US 12,266,117 B2
Information processing apparatus, sensing apparatus, mobile object, and method for tracking a detection target
Kenji Yamamoto, Yokohama (JP)
Assigned to KYOCERA Corporation, Kyoto (JP)
Appl. No. 17/757,875
Filed by KYOCERA Corporation, Kyoto (JP)
PCT Filed Dec. 22, 2020, PCT No. PCT/JP2020/047906
§ 371(c)(1), (2) Date Jun. 22, 2022,
PCT Pub. No. WO2021/132227, PCT Pub. Date Jul. 1, 2021.
Claims priority of application No. 2019-231662 (JP), filed on Dec. 23, 2019.
Prior Publication US 2023/0046397 A1, Feb. 16, 2023
Int. Cl. G06T 7/246 (2017.01); G01C 5/00 (2006.01); G06T 7/70 (2017.01)
CPC G06T 7/246 (2017.01) [G01C 5/00 (2013.01); G06T 7/70 (2017.01)] 10 Claims
OG exemplary drawing
 
1. An information processing apparatus comprising:
an input interface configured to obtain observation data obtained from an observation space;
a processor configured to:
detect a detection target included in the observation data,
track a position of the detection target in a two-dimensional virtual space as a material point by:
mapping coordinates of the detected detection target in a display space as coordinates of the material point indicating the detection target in the virtual space,
tracking a position and a velocity of the material point indicating the detection target in the virtual space, and
mapping coordinates of the tracked material point in the virtual space as coordinates in the display space, and
track a size of the detection target in the display space by:
sequentially observing sizes of the detection target in the display space, and
estimating a size of the detection target at a present time on a basis of observed values of the size of the detection target at the present time and estimated values of a size of a past detection target; and
an output interface configured to output information based on the coordinates of the material point mapped to the display space and the estimated size of the detection target,
wherein the virtual space is a two-dimensional space consisting of x-coordinates and y-coordinates whose value in a z-axis direction is fixed to a certain value in a coordinate system defined by the x-axis, the y-axis, and the z-axis of real space in which the detection target exists, and
the coordinates of the material point in the virtual space are obtained by mapping coordinates of a representative point at a center of a bottom of the detection target in the display space into coordinates in the virtual space in which the certain value is set to zero.