reflected by the reflector 300 is detected as if it exists at a pseudo-irradiated position.

In FIG. 4, the broken line circles indicate a point cloud of electromagnetic waves radiated to the background portion 310 after being reflected by the reflector 300, and the solid line circles directly irradiate the background portion 310 without being reflected by the reflector 300. It shows a point cloud of electromagnetic waves. As described above, when the reflection by the reflector 300 is not taken into consideration, the point cloud indicated by the broken line circle and the point cloud indicated by the solid line circle appear to exist on the same plane. However, when the intensity of the electromagnetic wave is attenuated by the reflection by the reflector 300, the intensity of the electromagnetic wave of the point group indicated by the broken line circle is weaker than the intensity of the electromagnetic wave of the point group indicated by the solid line circle. Therefore, based on the intensity distribution of the electromagnetic wave of the point group, as shown by the broken line in FIG. 4, the position of the point group of the electromagnetic wave directly irradiated to the background portion 310 without being reflected by the reflector 300 and the reflector. A boundary that separates the position of the point group of the electromagnetic wave irradiated to the background portion 310 through reflection by the 300 and the boundary that separates the reflector 300 and the background portion 310 from each other is defined. Further, when it is known that the reflector 300 and the background portion 310 are orthogonal to each other, it can be determined that the regions separated from each other with the boundary thereof are orthogonal to each other. In this way, the acquisition unit 210 acquires information regarding the position of the reflector 300.

(Example 2)
FIG. 5 is a diagram for explaining the detection device 100 according to the second embodiment.

The detection device 100 includes a transmission unit 110, a reception unit 120, a movable reflection unit 130, and a beam splitter 140. The transmission unit 110 irradiates an electromagnetic wave, for example, light or a radio wave. The transmission unit 110 is, for example, a laser diode (LD). The receiving unit 120 is, for example, an avalanche photodiode (APD). The movable reflection unit 130 is, for example, a MEMS (Micro Electro Mechanical Systems) mirror or a polygon mirror.

The electromagnetic wave transmitted from the transmission unit 110 is reflected by the beam splitter 140 toward the movable reflection unit 130, and is reflected by the movable reflection unit 130 toward the outside of the detection device 100. The electromagnetic wave directed to the outside of the detection device 100 is reflected by an object (for example, the object O or the background portion 200) outside the detection device 100 and returns to the detection device 100. The light returned to the detection device 100 is reflected by the movable reflecting unit 130 toward the beam splitter 140, passes through the beam splitter 140, and is received by the receiving unit 120. The detection device 100 can measure the distance from the detection device 100 to an object (for example, the object O or the background portion 200) outside the detection device 100 based on the TOF (Time Of Flight). Specifically, the detection device 100 measures the distance based on the time from the transmission of the electromagnetic wave by the transmitting unit 110 to the reception of the electromagnetic wave by the receiving unit 120.

(Example 3)
FIG. 6 is a diagram showing an example of the hardware configuration of the information processing apparatus 200 according to the third embodiment.

The main configuration of the information processing apparatus 200 is realized by using an integrated circuit. This integrated circuit includes a bus 201, a processor 202, a memory 203, a storage device 204, an input / output interface 205, and a network interface 206.

The bus 201 is a data transmission line for the processor 202, the memory 203, the storage device 204, the input / output interface 205, and the network interface 206 to transmit and receive data to and from each other. However, the method of connecting the processors 202 and the like to each other is not limited to the bus connection.

The processor 202 is an arithmetic processing unit realized by using a microprocessor or the like.

The memory 203 is a memory realized by using a RAM (Random Access Memory) or the like.

The storage device 204 is a storage device realized by using a ROM (Read Only Memory), a flash memory, or the like.

The input / output interface 205 is an interface for connecting the information processing device 200 to peripheral devices.

The network interface 206 is an interface for connecting the information processing apparatus 200 to the communication network. The method of connecting the network interface 206 to the communication network may be a wireless connection or a wired connection. The information processing device 200 is connected to the information processing device 200 via the network interface 206.

The storage device 204 stores a program for realizing each functional element of the information processing device 200. The processor 202 realizes each function of the information processing apparatus 200 by reading this program into the memory 203 and executing it.

The hardware configuration of the integrated circuit described above is not limited to the configuration shown in FIG. For example, the program may be stored in memory 203. In this case, the integrated circuit may not include the storage device 204.

The program according to this embodiment may be recorded on a computer-readable recording medium. The recording medium is not limited to a specific aspect, and may be, for example, an optical disk or a hard disk.

Although the embodiments and examples have been described above with reference to the drawings, these are examples of the present invention, and various configurations other than the above can be adopted.

10 Detection system 100 Detection device 110 Transmission unit 120 Reception unit 130 Movable reflection unit 140 Beam splitter 200 Information processing device 200 Background unit 201 Bus 202 Processor 203 Memory 204 Storage device 205 Input / output interface 206 Network interface 210 Acquisition unit 220 Specific unit 230 Generation Part 300 Reflector 310 Background part O Object

Claims (15)

An acquisition unit that acquires information about the position of the reflector,
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the detection is performed. A specific unit that identifies a second signal that indicates an electromagnetic wave that is irradiated from the device and is irradiated to the object without being reflected by the reflector and is reflected by the object.
A generation unit that processes the first signal using the information about the position of the reflector and generates information about the object by processing the second signal.
Information processing device equipped with. In the information processing apparatus according to claim 1,
The specific unit emits electromagnetic waves emitted from the detection device toward the reflector and reflected by the object.
When the length of the path of the electromagnetic wave from the irradiation of the detection device to the irradiation of the object is longer than the length of the path of the electromagnetic wave from the irradiation of the detection device to the arrival at the reflector, the first signal To the electromagnetic waves of
When the length of the path of the electromagnetic wave from the irradiation of the detection device to the irradiation of the object is shorter than the length of the path of the electromagnetic wave from the irradiation of the detection device to the arrival at the reflector, the second signal. To the electromagnetic waves of
Information processing device to classify. In the information processing apparatus according to claim 1 or 2.
The specific unit is an information processing device that classifies an electromagnetic wave that is emitted from the detection device toward a region different from the reflector and is reflected by the object into the electromagnetic wave of the second signal. In the information processing apparatus according to any one of claims 1 to 3,
The generation unit calculates the reflection direction of the electromagnetic wave of the first signal by the reflector, and calculates the irradiation position of the electromagnetic wave of the first signal in the object using the reflection direction. Processing equipment. In the information processing apparatus according to any one of claims 1 to 4,
The generation unit is an information processing device that estimates the type of the object by using a cluster formed by a plurality of irradiated positions of the electromagnetic wave in the object. In the information processing apparatus according to any one of claims 1 to 5,
The generation unit is an information processing device that corrects the intensity of the electromagnetic wave of the first signal detected by the detection device according to the attenuation of the intensity of the electromagnetic wave due to the reflection of the reflector. In the information processing apparatus according to any one of claims 1 to 6,
The information processing unit acquires the information regarding the position of the reflector by using the intensity distribution of the point cloud generated by the electromagnetic wave emitted from the detection device toward the region including the reflector. apparatus. In the information processing apparatus according to any one of claims 1 to 7.
The information processing device including the information indicating the arrival position of the electromagnetic wave in the region including the reflector and the information indicating the direction of the reflector at each arrival position, the information regarding the position of the reflector. In the information processing apparatus according to any one of claims 1 to 8.
The detection device is an information processing device that is LiDAR. In the information processing device according to any one of claims 1 to 9.
An information processing device in which the reflector is a floor. In the information processing apparatus according to any one of claims 1 to 10.
An information processing device in which the object is a person. The computer
The process of acquiring information about the position of the reflector and
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the detection is performed. A step of identifying a second signal that indicates an electromagnetic wave that is irradiated from the device and is irradiated to the object without being reflected by the reflector and reflected by the object.
A step of processing the first signal using the information about the position of the reflector and generating information about the object by processing the second signal.
Information processing methods including. On the computer
The process of acquiring information about the position of the reflector and
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the detection is performed. A step of identifying a second signal that indicates an electromagnetic wave that is irradiated from the device and is irradiated to the object without being reflected by the reflector and reflected by the object.
A step of processing the first signal using the information about the position of the reflector and generating information about the object by processing the second signal.
A program to execute. A computer-readable recording medium containing the program according to claim 13. With the detector
Information processing device and
With
The information processing device
An acquisition unit that acquires information about the position of the reflector,
Using the information about the position of the reflector, the first signal indicating an electromagnetic wave emitted from the detection device, reflected by the reflector, irradiated to the object, and reflected by the object is specified, and the above-mentioned A specific unit that identifies a second signal that indicates an electromagnetic wave that is emitted from the detection device and is emitted from the object without being reflected by the reflector and is reflected by the object.
A generation unit that processes the first signal using the information about the position of the reflector and generates information about the object by processing the second signal.
A detection system.

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