US 12,313,427 B2
Map data generation device
Yuji Ito, Kawagoe (JP); Toshiaki Inoue, Kawagoe (JP); Koji Shibata, Kawagoe (JP); Ryohei Kagawa, Kawagoe (JP); and Wataru Onodera, Kawagoe (JP)
Assigned to PIONEER CORPORATION, Tokyo (JP)
Appl. No. 17/642,883
Filed by PIONEER CORPORATION, Tokyo (JP)
PCT Filed Jan. 14, 2021, PCT No. PCT/JP2021/000981
§ 371(c)(1), (2) Date Mar. 14, 2022,
PCT Pub. No. WO2021/181861, PCT Pub. Date Sep. 16, 2021.
Claims priority of application No. 2020-040998 (JP), filed on Mar. 10, 2020.
Prior Publication US 2022/0404169 A1, Dec. 22, 2022
Int. Cl. G01C 21/00 (2006.01)
CPC G01C 21/3844 (2020.08) [G01C 21/3811 (2020.08)] 13 Claims
OG exemplary drawing
 
10. A map data generation method executed by a map data generation device, the map data generation device adding predetermined information to map data based on an image in which an outside is captured from a mobile object, the map data generation method comprising:
acquiring input information in which the image and the position information of the mobile object are associated;
acquiring visual saliency distribution information obtained by estimating a level of visual saliency in the image based on the image;
calculating a movement amount of an estimated gazing point based on the visual saliency distribution information by estimating that the estimated gazing point is a position on the image in which the visual saliency becomes the maximum in the visual saliency distribution information, the movement amount of the calculated estimated gazing point being based on a time sequence;
determining, based on the movement amount of the calculated estimated gazing point, whether or not a visual recognition load tendency is high at a point or a section; and
adding, upon a result of the determination that the visual recognition load tendency is high at the point or the section, attention information with the point or the section as a point or a section which requires visual attention, to map data.