| CPC G06V 10/764 (2022.01) [G06V 10/7747 (2022.01); G06V 10/776 (2022.01)] | 18 Claims |
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1. A label estimation apparatus configured to estimate a label to be assigned to a point that has not been labeled using a label of a point that has been labeled among points included in a point group, the label estimation apparatus comprising circuit configured to execute a method comprising:
taking, as a target point, a point that has not been labeled within a point group including a point that has been labeled and the point that has not been labeled;
estimating a class of the target point and a likelihood indicating a confidence of an estimation result of the class from a set of points included in the point group;
obtaining a distance between the target point and a point that has been assigned the same label as a label corresponding to the estimated class as a priority used to determine whether the estimated class is appropriate; and
determining whether the estimated class is appropriate using at least an index based on the distance,
wherein the method further comprising:
learning a model that derives a likelihood that an input point is classified as each of a plurality of classes while associating a coordinate of each of a plurality of points with a label indicating which class each of the plurality of points is classified as, and
learning the model to minimize a loss function, the loss function including a first term regarding an error for the point that has been labeled in advance and a second term regarding an error for the point that has been assigned the label indicating the class that has been determined to be appropriate and weighting the first and second terms such that contributions of the point that has been labeled in advance and the point that has been assigned the label indicating the class that has been determined to be equal.
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