JP2024062351A - Information processing device, information processing method, and information processing program - Google Patents

Abstract

[Problem] To provide an information processing device, information processing method, and information processing program that can reduce the amount of data output to a specified output destination when outputting shooting information of an object photographed by a camera to the output destination. [Solution] In an information processing device having at least one processor, the processor outputs point information capturing the photographed object as a point from images of objects P1-P3 photographed by the camera, and based on the point information output from images of multiple frames N, N+1, and N+2, when a certain number or more points are detected whose movement direction is either up or down and in the same direction, and whose vertical movement amount is within a certain range, output only points other than the certain number or more of points detected from among the points included in the point information. [Selected Figure] Figure 15

Description

The present disclosure relates to an information processing device, an information processing method, and an information processing program.

Patent document 1 describes a vehicle with an autonomous driving function.

JP 2022-035198 A

When a vehicle is driven autonomously as in Patent Document 1, the autonomous driving is controlled using multiple images of the vehicle's surroundings captured by a camera. Therefore, in conventional autonomous driving, the processor that controls the autonomous driving acquires a large amount of data, which causes a problem of a large amount of calculations being required to control the autonomous driving.

The present disclosure therefore aims to provide an information processing device, an information processing method, and an information processing program that can reduce the amount of data output to a specified output destination when outputting shooting information of an object photographed by a camera to the output destination.

The information processing device disclosed herein includes at least one processor, which outputs point information that captures an object captured by a camera as a point from an image of the object, and when a certain number or more points are detected that have a movement direction in either the up or down direction and in the same direction, and that have a movement amount in the up or down direction within a certain range, based on the point information output from multiple frames of images, only points other than the certain number or more of points detected are output from among the points included in the point information.

In addition, in the information processing device disclosed herein, when the moving body on which the camera is mounted is moving straight, the processor further outputs points whose left-right movement amount is equal to or greater than a threshold value from among a certain number or more of detected points.

In the information processing method disclosed herein, a computer executes a process in which, from an image of an object captured by a camera, point information is output in which the captured object is captured as a point, and, based on the point information output from images of multiple frames, if a certain number or more of points are detected whose movement direction is either vertical or vertical and in the same direction, and whose vertical movement amount is within a certain range, the computer outputs only points other than the certain number or more of points detected from among the points included in the point information.

The information processing program disclosed herein causes a computer to execute a process of outputting point information in which an object captured by a camera is captured as a point from an image of the object, and, based on the point information output from images of multiple frames, outputting only points other than the detected number of points from among the points included in the point information if the movement direction is either vertical or vertical, the movement direction is the same, and a certain number or more points are detected with a certain amount of vertical movement within a certain range.

Note that the above summary of the invention does not list all of the necessary features of the present invention. Also, subcombinations of these features may also be inventions.

FIG. 1 is a schematic diagram showing an example of a vehicle equipped with a Central Brain. 1 is a first block diagram illustrating an example of a configuration of an information processing device. FIG. 2 is a second block diagram showing an example of the configuration of the information processing device. FIG. 11 is an explanatory diagram showing an example of point information output by a MoPU; FIG. 13 is a third block diagram showing an example of the configuration of an information processing device. FIG. 4 is a fourth block diagram showing an example of the configuration of an information processing device. FIG. 11 is an explanatory diagram showing an example of association between point information and label information. FIG. 1 is an explanatory diagram showing a schematic configuration of a vehicle; 2 is a block diagram showing an example of a functional configuration of a cooling execution device. FIG. FIG. 5 is a fifth block diagram showing an example of the configuration of an information processing device. FIG. 6 is a sixth block diagram showing an example of the configuration of an information processing device. FIG. 1 is a diagram illustrating detection of coordinates of an object in a time series; FIG. 7 is a seventh block diagram showing an example of the configuration of an information processing device. FIG. 2 is an explanatory diagram for explaining an image of an object captured by an event camera. 11 is a diagram for explaining a point information output process executed by the MoPU; FIG. FIG. 2 is an explanatory diagram illustrating an example of a hardware configuration of a computer that functions as an information processing device or a cooling execution device.

Below, we will explain the embodiments of the present disclosure, but the following embodiments do not limit the invention according to the claims. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

First Embodiment
First, a first embodiment according to the present disclosure will be described. As an example, at least a part of the information processing device according to the present disclosure is mounted on a vehicle 100 to perform automatic driving control of the vehicle 100. In addition, the information processing device can provide a driving system that can realize autonomous driving in real time based on data obtained by AI/multivariate analysis/goal seek/strategy planning/optimal probability solution/optimal speed solution/optimal course management/multiple sensor inputs at the edge by Level 6 and is adjusted based on the delta optimal solution.

Here, "Level 6" refers to a level of autonomous driving, and is equivalent to a level higher than Level 5, which represents fully autonomous driving. Although Level 5 represents fully autonomous driving, it is at the same level as a human driving, and there is still a chance of accidents occurring. Level 6 represents a level higher than Level 5, and is equivalent to a level where the chance of accidents occurring is lower than at Level 5.

The computing power at Level 6 is about 1000 times that of Level 5. Therefore, it is possible to achieve high-performance operation control that was not possible at Level 5.

Figure 1 is a schematic diagram showing an example of a vehicle 100 equipped with a Central Brain 15. A plurality of Gate Ways are communicatively connected to the Central Brain 15. The Central Brain 15 is connected to an external cloud server via the Gate Ways. The Central Brain 15 is configured to be able to access the external cloud server via the Gate Ways. On the other hand, due to the presence of the Gate Ways, the Central Brain 15 is configured not to be directly accessible from the outside.

The Central Brain 15 outputs a request signal to the cloud server every time a predetermined time has elapsed. Specifically, the Central Brain 15 outputs a request signal representing an inquiry to the cloud server every billionth of a second. As an example, the Central Brain 15 controls the automatic driving of Level L6 based on multiple pieces of information acquired via the Gate Way.

Figure 2 is a first block diagram showing an example of the configuration of the information processing device 10. The information processing device 10 includes an IPU (Image Processing Unit) 11, a MoPU (Motion Processing Unit) 12, a Central Brain 15, and a memory 16. The Central Brain 15 includes a GNPU (Graphics Neural network Processing Unit) 13 and a CPU (Central Processing Unit) 14.

The IPU 11 is built into an ultra-high resolution camera (not shown) installed in the vehicle 100. The IPU 11 performs predetermined image processing such as Bayer transformation, demosaic, noise removal, and sharpening on the image of the object existing around the vehicle 100 captured by the ultra-high resolution camera, and outputs the processed image of the object at a frame rate of 10 frames/second and a resolution of 12 million pixels, for example. The IPU 11 also outputs identification information that identifies the captured object from the image of the object captured by the ultra-high resolution camera. The identification information is information necessary to identify what the captured object is (for example, whether it is a person or an obstacle). In this embodiment, the IPU 11 outputs label information indicating the type of the captured object (for example, information indicating whether the captured object is a dog, a cat, or a bear) as the identification information. Furthermore, the IPU 11 outputs position information indicating the position of the captured object in the camera coordinate system of the ultra-high resolution camera. The image, label information, and position information output from the IPU 11 are supplied to the Central Brain 15 and memory 16.

The MoPU 12 is built into a separate camera (not shown) other than the ultra-high resolution camera installed in the vehicle 100. The MoPU 12 outputs point information capturing the captured object as a point from an image of the object captured at a frame rate of 100 frames/second or more by a separate camera facing in a direction corresponding to the ultra-high resolution camera, for example at a frame rate of 100 frames/second or more. The point information output from the MoPU 12 is supplied to the Central Brain 15 and the memory 16. In this way, the image used by the MoPU 12 to output the point information and the image used by the IPU 11 to output the identification information are images captured by the separate camera and the ultra-high resolution camera facing in corresponding directions. Here, the "corresponding direction" is the direction in which the shooting range of the separate camera and the shooting range of the ultra-high resolution camera overlap. In the above case, the separate camera faces in a direction overlapping with the shooting range of the ultra-high resolution camera to capture the object. Note that photographing an object with the ultra-high resolution camera and another camera facing in corresponding directions can be achieved, for example, by determining in advance the correspondence relationship between the camera coordinate systems of the ultra-high resolution camera and the other camera.

For example, MoPU12 outputs, as point information, coordinate values of at least two coordinate axes in a three-dimensional orthogonal coordinate system of a point indicating the location of an object. As an example, the coordinate values indicate the center point (or center of gravity) of the object. Furthermore, MoPU12 outputs, as the coordinate values of the two coordinate axes, the coordinate value of the axis (x-axis) along the width direction in the three-dimensional orthogonal coordinate system (hereinafter referred to as the "x-coordinate value") and the coordinate value of the axis (y-axis) along the height direction (hereinafter referred to as the "y-coordinate value"). Note that the x-axis is an axis along the width direction of the vehicle 100, and the y-axis is an axis along the height direction of the vehicle 100.

With the above configuration, the point information for one second output by MoPU12 includes x-coordinate values and y-coordinate values for more than 100 frames, so that based on the point information, it is possible to grasp the movement (movement direction and movement speed) of an object on the x-axis and y-axis in the above-mentioned three-dimensional orthogonal coordinate system. In other words, the point information output by MoPU12 includes position information indicating the position of the object in the above-mentioned three-dimensional orthogonal coordinate system and movement information indicating the movement of the object.

As described above, the point information output from MoPU12 does not include information necessary to identify what the photographed object is (for example, whether it is a person or an obstacle), but only includes information indicating the movement (direction and speed of movement) of the object's center point (or center of gravity) on the x-axis and y-axis. Furthermore, because the point information output from MoPU12 does not include image information, it is possible to dramatically reduce the amount of data output to Central Brain15 and memory16. MoPU12 is an example of a "processor", and the separate camera is an example of a "camera".

As described above, in this embodiment, the frame rate of the separate camera incorporating MoPU12 is greater than the frame rate of the ultra-high resolution camera incorporating IPU11. Specifically, the frame rate of the separate camera is 100 frames/second or more, and the frame rate of the ultra-high resolution camera is 10 frames/second. In other words, the frame rate of the separate camera is 10 times or more the frame rate of the ultra-high resolution camera.

The Central Brain 15 associates the point information output from the MoPU 12 with the label information output from the IPU 11. For example, due to the difference in frame rate between the separate camera and the ultra-high resolution camera, there may be a state in which the Central Brain 15 acquires point information about an object but does not acquire label information. In this state, the Central Brain 15 recognizes the x and y coordinate values of the object based on the point information, but does not recognize what the object is.

After that, when label information about the object is acquired, the Central Brain 15 derives the type of the label information (e.g., PERSON). The Central Brain 15 then associates the label information with the point information acquired above. As a result, the Central Brain 15 recognizes the x-coordinate value and y-coordinate value of the object based on the point information, and recognizes what the object is.

Here, when there are multiple objects, such as object A and object B, photographed by the super-high resolution camera and another camera, the Central Brain 15 associates point information and label information for each object as follows. Due to the difference in frame rate between the other camera and the super-high resolution camera, the Central Brain 15 acquires point information for objects A and B (hereinafter referred to as "point information A" and "point information B"), but there are states in which it does not acquire label information. In this state, the Central Brain 15 recognizes the x and y coordinate values of object A based on point information A, and recognizes the x and y coordinate values of object B based on point information B, but does not recognize what those objects are.

After that, when a piece of label information is acquired, the Central Brain 15 derives the type of the piece of label information (e.g., PERSON). Then, the Central Brain 15 identifies point information to be associated with the piece of label information based on the position information output from the IPU 11 together with the piece of label information and the position information included in the acquired point information A and point information B. For example, the Central Brain 15 identifies point information including position information indicating a position closest to the position of the object indicated by the position information output from the IPU 11, and associates the point information with the piece of label information. When the point information identified above is point information A, the Central Brain 15 associates the piece of label information with point information A, recognizes the x-coordinate value and y-coordinate value of object A based on point information A, and recognizes what object A is.

As described above, when there are multiple objects photographed by the ultra-high resolution camera and another camera, the Central Brain 15 associates the point information with the label information based on the position information output from the IPU 11 and the position information included in the point information output from the MoPU 12.

The Central Brain 15 also recognizes objects (people, animals, roads, traffic lights, signs, crosswalks, obstacles, buildings, etc.) around the vehicle 100 based on the image and label information output from the IPU 11. The Central Brain 15 also recognizes the position and movement of recognized objects around the vehicle 100 based on the point information output from the MoPU 12. Based on the recognized information, the Central Brain 15 controls the automatic driving of the vehicle 100, for example, by controlling the motor that drives the wheels (speed control), brake control, and steering control. For example, the Central Brain 15 controls the automatic driving of the vehicle 100 so as to avoid collisions with objects based on the position information and movement information included in the point information output from the MoPU 12. In the Central Brain 15, the GNPU 13 may be responsible for processing related to image recognition, and the CPU 14 may be responsible for processing related to vehicle control.

Ultra-high resolution cameras are generally used for image recognition in autonomous driving. Here, it is possible to recognize what objects are included in an image captured by an ultra-high resolution camera. However, this alone is insufficient for autonomous driving in the Level 6 era. In the Level 6 era, it is also necessary to recognize the movement of objects with higher accuracy. By recognizing the movement of objects with higher accuracy using the MoPU 12, for example, the vehicle 100 traveling by autonomous driving can perform an avoidance operation to avoid an obstacle with higher accuracy. However, an ultra-high resolution camera can only capture images at about 10 frames per second, and the accuracy of analyzing the movement of an object is lower than that of a camera equipped with a MoPU 12. On the other hand, a camera equipped with a MoPU 12 can output at a high frame rate of, for example, 100 frames per second.

Therefore, the information processing device 10 according to the first embodiment has two independent processors, an IPU 11 and a MoPU 12. In the information processing device 10, the IPU 11 built into the ultra-high resolution camera is given the role of acquiring information necessary to identify what the photographed object is, and the MoPU 12 built into another camera is given the role of detecting the position and movement of the object. The MoPU 12 captures the photographed object as a point, and analyzes in which direction and at what speed the coordinates of the point move on at least the x-axis and y-axis in the above-mentioned three-dimensional orthogonal coordinate system. Since it is possible to detect the entire contour of the object and what the object is by using the image from the ultra-high resolution camera, it is possible to know how the entire object will behave if it is known, for example, how the center point of the object moves by the MoPU 12.

A method of analyzing only the movement and speed of the object's center point makes it possible to significantly reduce the amount of data output to Central Brain 15 and the amount of calculations in Central Brain 15, compared to determining how the entire image of the object moves. For example, when an image of 1000 pixels x 1000 pixels is output to Central Brain 15 at a frame rate of 1000 frames/second, including color information, 4 billion bits/second of data will be output to Central Brain 15. By having MoPU 12 output only point information indicating the movement of the object's center point, the amount of data output to Central Brain 15 can be compressed to 20,000 bits/second. In other words, the amount of data output to Central Brain 15 is compressed to 1/200,000.

In this way, by combining the low frame rate, high resolution image and label information output from the IPU 11 with the high frame rate, lightweight point information output from the MoPU 12, it is possible to realize object recognition, including object movement, with a small amount of data.

In addition, in the information processing device 10, the Central Brain 15 associates the point information output from the MoPU 12 with the label information output from the IPU 11, thereby making it possible to grasp information regarding what kind of object is moving in what way.

Second Embodiment
Next, a second embodiment of the present invention will be described while omitting or simplifying parts that overlap with the above embodiment.

Figure 3 is a second block diagram showing an example of the configuration of the information processing device 10. As shown in Figure 3, the information processing device 10 mounted on the vehicle 100 includes a MoPU 12L corresponding to the left eye, a MoPU 12R corresponding to the right eye, an IPU 11, and a Central Brain 15.

MoPU12L includes a camera 30L, a radar 32L, an infrared camera 34L, and a core 17L. MoPU12R includes a camera 30R, a radar 32R, an infrared camera 34R, and a core 17R. In the following, when MoPU12L and MoPU12R are not distinguished from each other, it is referred to as "MoPU12", when camera 30L and camera 30R are not distinguished from each other, it is referred to as "camera 30", when radar 32L and radar 32R are not distinguished from each other, it is referred to as "radar 32", when infrared camera 34L and infrared camera 34R are not distinguished from each other, it is referred to as "infrared camera 34", and when core 17L and core 17R are not distinguished from each other, it is referred to as "core 17".

The camera 30 of the MoPU 12 captures images of objects at a frame rate (120, 240, 480, 960, or 1920 frames/sec) greater than the ultra-high resolution camera of the IPU 11 (e.g., 10 frames/sec). The frame rate of the camera 30 is variable. The camera 30 is an example of a "first camera."

The radar 32 included in the MoPU 12 acquires a radar signal that is a signal based on electromagnetic waves irradiated onto an object and reflected from the object. The infrared camera 34 included in the MoPU 12 is a camera that captures infrared images.

The core 17 (e.g., composed of one or more CPUs) provided in the MoPU 12 extracts feature points for each frame of image captured by the camera 30, and outputs the x-coordinate value and the y-coordinate value of the object in the above-mentioned three-dimensional orthogonal coordinate system as point information. For example, the core 17 takes the center point (center of gravity point) of the object extracted from the image as the feature point. Note that the point information output by the core 17 includes position information and movement information, as in the above embodiment.

The IPU 11 is equipped with an ultra-high resolution camera (not shown) and outputs an image of an object captured by the ultra-high resolution camera, label information indicating the type of the object, and position information indicating the position of the object in the camera coordinate system of the ultra-high resolution camera.

The Central Brain 15 acquires the point information output from the MoPU 12, and the image, label information, and position information output from the IPU 11. The Central Brain 15 then associates the label information of an object that exists at a position corresponding to the position information included in the point information output from the MoPU 12 and the position information output from the IPU 11 with the point information. This makes it possible for the information processing device 10 to associate information about the object indicated by the label information with the position and movement of the object indicated by the point information.

Here, MoPU 12 changes the frame rate of camera 30 in response to a predetermined factor. In this embodiment, MoPU 12 changes the frame rate of camera 30 in response to a score related to the external environment, which is an example of a predetermined factor. In this case, MoPU 12 calculates a score related to the external environment for vehicle 100, and changes the frame rate of camera 30 in response to the calculated score. MoPU 12 then outputs a control signal to camera 30 to cause it to capture images at the changed frame rate. As a result, camera 30 captures images at the frame rate indicated by the control signal. With this configuration, the information processing device 10 can capture images of an object at a frame rate suitable for the external environment.

The information processing device 10 mounted on the vehicle 100 is equipped with multiple types of sensors (not shown). The MoPU 12 calculates the degree of danger regarding the movement of the vehicle 100 as a score regarding the external environment for the vehicle 100 based on the sensor information (e.g., weight center of gravity shift, detection of road material, detection of outside air temperature, detection of outside air humidity, detection of up, down, side, diagonal inclination angle of a slope, road freezing condition, detection of moisture content, material of each tire, wear condition, detection of air pressure, road width, presence or absence of overtaking prohibition, oncoming vehicles, vehicle type information of front and rear vehicles, cruising state of those vehicles, or surrounding conditions (birds, animals, soccer balls, wrecked vehicles, earthquakes, housework, wind, typhoon, heavy rain, light rain, snowstorm, fog, etc.) etc.) acquired from the multiple types of sensors and point information. The degree of danger indicates the degree of danger in the place where the vehicle 100 will be traveling in the future. In this case, the MoPU 12 changes the frame rate of the camera 30 according to the calculated degree of danger. The vehicle 100 is an example of a "moving body". With this configuration, the information processing device 10 can change the frame rate of the camera 30 depending on the degree of danger associated with the movement of the vehicle 100. The sensor is an example of a "detection unit," and the sensor information is an example of "detection information."

For example, the MoPU 12 increases the frame rate of the camera 30 as the calculated risk level increases. When the calculated risk level is less than the first threshold, the MoPU 12 changes the frame rate of the camera 30 to 120 frames/second. When the calculated risk level is equal to or greater than the first threshold and less than the second threshold, the MoPU 12 changes the frame rate of the camera 30 to one of 240, 480, or 960 frames/second. When the calculated risk level is equal to or greater than the second threshold, the MoPU 12 changes the frame rate of the camera 30 to 1920 frames/second. When the risk level is one of the above levels, the MoPU 12 may output a control signal to the radar 32 and the infrared camera 34 to acquire a radar signal and capture an infrared image at a numerical value corresponding to the frame rate, in addition to causing the camera 30 to capture an image at the selected frame rate.

For example, the lower the calculated risk level, the lower the frame rate of the camera 30. When the frame rate of the camera 30 is set to 1920 frames/second and the calculated risk level is equal to or greater than the first threshold and less than the second threshold level, the MoPU 12 changes the frame rate of the camera 30 to one of 240, 480, and 960 frames/second. When the frame rate of the camera 30 is set to 1920 frames/second and the calculated risk level is less than the first threshold level, the MoPU 12 changes the frame rate of the camera 30 to 120 frames/second. When the frame rate of the camera 30 is set to 240, 480, and 960 frames/second and the calculated risk level is less than the first threshold level, the MoPU 12 changes the frame rate of the camera 30 to 120 frames/second. When the frame rate of the camera 30 is set to 240, 480, and 960 frames/second and the calculated risk level is less than the first threshold level, the MoPU 12 changes the frame rate of the camera 30 to 120 frames/second. In this case, as in the above case, a control signal may be output to the radar 32 and the infrared camera 34 so that the radar signal is acquired and the infrared image is captured at a value corresponding to the changed frame rate of the camera 30.

In addition, MoPU12 may calculate the risk level using big data related to driving that is known before the vehicle 100 starts driving, such as long-tail incident AI (Artificial Intelligence) DATA (e.g., trip data of a vehicle equipped with a level 5 autonomous driving control system) or map information, as information for predicting the risk level.

In the above, the degree of danger is calculated as a score related to the external environment, but the index that becomes the score related to the external environment is not limited to the degree of danger. For example, MoPU12 may calculate a score related to the external environment other than the degree of danger based on the moving direction or speed of an object captured by the camera 30, and change the frame rate of the camera 30 according to the score. Hereinafter, a case will be described in which MoPU12 calculates a speed score, which is a score related to the speed of an object captured by the camera 30, and changes the frame rate of the camera 30 according to the speed score. As an example, the speed score is set to be higher as the speed of the object is faster and lower as the speed of the object is slower. Then, MoPU12 increases the frame rate of the camera 30 as the calculated speed score is higher and decreases the frame rate of the camera 30 as the calculated speed score is lower. For this reason, when the calculated speed score is equal to or higher than the threshold value because the speed of the object is fast, MoPU12 changes the frame rate of the camera 30 to 1920 frames/second. Furthermore, if the speed score calculated is less than the threshold because the object's speed is slow, the MoPU 12 changes the frame rate of the camera 30 to 120 frames/second. In this case, similar to the above, a control signal may be output to the radar 32 and the infrared camera 34 so that the radar signal is acquired and the infrared image is captured at a value corresponding to the changed frame rate of the camera 30.

Next, a case will be described in which MoPU12 calculates a direction score, which is a score related to the moving direction of an object captured by camera 30, and changes the frame rate of camera 30 according to the direction score. As an example, the direction score is set to be higher when the moving direction of the object is toward the road and lower when the moving direction is away from the road. MoPU12 increases the frame rate of camera 30 as the calculated direction score increases, and decreases the frame rate of camera 30 as the calculated direction score decreases. Specifically, MoPU12 identifies the moving direction of the object by using AI or the like, and calculates the direction score based on the identified moving direction. Then, when the moving direction of the object is toward the road and the calculated direction score is equal to or greater than a threshold value, MoPU12 changes the frame rate of camera 30 to 1920 frames/second. When the moving direction of the object is away from the road and the calculated direction score is less than the threshold value, MoPU12 changes the frame rate of camera 30 to 120 frames/second. In this case, as in the above case, a control signal may be output to the radar 32 and the infrared camera 34 so that the radar signal is acquired and the infrared image is captured at a value corresponding to the changed frame rate of the camera 30.

MoPU12 may output point information only for objects whose calculated score for the external environment is equal to or greater than a predetermined threshold. In this case, for example, MoPU12 may determine whether or not to output point information for an object according to the moving direction of the object captured by the camera 30. For example, MoPU12 may not output point information for an object that has a low impact on the running of the vehicle 100. Specifically, MoPU12 calculates the moving direction of an object captured by the camera 30, and does not output point information for an object such as a pedestrian moving away from the road. On the other hand, MoPU12 outputs point information for an object approaching the road (for example, an object such as a pedestrian that is about to jump out onto the road). With this configuration, the information processing device 10 does not need to output point information for an object that has a low impact on the running of the vehicle 100.

In the above description, the case where MoPU12 calculates the risk level has been exemplified, but the disclosed technology is not limited to this aspect. For example, instead of MoPU12, Central Brain15 may calculate the risk level. In this case, Central Brain15 calculates the risk level for the movement of vehicle 100 as a score for the external environment for vehicle 100 based on sensor information acquired from multiple types of sensors and point information output from MoPU12. Then, Central Brain15 outputs an instruction to MoPU12 to change the frame rate of camera 30 according to the calculated risk level.

In addition, in the above description, the case where MoPU 12 outputs point information based on an image captured by camera 30 has been exemplified, but the disclosed technology is not limited to this aspect. For example, MoPU 12 may output point information based on a radar signal and an infrared image instead of an image captured by camera 30. MoPU 12 can derive the x-coordinate value and the y-coordinate value of an object from the infrared image of the object captured by infrared camera 34 in the same manner as the image captured by camera 30. Radar 32 can acquire three-dimensional point cloud data of an object based on a radar signal. That is, radar 32 can detect the coordinate of the z-axis in the above three-dimensional orthogonal coordinate system. Here, the z-axis is an axis along the depth direction of the object and the traveling direction of vehicle 100, and hereinafter, the coordinate value of the z-axis is described as the "z-coordinate value". In this case, the MoPU 12 utilizes the principle of a stereo camera to combine the x- and y-coordinate values of the object photographed by the infrared camera 34 at the same timing as the radar 32 acquires the three-dimensional point cloud data of the object with the z-coordinate value of the object indicated by the three-dimensional point cloud data, and derives the coordinate values of the three coordinate axes (x-axis, y-axis, and z-axis) of the object as point information. The MoPU 12 then outputs the derived point information to the Central Brain 15.

In the above description, the case where MoPU12 derives point information has been exemplified, but the disclosed technology is not limited to this aspect. For example, instead of MoPU12, Central Brain15 may derive point information. The Central Brain15 derives point information by combining information detected by, for example, camera 30L, camera 30R, radar 32, and infrared camera 34. As a specific example, Central Brain15 derives coordinate values of three coordinate axes (x-axis, y-axis, and z-axis) of an object as point information by performing triangulation based on the x-coordinate value and y-coordinate value of an object photographed by camera 30L and the x-coordinate value and y-coordinate value of an object photographed by camera 30R.

In the above description, the Central Brain 15 controls the automatic driving of the vehicle 100 based on the image and label information output from the IPU 11 and the point information output from the MoPU 12, but the disclosed technology is not limited to this aspect. For example, the Central Brain 15 may control the operation of a robot based on the above information output from the IPU 11 and the MoPU 12. The robot may be a humanoid smart robot that performs work in place of a human. In this case, the Central Brain 15 controls the operation of the robot's arms, palms, fingers, feet, etc. based on the above information output from the IPU 11 and the MoPU 12 to perform operations such as grasping, grabbing, holding, carrying, moving, carrying, throwing, kicking, and avoiding an object. When the Central Brain 15 controls the operation of the robot, the IPU 11 and MoPU 12 may be mounted at the positions of the right and left eyes of the robot. In other words, the right eye may be equipped with an IPU 11 and MoPU 12 for the right eye, and the left eye may be equipped with an IPU 11 and MoPU 12 for the left eye.

Third Embodiment
Next, a third embodiment of the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
As an example, the information processing apparatus 10 according to the third embodiment has the same configuration as that of the first embodiment shown in FIG.

The MoPU12 according to the third embodiment outputs, as point information, the coordinate values of at least two diagonal vertices of a polygon that encloses the contour of an object recognized from an image captured by a separate camera. As in the first embodiment, the coordinate values are the x and y coordinate values of the object in the above-mentioned three-dimensional orthogonal coordinate system.

Figure 4 is an explanatory diagram showing an example of point information output by MoPU12. In Figure 4, bounding boxes 21, 22, 23, and 24 that surround the contours of four objects included in an image captured by a separate camera are shown. Figure 4 also shows an example in which MoPU12 outputs, as point information, the coordinate values of two diagonal points of the vertices of the rectangular bounding boxes 21, 22, 23, and 24 that surround the contours of the objects. In this way, MoPU12 may capture objects not as points but as objects of a certain size.

In addition, when an object is regarded as an object having a certain size, MoPU12 may output, as point information, the coordinate values of multiple vertices of a polygon surrounding the contour of the object, rather than the coordinate values of two diagonal points of the vertices of the polygon surrounding the contour of the object recognized from an image captured by a separate camera. For example, in the example of FIG. 4, MoPU12 may output, as point information, the coordinate values of all four vertices of bounding boxes 21, 22, 23, and 24 that surround the contour of the object in a rectangular shape.

Fourth Embodiment
Next, a fourth embodiment of the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
As an example, the information processing apparatus 10 according to the fourth embodiment has the same configuration as that of the first embodiment shown in FIG.

The vehicle 100 on which the information processing device 10 according to the fourth embodiment is mounted is equipped with sensors consisting of at least one of radar, LiDAR, high-pixel, telephoto, ultra-wide-angle, 360-degree, high-performance cameras, vision sensors, sound sensors, ultrasonic sensors, vibration sensors, infrared sensors, ultraviolet sensors, radio wave sensors, temperature sensors, and humidity sensors. Examples of sensor information that the information processing device 10 receives from the sensors include shifting of the center of gravity of body weight, detection of road material, detection of outside air temperature, detection of outside air humidity, detection of up, down, side, and diagonal inclination angles of a slope, how the road is frozen, detection of moisture content, material of each tire, wear condition, detection of air pressure, road width, presence or absence of overtaking prohibition, oncoming vehicles, vehicle type information of the front and rear vehicles, cruising state of those vehicles, surrounding conditions (birds, animals, soccer balls, wrecked vehicles, earthquakes, fires, wind, typhoons, heavy rain, light rain, blizzards, fog, etc.), etc. The sensors are an example of a "detection unit," and the sensor information is an example of "detection information."

The Central Brain 15 according to the fourth embodiment calculates control variables for controlling the autonomous driving of the vehicle 100 based on sensor information detected by the sensors. The Central Brain 15 acquires sensor information every billionth of a second. Specifically, the Central Brain 15 calculates control variables for controlling the wheel speed, inclination, and suspension supporting the wheels of each of the four wheels of the vehicle 100. The inclination of the wheels includes both the inclination of the wheels with respect to an axis horizontal to the road and the inclination of the wheels with respect to an axis perpendicular to the road. In this case, the Central Brain 15 calculates a total of 16 control variables for controlling the wheel speed of each of the four wheels, the inclination of each of the four wheels with respect to an axis horizontal to the road, the inclination of each of the four wheels with respect to an axis perpendicular to the road, and the suspension supporting each of the four wheels.

Then, the Central Brain 15 controls the automatic driving of the vehicle 100 based on the control variables calculated above, the point information output from the MoPU 12, and the label information output from the IPU 11. Specifically, the Central Brain 15 controls the in-wheel motors mounted on each of the four wheels based on the above 16 control variables to control the wheel speed, inclination, and suspension supporting each of the four wheels of the vehicle 100 to perform automatic driving. In addition, the Central Brain 15 recognizes the position and movement of an object that is recognized as being present around the vehicle 100 based on the point information and label information, and controls the automatic driving of the vehicle 100 based on the recognized information, for example, to avoid a collision with the object. In this way, the Central Brain 15 controls the automatic driving of the vehicle 100, so that, for example, when the vehicle 100 is traveling along a mountain road, it can perform optimal steering for that mountain road, and when the vehicle 100 is parked in a parking lot, it can drive at an optimal angle for that parking lot.

Here, the Central Brain 15 may be capable of inferring control variables from the above sensor information and information obtainable via a network from a server (not shown) or the like, using machine learning, more specifically, deep learning. In other words, the Central Brain 15 may be configured with AI.

The Central Brain 15 can obtain control variables by performing multivariate analysis using the integral method as shown in the following formula (1) (see, for example, formula (2)) using the computational power of the sensor information and long-tail incident AI data every billionth of a second (hereinafter also referred to as "Level 6 computational power") used to realize Level 6. More specifically, while obtaining the integral value of the delta values of various Ultra High Resolutions using the Level 6 computational power, each control variable is obtained at the edge level and in real time, and the result (i.e., each control variable) occurring in the next billionth of a second can be obtained with the highest probability theory value. To achieve this, for example, an integral value obtained by time integrating delta values (e.g., small time change values) of a function that can identify each variable (e.g., the above sensor information and information obtainable via a network) such as air resistance, road resistance, road elements (e.g., debris), and slip coefficient is input to the deep learning model of Central Brain 15 (e.g., a trained model obtained by performing deep learning on a neural network). The deep learning model of Central Brain 15 outputs a control variable (e.g., a control variable with the highest confidence (i.e., evaluation value)) corresponding to the input integral value. The control variable is output in units of one billionth of a second.

As an example, in formula (1), "f(A)" is a formula in which a function indicating the behavior of each variable, such as air resistance, road resistance, road elements (e.g., garbage), and slip coefficient, is simplified and expressed. Also, as an example, formula (1) is a formula indicating the time integral v of "f(A)" from time a to time b. In formula (2), DL indicates deep learning (e.g., a deep learning model optimized by performing deep learning on a neural network), dA _n /dt indicates the delta value of f(A, B, C, D, ..., N), A, B, C, D, ..., N indicate each variable, such as air resistance, road resistance, road elements (e.g., garbage), and slip coefficient, f(A, B, C, D, ..., N) indicates a function indicating the behavior of A, B, C, D, ..., N, and V _n indicates a value (control variable) output from a deep learning model optimized by performing deep learning on a neural network.

Note that, although an example is given here in which an integral value obtained by time-integrating the delta value of a function is input to the deep learning model of Central Brain 15, this is merely one example. For example, an integral value (e.g., a result occurring in the next billionth of a second) obtained by time-integrating the delta value of a function indicating the behavior of each variable such as air resistance, road resistance, road elements, and slip coefficient may be inferred by the deep learning model of Central Brain 15, and the integral value with the highest confidence (i.e., evaluation value) may be obtained by Central Brain 15 every billionth of a second as the inference result.

In addition, although an example is given here of inputting an integral value to a deep learning model and outputting an integral value from a deep learning model, this is merely one example, and the technology of the present disclosure can be realized even without using an integral value. For example, values corresponding to A, B, C, D, ..., N are used as example data, and a value corresponding to at least one control variable (e.g., the result that will occur in the next billionth of a second) is used as correct answer data, and deep learning using teacher data is performed on a neural network, so that at least one control variable is inferred by an optimized deep learning model.

The control variables obtained by the Central Brain 15 can be further refined by increasing the number of Deep Learning rounds. For example, more accurate control variables can be calculated using huge amounts of data such as tires, motor rotation, steering angle, road material, weather, garbage, effects of quadratic deceleration, slippage, loss of balance and how to control steering and speed to regain balance, and long-tail incident AI data.

Fifth Embodiment
Next, a fifth embodiment according to the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
Fig. 5 is a third block diagram showing an example of the configuration of the information processing device 10. Note that Fig. 5 shows only a portion of the configuration of the information processing device 10.

As shown in FIG. 5, in MoPU 12, visible light images and infrared images of an object captured by camera 30 are each input to core 17 at a frame rate of 100 frames/second or more. The camera 30 includes a visible light camera 30A capable of capturing visible light images of the object and an infrared camera 30B capable of capturing infrared images of the object. Core 17 then outputs point information to Central Brain 15 based on at least one of the input visible light images and infrared images.

Here, when core 17 can identify an object from a visible light image of the object captured by visible light camera 30A, it outputs point information based on the visible light image. On the other hand, when core 17 cannot capture an object from the visible light image due to a predetermined factor, it outputs point information based on an infrared image of the object captured by infrared camera 30B. For example, it is assumed that core 17 cannot capture an object from a visible light image due to the influence of darkness as a predetermined factor. In this case, core 17 detects the heat of the object using infrared camera 30B, and outputs point information of the object based on the infrared image that is the detection result. However, without being limited to this, core 17 may output point information based on a visible light image and an infrared image.

MoPU12 also synchronizes the timing of capturing visible light images by visible light camera 30A with the timing of capturing infrared images by infrared camera 30B. Specifically, MoPU12 outputs a control signal to camera 30 so that visible light images and infrared images are captured at the same timing. This synchronizes the number of images captured per second by visible light camera 30A and the number of images captured per second by infrared camera 30B (e.g., 1920 frames/second).

Sixth Embodiment
Next, a sixth embodiment according to the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
Fig. 6 is a fourth block diagram showing an example of the configuration of the information processing device 10. Note that Fig. 6 shows only a part of the configuration of the information processing device 10.

6, in the MoPU 12, the image of the object captured by the camera 30 and the radar signal based on the reflected wave from the object of the electromagnetic wave irradiated to the object by the radar 32 are input to the core 17 at a frame rate of 100 frames/second or more. Then, the core 17 outputs point information to the Central Brain 15 based on the input image of the object and the radar signal. The core 17 can derive the x-coordinate value and the y-coordinate value of the object from the input image of the object. As described above, the radar 32 can acquire three-dimensional point cloud data of the object based on the radar signal and detect the coordinate of the z-axis in the above-mentioned three-dimensional orthogonal coordinate system. In this case, the core 17 utilizes the principle of a stereo camera to combine the x-coordinate value and the y-coordinate value of the object captured by the camera 30 at the same timing as the timing when the radar 32 acquires the three-dimensional point cloud data of the object and the z-coordinate value of the object indicated by the three-dimensional point cloud data, and derive the coordinate values of the three coordinate axes (x-axis, y-axis, and z-axis) of the object as point information. The image of the object input to the core 17 may include at least one of a visible light image and an infrared image.

MoPU12 also synchronizes the timing at which the camera 30 captures images with the timing at which the radar 32 acquires three-dimensional point cloud data of the object based on the radar signal. Specifically, MoPU12 outputs control signals to the camera 30 and the radar 32 so that they capture images at the same time and acquire three-dimensional point cloud data of the object. This synchronizes the number of images captured per second by the camera 30 with the number of pieces of three-dimensional point cloud data acquired per second by the radar 32 (e.g., 1920 frames/second). In this way, the number of images captured per second by the camera 30 and the number of pieces of three-dimensional point cloud data acquired per second by the radar 32 are greater than the frame rate of the ultra-high resolution camera equipped in the IPU11, i.e., the number of images captured per second by the ultra-high resolution camera.

Seventh Embodiment
Next, a seventh embodiment according to the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
As an example, the information processing apparatus 10 according to the seventh embodiment has the same configuration as that of the first embodiment shown in FIG.

The Central Brain 15 according to the seventh embodiment associates the point information output from the MoPU 12 with the label information at the same timing as when the IPU 11 outputs the label information. Furthermore, when new point information is output from the MoPU 12 after the point information and the label information are associated, the Central Brain 15 also associates the new point information with the label information. The new point information is point information of the same object as the object indicated by the point information associated with the label information, and is one or more pieces of point information between the time the association is performed and the time the next label information is output. In the seventh embodiment, as in the above embodiment, the frame rate of the separate camera incorporating the MoPU 12 is 100 frames/second or more (e.g., 1920 frames/second), and the frame rate of the ultra-high resolution camera incorporating the IPU 11 is 10 frames/second.

Figure 7 is an explanatory diagram showing an example of the correspondence between point information and label information. In the following explanation, the number of point information pieces output per second from MoPU12 is referred to as the "output rate of point information," and the number of label information pieces output per second from IPU11 is referred to as the "output rate of label information."

Figure 7 shows a time series of the output rate of point information P4 for object B14. The output rate of point information P4 for object B14 is 1920 frames/second. Furthermore, point information P4 moves from right to left in the figure. The output rate of label information for object B14 is 10 frames/second, which is lower than the output rate of point information P4.

First, at time t0, label information about object B14 has not been output from IPU 11. Therefore, at time t0, Central Brain 15 recognizes the coordinate values (position information) of object B14 based on point information P4, but does not recognize what object B14 is.

Next, at time t1, label information for object B14 is output from IPU11. Therefore, Central Brain15 derives label information "PERSON" for object B14 based on the label information. Then, Central Brain15 associates the label information "PERSON" derived at time t1 with the coordinate values (position information) of point information P4 output from MoPU12 at time t1. As a result, at time t1, Central Brain15 recognizes the coordinate values (position information) of object B14 based on point information P4 and recognizes what object B14 is.

In FIG. 7, the timing when the next label information for object B14 is output from IPU11 is time t2. Therefore, at time t2, Central Brain15 derives label information "PERSON" for object B14 based on the label information output from IPU11. Then, Central Brain15 associates the label information "PERSON" derived at time t2 with the coordinate values (position information) of point information P4 output from MoPU12 at time t2.

Here, due to the difference in frame rate between the separate camera with MoPU12 built in and the ultra-high resolution camera with IPU11 built in, during the period from time t1 to time t2, the Central Brain15 acquires point information P4 for object B14, but does not acquire label information. In this case, the Central Brain15 associates the point information P4 acquired during the period from time t1 to time t2 with the label information "PERSON" associated with the previous time t1 for the point information P4. Here, the point information P4 acquired by the Central Brain15 during the period from time t1 to time t2 is an example of "new point information". In the example shown in FIG. 7, multiple pieces of point information P4 are output from the MoPU12 during the period from time t1 to time t2, so the Central Brain15 acquires multiple pieces of point information P4. Therefore, in the example shown in FIG. 7, the Central Brain 15 associates each of the multiple pieces of point information P4 acquired during the period from time t1 to time t2 with the label information "PERSON" associated with the immediately preceding time t1. Note that, unlike the example shown in FIG. 7, when one piece of point information P4 is output from the MoPU 12 during the period from time t1 to time t2, the Central Brain 15 associates the one piece of point information P4 with the label information "PERSON" associated with the immediately preceding time t1.

Here, even if there is a period in which the type of object being tracked is uncertain, the Central Brain 15 continuously outputs point information of the object at a high frame rate, so there is a low risk of losing track of the coordinate values (position information) of the object. Therefore, once the Central Brain 15 has associated point information with label information, it is possible to presumptively assign the previous label information to point information acquired before acquiring the next label information.

Eighth embodiment
Next, an eighth embodiment according to the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
When the information processing device 10 that controls the autonomous driving of the vehicle 100 performs advanced arithmetic processing, heat generation becomes an issue. Therefore, the eighth embodiment provides a vehicle 100 having a cooling function for the information processing device 10.

Figure 8 is an explanatory diagram showing the general configuration of the vehicle 100. As shown in Figure 8, the vehicle 100 is equipped with an information processing device 10, a cooling execution device 110, and a cooling unit 120.

The information processing device 10 according to the eighth embodiment is a device that controls the automatic driving of the vehicle 100, and has, as an example, the same configuration as that of the first embodiment shown in FIG. 2. The cooling execution device 110 acquires the object detection result by the information processing device 10, and causes the cooling unit 120 to execute cooling of the information processing device 10 based on the detection result. The cooling unit 120 cools the information processing device 10 using at least one cooling means such as air cooling means, water cooling means, and liquid nitrogen cooling means. In the following, the object to be cooled in the information processing device 10 is described as the Central Brain 15 (more specifically, the CPU 14 constituting the Central Brain 15) that controls the automatic driving of the vehicle 100, but is not limited thereto.

The information processing device 10 and the cooling execution device 110 are communicatively connected via a network (not shown). The network may be any of a vehicle network, the Internet, a LAN (Local Area Network), and a mobile communication network. The mobile communication network may conform to any of the following communication methods: 5G (5th Generation) communication method, LTE (Long Term Evolution) communication method, 3G (3rd Generation) communication method, and 6G (6th Generation) communication method or later.

Figure 9 is a block diagram showing an example of the functional configuration of the cooling execution device 110. As shown in Figure 9, the cooling execution device 110 has, as its functional configuration, an acquisition unit 112, an execution unit 114, and a prediction unit 116.

The acquisition unit 112 acquires the object detection result by the information processing device 10. For example, as the detection result, the acquisition unit 112 acquires point information of the object output from the MoPU 12.

The execution unit 114 executes cooling of the Central Brain 15 based on the object detection result acquired by the acquisition unit 112. For example, when the execution unit 114 recognizes that an object is moving based on the point information of the object output from the MoPU 12, it starts cooling of the Central Brain 15 by the cooling unit 120.

The execution unit 114 is not limited to executing cooling of the Central Brain 15 based on the result of object detection, but may also execute cooling of the Central Brain 15 based on the result of prediction of the operating status of the information processing device 10.

Here, the prediction unit 116 predicts the operating status of the information processing device 10, specifically, the Central Brain 15, based on the object detection result acquired by the acquisition unit 112. For example, the prediction unit 116 acquires a learning model stored in a predetermined storage area. Then, the prediction unit 116 predicts the operating status of the Central Brain 15 by inputting the point information of the object output from the MoPU 12 acquired by the acquisition unit 112 into the learning model. Here, the learning model outputs the status and change amount of the computing power of the Central Brain 15 as the operating status. In addition, the prediction unit 116 may predict and output the temperature change of the information processing device 10, specifically, the Central Brain 15, together with the operating status. For example, the prediction unit 116 predicts the temperature change of the Central Brain 15 based on the number of point information of the object output from the MoPU 12 acquired by the acquisition unit 112. In this case, the prediction unit 116 predicts that the temperature change will be greater as the number of point information pieces increases, and predicts that the temperature change will be smaller as the number of point information pieces decreases.

In the above case, the execution unit 114 starts cooling the Central Brain 15 by the cooling unit 120 based on the prediction result of the operation status of the Central Brain 15 by the prediction unit 116. For example, the execution unit 114 starts cooling by the cooling unit 120 when the state and change amount of the computing power of the Central Brain 15 predicted as the operation status exceeds a predetermined threshold. In addition, the execution unit 114 starts cooling by the cooling unit 120 when the temperature based on the temperature change of the Central Brain 15 predicted as the operation status exceeds a predetermined threshold.

The execution unit 114 may also cause the cooling unit 120 to perform cooling using a cooling means according to the prediction result of the temperature change of the Central Brain 15 by the prediction unit 116. For example, the higher the predicted temperature of the Central Brain 15, the more cooling means the execution unit 114 may cause the cooling unit 120 to perform cooling. As a specific example, when it is predicted that the temperature of the Central Brain 15 will exceed a first threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using one cooling means. On the other hand, when it is predicted that the temperature of the Central Brain 15 will exceed a second threshold that is higher than the first threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using multiple cooling means.

The execution unit 114 may use a more powerful cooling means to cool the Central Brain 15 as the predicted temperature of the Central Brain 15 increases. For example, when the execution unit 114 predicts that the temperature of the Central Brain 15 will exceed a first threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using air cooling means. When the execution unit 114 predicts that the temperature of the Central Brain 15 will exceed a second threshold that is higher than the first threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using water cooling means. When the execution unit 114 predicts that the temperature of the Central Brain 15 will exceed a third threshold that is higher than the second threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using liquid nitrogen cooling means.

Furthermore, the execution unit 114 may determine the cooling means to be used for cooling based on the number of point information of the object output from the MoPU 12 acquired by the acquisition unit 112. In this case, the execution unit 114 may use a more powerful cooling means to cool the Central Brain 15 as the number of point information increases. For example, when the number of point information exceeds a first threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using an air cooling means. Also, when the number of point information exceeds a second threshold higher than the first threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using a water cooling means. Furthermore, when the number of point information exceeds a third threshold higher than the second threshold, the execution unit 114 causes the cooling unit 120 to perform cooling using a liquid nitrogen cooling means.

The Central Brain 15 may be activated when a moving object on the roadway is detected. For example, when a moving object on the roadway is detected while the vehicle 100 is driving autonomously, the Central Brain 15 may perform a calculation process to control the vehicle 100 with respect to the object. As described above, heat generated when the Central Brain 15, which controls the autonomous driving of the vehicle 100, performs advanced calculations is an issue. Therefore, the cooling execution device 110 according to the eighth embodiment predicts heat dissipation of the Central Brain 15 based on the object detection result by the information processing device 10, and performs cooling of the Central Brain 15 before or simultaneously with the start of heat dissipation. This prevents the Central Brain 15 from becoming too hot during the autonomous driving of the vehicle 100, and enables advanced calculations during the autonomous driving.

Ninth embodiment
Next, a ninth embodiment according to the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
The MoPU 12 included in the information processing device 10 according to the ninth embodiment derives a z coordinate value of an object as point information from an image of the object captured by the camera 30. Hereinafter, each aspect of the information processing device 10 according to the ninth embodiment will be described in order.

The information processing device 10 according to the first aspect has the same configuration as that of the second embodiment, as shown in FIG. 3.

In the first aspect, the MoPU 12 derives the z coordinate value of an object as point information from images of the object captured by multiple cameras 30, specifically, cameras 30L and 30R. As described above, when one MoPU 12 is used, it is possible to derive the x and y coordinate values of an object as point information. Here, when two MoPUs 12 are used, it is possible to derive the z coordinate value of an object as point information based on images of the object captured by the two cameras 30, utilizing the principle of a stereo camera. Therefore, in the first aspect, the z coordinate value of an object is derived as point information based on images of the object captured by the camera 30L of MoPU 12L and the camera 30R of MoPU 12R, utilizing the principle of a stereo camera.

The information processing device 10 according to the second aspect has the same configuration as that of the second embodiment, as shown in FIG. 3.

In the second aspect, the MoPU 12 derives the x, y, and z coordinate values of an object as point information from an image of the object captured by the camera 30 and a radar signal based on the electromagnetic waves irradiated by the radar 32 to the object and reflected from the object. As described above, the radar 32 is capable of acquiring three-dimensional point cloud data of the object based on the radar signal. In other words, the radar 32 is capable of detecting the z-axis coordinate in the above-mentioned three-dimensional orthogonal coordinate system. In this case, the MoPU 12 utilizes the principle of a stereo camera to combine the x and y coordinate values of the object captured by the camera 30 at the same timing as the radar 32 acquires the three-dimensional point cloud data of the object with the z-coordinate value of the object indicated by the three-dimensional point cloud data, and derives the coordinate values of the three coordinate axes of the object as point information.

The information processing device 10 according to the third aspect has the configuration shown in FIG. 10. FIG. 10 is a fifth block diagram showing an example of the configuration of the information processing device 10. Note that FIG. 10 shows only a portion of the configuration of the information processing device 10.

In the third aspect, the MoPU 12 derives the z-coordinate value of the object as point information from the image of the object captured by the camera 30 and the result of capturing the structured light irradiated onto the object by the illumination device 130.

As shown in FIG. 10, in MoPU12, an image of an object captured by camera 30 and distortion information indicating distortion of the structured light pattern resulting from capturing by camera 140 the structured light irradiated onto the object by irradiation device 130 are each input to core 17 at a frame rate of 100 frames/second or more. Then, core 17 outputs point information to Central Brain 15 based on the input image of the object and distortion information.

One method for identifying the three-dimensional position or shape of an object is the structured light method. The structured light method irradiates an object with structured light patterned in dots, and obtains depth information from the distortion of the pattern. The structured light method is disclosed, for example, in the reference (http://ex-press.jp/wp-content/uploads/2018/10/018_teledyne_3rd.pdf).

The illumination device 130 shown in FIG. 10 illuminates an object with structured light. The camera 140 captures the structured light illuminated onto the object by the illumination device 130. The camera 140 then outputs distortion information based on the distortion of the photographed structured light pattern to the core 17.

Here, MoPU12 synchronizes the timing of capturing images by camera 30 with the timing of capturing images of structured light by camera 140. Specifically, MoPU12 outputs control signals to camera 30 and camera 140 so that they capture images at the same timing. This synchronizes the number of images captured per second by camera 30 and the number of images captured per second by camera 140 (e.g., 1920 frames/second). In this way, the number of images captured per second by camera 30 and the number of images captured per second by camera 140 are greater than the frame rate of the ultra-high resolution camera equipped in IPU11, i.e., the number of images captured per second by the ultra-high resolution camera.

Then, the core 17 combines the x- and y-coordinate values of the object photographed by the camera 30 at the same time that the structured light is photographed by the camera 140 with distortion information based on the distortion of the pattern of the structured light to derive the z-coordinate value of the object as point information.

The information processing device 10 according to the fourth aspect has the configuration shown in FIG. 11. FIG. 11 is a sixth block diagram showing an example of the configuration of the information processing device 10. Note that FIG. 11 shows only a portion of the configuration of the information processing device 10.

The block diagram shown in FIG. 11 is the same as the block diagram shown in FIG. 2, but with a Lidar sensor 18 added. The Lidar sensor 18 is a sensor that acquires point cloud data including objects existing in three-dimensional space and the road surface on which the vehicle 100 is traveling. The information processing device 10 can derive position information of an object in the depth direction, i.e., the z coordinate value of the object, by using the point cloud data acquired by the Lidar sensor 18. Note that it is assumed that the point cloud data acquired by the Lidar sensor 18 is acquired at intervals longer than the x and y coordinate values of the object output from the MoPU 12. The MoPU 12 also includes a camera 30, similar to the above aspect of the ninth embodiment.

In the fourth aspect, the MoPU 12 utilizes the principle of a stereo camera to combine the x and y coordinate values of the object photographed by the camera 30 at the same time that the Lidar sensor 18 acquires the point cloud data of the object with the z coordinate value of the object indicated by the point cloud data, and derives the coordinate values of the three coordinate axes of the object as point information.

In the fourth aspect, the MoPU12 derives the z coordinate value of the object at time t+1 as point information from the x, y, and z coordinate values of the object at time t and the x and y coordinate values of the object at the next time point after time t (e.g., time t+1). Time t is an example of a "first time point," and time t+1 is an example of a "second time point." In the fourth aspect, the z coordinate value of the object at time t+1 is derived using shape information, i.e., geometry. This will be described in detail below.

Figure 12 is a diagram that shows a schematic of coordinate detection of an object over time. In Figure 12, J indicates the position of an object represented by a rectangle, and the object's position moves over time from J1 to J2. In Figure 12, the coordinate values of the object at time t when the object is located at J1 are (x1, y1, z1), and the coordinate values of the object at time t+1 when the object is located at J2 are (x2, y2, z2).

First, the time t will be described.
The MoPU 12 derives the x-coordinate value and the y-coordinate value of the object from the image of the object captured by the camera 30. Next, the MoPU 12 integrates the z-coordinate value of the object indicated by the point cloud data acquired from the Lidar sensor 18 with the above-mentioned x-coordinate value and y-coordinate value to derive the three-dimensional coordinate value (x1, y1, z1) of the object at time t.

Next, time t+1 will be described.
The MoPU 12 derives the z-coordinate value of the object at time t+1 based on the spatial geometry and the changes in the x-coordinate value and the y-coordinate value of the object from time t to time t+1. The spatial geometry includes the shape of the road surface obtained from the images captured by the super-high resolution camera equipped in the IPU 11 and the point cloud data of the Lidar sensor 18, and the shape of the vehicle 100.

The geometry representing the shape of the road surface is generated in advance at time t. By using the geometry representing the shape of the vehicle 100 together with the geometry representing the shape of the road surface, the MoPU 12 can simulate the vehicle 100 traveling on the road surface and estimate the amount of movement on each of the x-axis, y-axis, and z-axis.

Therefore, MoPU12 derives the x and y coordinate values of the object at time t+1 from the image of the object captured by camera 30. MoPU12 can derive the z coordinate value of the object at time t+1 by calculating, from a simulation, the amount of movement along the z axis when the object changes from the x and y coordinate values (x1, y1) at time t to the x and y coordinate values (x2, y2) at time t+1. MoPU12 then combines the x and y coordinate values with the z coordinate value to derive the three-dimensional coordinate value (x2, y2, z2) of the object at time t+1.

As shown in FIG. 12, since the object moves in the depth direction along with the movement of the planar coordinates (i.e., the x-axis and y-axis), it is necessary to detect the movement in the z-axis direction as well in order to control the autonomous driving of the vehicle 100 with high accuracy. Here, the MoPU 12 may not be able to obtain the z-coordinate value of the object that can be derived from the point cloud data of the Lidar sensor 18 as quickly as the x-coordinate value and the y-coordinate value of the object. Therefore, in the above-mentioned fourth aspect, the MoPU 12 derives the z-coordinate value of the object at time t+1 from the x-coordinate value, y-coordinate value, and z-coordinate value of the object at time t and the x-coordinate value and the y-coordinate value of the object at time t+1. As a result, according to the information processing device 10 according to the above-mentioned fourth aspect, the MoPU 12 can realize two-dimensional motion detection and three-dimensional motion detection by high-speed frame shots with high performance and low data volume.

In addition, in the above description, the case where MoPU12 derives the z coordinate value of an object as point information from an image of the object captured by camera 30 has been exemplified, but the disclosed technology is not limited to this aspect. For example, instead of MoPU12, Central Brain15 may derive the z coordinate value of an object as point information. In this case, Central Brain15 derives the z coordinate value of an object as point information by performing the processing performed by MoPU12 in the above description on the image of the object captured by camera 30. As an example, Central Brain15 derives the z coordinate value of an object as point information from images of the object captured by multiple cameras 30, specifically, cameras 30L and 30R. In this case, the Central Brain 15 uses the principle of a stereo camera to derive the z coordinate value of the object as point information based on the images of the object captured by the camera 30L of the MoPU 12L and the camera 30R of the MoPU 12R.

Tenth Embodiment
Next, a tenth embodiment according to the present invention will be described while omitting or simplifying parts that overlap with the above-described embodiments.
Fig. 13 is a seventh block diagram showing an example of the configuration of the information processing device 10. Note that Fig. 13 shows only a part of the configuration of the information processing device 10.

As shown in FIG. 13, in MoPU12, an image of an object captured by event camera 30C (hereinafter, sometimes referred to as "event image") is input to core 17. Then, core 17 outputs point information to central brain 15 based on the input event image. Note that the event camera is disclosed, for example, in reference literature (https://dendenblog.xyz/event-based-camera/).

Figure 14 is an explanatory diagram for explaining an image of an object (event image) captured by event camera 30C. Figure 14 (A) is a diagram showing an object to be captured by event camera 30C. Figure 14 (B) is a diagram showing an example of an event image. Figure 14 (C) is a diagram showing an example of the center of gravity of the difference between an image captured at the current time and an image captured at the previous time, which is represented by the event image, calculated as point information. In the event image, the difference between the image captured at the current time and the image captured at the previous time is extracted as a point. For this reason, when event camera 30C is used, for example, as shown in Figure 14 (B), points of each moving part of the person area shown in Figure 14 (A) are extracted.

In response to this, as shown in FIG. 14(C), the core 17 extracts the person object, and then extracts the coordinates of the feature point (e.g., only one point) that represents the person area. This makes it possible to reduce the amount of data transferred to the Central Brain 15 and memory 16. Since the event image allows the person object to be extracted at any frame rate, in the case of the event camera 30C, it is possible to extract the person object at a frame rate equal to or higher than the maximum frame rate (e.g., 1920 frames/second) of the camera 30 mounted on the MoPU 12 in the above embodiment, and the point information of the object can be captured with high accuracy.

In the information processing device 10 according to the tenth embodiment, the MoPU 12 may include a visible light camera 30A in addition to the event camera 30C, as in the above embodiment. In this case, in the MoPU 12, the visible light image and the event image of the object captured by the visible light camera 30A are input to the core 17. The core 17 then outputs point information to the Central Brain 15 based on at least one of the input visible light image and the event image.

For example, when the core 17 can identify an object from a visible light image of the object captured by the visible light camera 30A, the core 17 outputs point information based on the visible light image. On the other hand, when the core 17 cannot capture an object from the visible light image due to a predetermined factor, the core 17 outputs point information based on the event image. The predetermined factor includes at least one of a case where the moving speed of the object is equal to or greater than a predetermined value and a case where the change in the amount of ambient light per unit time is equal to or greater than a predetermined value. For example, when the object moves at a high speed and the object cannot be captured from the visible light image, the core 17 identifies the object based on the event image and outputs the x-coordinate value and the y-coordinate value of the object as point information. Also, when the object cannot be captured from the visible light image due to a sudden change in the amount of ambient light such as backlighting, the core 17 identifies the object based on the event image and outputs the x-coordinate value and the y-coordinate value of the object as point information. With this configuration, the information processing device 10 can use the camera 30 for capturing an object depending on the predetermined factor.

Eleventh Embodiment
Next, an eleventh embodiment according to the present invention will be described while omitting or simplifying parts that overlap with the above-mentioned embodiments.
As an example, the information processing apparatus 10 according to the eleventh embodiment has the same configuration as that of the first embodiment shown in FIG.

As in the first embodiment, the MoPU 12 according to the eleventh embodiment outputs point information that captures an object as a point from an image of the object captured by a separate camera.

As shown in FIG. 15, when the MoPU 12 detects a certain number of points whose movement direction is either vertical or vertical and is the same direction based on the point information output from the images of multiple frames, and whose vertical movement amount is within a certain range, the MoPU 12 outputs only the points included in the point information other than the certain number of points detected. Note that the vertical direction here refers to the vertical direction of the image, which corresponds to the height direction of the vehicle 100. Also, the left-right direction here refers to the left-right direction of the image, which corresponds to the width direction of the vehicle 100. In this case, the certain range may be set in advance as a fixed value, or may be set according to the condition of the road surface. Also, the certain number in this case may be set in advance as a fixed value, or may be set according to the number of points included in the point information, for example, a value of 10% of the number of points included in the point information.

Figure 15 shows an example in which the point information includes three points P1, P2, and P3 in each of three consecutive frame images. Figure 15 also shows an example in which points P1 and P2 move in the same vertical direction, and the amount of vertical movement is within a certain range. Figure 15 also shows an example in which point P3 moves in the upper left direction and then in the lower left direction.

In the example of FIG. 15, the MoPU 12 outputs only point P3 from among the three points P1, P2, and P3 included in the point information based on the point information output from the images of three consecutive frames. This is because it is estimated that points P1 and P2 appear to be moving within the image because the vehicle 100 bounces due to the influence of the road surface condition, etc., even though points P1 and P2 are actually stationary.

The point information representing the points output by the MoPU 12 is associated with the label information output by the IPU 11 by the Central Brain 15, as in the first embodiment.

As described above, according to this embodiment, among the point information to be output, information that represents points that are actually stationary but are estimated to appear to be moving in the image is excluded from the output. Therefore, according to this embodiment, when point information that is the photographic information of an object photographed by a camera is output to a specified output destination, the amount of data output to the output destination can be reduced.

In the eleventh embodiment, when the vehicle 100 is moving straight, the MoPU 12 may further output points whose left/right movement amount is equal to or greater than a threshold value from among a certain number or more of detected points. The MoPU 12 can determine whether the vehicle 100 is moving straight or not using a known technique, such as a technique for determining using the steering angle of the vehicle 100, or a technique for determining using the left/right wheel speed ratios of the front and rear wheels.

In the 11th embodiment, the Central Brain 15 may also execute a process executed by the MoPU 12 to output only points other than a certain number of points detected from among the points included in the point information.

16 shows an example of a hardware configuration of a computer 1200 functioning as an information processing device 10 or a cooling execution device 110. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or to execute operations or one or more "parts" associated with the device according to the present embodiment, and/or to execute a process or a step of the process according to the present embodiment. Such a program can be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216, which are connected to each other by a host controller 1210. The computer 1200 also includes input/output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input/output controller 1220. The DVD drive may be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive, a solid state drive, etc. The computer 1200 also includes a ROM 1230 and a legacy input/output unit such as a keyboard, which are connected to the input/output controller 1220 via an input/output chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 into a frame buffer or the like provided in the RAM 1214 or into itself, and causes the image data to be displayed on the display device 1218.

The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and/or writes programs and data to an IC card.

ROM 1230 stores therein a boot program, etc., executed by computer 1200 upon activation, and/or a program that depends on the hardware of computer 1200. I/O chip 1240 may also connect various I/O units to I/O controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

The programs are provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The programs are read from the computer-readable storage medium, installed in storage device 1224, RAM 1214, or ROM 1230, which are also examples of computer-readable storage media, and executed by CPU 1212. The information processing described in these programs is read by computer 1200, and brings about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be constructed by realizing the operation or processing of information according to the use of computer 1200.

For example, when communication is performed between computer 1200 and an external device, CPU 1212 may execute a communication program loaded into RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 reads transmission data stored in a transmission buffer area provided in RAM 1214, storage device 1224, a DVD-ROM, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area or the like provided on the recording medium.

The CPU 1212 may also cause all or a necessary portion of a file or database stored in an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), an IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. The CPU 1212 may then write back the processed data to the external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search/replacement, etc., as described throughout this disclosure and specified by the instruction sequence of the program, and writes back the results to the RAM 1214. The CPU 1212 may also search for information in a file, database, etc. in the recording medium. For example, when multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 may search for an entry whose attribute value of the first attribute matches a specified condition from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

The above-described programs or software modules may be stored in a computer-readable storage medium on the computer 1200 or in the vicinity of the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the programs to the computer 1200 via the network.

The blocks in the flowcharts and block diagrams in this embodiment may represent stages of a process in which an operation is performed or "parts" of a device responsible for performing the operation. Particular stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and/or a processor provided with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuitry may include digital and/or analog hardware circuits and may include integrated circuits (ICs) and/or discrete circuits. The programmable circuitry may include reconfigurable hardware circuits including AND, OR, XOR, NAND, NOR, and other logical operations, flip-flops, registers, and memory elements, such as, for example, field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs).

A computer-readable storage medium may include any tangible device capable of storing instructions that are executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon comprises an article of manufacture that includes instructions that can be executed to create means for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disk read-only memories (CD-ROMs), digital versatile disks (DVDs), Blu-ray disks, memory sticks, integrated circuit cards, and the like.

The computer readable instructions may include either assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc., and conventional procedural programming languages such as the "C" programming language or similar programming languages.

Computer readable instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or to a programmable circuit, either locally or over a local area network (LAN), a wide area network (WAN) such as the Internet, etc., so that the processor or programmable circuit executes the computer readable instructions to generate means for performing the operations specified in the flowcharts or block diagrams. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

The present invention has been described above using an embodiment, but the technical scope of the present invention is not limited to the scope described in the above embodiment. It is clear to those skilled in the art that various modifications and improvements can be made to the above embodiment. It is clear from the claims that forms incorporating such modifications or improvements can also be included in the technical scope of the present invention.

The order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before" or "prior to," and it should be noted that the processes may be performed in any order, unless the output of a previous process is used in a later process. Even if the operational flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, it does not mean that it is essential to perform the processes in that order.

In the above embodiment, the processes executed by each processor (e.g., IPU11, MoPU12, and Central Brain15) are merely examples, and the processor that executes each process is not limited. For example, the processes executed by MoPU12 in the above embodiment may be executed by Central Brain15 instead of MoPU12, or may be executed by a processor other than IPU11, MoPU12, and Central Brain15.

<Appendix 1>
(1)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
Equipped with
Information processing device.

(2)
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
An information processing device as described in (1).

(3)
The frame rate of the first camera is variable;
The first processor changes the frame rate of the first camera in response to a predetermined factor.
An information processing device according to (1) or (2).

(4)
The first processor calculates a score related to an external environment for a predetermined object.
An information processing device according to (3).

(5)
The first processor changes a frame rate of the first camera in response to the calculated score regarding the external environment.
An information processing device according to (4).

(6)
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
An information processing method in which processing is performed by a computer.

(7)
On the computer,
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
An information processing program for executing processing.

<Appendix 2>
(1)
a first processor that outputs, from an image of an object photographed by a first camera, coordinate values of at least two coordinate axes in a three-dimensional orthogonal coordinate system of a point indicating a position of the photographed object;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the coordinate values output from the first processor with the identification information output from the second processor;
Equipped with
Information processing device.

(2)
the first processor outputs the coordinate values of at least two diagonal vertices of a polygon surrounding the contour of the object recognized from the image captured by the first camera;
An information processing device as described in (1).

(3)
The first processor outputs the coordinate values of a plurality of vertices of a polygon surrounding a contour of the object recognized from the image captured by the first camera.
An information processing device as described in (2).

(4)
outputting, from an image of an object photographed by a first camera, coordinate values of at least two coordinate axes in a three-dimensional orthogonal coordinate system of a point indicating a position of the photographed object;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the coordinate values with the identification information;
An information processing method in which processing is performed by a computer.

(5)
On the computer,
outputting, from an image of an object photographed by a first camera, coordinate values of at least two coordinate axes in a three-dimensional orthogonal coordinate system of a point indicating a position of the photographed object;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the coordinate values with the identification information;
An information processing program for executing processing.

<Appendix 3>
(1)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor and controls automatic driving of a moving body based on the point information and the identification information;
Equipped with
Information processing device.

(2)
The third processor,
Calculating a control variable for controlling the autonomous driving of the moving object based on the detection information detected by the detection unit;
controlling the automatic driving of the moving body based on the calculated control variable, the point information, and the identification information;
An information processing device as described in (1).

(3)
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information, and controlling automatic driving of the moving body based on the point information and the identification information.
An information processing method in which processing is performed by a computer.

(4)
On the computer,
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information, and controlling automatic driving of the moving body based on the point information and the identification information.
An information processing program for executing processing.

<Appendix 4>
(1)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
The frame rate of the first camera is greater than the frame rate of the second camera.
Information processing device.

(2)
The frame rate of the first camera is 10 times or more the frame rate of the second camera.
An information processing device as described in (1).

(3)
The frame rate of the first camera is 100 frames/second or more, and the frame rate of the second camera is 10 frames/second.
An information processing device as described in (2).

(4)
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera having a frame rate lower than that of the first camera and facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information;
An information processing method in which processing is performed by a computer.

(5)
On the computer,
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera having a frame rate lower than that of the first camera and facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information;
An information processing program for executing processing.

<Appendix 5>
(1)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
The first processor calculates a degree of danger related to movement of a predetermined moving object as a score related to an external environment for the moving object based on the detection information detected by the detection unit and the point information.
Information processing device.

(2)
The frame rate of the first camera is variable;
The first processor changes a frame rate of the first camera in accordance with the calculated degree of risk.
An information processing device as described in (1).

(3)
The degree of danger indicates the degree of danger through which the moving object will travel in the future.
An information processing device according to (1) or (2).

(4)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
The third processor calculates a degree of danger related to movement of a predetermined moving object as a score related to an external environment for the moving object based on the detection information detected by the detection unit and the point information.
Information processing device.

(5)
The frame rate of the first camera is variable;
The third processor outputs to the first processor an instruction to change a frame rate of the first camera in accordance with the calculated degree of risk.
An information processing device according to (4).

(6)
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Corresponding the point information and the identification information;
Calculating a degree of danger related to the movement of a predetermined moving object as a score related to an external environment for the moving object based on the detection information detected by the detection unit and the point information.
An information processing method in which processing is performed by a computer.

(7)
On the computer,
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Corresponding the point information and the identification information;
Calculating a degree of danger related to the movement of a predetermined moving object as a score related to an external environment for the moving object based on the detection information detected by the detection unit and the point information.
An information processing program for executing processing.

<Appendix 6>
(1)
a first processor that outputs point information that captures the photographed object as a point based on at least one of a visible light image and an infrared image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
Information processing device.

(2)
when the first processor cannot capture the object from a visible light image of the object captured by a visible light camera included in the first camera due to a predetermined factor, the first processor outputs the point information based on an infrared image of the object captured by an infrared camera included in the first camera.
An information processing device as described in (1).

(3)
The first processor synchronizes a timing of capturing the visible light image by the visible light camera and a timing of capturing the infrared image by the infrared camera.
An information processing device as described in (2).

(4)
outputting point information representing the photographed object as a point based on at least one of a visible light image and an infrared image of the object photographed by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information;
An information processing method in which processing is performed by a computer.

(5)
On the computer,
outputting point information representing the photographed object as a point based on at least one of a visible light image and an infrared image of the object photographed by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information;
An information processing program for executing processing.

<Appendix 7>
(1)
a first processor that outputs point information that captures the photographed object as a point based on an image of the object photographed by the first camera and a radar signal based on a reflected wave from the object of an electromagnetic wave irradiated to the object by a radar;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
Information processing device.

(2)
The first processor synchronizes a timing of capturing the image by the first camera with a timing of acquiring three-dimensional point cloud data of the object based on the radar signal by the radar.
An information processing device as described in (1).

(3)
The number of images taken by the first camera per unit time and the number of three-dimensional point cloud data acquired by the radar per unit time are greater than the number of images taken by the second camera per unit time.
An information processing device according to (1) or (2).

(4)
outputting point information in which the photographed object is captured as a point from an image of the object photographed by the first camera and a radar signal based on a reflected wave from the object of an electromagnetic wave irradiated to the object by a radar;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information;
An information processing method in which processing is performed by a computer.

(5)
On the computer,
outputting point information in which the photographed object is captured as a point from an image of the object photographed by the first camera and a radar signal based on a reflected wave from the object of an electromagnetic wave irradiated to the object by a radar;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the identification information;
An information processing program for executing processing.

<Appendix 8>
(1)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs label information indicating a type of the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the label information output from the second processor;
Equipped with
Information processing device.

(2)
The third processor associates position information of the object indicated by the point information with the label information about the object that exists at the position indicated by the position information.
An information processing device as described in (1).

(3)
the third processor associates the point information output from the first processor with the label information at the same timing as the timing at which the second processor outputs the label information;
An information processing device as described in (2).

(4)
when new point information is output from the first processor after the third processor has associated the point information with the label information, the third processor also associates the new point information with the label information.
An information processing device according to (2) or (3).

(5)
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting label information indicating a type of the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the label information;
An information processing method in which processing is performed by a computer.

(6)
On the computer,
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting label information indicating a type of the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Correlating the point information with the label information;
An information processing program for executing processing.

<Appendix 9>
(1)
an acquisition unit that outputs point information that captures an object as a point and identification information that identifies the object from images of the object captured by a plurality of cameras facing corresponding directions, and acquires a detection result of the object by an information processing device that associates the point information with the identification information;
an execution unit that executes cooling of the information processing device based on the detection result acquired by the acquisition unit;
Equipped with
Cooling execution device.

(2)
a prediction unit that predicts an operating status of the information processing device based on the detection result acquired by the acquisition unit;
the execution unit executes cooling of the information processing device based on a result of the prediction by the prediction unit of the operating status of the information processing device.
A cooling execution device as described in (1).

(3)
The prediction unit predicts a temperature change of the information processing device,
the execution unit causes cooling of the information processing device to be performed using a cooling unit corresponding to a result of the prediction of the temperature change of the information processing device by the prediction unit;
A cooling execution device as described in (2).

(4)
The detection result acquired by the acquisition unit is the point information.
A cooling device according to any one of (1) to (3).

(5)
outputting point information in which the object is captured as a point from images of the object captured by a plurality of cameras facing in corresponding directions and identification information in which the object is identified, and acquiring a detection result of the object by an information processing device that associates the point information with the identification information;
executing cooling of the information processing device based on the acquired detection result;
A cooling execution method in which processing is performed by a computer.

(6)
On the computer,
outputting point information in which the object is captured as a point from images of the object captured by a plurality of cameras facing in corresponding directions and identification information in which the object is identified, and acquiring a detection result of the object by an information processing device that associates the point information with the identification information;
executing cooling of the information processing device based on the acquired detection result;
A cooling execution program for executing the process.

<Appendix 10>
(1)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
the first processor derives, from the image of the object captured by the first camera, a coordinate value in a depth direction of the object in a three-dimensional orthogonal coordinate system of a point indicating a position of the object as the point information;
Information processing device.

(2)
The first processor derives coordinate values in the depth direction as the point information from images of the object captured by a plurality of the first cameras.
An information processing device as described in (1).

(3)
The first processor derives coordinate values of the object in a width direction, a height direction, and a depth direction as the point information from an image of the object captured by the first camera and a radar signal based on a reflected wave from the object of an electromagnetic wave irradiated to the object by a radar.
An information processing device according to (1) or (2).

(4)
The first processor derives coordinate values in a width direction, a height direction, and a depth direction of the object as the point information from a result of photographing an image of the object photographed by the first camera and structured light irradiated on the object by an irradiation device.
An information processing device according to any one of (1) to (3).

(5)
the first processor derives, as the point information, a coordinate value in the depth direction at a second time point from coordinate values in a width direction, a height direction, and the depth direction of the object in the three-dimensional orthogonal coordinate system at a first time point and coordinate values in the width direction and the height direction at a second time point that is a time point subsequent to the first time point;
An information processing device according to any one of (1) to (4).

(6)
a first processor that outputs point information that captures an object as a point from an image of the object photographed by a first camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the first camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
the third processor derives, from the image of the object captured by the first camera, a coordinate value in a depth direction of the object in a three-dimensional orthogonal coordinate system of a point indicating a position of the object as the point information;
Information processing device.

(7)
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Corresponding the point information and the identification information;
deriving, from the image of the object captured by the first camera, a coordinate value in a depth direction of the object in a three-dimensional orthogonal coordinate system of a point indicating a position of the object as the point information;
An information processing method in which processing is performed by a computer.

(8)
On the computer,
outputting point information representing the object captured as a point from an image of the object captured by the first camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to that of the first camera;
Corresponding the point information and the identification information;
deriving, from the image of the object captured by the first camera, a coordinate value in a depth direction of the object in a three-dimensional orthogonal coordinate system of a point indicating a position of the object as the point information;
An information processing program for executing processing.

<Appendix 11>
(1)
a first processor that outputs point information that captures an object as a point from an image of the object captured by an event camera;
a second processor that outputs identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the event camera;
a third processor that associates the point information output from the first processor with the identification information output from the second processor;
Equipped with
Information processing device.

(2)
when the first processor cannot capture the object from the visible light image of the object captured by the visible light camera due to a predetermined factor, the first processor outputs the point information based on the image of the object captured by the event camera.
An information processing device as described in (1).

(3)
The predetermined factor includes at least one of a case where a moving speed of the object is equal to or greater than a predetermined value and a case where a change in the amount of ambient light per unit time is equal to or greater than a predetermined value.
An information processing device as described in (2).

(4)
The event camera is a camera that outputs an event image that represents a difference between an image captured at a current time and an image captured at a previous time.
An information processing device according to any one of (1) to (3).

(5)
outputting point information representing an object captured as a point from an image of the object captured by the event camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the event camera;
Correlating the point information with the identification information;
An information processing method in which processing is performed by a computer.

(6)
On the computer,
outputting point information representing an object captured as a point from an image of the object captured by the event camera;
outputting identification information that identifies the photographed object from an image of the object photographed by a second camera facing in a direction corresponding to the event camera;
Correlating the point information with the identification information;
An information processing program for executing processing.

10 Information processing device 11 IPU
12 MoPU (processor)
15. Central Brain
110 Cooling execution device

Claims (4)

At least one processor;
The processor,
outputting point information that captures the photographed object as a point from an image of the object photographed by the camera;
An information processing device that, based on the point information output from images of multiple frames, when a certain number or more of points are detected whose movement direction is either vertical or horizontal and is the same direction, and whose vertical movement amount is within a certain range, outputs only points other than the certain number or more of points detected from among the points included in the point information. The information processing device according to claim 1 , wherein the processor further outputs points whose amount of movement in the left-right direction is equal to or greater than a threshold value from among a certain number or more of detected points when the moving body on which the camera is provided is moving straight. outputting point information that captures the photographed object as a point from an image of the object photographed by the camera;
An information processing method in which a computer executes a process in which, based on the point information output from images of multiple frames, if a certain number or more of points are detected whose movement direction is either up or down and is the same direction, and whose up and down movement amount is within a certain range, only points other than the certain number or more of points detected are output from among the points included in the point information. On the computer,
outputting point information that captures the photographed object as a point from an image of the object photographed by the camera;
An information processing program for executing a process in which, based on the point information output from images of multiple frames, when a certain number or more of points are detected whose movement direction is either vertical or horizontal and in the same direction, and whose vertical movement amount is within a certain range, only points other than the certain number or more of points detected are output from among the points included in the point information.