US 11,860,640 B2
Signal processing device and signal processing method, program, and mobile body
Takuto Motoyama, Tokyo (JP)
Assigned to Sony Corporation, Tokyo (JP)
Appl. No. 16/982,590
Filed by Sony Corporation, Tokyo (JP)
PCT Filed Mar. 15, 2019, PCT No. PCT/JP2019/010757
§ 371(c)(1), (2) Date Sep. 21, 2020,
PCT Pub. No. WO2019/188389, PCT Pub. Date Oct. 3, 2019.
Claims priority of application No. 2018-063530 (JP), filed on Mar. 29, 2018.
Prior Publication US 2021/0019536 A1, Jan. 21, 2021
Int. Cl. G05D 1/02 (2020.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01); B60W 30/095 (2012.01); G01C 21/34 (2006.01); G05D 1/00 (2006.01); G06V 20/56 (2022.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01)
CPC G05D 1/0246 (2013.01) [B60W 30/0956 (2013.01); B60W 60/001 (2020.02); G01C 21/3461 (2013.01); G01C 21/3807 (2020.08); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2420/42 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A signal processing device comprising:
processing circuitry configured to:
estimate as a labeling information boundary, based on labeling information that corresponds to a type of a subject in a captured image, an area in which a boundary of a movable area of a mobile body exists in the captured image;
estimate as a distance image boundary, based on a distance image, an area in which the boundary of the movable area of the mobile body exists in the distance image; and
determine a final boundary of the movable area based on the labeling information boundary and the distance image boundary,
wherein the processing circuitry is configured to estimate the labeling information boundary based on the labeling information and the distance image by:
setting, based on the labeling information, a boundary of an area labeled as a subject of a type corresponding to the movable area as the boundary of the movable area, and
further estimating the boundary of the movable area as labeling information boundary by setting a vertical width of the boundary of the movable area set on a basis of the labeling information in accordance with a distance based on the distance image.