JP6808590B2 - 情報処理装置、情報処理方法、プログラムおよび移動体 - Google Patents
情報処理装置、情報処理方法、プログラムおよび移動体 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
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Description
従来技術では、例えば距離センサによって、対象の位置を高い精度で検知できることを前提として、0.5を一律に設定することで未計測を表現している。しかし、センサの精度が低い場合には占有度のピークが0.5を下回る場合があるため、適切な占有度を設定することができない。
(1)位置情報から水平面と垂直面を分離して判別する:垂直面を対象として判別する、など。
(2)位置情報や画像データに対してパターン認識技術を用いて判別する:位置情報や画像データが予め定められた対象のパターンに適合する場合に対象が存在すると判定し、対象のパターンに適合しない場合に対象が存在しないと判定する、など。
(3)照射光の反射強度から判別する:反射強度が予め定められた値またはパターンの場合に対象が存在すると判定する、など。
10E ディスプレイ
10G 動力制御部
10H 動力部
20 情報処理装置
20C 位置取得部
20D マップ生成部
20E 存在確率導出部
20F 未計測確率導出部
20G 占有度算出部
20H 出力制御部
M マップ
Claims (9)
- センサにより計測された、対象が存在する位置または存在しない位置を表す位置情報を取得する位置取得部と、
前記位置情報と前記センサの計測精度とに基づいて、前記計測精度に応じて変化する分布であって、前記対象の存在確率を表す存在確率分布を導出する存在確率導出部と、
前記センサの位置から前記位置情報が表す位置に向かう方向に、前記存在確率を累積することにより、前記センサにより計測されない確率を表す未計測確率分布を導出する未計測確率導出部と、
前記存在確率分布と前記未計測確率分布とに基づいて、前記センサの位置から前記位置情報が表す位置に向かう方向に存在する複数の領域それぞれに前記対象が存在する確率を示す占有度分布を算出する占有度算出部と、
を備える情報処理装置。 - 前記占有度算出部は、前記存在確率分布と前記未計測確率分布との重み付き和に基づいて前記占有度分布を算出する、
請求項1に記載の情報処理装置。 - 前記存在確率導出部は、前記計測精度が低いほど分散が大きい正規分布である前記存在確率分布を導出する、
請求項1に記載の情報処理装置。 - 前記センサの計測範囲を含む領域を分割した複数の区画領域に、前記占有度分布に基づく前記確率を設定したマップを生成するマップ生成部をさらに備える、
請求項1から請求項3のいずれか1項に記載の情報処理装置。 - 前記計測精度は、前記センサの位置から前記位置情報が表す位置までの距離から導出される、
請求項1から請求項4のいずれか1項に記載の情報処理装置。 - 前記センサは、前記対象で反射した光を受光することにより前記対象を計測し、
前記計測精度は、前記センサが受光した光の強度から導出される、
請求項1から請求項4のいずれか1項に記載の情報処理装置。 - センサにより計測された、対象が存在する位置または存在しない位置を表す位置情報を取得する位置取得ステップと、
前記位置情報と前記センサの計測精度とに基づいて、前記計測精度に応じて変化する分布であって、前記対象の存在確率を表す存在確率分布を導出する存在確率導出ステップと、
前記センサの位置から前記位置情報が表す位置に向かう方向に、前記存在確率を累積することにより、前記センサにより計測されない確率を表す未計測確率分布を導出する未計測確率導出ステップと、
前記存在確率分布と前記未計測確率分布とに基づいて、前記センサの位置から前記位置情報が表す位置に向かう方向に存在する複数の領域それぞれに前記対象が存在する確率を示す占有度分布を算出する占有度算出ステップと、
を含む情報処理方法。 - コンピュータを、
センサにより計測された、対象が存在する位置または存在しない位置を表す位置情報を取得する位置取得部と、
前記位置情報と前記センサの計測精度とに基づいて、前記計測精度に応じて変化する分布であって、前記対象の存在確率を表す存在確率分布を導出する存在確率導出部と、
前記センサの位置から前記位置情報が表す位置に向かう方向に、前記存在確率を累積することにより、前記センサにより計測されない確率を表す未計測確率分布を導出する未計測確率導出部と、
前記存在確率分布と前記未計測確率分布とに基づいて、前記センサの位置から前記位置情報が表す位置に向かう方向に存在する複数の領域それぞれに前記対象が存在する確率を示す占有度分布を算出する占有度算出部と、
として機能させるためのプログラム。 - 前記センサと、
請求項1〜請求項6のいずれか1項に記載の情報処理装置と、
前記占有度分布に基づいて移動体の動力を制御する動力制御部と、
を備える移動体。
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