	US 12,283,098 B2
	Barrier data collection device, barrier data collection method, and barrier data collection program
Yuki Kurauchi, Tokyo (JP); Naoto Abe, Tokyo (JP); and Hitoshi Seshimo, Tokyo (JP)
Assigned to NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
Appl. No. 17/620,063
Filed by NIPPON TELEGRAPH AND TELEPHONE CORPORATION, Tokyo (JP)
PCT Filed Jun. 19, 2019, PCT No. PCT/JP2019/024335 § 371(c)(1), (2) Date Dec. 16, 2021, PCT Pub. No. WO2020/255304, PCT Pub. Date Dec. 24, 2020.
Prior Publication US 2022/0366685 A1, Nov. 17, 2022
Int. Cl. G06V 20/17 (2022.01); G05D 1/00 (2024.01); G06T 7/62 (2017.01); G06T 7/70 (2017.01); G06V 20/64 (2022.01); B64U 101/30 (2023.01)

CPC G06V 20/17 (2022.01) [G05D 1/101 (2013.01); G06T 7/62 (2017.01); G06T 7/70 (2017.01); G06V 20/64 (2022.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01); G06T 2207/10032 (2013.01); G06T 2207/30181 (2013.01); G06T 2207/30261 (2013.01)]

12 Claims

1. A barrier data collection device comprising circuitry configured to execute a method comprising:

estimating, with an estimator based on sensor data collected from a sensor mounted on a flying mobile body, with position information including height at a time when the flying mobile body moves in the air, the sensor data being collected in advance for each of sets of geographical ranges and heights included in the sensor data in a predetermined time unit, a barrier state;

estimating, a set satisfying a condition among one or more of the sets, a barrier shape based on the sensor data and an estimation result of the barrier state estimated for each of the sets in the predetermined time unit; and

estimating, based on the estimation result of the barrier state estimated for the each of the sets, the estimated barrier shape, and a correct answer ratio of the estimator calculated in advance, a probability for each of the barrier types corresponding to each of the sets and estimates the barrier type corresponding to the set from the estimated probability for each of the barrier types.