JP7438510B2 - 俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット - Google Patents

俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット Download PDF

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Publication number
JP7438510B2
JP7438510B2 JP2021177665A JP2021177665A JP7438510B2 JP 7438510 B2 JP7438510 B2 JP 7438510B2 JP 2021177665 A JP2021177665 A JP 2021177665A JP 2021177665 A JP2021177665 A JP 2021177665A JP 7438510 B2 JP7438510 B2 JP 7438510B2
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bird
eye view
view data
observed
ground
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Japanese (ja)
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JP2023066840A (ja
JP2023066840A5 (enExample
Inventor
真衣 黒瀬（西村）
章平 延原
恒 西野
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Omron Corp
Kyoto University NUC
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Omron Corp
Kyoto University NUC
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Priority to JP2021177665A priority Critical patent/JP7438510B2/ja
Application filed by Omron Corp, Kyoto University NUC filed Critical Omron Corp
Priority to CN202280065202.7A priority patent/CN118056398A/zh
Priority to PCT/JP2022/037139 priority patent/WO2023074279A1/ja
Priority to US18/696,154 priority patent/US20240404078A1/en
Priority to EP22886611.7A priority patent/EP4425912A4/en
Publication of JP2023066840A publication Critical patent/JP2023066840A/ja
Publication of JP2023066840A5 publication Critical patent/JP2023066840A5/ja
Priority to JP2024015105A priority patent/JP2024060619A/ja
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G05D1/633—Dynamic obstacles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/251—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
    • G06V40/20—Movements or behaviour, e.g. gesture recognition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/10—Outdoor regulated spaces
    • G05D2107/17—Spaces with priority for humans, e.g. populated areas, pedestrian ways, parks or beaches
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30196—Human being; Person
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30241—Trajectory
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Psychiatry (AREA)
  • Social Psychology (AREA)
  • Signal Processing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Analysis (AREA)
JP2021177665A 2021-10-29 2021-10-29 俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット Active JP7438510B2 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
JP2021177665A JP7438510B2 (ja) 2021-10-29 2021-10-29 俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット
PCT/JP2022/037139 WO2023074279A1 (ja) 2021-10-29 2022-10-04 俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット
US18/696,154 US20240404078A1 (en) 2021-10-29 2022-10-04 Bird's-eye view data generation device, bird's-eye view data generation program, bird's-eye view data generation method, and robot
EP22886611.7A EP4425912A4 (en) 2021-10-29 2022-10-04 Preview Data Generation Device, Preview Data Generation Program, Preview Data Generation Method, and Robot
CN202280065202.7A CN118056398A (zh) 2021-10-29 2022-10-04 俯瞰数据生成装置、俯瞰数据生成程序、俯瞰数据生成方法及机器人
JP2024015105A JP2024060619A (ja) 2021-10-29 2024-02-02 俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット

Applications Claiming Priority (1)

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JP2021177665A JP7438510B2 (ja) 2021-10-29 2021-10-29 俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット

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JP2023066840A JP2023066840A (ja) 2023-05-16
JP2023066840A5 JP2023066840A5 (enExample) 2023-12-12
JP7438510B2 true JP7438510B2 (ja) 2024-02-27

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JP2024015105A Pending JP2024060619A (ja) 2021-10-29 2024-02-02 俯瞰データ生成装置、俯瞰データ生成プログラム、俯瞰データ生成方法、及びロボット

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US (1) US20240404078A1 (enExample)
EP (1) EP4425912A4 (enExample)
JP (2) JP7438510B2 (enExample)
CN (1) CN118056398A (enExample)
WO (1) WO2023074279A1 (enExample)

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JP7683207B2 (ja) * 2020-12-16 2025-05-27 株式会社三洋物産 遊技機
JP7683208B2 (ja) * 2020-12-16 2025-05-27 株式会社三洋物産 遊技機
JP7367715B2 (ja) * 2021-03-02 2023-10-24 株式会社三洋物産 遊技機
JP7509094B2 (ja) * 2021-07-13 2024-07-02 株式会社三洋物産 遊技機
JP7509093B2 (ja) * 2021-07-13 2024-07-02 株式会社三洋物産 遊技機
JP7509095B2 (ja) * 2021-07-13 2024-07-02 株式会社三洋物産 遊技機

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019213039A (ja) 2018-06-04 2019-12-12 国立大学法人 東京大学 俯瞰映像提示システム
WO2021095464A1 (ja) 2019-11-13 2021-05-20 オムロン株式会社 ロボット制御モデル学習方法、ロボット制御モデル学習装置、ロボット制御モデル学習プログラム、ロボット制御方法、ロボット制御装置、ロボット制御プログラム、及びロボット
WO2021095463A1 (ja) 2019-11-13 2021-05-20 オムロン株式会社 自己位置推定モデル学習方法、自己位置推定モデル学習装置、自己位置推定モデル学習プログラム、自己位置推定方法、自己位置推定装置、自己位置推定プログラム、及びロボット

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JP2012064131A (ja) * 2010-09-17 2012-03-29 Tokyo Institute Of Technology 地図生成装置、地図生成方法、移動体の移動方法、及びロボット装置
JP6481520B2 (ja) * 2015-06-05 2019-03-13 トヨタ自動車株式会社 車両の衝突回避支援装置
WO2018097016A1 (ja) 2016-11-25 2018-05-31 国立大学法人東北大学 弾性波デバイス
CN112242069B (zh) * 2019-07-17 2021-10-01 华为技术有限公司 一种确定车速的方法和装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019213039A (ja) 2018-06-04 2019-12-12 国立大学法人 東京大学 俯瞰映像提示システム
WO2021095464A1 (ja) 2019-11-13 2021-05-20 オムロン株式会社 ロボット制御モデル学習方法、ロボット制御モデル学習装置、ロボット制御モデル学習プログラム、ロボット制御方法、ロボット制御装置、ロボット制御プログラム、及びロボット
WO2021095463A1 (ja) 2019-11-13 2021-05-20 オムロン株式会社 自己位置推定モデル学習方法、自己位置推定モデル学習装置、自己位置推定モデル学習プログラム、自己位置推定方法、自己位置推定装置、自己位置推定プログラム、及びロボット

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EP4425912A4 (en) 2025-10-29
JP2023066840A (ja) 2023-05-16
CN118056398A (zh) 2024-05-17
EP4425912A1 (en) 2024-09-04
JP2024060619A (ja) 2024-05-02
WO2023074279A1 (ja) 2023-05-04
US20240404078A1 (en) 2024-12-05

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