WO2022130476A1 - 情報処理装置、移動体制御システム、制御方法、及び非一時的なコンピュータ可読媒体 - Google Patents

情報処理装置、移動体制御システム、制御方法、及び非一時的なコンピュータ可読媒体 Download PDF

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Publication number
WO2022130476A1
WO2022130476A1 PCT/JP2020/046632 JP2020046632W WO2022130476A1 WO 2022130476 A1 WO2022130476 A1 WO 2022130476A1 JP 2020046632 W JP2020046632 W JP 2020046632W WO 2022130476 A1 WO2022130476 A1 WO 2022130476A1
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WO
WIPO (PCT)
Prior art keywords
shooting
posture
captured
image
moving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/046632
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English (en)
French (fr)
Japanese (ja)
Inventor
敬之 鈴木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp filed Critical NEC Corp
Priority to US18/265,475 priority Critical patent/US12602053B2/en
Priority to PCT/JP2020/046632 priority patent/WO2022130476A1/ja
Priority to JP2022569348A priority patent/JP7718428B2/ja
Publication of WO2022130476A1 publication Critical patent/WO2022130476A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G05D1/2435—Extracting 3D information
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—Three-dimensional [3D] image rendering
    • 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
    • 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
    • G06T2207/30244—Camera pose
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums

Definitions

  • the autonomous mobile device disclosed in Patent Document 1 determines that the estimated deviation of the position of the own machine exceeds a predetermined error range, the autonomous mobile device is predetermined. I am traveling far off the route. In such a case, the autonomous moving device may collide with another object. That is, the autonomous mobile device disclosed in Patent Document 1 has a problem that an accident such as a collision cannot be prevented in advance.
  • One of the purposes of the present disclosure is to provide an information processing device, a mobile control system, a control method, a program, etc. that can prevent accidents such as collisions in advance.
  • the posture difference calculation unit 21 may be software or a module whose processing is executed by the processor executing a program stored in the memory. Alternatively, the posture difference calculation unit 21 may be hardware such as a circuit or a chip.
  • the environment map storage unit 22 and the route plan storage unit 23 may be memories mounted on the information processing device 20. Alternatively, the environment map storage unit 22 and the route planning storage unit 23 are removable external memories, and may be external memories attached to the information processing device 20.
  • FIG. 10 shows an example of hardware resources, and may include other configurations such as an input interface. That is, the hardware resource 400 shown in FIG. 10 is not intended to limit the configuration shown in FIG.
  • LAN Local Area Network
  • network adapter for example, a network adapter, a network interface card, or the like
  • network interface card for example, a LAN (Local Area Network) card, a network adapter, a network interface card, or the like can be used.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Graphics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2020/046632 2020-12-15 2020-12-15 情報処理装置、移動体制御システム、制御方法、及び非一時的なコンピュータ可読媒体 Ceased WO2022130476A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US18/265,475 US12602053B2 (en) 2020-12-15 2020-12-15 Information processing apparatus, moving body control system, control method, and non-transitory computer-readable medium
PCT/JP2020/046632 WO2022130476A1 (ja) 2020-12-15 2020-12-15 情報処理装置、移動体制御システム、制御方法、及び非一時的なコンピュータ可読媒体
JP2022569348A JP7718428B2 (ja) 2020-12-15 2020-12-15 情報処理装置、移動体制御システム、制御方法、及びプログラム

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2020/046632 WO2022130476A1 (ja) 2020-12-15 2020-12-15 情報処理装置、移動体制御システム、制御方法、及び非一時的なコンピュータ可読媒体

Publications (1)

Publication Number Publication Date
WO2022130476A1 true WO2022130476A1 (ja) 2022-06-23

Family

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PCT/JP2020/046632 Ceased WO2022130476A1 (ja) 2020-12-15 2020-12-15 情報処理装置、移動体制御システム、制御方法、及び非一時的なコンピュータ可読媒体

Country Status (3)

Country Link
US (1) US12602053B2 (https=)
JP (1) JP7718428B2 (https=)
WO (1) WO2022130476A1 (https=)

Citations (5)

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JP2009149194A (ja) * 2007-12-20 2009-07-09 Mitsubishi Heavy Ind Ltd 追尾システム及びその方法並びに車両
JP2015036840A (ja) * 2013-08-12 2015-02-23 ヤマハ発動機株式会社 自律走行車両、自律走行車両の制御システム及び自律走行車両の制御方法
JP2016061604A (ja) * 2014-09-16 2016-04-25 株式会社東芝 移動体位置推定装置、移動体位置推定方法及び移動体位置推定プログラム
WO2019026761A1 (ja) * 2017-08-03 2019-02-07 日本電産シンポ株式会社 移動体およびコンピュータプログラム
JP2019125345A (ja) * 2018-01-12 2019-07-25 キヤノン株式会社 情報処理装置、情報処理方法、プログラム、およびシステム

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JP2006003263A (ja) * 2004-06-18 2006-01-05 Hitachi Ltd 視覚情報処理装置および適用システム
JP5057183B2 (ja) 2010-03-31 2012-10-24 アイシン・エィ・ダブリュ株式会社 風景マッチング用参照データ生成システム及び位置測位システム
US20140297090A1 (en) * 2011-11-11 2014-10-02 Hitachi, Ltd. Autonomous Mobile Method and Autonomous Mobile Device
JP6288060B2 (ja) 2015-12-10 2018-03-07 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム
JP6662161B2 (ja) 2016-04-07 2020-03-11 株式会社ジェイテクト 差動装置
JP6776586B2 (ja) 2016-04-07 2020-10-28 株式会社ジェイテクト 差動装置
JP6711093B2 (ja) 2016-04-07 2020-06-17 株式会社ジェイテクト 差動装置
JP7036400B2 (ja) 2018-01-30 2022-03-15 株式会社豊田中央研究所 自車位置推定装置、自車位置推定方法、及び自車位置推定プログラム
JP7127303B2 (ja) 2018-03-09 2022-08-30 カシオ計算機株式会社 自律移動装置、自律移動方法及びプログラム
WO2019176083A1 (ja) 2018-03-16 2019-09-19 株式会社日立製作所 移動体制御装置
GB2622490B (en) * 2019-02-14 2024-06-19 Mobileye Vision Technologies Ltd Systems and methods for vehicle navigation
JP2020166702A (ja) 2019-03-29 2020-10-08 日本電産シンポ株式会社 移動体システム、地図作成システム、経路作成プログラムおよび地図作成プログラム
CN115867767A (zh) * 2020-01-03 2023-03-28 御眼视觉技术有限公司 用于车辆导航的系统和方法
WO2021150369A1 (en) * 2020-01-22 2021-07-29 Nodar Inc. Non-rigid stereo vision camera system
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009149194A (ja) * 2007-12-20 2009-07-09 Mitsubishi Heavy Ind Ltd 追尾システム及びその方法並びに車両
JP2015036840A (ja) * 2013-08-12 2015-02-23 ヤマハ発動機株式会社 自律走行車両、自律走行車両の制御システム及び自律走行車両の制御方法
JP2016061604A (ja) * 2014-09-16 2016-04-25 株式会社東芝 移動体位置推定装置、移動体位置推定方法及び移動体位置推定プログラム
WO2019026761A1 (ja) * 2017-08-03 2019-02-07 日本電産シンポ株式会社 移動体およびコンピュータプログラム
JP2019125345A (ja) * 2018-01-12 2019-07-25 キヤノン株式会社 情報処理装置、情報処理方法、プログラム、およびシステム

Also Published As

Publication number Publication date
US12602053B2 (en) 2026-04-14
US20240118707A1 (en) 2024-04-11
JP7718428B2 (ja) 2025-08-05
JPWO2022130476A1 (https=) 2022-06-23

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