US 11,987,271 B2
Information processing apparatus, information processing method, mobile-object control apparatus, and mobile object
Hideaki Yamamoto, Kanagawa (JP)
Assigned to SONY SEMICONDUCTOR SOLUTIONS CORPORATION, Kanagawa (JP)
Appl. No. 17/298,534
Filed by SONY SEMICONDUCTOR SOLUTIONS CORPORATION, Kanagawa (JP)
PCT Filed Nov. 22, 2019, PCT No. PCT/JP2019/045799
§ 371(c)(1), (2) Date May 28, 2021,
PCT Pub. No. WO2020/116204, PCT Pub. Date Jun. 11, 2020.
Claims priority of application No. 2018-230175 (JP), filed on Dec. 7, 2018.
Prior Publication US 2022/0017117 A1, Jan. 20, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 50/00 (2006.01); G01S 13/86 (2006.01); G01S 13/931 (2020.01); G01S 17/87 (2020.01); G06T 3/40 (2006.01); G06T 7/292 (2017.01); G06V 20/58 (2022.01); G08G 1/16 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 50/00 (2013.01); G01S 13/867 (2013.01); G01S 17/87 (2013.01); G06T 3/40 (2013.01); G06T 7/292 (2017.01); G06V 20/58 (2022.01); G08G 1/166 (2013.01); B60W 2050/0052 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); G01S 13/931 (2013.01); G06T 2207/20016 (2013.01); G06T 2207/30261 (2013.01); G06V 2201/07 (2022.01)] 17 Claims
OG exemplary drawing
 
1. An information processing apparatus, comprising:
a first object detector configured to perform a first object detection based on first sensor data from a first sensor, wherein
the first sensor is an image sensor, and
the image sensor is in a camera;
a second object detector configured to perform a second object detection based on second sensor data from a second sensor, wherein
the second sensor differs in type from the first sensor;
a tracking section configured to predict a state of a target object that is a tracking target, based on a result of the first object detection and a result of the second object detection; and
a detection accuracy controller configured to set, based on the predicted state of the target object, a high-resolution range to control a degree of accuracy of each of the first object detection associated with the first sensor and the second object detection associated with the second sensor, wherein
the degree of accuracy is higher in the high-resolution range than in a range different from the high-resolution range,
the high-resolution range is a range in which resolution of an output image of the camera is higher than in a range different from the high-resolution range,
the image sensor obtains a first image,
the camera outputs a second image and a third image,
the second image is based on reduction in resolution of the first image,
the third image is based on cutting out, in the set high-resolution range, an image from the first image, and
the first object detector is further configured to perform, based on the second image and the third image, the first object detection.