US 12,346,122 B2
Information processing apparatus and information processing method
Makoto Hanyuda, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Kanagawa (JP)
Appl. No. 18/003,365
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Jun. 10, 2021, PCT No. PCT/JP2021/022191
§ 371(c)(1), (2) Date Dec. 27, 2022,
PCT Pub. No. WO2022/009602, PCT Pub. Date Jan. 13, 2022.
Claims priority of application No. 2020-118065 (JP), filed on Jul. 8, 2020.
Prior Publication US 2023/0244244 A1, Aug. 3, 2023
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0274 (2013.01) 19 Claims
OG exemplary drawing
 
1. An information processing apparatus, comprising:
a fusion section configured to:
fuse a plurality of first clusters of a first cluster group with a plurality of second clusters of a second cluster group, wherein
each of the plurality of first clusters has a shape of an oblate ellipsoid,
each of the plurality of second clusters has a shape of the oblate ellipsoid,
the fusion of the plurality of first clusters with the plurality of second clusters is based on a normal direction of the oblate ellipsoid and a thickness in the normal direction of the oblate ellipsoid,
the normal direction corresponds to a partial plane of the oblate ellipsoid,
the first cluster group includes a piece of first point cloud data obtained by a sensor, and
the second cluster group includes a piece of second point cloud data obtained by the sensor prior to the piece of first point cloud data; and
update the second cluster group based on the fusion.