WO2022186127A1 - 情報処理装置、制御方法、プログラム及び記憶媒体 - Google Patents
情報処理装置、制御方法、プログラム及び記憶媒体 Download PDFInfo
- Publication number
- WO2022186127A1 WO2022186127A1 PCT/JP2022/008254 JP2022008254W WO2022186127A1 WO 2022186127 A1 WO2022186127 A1 WO 2022186127A1 JP 2022008254 W JP2022008254 W JP 2022008254W WO 2022186127 A1 WO2022186127 A1 WO 2022186127A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- measurement
- stability
- distance
- information
- measured
- Prior art date
Links
- 230000010365 information processing Effects 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims description 50
- 238000005259 measurement Methods 0.000 claims abstract description 281
- 230000008569 process Effects 0.000 claims description 22
- 230000002194 synthesizing effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 description 31
- 230000015654 memory Effects 0.000 description 26
- 238000012545 processing Methods 0.000 description 26
- 238000013480 data collection Methods 0.000 description 25
- 238000012986 modification Methods 0.000 description 12
- 230000004048 modification Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Images
Classifications
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
Definitions
- This disclosure relates to processing of measured data.
- Patent Document 1 there has been known a laser radar device that irradiates a space to be detected with a pulse of laser light and detects an object in the space to be detected based on the level of the reflected light.
- Patent Document 1 by appropriately controlling the emission direction (scanning direction) of light pulses that are repeatedly emitted, the surrounding space is scanned, and by observing the return light, information about objects existing in the surroundings is obtained.
- a lidar is disclosed that generates point cloud data representing information such as distance, reflectance, and the like.
- Patent Document 2 in order to obtain an appropriate number of backgrounds based on the observation data even when the observation data from the distance measurement device fluctuates, observation data obtained by the distance measurement device and background candidate data are stored.
- a technology is disclosed that counts up the number of observations of background candidates whose distance data matches observation data by comparing distance data of background candidates stored in a storage unit.
- the present disclosure is made to solve the above problems, and provides an information processing apparatus capable of generating information that can be suitably used to reduce the amount of measurement data to be uploaded. is the main purpose.
- the claimed invention is Acquisition means for acquiring time-series distance measurement results for each measurement point corresponding to a measurement direction by a measuring device that measures a distance from a fixed position; a calculation means for calculating the measurement frequency of the distance to be measured for each of the measurement points based on the measurement result; generating means for generating stability information representing stability for each measurement point based on the measurement frequency; It is an information processing device having
- a computer-implemented control method comprising: Acquiring the measurement result of the distance in time series for each measurement point corresponding to the measurement direction by the measurement device that measures the distance from a fixed position, Based on the measurement results, calculating the measurement frequency of the distance to be measured for each of the measurement points, generating stability information representing stability for each measurement point based on the measurement frequency; control method.
- the invention described in the claims Acquire the measurement result for each measurement point corresponding to the measurement direction by the measurement device that measures from a fixed position, Based on the measurement result, it is determined whether or not an assumed stationary object is measured for each measurement point, A computer performs processing for determining the frequency of transmission of the measurement results for the measurement point at which the stationary object is determined to be measured to the data collection device, based on the stability at which the stationary object is measured at the measurement point. This is the program to run.
- FIG. 1 is a schematic configuration of a lidar unit according to a first embodiment
- 1 is a block configuration diagram showing an example of a hardware configuration of an information processing device
- FIG. It is the figure which showed roughly the space where a rider performs measurement. It is a table showing an example of interpretation of the first stability.
- FIG. 10 is a graph showing the relationship between the distance measured by the rider and the time during a period targeted for generating a distance histogram at a certain measurement point
- FIG. 6 is a diagram showing a distance histogram and measurement time information based on FIG. 5;
- FIG. 1 shows a schematic configuration of a data collection system in a second embodiment
- 3 shows a graph showing temporal changes in measured distances at a certain measurement point and a histogram of the corresponding measured distances.
- FIG. 11 is an example of a flowchart showing the procedure of upload processing according to the second embodiment;
- the information processing apparatus includes acquisition means for acquiring time-series distance measurement results for each measurement point corresponding to a measurement direction by a measurement device that measures a distance from a fixed position; calculation means for calculating the measurement frequency of the distance to be measured for each measurement point based on the measurement result; and generation means for generating stability information representing the stability for each measurement point based on the measurement frequency.
- the information processing device can preferably generate stability information representing the stability of each measurement point of the measurement device. Then, this stability information is preferably used for transmission control of measurement data of the measuring device.
- the calculation means calculates, as the measurement frequency, a histogram of the distances covering a predetermined period provided at predetermined time intervals, and the generation means generates a peak and a peak in each of the histograms.
- the stability information is generated based on the peak distance. According to this aspect, the information processing device can accurately grasp the most measured distance for each period and suitably generate the stability information.
- the calculation means generates measurement time information regarding the measurement time for each distance for each of the histograms, and the generation means combines the histogram and the measurement time information Based on this, the stability information is generated.
- the information processing apparatus can suitably generate the stability information in consideration of the peak distance measurement time.
- the generating means generates the stability information based on the length of the period during which the peak distance to the most recent histogram continues.
- the information processing apparatus can preferably generate stability information indicating the stability according to the measured existence period length of the stationary object.
- the generating means generates the stability information based on the length of the period in which the peak distance to the most recent histogram continues intermittently.
- the information processing apparatus can preferably eliminate the influence of the occurrence of occlusion, and can preferably generate stability information representing the stability of the object to be measured as a stationary object.
- the calculating means calculates, for each of the histograms, the frequency of occurrence of the peak distance in the predetermined period, and the generating means calculates The stability information is generated based on the total value of the values weighted by the frequency of occurrence of the corresponding histogram for the length of the predetermined period. According to this aspect, the information processing device can generate the stability information by accurately considering the stability of the stationary object being measured.
- the generating means calculates the length of the predetermined period in the period in which the peak distance continues based on the total value of values weighted by the time zone to which the predetermined period belongs. Generate stability information. According to this aspect, the information processing apparatus can generate stability information that accurately represents the stability in the current time period by appropriately considering the time period to be measured.
- the stability information is a first stability indicating the degree to which an object to be measured stably exists as a stationary object, or stably measured without being shielded by another object.
- the information is information representing at least one of a second stability level representing the degree to which the first stability level and the second stability level are integrated.
- a control method executed by a computer in which a measurement result is acquired for each measurement point corresponding to a measurement direction by a measurement device that measures from a fixed position, and the measurement result is Based on this, it is determined whether or not an assumed stationary object has been measured for each of the measurement points, and the transmission frequency for transmitting the measurement results for the measurement points determined to have measured the stationary object to the data collection device is It is determined based on the stability of the stationary object measured at the measurement point.
- the information processing device can suitably generate stability information representing the stability of each measurement point of the measurement device.
- a measurement result is acquired for each measurement point corresponding to a measurement direction by a measurement device that measures from a fixed position, and an assumed stationary object is measured based on the measurement result. is determined for each measurement point, and the transmission frequency for transmitting the measurement result for the measurement point determined to have measured the stationary object to the data collection device is determined at the measurement point at which the stationary object was measured.
- It is a program that causes a computer to execute a process of determining based on the stability that is set. By executing this program, the computer can suitably generate stability information representing the stability of each measurement point of the measurement device.
- the program is stored in a storage medium.
- FIG. 1 shows a schematic configuration of a lidar unit 100 according to the first embodiment.
- the lidar unit 100 includes an information processing device 1 that processes data generated by the sensor group 2, and a sensor group 2 that includes at least a lidar (Light Detection and Ranging, or Laser Illuminated Detection and Ranging) 3. .
- the lidar unit 100 is fixedly installed indoors or outdoors, and stores information (also referred to as “stability information”) indicating stability, which is the degree to which a stationary object existing within the measurement range of the rider 3 is stably measured. Generate.
- the information processing device 1 is electrically connected to the sensor group 2 and processes data output by various sensors included in the sensor group 2 .
- the information processing device 1 generates stability information indicating at least the stability for each measurement direction within the measurement range of the rider 3 based on the point cloud data generated in time series by the rider 3 in the past and present. do.
- the stability information is, for example, information representing the distance of a stationary object assumed to be measured and the degree of stability for each measurement direction. The generation processing of the stability information and the interpretation of the stability will be described later.
- the information processing device 1 is fixedly installed, for example, while being accommodated in an accommodation body together with the rider 3 .
- the information processing device 1 may be provided integrally with the rider 3 as an electronic control device for the rider 3 .
- the lidar 3 discretely measures the distance to an object in the external world by emitting a pulsed laser while changing the angle within a predetermined angular range in the horizontal and vertical directions.
- the lidar 3 includes an irradiation unit that irradiates laser light while changing the irradiation direction (i.e., scanning direction), a light receiving unit that receives reflected light (scattered light) of the irradiated laser light, and light receiving output from the light receiving unit. and an output for outputting data based on the signal.
- the data measured by the lidar 3 for each irradiation direction in which the pulse laser is irradiated includes the irradiation direction corresponding to the laser light received by the light receiving unit and the response delay time of the laser light specified based on the above-described light reception signal. generated based on Then, the lidar 3 generates data corresponding to each measurement point in the measurement range of the lidar 3 (that is, the irradiation range of the pulse laser) as point cloud data in one scanning cycle.
- the rider 3 is an example of a "measuring device" in the present invention.
- the lidar 3 is not limited to the above-described scan type lidar, and may be a flash type lidar that generates three-dimensional data by diffusing laser light into the field of view of a two-dimensional array sensor.
- the points corresponding to each measurement direction of the point cloud data generated by the rider 3 are also called “measurement points”.
- the sensor group 2 may include various external sensors and/or internal sensors.
- the sensor group 2 may include a GPS (Global Positioning Satellite) receiver required for generating position information.
- GPS Global Positioning Satellite
- FIG. 2 is a block diagram showing an example of the hardware configuration of the information processing apparatus 1. As shown in FIG. The information processing device 1 mainly has an interface 11 , a memory 12 and a controller 13 . These elements are interconnected via bus lines.
- the interface 11 performs interface operations related to data transfer between the information processing device 1 and an external device.
- the interface 11 acquires output data from the sensor group 2 such as the rider 3 and supplies it to the controller 13 .
- the interface 11 may be a wireless interface such as a network adapter for wireless communication, or a hardware interface for connecting with an external device via a cable or the like.
- the interface 11 may perform interface operations with various peripheral devices such as an input device, a display device, and a sound output device.
- the memory 12 is composed of various volatile and nonvolatile memories such as RAM (Random Access Memory), ROM (Read Only Memory), hard disk drive, and flash memory.
- the memory 12 stores a program for the controller 13 to execute predetermined processing. Note that the program executed by the controller 13 may be stored in a storage medium other than the memory 12 .
- the controller 13 includes one or more processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit), and controls the information processing apparatus 1 as a whole. In this case, the controller 13 executes various processes described later by executing programs stored in the memory 12 or the like.
- processors such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a TPU (Tensor Processing Unit)
- CPU Central Processing Unit
- GPU Graphics Processing Unit
- TPU Transistor Processing Unit
- the controller 13 functions as "acquisition means”, “calculation means”, “generation means”, and a computer that executes programs.
- the processing executed by the controller 13 is not limited to being realized by program-based software, and may be realized by any combination of hardware, firmware, and software. Also, the processing executed by the controller 13 may be implemented using a user-programmable integrated circuit such as an FPGA (Field-Programmable Gate Array) or a microcomputer. In this case, this integrated circuit may be used to implement the program executed by the controller 13 in this embodiment.
- a user-programmable integrated circuit such as an FPGA (Field-Programmable Gate Array) or a microcomputer. In this case, this integrated circuit may be used to implement the program executed by the controller 13 in this embodiment.
- the controller 13 of the information processing device 1 generates a distance histogram (also referred to as a "distance histogram") for each measurement point of the rider 3 over a predetermined period of time.
- a history of distances to stationary objects is generated based on the distance histogram generated for each interval.
- the controller 13 Based on the history of the distance of the stationary object, the controller 13 generates stability information indicating the stability of the stationary object corresponding to the duration of existence of the stationary object.
- the stability indicated by the stability information represents the stability of the stationary object being measured, and may be synonymous with the first stability described later, and both the first stability and the second stability described later. It may be a concept to include.
- the information processing apparatus 1 has a higher degree of stability (also referred to as “first stability”) as a stationary object for an object (or place) that remains stationary for a long period of time. regarded as a thing. That is, the first degree of stability represents the degree to which the object to be measured stably exists as a stationary object. Furthermore, in addition to the above-described first stability, the information processing device 1 has a higher degree of stability when there are fewer moving objects (i.e., objects crossing in front) that block the irradiated laser beam of the lidar 3. may be regarded as The latter degree of stability represents the degree of stable measurement without occurrence of shielding (so-called occlusion) of the laser beam by a moving object, and is hereinafter also referred to as “second degree of stability”.
- first stability also referred to as “first stability”
- FIG. 3 is a diagram schematically showing the space where the rider 3 performs measurements.
- the rider 3 (rider unit 100) is fixedly installed, and at least a wall 5, a structure 6 such as furniture, and a pedestrian 7 exist in the space where the rider 3 measures.
- Lines “L1” to “L3” respectively represent optical paths of laser light corresponding to certain measurement points, and “r00”, “r00” and “ “r10”, “r20”, and “r21” represent the measured distances to the corresponding irradiated points.
- the distance r00 is measured almost all the time over a long period of time (for example, one year). In this case, it can be interpreted that a stationary object with a high first stability exists at the target measurement point. Also, at the measurement points corresponding to the line L1, no occlusion due to the movement of the pedestrian or the like occurs, so the second stability is also high.
- the distance r10 is measured over a long period of time (for example, one year). , a distance shorter than the distance r10 may be measured. In the example of FIG. 3, a distance shorter than the distance r10 is measured by irradiating the pedestrian 7 with laser light.
- the first stability is the same as at the measurement point corresponding to the line L1.
- the measurement points corresponding to the line L2 are interpreted as having a lower second stability than the measurement points corresponding to the line L1.
- the distance r20 is measured initially (for example, the first 10 months), and the distance r21 is measured for the period from then until now (for example, 2 months).
- the first stability at the measurement point corresponding to line L3 is interpreted to be low compared to the measurement points corresponding to lines L1 and L2 because the period during which the current stationary object is measured is short.
- FIG. 4 is a table showing an example of the interpretation of the first stability.
- the “object observation period” represents the length of the period continuously observed (or intermittently due to shielding by a moving object) up to now
- the “assumed situation” means that the object to be measured is Represents an assumed situation regarding whether or not an object exists
- the "possibility of existence of an object at the next moment” indicates whether or not the current measurement object continues to exist at the next measurement time (that is, the next measurement timing). represents the possibility of
- the first stability has a positive correlation with the possibility of existence of an object at the next moment, and the lower the possibility of existence of an object at the next moment, the lower the first stability.
- the second stability depends on the frequency of occurrence of occlusion.
- a distance shorter than that of the stationary object is temporarily measured.
- the frequency of occurrence of occlusion depends on the place and time of day, such as places with high traffic and places with low traffic.
- the lidar 3 measures for one year, the same distance is observed in the period corresponding to 100%, the same distance is observed in the period corresponding to 98%, and the remaining 2%
- the former case has a higher second stability than the latter case.
- it may be effective to adjust the transmission frequency of the measured data. Processing related to this idea will be described in the second embodiment.
- an object also called a "second stationary object”
- a first stationary object such as a wall with an extremely high first stability.
- the second stationary object is measured by a stable distance, so that the second stationary object The first stability increases with respect to
- the second stationary object placed in front is a "temporarily placed object (object that crosses in front)"
- the first stationary object such as a wall
- the first stationary object in front There is a high possibility that a stationary object will continue to exist in the same place even during the period when occlusion occurs due to the placement of the stationary object.
- the distance information of the first stationary object such as a wall and the information about the existence period (measurement time) of the first stationary object are
- the first stationary object that blocks the first stationary object moves and the first stationary object is observed again
- the first stationary object is again detected as a stationary object without delay.
- the controller 13 generates a distance histogram at predetermined time intervals based on the data measured by the rider 3 for each measurement point for a predetermined period up to the present.
- the period length to be counted in each distance histogram is determined, for example, to be the shortest length of time that the object can be regarded as stationary.
- the above-mentioned period length is set to a suitable value (for example, 10 seconds) determined based on experiments or the like so as to be "the shortest period of time for which an object can be regarded as stationary". are stored in advance in the memory 12 or the like.
- the period to be aggregated in each distance histogram is called “histogram period”
- the length of the period is also called “histogram period length”.
- the same distance is measured for a period shorter than the "shortest time period for which an object can be regarded as stationary" (for example, 1 second), there is a possibility that it is the side of a passing object. may not have been measured.
- the same distance is measured for the ⁇ shortest length of time for which the object can be regarded as stationary'', it is either a stationary object intentionally placed or a person standing still (moving object temporarily stopped). ).
- the distance is higher than when the same distance is measured in a period shorter than the shortest time period that can be considered to be It should be noted that, as in the second embodiment described later, when the measurement data of a stationary object by the rider 3 is uploaded to the server, the same distance is continuously measured for the "shortest length of time for which the object can be regarded as stationary". If it is possible, it can be determined that there is a stationary object, and it can be applied to determining the frequency of data transmission.
- the time interval for generating the distance histogram may be any time interval.
- the distance histogram may be generated seamlessly for each histogram period length, may be generated with time intervals shorter than the histogram period length with partial overlap of the histogram periods allowed, or may be generated with time intervals longer than the histogram period length. may be generated by
- the controller 13 generates measurement time information representing the time (time zone) when the distance corresponding to each bin of the distance histogram (distance range considered to be the same in terms of frequency aggregation) is measured, together with each distance histogram. do it.
- This measured time information can be suitably used in determining the stability (especially the second stability).
- FIG. 5 is a graph showing the relationship between the distance measured by the rider 3 and the time during the histogram period (here, 10 seconds) that is the subject of the generation of the distance histogram at a certain measurement point.
- FIG. 6 is a diagram showing a distance histogram generated in the distance measurement situation shown in FIG. 5 and measurement time information representing the measurement time corresponding to each bin of the distance histogram.
- the controller 13 generates the distance histogram shown in FIG. 6 by totaling the distances measured by the rider 3 based on the predetermined bin width.
- the controller 13 also generates measurement time information representing the number of measurements for each bin based on the relationship between time and distance shown in FIG.
- the measurement time is proportional to the number of occurrences, and corresponds to the time obtained by multiplying the number of measurements by the measurement cycle (scanning cycle) of the rider 3 .
- Controller 13 determines the distance of a stationary object based on a distance histogram as shown in FIG. Specifically, the controller 13 extracts the peak distance (that is, the distance measured most times) in the distance histogram as the distance of the stationary object. In the example of FIG. 6, the controller 13 extracts the distance "r0" as the peak distance. Then, the controller 13 determines that the distance r0 is the distance to the stationary object. Thereby, the controller 13 can suitably determine the distance of the stationary object.
- the controller 13 further determines whether the peak distance occurs during the entire period of the histogram period (from the beginning to the end) based on the measurement time information generated accompanying the distance histogram. By doing so, the presence or absence of a stationary object at the peak distance may be determined.
- the peak distance r0 does not occur continuously during the histogram period, but occurs intermittently during the histogram period. is determined to exist.
- the controller 13 may determine that the peak distance occurs over the entire period of the histogram, for example, when the number of occurrences at the peak distance is equal to or greater than a predetermined number of times stored in advance in the memory 12 or the like. Considering the occurrence of occlusion as in the examples of FIGS. 5 and 6, the controller 13 controls the peak distance may be determined to represent the distance of a stationary object. This allows the controller 13 to more accurately determine the distance to the stationary object.
- the controller 13 also calculates the furthest observed distance value included in the distance histogram. In this case, the controller 13 selects the distances measured at a frequency equal to or greater than a predetermined threshold (that is, the distances measured at least a predetermined number of times) as the farthest observed distance value so that the noise observed distance value is excluded. Choose the longest distance from This furthest observed distance value is used in generating stability information, which will be described later.
- a predetermined threshold that is, the distances measured at least a predetermined number of times
- the controller 13 determines the distance to the stationary object and the farthest observed distance value for each distance histogram generated at predetermined intervals. As a result, the determination result of the distance to the stationary object in time series and the determination result of the furthest observed distance value are obtained for each measurement point.
- the determination result of the distance to the stationary object in time series is called “measured distance history”
- the determination result of the farthest observed distance value in time series is also called “longest distance history”.
- the controller 13 calculates the length of time during which the currently measured stationary object continues to exist (also referred to as “existence period length Tw”), and determines the existence period length Tw. generate stability information representing the stability according to the In this case, based on the measured distance history, the controller 13 determines for each measurement point how far back in time the currently occurring stationary object has continued, and determines the length of time going back to the past as the existence period. Calculate as length Tw.
- the stability indicated by the stability information may be the same as the existence period length Tw, or may be a value normalized so that the existence period length Tw falls within a predetermined value range.
- FIG. 7(A) is a graph showing the measured distance history at a certain measurement point.
- a stationary object at a distance "r1” continues to exist for a time length "Tw1" from time "t1" to the present.
- Tw1 time length
- FIG. 7A it is shown that the distance of the stationary object determined for each histogram period has always been the distance r1 from time t1 to the present.
- time t1 there is a stationary object at a distance r0 that is farther than the distance r1. Therefore, it cannot be assumed that the object at the distance r1 has continuously existed before time t1.
- the controller 13 determines that a stationary object with a distance r1 exists at the target measurement point, and that its existence period length Tw is the length of time "Tw1" from time t1 to the present. . Then, the controller 13 generates stability information representing the stability corresponding to the time length Tw1 for the target measurement point.
- the controller 13 detects an object (a stationary object ) is not measured, the stationary object for which the measurement is temporarily interrupted should be regarded as continuous. In this case, the controller 13 considers the stationary object whose measurement is temporarily interrupted to be continuous if the longest distance record does not include a distance that is longer than the measured distance of the stationary object during the period when the measurement is interrupted. . Then, the controller 13 calculates the existence period length Tw including the period during which the measurement is interrupted. In this case, for example, when the existence period length Tw calculated immediately before the measurement is temporarily interrupted is longer than the length of the interrupted period by a predetermined multiple or more, the controller 13 determines that the existence period including the period during which the measurement is interrupted is longer than the length of the interrupted period.
- the above-described predetermined multiple is set, for example, to a suitable value stored in advance in the memory 12 or the like. As a result, even if a stably placed object such as a wall that has existed for a long time is temporarily unmeasured due to occlusion, the controller 13 can detect the stability in the stability information of an immovable stationary object such as a wall. can be set higher.
- FIG. 7(B) is a graph showing the measured distance history according to another example.
- a stationary object at a distance r0 continues to exist from now until time "t3".
- a stationary object at a distance r1 continues to exist in the period from time t2 to time t3
- a stationary object at a distance r0 continues to exist in the period from time t1 to time t2.
- measurement of a stationary object at distance r0 is temporarily interrupted due to the presence of an object at distance r1.
- the controller 13 compares the period length from time t2 to time t3 when the measurement was temporarily interrupted with the period length from time t1 to time t2 when the distance r0 was measured immediately before the measurement was interrupted, It is determined that the latter period length is longer than the former period length by a predetermined multiple or more. In this case, the controller 13 regards the length of time "Tw2" from time t1 to the present, including the period from time t2 when the measurement is temporarily interrupted to time t3, as the existence period Tw.
- the controller 13 determines the length of the period during which measurement of the distance is stopped and the period during which the distance is continuously measured before that, The length of the intermittently measured period is regarded as the existence period length Tw of the distance.
- the controller 13 can eliminate the influence of occlusion and set a high degree of stability in the stability information of a stationary object having a high first degree of stability.
- the controller 13 can accurately calculate the existence period length Tw for each measurement point based on the measured distance history, and can suitably determine the stability for each measurement point.
- the controller 13 then generates stability information representing a set of the determined stability and the current measured distance for each measurement point. Note that the controller 13 generates stability information at predetermined time intervals, and stores the generated stability information in the memory 12 or the like. Similarly, the controller 13 stores the measured distance history for each measurement point in the memory 12 or the like so that it can be used for the next calculation of stability information.
- the controller 13 calculates the occurrence frequency of the peak distance determined as a stationary object (that is, the ratio of the peak distance measurement time to the histogram period length) when determining the stationary object based on the distance histogram. do.
- the occurrence frequency (percentage) of the peak distance r0 in the distance histogram of FIG. 6 is approximately 60%.
- the controller 13 multiplies each of the histogram period lengths constituting the existence period length Tw by the occurrence frequency (ratio) of the corresponding peak distance (“weighting Also called “total value”). This weighted total value corresponds to the existence period length Tw weighted based on the occurrence frequency of the target stationary object.
- the frequency of occurrence of peak distance r1 is calculated for all histogram periods belonging to time t1 to the present, and the sum of values obtained by multiplying each histogram period length by the calculated frequency of occurrence is is calculated as the weighted sum.
- the controller 13 generates stability information in which the weighted total value or a value obtained by normalizing the weighted total value so as to fall within a predetermined value range is used as the stability. According to this method, the controller 13 can suitably generate the stability information considering the second stability.
- the controller 13 calculates the occurrence frequency (ratio) of the peak distance represented by the measurement time information corresponding to each histogram period constituting the existence period, in addition to the existence period length Tw. 2 Calculate the stability. For example, in this case, the controller 13 calculates, as the second stability, the total value of the frequency of occurrence of peak distances in each histogram period constituting the existence period of the object or the normalized value of the total value. Then, based on the first stability determined based on the existence period length Tw and the second stability based on the above-mentioned total value, the controller 13 averages (including weighted average) the stability that integrates these. It is calculated by statistical processing, and stability information representing the calculated stability is generated.
- the controller 13 can suitably generate the stability information representing the total stability of the first stability and the second stability. Note that the controller 13 generates stability information indicating the first stability and the second stability, instead of generating the stability information representing the total stability of the first stability and the second stability. may be generated.
- the controller 13 may perform weighting so as to emphasize the time period close to the present in calculating the weighted total value. For example, the controller 13 sets a weight for each target histogram period according to whether it belongs to (or is close to) the current time period (for example, a time period in which a day is divided into predetermined time intervals). do. This weight is set to a high value if it belongs to (or is close to) the current time zone. Note that the controller 13 may further multiply this weight by a weight corresponding to the occurrence frequency of the peak distance based on the measurement time information used in the first generation example of the stability information described above. Then, the controller 13 calculates the total value of values obtained by multiplying the histogram period length by the weight set for each histogram period or the normalized value of the total value as the degree of stability.
- the controller 13 can suitably generate stability information that emphasizes the distance measurement result in a situation close to the current situation.
- FIG. 8 is an example of a flow chart showing the procedure of stability information generation/update processing executed by the information processing apparatus 1 in the first embodiment.
- the controller 13 of the information processing device 1 acquires the point cloud data measured by the rider 3 via the interface 11 and stores it in the memory 12 or the like (step S11). Then, the controller 13 determines whether or not it is time to generate a distance histogram (step S12). For example, the controller 13 recognizes the next histogram period to be created based on the predetermined distance histogram creation time interval and histogram period length, and when the point cloud data in the histogram period has been acquired in step S11 , it is determined that it is time to generate a distance histogram. Information about the time interval for creating the distance histogram and the histogram period length is stored in advance in the memory 12 or the like.
- step S12 If it is time to generate a distance histogram (step S12; Yes), the controller 13 advances the process to step S13. On the other hand, when the timing for generating the distance histogram is not reached (step S12; No), the controller 13 returns the process to step S11.
- the controller 13 when it is time to generate a distance histogram, the controller 13 generates a distance histogram corresponding to the target histogram period for each measurement point of the rider 3, and determines the distance to a stationary object during the histogram period. (Step S13).
- the controller 13 When the stability information is generated in consideration of the second stability, the controller 13 further generates measurement time information indicating the measurement time of the measured distance for each bin in addition to the distance histogram.
- the controller 13 updates the measured distance history based on the stationary object distance determination result determined for each measurement point (step S14).
- the memory 12 or the like stores the measured distance history to which the stationary object distance determination result corresponding to the latest histogram period calculated in step S13 is added.
- the controller 13 associates the measured time information with the distance determination result of the stationary object and adds it to the measured distance history.
- the measurement time information added to the measurement distance history does not need to be information representing the measurement time for each bin (see FIG. 6), and the measurement time of the peak distance determined as the distance of a stationary object or based on this It may be information about the rate of measurement frequency.
- the controller 13 determines whether or not it is time to generate stability information (step S15). When it is time to generate stability information (step S15; Yes), the controller 13 generates stability information indicating the stability of each measurement point based on the measured distance history stored in the memory 12 or the like. , the generated stability information is stored in the memory 12 or the like (step S16).
- step S17 determines whether or not the process should end. For example, the controller 13 determines that the process should end when a predetermined condition is satisfied, such as when the scanning of the rider 3 is stopped or when the controller 13 detects an instruction to stop the process. Then, when the controller 13 determines that the processing should be terminated (step S17; Yes), the processing of the flowchart is terminated. On the other hand, when the controller 13 determines that the process should be continued (step S17; No), the process returns to step S11.
- a predetermined condition such as when the scanning of the rider 3 is stopped or when the controller 13 detects an instruction to stop the process.
- the controller 13 may generate stability information representing the second stability instead of the first stability.
- the controller 13 generates stability information representing the second stability calculated based on the second generation example described in the section "(3-4) Generation of stability information considering the second stability " to generate Also by this, the controller 13 can suitably generate useful stability information in transmission processing of measurement data of the rider 3 or the like.
- the controller 13 sets the histogram period length to "the shortest length of time for which the object can be regarded as stationary" and sets the histogram period at predetermined intervals. (eg, one year) may be defined as one histogram period.
- the controller 13 calculates the occurrence frequency (ratio) of the peak distance based on the distance histogram and the measurement time information corresponding to one histogram period, and calculates the occurrence frequency or its normalized value as the second stability. do. Even when stability information is generated based on this modified example, it is possible to generate useful stability information for various purposes such as transmission control of measurement data.
- the sensor is not limited to the rider 3, and may be another external sensor capable of measuring distance (position in the depth direction) (such as a camera capable of measuring distance). Even in this case, the information processing apparatus 1 can preferably generate the stability information based on the time-series distance measurement results for each measurement point measured by the external sensor.
- the controller 13 of the information processing apparatus 1 acquires the distance measurement results in time series for each measurement point by the rider 3, which is a measurement device that measures the distance from a fixed position. . Based on the obtained measurement results, the controller 13 calculates a distance histogram representing the measurement frequency of the distances to be measured for each measurement point. Then, based on the distance histogram, the controller 13 generates stability information representing the stability with which the stationary object is measured for each measurement point. As a result, the controller 13 can suitably generate useful stability information in transmission control of measured data and the like.
- FIG. 9 shows a schematic configuration of the data collection system in the second embodiment.
- the data collection system has a lidar unit 100A and a data collection device 200 .
- the data collection system preferably reduces the amount of data transmitted from the rider unit 100A to the data collection device 200 when the data collection device 200 collects and manages the measurement data generated in the rider unit 100A.
- the rider unit 100A has an information processing device 1A and a sensor group 2.
- the information processing device 1A has an interface 11, a memory 12, and a controller 13, similar to the hardware configuration of the information processing device 1 in the first embodiment shown in FIG. Then, the controller 13 of the information processing device 1A transmits the data measured by the rider 3 to the data collection device 200 via the interface 11 as upload information “Iu”. Further, in the process of transmitting the upload information Iu, the controller 13 of the information processing device 1A controls the data transmission frequency for each measurement point of the rider 3 based on the stability information. Further, the controller 13 of the information processing apparatus 1A performs stability information generation/update processing similarly to the information processing apparatus 1 of the first embodiment, and stores the generated/updated stability information in the memory 12 or the like.
- the controller 13 is an example of the “acquisition means”, the “determination means”, the “generation means”, the “transmission frequency control means”, the “transmission means”, and a computer.
- the data collection device 200 is a device that collects measurement data from a rider, receives upload information Iu from the information processing device 1, and stores the received upload information Iu. Although only one set of rider units 100A is illustrated in FIG. 1, a plurality of rider units 100A may exist instead. In this case, the data collection device 200 receives the upload information Iu from each rider unit 100A.
- the information processing device 1A calculates the difference between the distance of a stationary object assumed to exist (also referred to as “assumed distance") and the current measurement distance (that is, at the time of determination) for each measurement point, and calculates the difference and A threshold value (also referred to as a "stationary object determination threshold value") is compared. Then, the information processing apparatus 1A determines that the assumed stationary object has been measured when the difference between the assumed distance and the measured distance is equal to or less than the stationary object determination threshold. A method for setting the stationary object determination threshold will be described later.
- the assumed distance is the measured distance assumed for each measurement point, and may be the distance of a stationary object included in the stability information, or the distance measured one hour before.
- the information processing apparatus 1A determines the stationary object determination threshold to be a fixed value stored in advance in the memory 12 or the like. In this case, the stationary object determination threshold value may be a different value for each measurement point, or may be a common value for each measurement point.
- the information processing apparatus 1A determines the stationary object determination threshold based on the blurring (variation) of the measured distance of the stationary object assumed at the target measurement point.
- the information processing device 1A determines the stationary object determination threshold based on the stability indicated by the stability information. As will be described later, the information processing apparatus 1A may combine the second determination method and the third determination method to determine the stationary object determination threshold value.
- FIG. 10(A) is a graph showing the change over time of the measured distance at a certain measurement point.
- the time change of the measured distance indicates the transition of the measured distance during the period during which the assumed stationary object is measured at the target measurement point (for example, the period corresponding to the existence period length Tw).
- FIG. 10(B) is a histogram showing the results of counting the frequencies of the measured distances in FIG. 10(A).
- a dashed line 80 represents the distance (representative distance) of a stationary object included in the stability information.
- An arrow 81 indicates a range of measured distances in which a predetermined ratio (for example, 95%) of the measured distances is distributed.
- the information processing device 1A calculates the variance of the measured distance in the period in which the stationary object assumed at the target measurement point was measured in the past, and sets the stationary object determination threshold according to the variance. In this case, the information processing apparatus 1A increases the stationary object determination threshold to be set as the above-described dispersion increases based on a predetermined formula or the like. As a result, the information processing apparatus 1A determines that the range in which the object is determined to be a stationary object using the stationary object determination threshold is the range indicated by the arrow 81 (that is, the range in which almost all the past measured distances to the target stationary object are included).
- the stationary object determination threshold value is preferably set so that
- the information processing apparatus 1A increases the stationary object determination threshold as the stability indicated by the stability information is higher. In this manner, the information processing apparatus 1A changes the stationary object determination threshold in such a direction that it is easier to determine that the object is a stationary object as the degree of stability increases. As a result, the information processing device 1A suitably suppresses unnecessary uploading of measurement results corresponding to measurement points with high stability to the data collection device 200 due to measurement errors or the like. In this case, the information processing device 1A preferably determines the stationary object determination threshold based on the second stability.
- the information processing apparatus 1A sets the stationary object determination threshold in a direction that makes it easy to determine that the measurement point is a stationary object at which occlusion or the like is unlikely to occur. Thereby, the information processing device 1A can suitably suppress unnecessary uploading of the measurement results corresponding to the measurement points at which the distance is stably measured to the data collection device 200 .
- the information processing device 1A may combine the second determination method and the third determination method to determine the stationary object determination threshold.
- the information processing device 1A for example, based on the variance calculated in the second determination method and the stability used in the third determination method, refers to a predetermined formula or lookup table to determine the stationary object determination threshold. decide.
- the information processing device 1A compares the difference between the assumed distance and the current measured distance for each measurement point with a stationary object determination threshold, and converts the current measurement data at the measurement point where the difference is greater than the stationary object determination threshold to It immediately transmits to the data collection device 200 as the upload information Iu.
- the information processing device 1 ⁇ /b>A determines that an object different from the assumed stationary object is measured at the target measurement point, and suitably uploads the latest measurement result of the rider 3 to the data collection device 200 .
- the information processing apparatus 1A can transmit the measurement results related to the measurement points different from the predicted measurement results in a limited manner as transmission targets, thereby suitably suppressing the amount of data.
- the information processing device 1A transmits the measurement data determined based on the stability indicated by the stability information for the measurement data for the measurement points where the difference between the assumed distance and the current measurement distance is equal to or less than the stationary object determination threshold for each measurement point. It transmits to the data collection device 200 according to the frequency (transmission interval).
- a formula or a lookup table that predetermines the relationship between stability and transmission frequency is stored in the memory 12 or the like in advance, and the information processing apparatus 1A determines the transmission frequency by referring to this formula or the like.
- the information processing apparatus 1A transmits the measurement data of the measurement point whose stability is equivalent to one hour for the existence period length Tw only once every 10 minutes, and transmits the measurement data only once every 10 minutes.
- the measurement data of the measurement point with the degree of stability is transmitted only once per hour, and the measurement data of the measurement point with the stability corresponding to the existence period length Tw of 1 second is transmitted every frame.
- the information processing device 1A outputs the measurement result corresponding to the measurement point at which the time interval from the immediately preceding transmission timing to the present time is equal to or greater than the time interval corresponding to the transmission frequency determined based on the stability. It is transmitted to the data collection device 200 as upload information Iu. Thereby, the information processing device 1A can upload the measurement results at each measurement point to the data collection device 200 at an appropriate frequency according to the stability.
- FIG. 11 is an example of a flow chart showing the procedure of upload processing executed by the information processing apparatus 1A.
- the information processing apparatus 1A may execute the upload process shown in FIG. 11 in parallel with the flowchart of the stability information generation/update process shown in FIG.
- the information processing device 1A acquires point cloud data including the measurement results of each measurement point measured by the rider 3 in one scan (step S21).
- the information processing device 1A calculates, for each measurement point, the difference between the assumed distance based on the stability information and the like and the measured distance based on the point cloud data acquired in step S21 (step S22). Further, the information processing device 1A determines a stationary object determination threshold for each measurement point (step S23). In this case, the information processing device 1A may set the stationary object determination threshold to a value stored in a memory or the like, or may adaptively determine the stationary object determination threshold based on the variance and/or the stability of the measured distance. good.
- the information processing device 1A determines whether or not there is a measurement point for which the difference calculated in step S22 is greater than the stationary object determination threshold value determined in step S23 (step S24). Then, when there is a measurement point where the difference is larger than the stationary object determination threshold value (step S24; Yes), the information processing device 1A determines that an object other than the assumed stationary object is detected at the measurement point, The measurement data of the corresponding measurement point is immediately uploaded to the data collection device 200 as the upload information Iu (step S25). Further, the information processing apparatus 1A executes the processes of steps S27 and S28 described later for the measurement data of the measurement points whose difference is equal to or less than the stationary object determination threshold (step S26). Thereby, the information processing apparatus 1A uploads the measurement data of the measurement points at which the assumed stationary object is detected to the data collection apparatus 200 as the upload information Iu according to the transmission frequency based on the stability.
- the information processing apparatus 1A determines the stability of each measurement point represented by the stability information. A transmission frequency is determined for each measurement point (step S27). Then, the information processing device 1A uploads to the data collection device 200 as the upload information Iu the measurement result at the measurement point at which the transmission timing is based on the transmission frequency determined in step S27 (step S28). The information processing device 1A may transmit the upload information Iu compressed by arbitrary reversible compression or irreversible compression to the data collecting device 200. FIG.
- step S29 determines whether or not the process should be terminated. For example, the controller 13 determines that the process should end when a predetermined condition is satisfied, such as when the scanning of the rider 3 is stopped or when the controller 13 detects an instruction to stop the process. Then, when the controller 13 determines that the processing should be terminated (step S29; Yes), the processing of the flowchart is terminated. On the other hand, when the controller 13 determines that the process should be continued (step S29; No), the process returns to step S21. (3) Modification Next, a modification suitable for the second embodiment will be described. The following modifications may be combined arbitrarily and applied to the above-described second embodiment.
- the information processing apparatus 1A may store previously generated stability information in the memory 12 or the like in advance instead of performing the stability information generation/update process corresponding to the first embodiment.
- the stability information includes, for example, information about the distance and stability to a stationary object assumed to be measured within the measurement range of the rider 3 . Then, even when referring to such stability information, the information processing device 1A determines the transmission frequency of measurement data for each measurement point of a stationary object based on the stability for each measurement point represented by the stability information. Determination and determination of a stationary object determination threshold value used for stationary object determination can be preferably executed.
- the rider unit 100A may be provided with an external sensor that measures a distance other than the rider 3, or a camera that does not measure a distance.
- the memory 12 or the like stores stability information representing the stability of measuring a stationary object for each measurement point corresponding to each pixel. Then, based on the image generated by the camera, the information processing device 1A detects an image region in which a stationary object exists using a known object recognition technique or the like, and detects pixels (measurement points) where it is determined that a stationary object exists. , the data transmission frequency is determined based on the stability of each measurement point represented by the stability information. On the other hand, the information processing apparatus 1A immediately transmits the data of the area other than the image area where the stationary object exists to the data collecting apparatus 200 as the upload information Iu. As described above, according to the present modification, even when the measurement result of the measuring device other than the rider 3 is transmitted to the data collecting device 200, the amount of data to be transmitted can be suitably reduced.
- the controller 13 of the information processing device 1 acquires measurement results for each measurement direction by the rider 3, which is a measurement device that measures from a fixed position. Then, based on the obtained measurement results, the controller 13 determines for each measurement point whether or not an assumed stationary object has been measured. Then, the controller 13 determines, based on the stability at the measurement point, the frequency of transmission to the data collection device 200 of the measurement result for the measurement point determined to have measured the stationary object. As a result, the controller 13 can accurately determine the transmission frequency of the measurement results corresponding to the measurement points where the assumed stationary objects are measured, and can suitably suppress an increase in the data amount of the upload information Iu.
- Non-transitory computer readable media include various types of tangible storage media.
- Examples of non-transitory computer-readable media include magnetic storage media (e.g., floppy disks, magnetic tapes, hard disk drives), magneto-optical storage media (e.g., magneto-optical discs), CD-ROMs (Read Only Memory), CD-Rs, CD-R/W, semiconductor memory (eg mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)).
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
距離を固定位置から計測する計測装置による計測方向に対応する計測点毎の時系列での距離の計測結果を取得する取得手段と、
前記計測結果に基づき、前記計測点毎に、計測される距離の計測頻度を算出する算出手段と、
前記計測頻度に基づき、前記計測点毎に安定度を表す安定度情報を生成する生成手段と、
を有する情報処理装置である。
コンピュータが実行する制御方法であって、
距離を固定位置から計測する計測装置による計測方向に対応する計測点毎の時系列での距離の計測結果を取得し、
前記計測結果に基づき、前記計測点毎に、計測される距離の計測頻度を算出し、
前記計測頻度に基づき、前記計測点毎に安定度を表す安定度情報を生成する、
制御方法である。
固定位置から計測する計測装置による計測方向に対応する計測点毎の計測結果を取得し、
前記計測結果に基づき、想定される静止物が計測されたか否かを前記計測点毎に判定し、
前記静止物が計測されたと判定された前記計測点に対する計測結果をデータ収集装置に送信する送信頻度を、当該計測点における、前記静止物が計測されている安定度に基づき決定する処理をコンピュータに実行させるプログラムである。
(1)ライダユニットの概要
図1は、第1実施例に係るライダユニット100の概略構成である。ライダユニット100は、センサ群2が生成するデータに関する処理を行う情報処理装置1と、ライダ(Lidar:Light Detection and Ranging、または、Laser Illuminated Detection And Ranging)3を少なくとも含むセンサ群2と、を有する。ライダユニット100は、屋内又は屋外において固定設置され、ライダ3の計測範囲内に存在する静止物が安定的に計測される度合いである安定度を表す情報(「安定度情報」とも呼ぶ。)を生成する。
図2は、情報処理装置1のハードウェア構成の一例を示すブロック図である。情報処理装置1は、主に、インターフェース11と、メモリ12と、コントローラ13と、を有する。これらの各要素は、バスラインを介して相互に接続されている。
概略的には、情報処理装置1のコントローラ13は、ライダ3の各計測点について、所定時間長の期間における距離のヒストグラム(「距離ヒストグラム」とも呼ぶ。)を所定間隔ごとに生成し、生成した距離ヒストグラムに基づき、静止物の距離の履歴を生成する。そして、コントローラ13は、静止物の距離の履歴に基づき、静止物の存在期間長に相当する静止物の安定度を表す安定度情報を生成する。
まず、本実施例において算出する安定度の概念(考え方)について説明する。安定度情報が示す安定度は、静止物が計測されている安定度を表し、後述する第1安定度と同義であってもよく、第1安定度と後述する第2安定度との両方を含む概念であってもよい。
コントローラ13は、計測点毎に現在までの所定期間において、ライダ3が計測したデータに基づき距離ヒストグラムを所定時間間隔ごとに生成する。この場合、各距離ヒストグラムにおいて集計対象とする期間長は、例えば、物体が静止しているとみなせる最短の時間長となるように定められる。具体的には、上述の期間長は、「物体が静止しているとみなせる最短の時間長」となるように実験等に基づき定められた適合値(例えば10秒)に設定され、当該適合値についてはメモリ12等に予め記憶されている。以後では、各距離ヒストグラムにおいて集計対象とする期間を「ヒストグラム期間」と呼び、当該期間の長さを「ヒストグラム期間長」とも呼ぶ。
次に、安定度情報の生成について説明する。まず、安定度として、第1安定度のみを考慮した場合の安定度情報の生成方法について説明する。
次に、第2安定度を考慮した安定度情報の生成について説明する。コントローラ13は、距離ヒストグラムに付随して生成された計測時間情報をさらに用いて安定度情報を生成する。
図8は、第1実施形態において情報処理装置1が実行する安定度情報の生成・更新処理の手順を示すフローチャートの一例である。
次に、第1実施例に好適な変形例について説明する。以下の変形例は、任意に組み合わせて上述の第1実施例に適用してもよい。
コントローラ13は、第1安定度の代わりに、第2安定度を表す安定度情報を生成してもよい。
ライダ3に限られず、距離(奥行き方向の位置)を計測可能な他の外界センサ(距離を計測可能なカメラ等)であってもよい。この場合であっても、情報処理装置1は、外界センサが計測する計測点毎の時系列での距離の計測結果に基づき、安定度情報を好適に生成することができる。
(1)データ収集システムの構成
図9は、第2実施例におけるデータ収集システムの概略構成を示す。データ収集システムは、ライダユニット100Aと、データ収集装置200とを有する。そして、データ収集システムは、ライダユニット100Aにおいて生成された計測データをデータ収集装置200が収集及び管理する場合に、ライダユニット100Aからデータ収集装置200に送信するデータ量を好適に削減する。
次に、情報処理装置1Aによるアップロード情報の送信処理について説明する。情報処理装置1Aは、ライダ3により静止物を計測した場合、当該静止物の安定度に応じた頻度により計測したデータを送信するように、計測点毎に現タイミングでの送信要否を判定する。
ここで、静止物を計測したか否かの判定方法について説明する。情報処理装置1Aは、計測点毎に、存在すると想定される静止物の距離(「想定距離」とも呼ぶ。)と、現在(即ち判定時)の計測距離との差分を算出し、当該差分と閾値(「静止物判定閾値」とも呼ぶ。)とを比較する。そして、情報処理装置1Aは、想定距離と計測距離との差分が静止物判定閾値以下である場合に、想定された静止物が計測されたと判定する。静止物判定閾値の設定方法については後述する。想定距離は、計測点毎に想定される計測距離であり、安定度情報に含まれる静止物の距離であってもよく、1時刻前に計測された距離であってもよい。
次に、アップロード情報Iuの送信タイミングについて具体的に説明する。情報処理装置1Aは、計測点毎に想定距離と現在の計測距離との差分と静止物判定閾値とを比較し、当該差分が静止物判定閾値より大きくなった計測点における現在の計測データを、アップロード情報Iuとして即時にデータ収集装置200に送信する。この場合、情報処理装置1Aは、対象となる計測点において想定される静止物と異なる物体が計測されたと判定し、最新のライダ3の計測結果をデータ収集装置200に好適にアップロードする。これにより、情報処理装置1Aは、予測される計測結果と異なる計測点に関する計測結果を送信対象として限定的に送信し、データ量を好適に抑制することができる。
図11は、情報処理装置1Aが実行するアップロード処理の手順を表すフローチャートの一例である。なお、情報処理装置1Aは、図11に示されるアップロード処理を、図8の安定度情報の生成・更新処理のフローチャートと並行して実行してもよい。
(3)変形例
次に、第2実施例に好適な変形例について説明する。以下の変形例は、任意に組み合わせて上述の第2実施例に適用してもよい。
情報処理装置1Aは、第1実施例に相当する安定度情報の生成・更新処理を行う代わりに、予め生成した安定度情報をメモリ12等に予め記憶してもよい。この場合、安定度情報には、例えば、ライダ3の計測範囲内において、計測されると想定される静止物までの距離及び安定度に関する情報が含まれている。そして、情報処理装置1Aは、このような安定度情報を参照した場合であっても、安定度情報が表す計測点毎の安定度に基づき、静止物の計測点毎の計測データの送信頻度の決定及び静止物判定に用いる静止物判定閾値の決定等を好適に実行することができる。
ライダユニット100Aは、ライダ3に代えて、ライダ3以外の距離計測を行う外界センサ、又は、距離計測を行わないカメラを備えてもよい。
2 センサ群
3 ライダ
100、100A ライダユニット
200 データ収集装置
Claims (11)
- 距離を固定位置から計測する計測装置による計測方向に対応する計測点毎の時系列での距離の計測結果を取得する取得手段と、
前記計測結果に基づき、前記計測点毎に、計測される距離の計測頻度を算出する算出手段と、
前記計測頻度に基づき、前記計測点毎に安定度を表す安定度情報を生成する生成手段と、
を有する情報処理装置。 - 前記算出手段は、所定時間間隔において設けた所定期間を対象とする前記距離のヒストグラムを前記計測頻度として算出し、
前記生成手段は、前記ヒストグラムの各々におけるピークとなるピーク距離に基づき、前記安定度情報を生成する、請求項1に記載の情報処理装置。 - 前記算出手段は、前記ヒストグラムの各々に対し、距離毎の計測時間に関する計測時間情報を生成し、
前記生成手段は、前記ヒストグラムと前記計測時間情報とに基づき、前記安定度情報を生成する、請求項2に記載の情報処理装置。 - 前記生成手段は、直近の前記ヒストグラムに対する前記ピーク距離が継続する期間の長さに基づき、前記安定度情報を生成する、請求項2または3に記載の情報処理装置。
- 前記生成手段は、直近の前記ヒストグラムに対する前記ピーク距離が断続的に継続する期間の長さに基づき、前記安定度情報を生成する、請求項4に記載の情報処理装置。
- 前記算出手段は、前記ピーク距離の前記所定期間における発生頻度を前記ヒストグラムの各々に対して算出し、
前記生成手段は、前記ピーク距離が継続する期間における前記所定期間の長さを、対応する前記ヒストグラムの前記発生頻度により重み付けした値の合計値に基づき、前記安定度情報を生成する、請求項2~5のいずれか一項に記載の情報処理装置。 - 前記生成手段は、前記ピーク距離が継続する期間における前記所定期間の長さを、当該所定期間が属する時間帯により重み付けした値の合計値に基づき、前記安定度情報を生成する、請求項2~6のいずれか一項に記載の情報処理装置。
- 前記安定度情報は、計測される物体が静止物として安定的に存在する度合いを表す第1安定度若しくは他の物体により遮蔽されずに安定的に計測される度合いを表す第2安定度の少なくとも一方、又は、前記第1安定度及び前記第2安定度を総合した指標を少なくとも表す情報である、請求項1~7のいずれか一項に記載の情報処理装置。
- コンピュータが実行する制御方法であって、
距離を固定位置から計測する計測装置による計測方向に対応する計測点毎の時系列での距離の計測結果を取得し、
前記計測結果に基づき、前記計測点毎に、計測される距離の計測頻度を算出し、
前記計測頻度に基づき、前記計測点毎に安定度を表す安定度情報を生成する、
制御方法。 - 距離を固定位置から計測する計測装置による計測方向に対応する計測点毎の時系列での距離の計測結果を取得し、
前記計測結果に基づき、前記計測点毎に、計測される距離の計測頻度を算出し、
前記計測頻度に基づき、前記計測点毎に安定度を表す安定度情報を生成する処理をコンピュータに実行させるプログラム。 - 請求項10に記載のプログラムを記憶した記憶媒体。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP22763183.5A EP4303534A1 (en) | 2021-03-01 | 2022-02-28 | Information processing device, control method, program, and storage medium |
JP2023503815A JPWO2022186127A1 (ja) | 2021-03-01 | 2022-02-28 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021-031765 | 2021-03-01 | ||
JP2021031765 | 2021-03-01 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022186127A1 true WO2022186127A1 (ja) | 2022-09-09 |
Family
ID=83153819
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/008254 WO2022186127A1 (ja) | 2021-03-01 | 2022-02-28 | 情報処理装置、制御方法、プログラム及び記憶媒体 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP4303534A1 (ja) |
JP (1) | JPWO2022186127A1 (ja) |
WO (1) | WO2022186127A1 (ja) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0980153A (ja) * | 1995-09-08 | 1997-03-28 | Mitsubishi Electric Corp | 距離測定装置 |
JP2014173897A (ja) * | 2013-03-06 | 2014-09-22 | Panasonic Corp | 物体検知装置 |
JP2017190960A (ja) * | 2016-04-11 | 2017-10-19 | 株式会社デンソーウェーブ | 物体検知装置及び物体検知プログラム |
JP2017207365A (ja) | 2016-05-18 | 2017-11-24 | 株式会社デンソーアイティーラボラトリ | 演算処理装置、演算処理方法、およびプログラム |
JP2018009831A (ja) | 2016-07-12 | 2018-01-18 | パイオニア株式会社 | 情報処理装置、光学機器、制御方法、プログラム及び記憶媒体 |
WO2021149360A1 (ja) * | 2020-01-20 | 2021-07-29 | ソニーセミコンダクタソリューションズ株式会社 | 距離測定装置、距離測定方法、プログラム |
-
2022
- 2022-02-28 JP JP2023503815A patent/JPWO2022186127A1/ja active Pending
- 2022-02-28 EP EP22763183.5A patent/EP4303534A1/en active Pending
- 2022-02-28 WO PCT/JP2022/008254 patent/WO2022186127A1/ja active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0980153A (ja) * | 1995-09-08 | 1997-03-28 | Mitsubishi Electric Corp | 距離測定装置 |
JP2014173897A (ja) * | 2013-03-06 | 2014-09-22 | Panasonic Corp | 物体検知装置 |
JP2017190960A (ja) * | 2016-04-11 | 2017-10-19 | 株式会社デンソーウェーブ | 物体検知装置及び物体検知プログラム |
JP2017207365A (ja) | 2016-05-18 | 2017-11-24 | 株式会社デンソーアイティーラボラトリ | 演算処理装置、演算処理方法、およびプログラム |
JP2018009831A (ja) | 2016-07-12 | 2018-01-18 | パイオニア株式会社 | 情報処理装置、光学機器、制御方法、プログラム及び記憶媒体 |
WO2021149360A1 (ja) * | 2020-01-20 | 2021-07-29 | ソニーセミコンダクタソリューションズ株式会社 | 距離測定装置、距離測定方法、プログラム |
Also Published As
Publication number | Publication date |
---|---|
EP4303534A1 (en) | 2024-01-10 |
JPWO2022186127A1 (ja) | 2022-09-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN112924981B (zh) | 一种飞行时间测距方法、系统和设备 | |
WO2022160611A1 (zh) | 一种基于时间融合的距离测量方法、系统和设备 | |
CN112817001B (zh) | 一种飞行时间测距方法、系统和设备 | |
CN112867939A (zh) | 光探测和测距的直流偏置和噪声功率的实时估计 | |
JP2015022541A (ja) | 監視装置およびプログラム | |
JP2017156219A (ja) | 追尾装置、追尾方法およびプログラム | |
US20220196810A1 (en) | Time of flight ranging system and ranging method thereof | |
US20210109217A1 (en) | Dynamic laser power control in light detection and ranging (lidar) systems | |
WO2021149360A1 (ja) | 距離測定装置、距離測定方法、プログラム | |
JPWO2019116641A1 (ja) | 距離測定装置、距離測定装置の制御方法、および距離測定装置の制御プログラム | |
WO2020237448A1 (zh) | 回波信号处理方法、装置、系统及存储介质 | |
JP2020153706A (ja) | 電子装置および方法 | |
WO2022186127A1 (ja) | 情報処理装置、制御方法、プログラム及び記憶媒体 | |
WO2022185376A1 (ja) | 情報処理装置、制御方法、プログラム及び記憶媒体 | |
US20210116676A1 (en) | System and method | |
US10132626B2 (en) | Adaptive distance estimation | |
WO2022242348A1 (zh) | dTOF深度图像的采集方法、装置、电子设备及介质 | |
CN116299496A (zh) | 估计对象反射率的方法、处理装置和存储介质 | |
KR20220157896A (ko) | 레이더 검출에서의 다중 경로 분류 | |
WO2022180669A1 (ja) | 情報処理装置、制御方法、プログラム及び記憶媒体 | |
CN113721232A (zh) | 目标对象检测方法、装置、电子设备及介质 | |
KR20210153563A (ko) | 깊이 검출을 위한 히스토그램 비닝 시스템 및 방법 | |
WO2023120430A1 (ja) | 情報処理装置、制御方法、プログラム及び記憶媒体 | |
US20220155416A1 (en) | Laser emission control in light detection and ranging (lidar) systems | |
JP2023094051A (ja) | 情報処理装置、制御方法、プログラム及び記憶媒体 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22763183 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2023503815 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2022763183 Country of ref document: EP |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 2022763183 Country of ref document: EP Effective date: 20231002 |