Information processing device, information processing method, computer program product, and vehicle control system

An information processing method comprising:

• acquiring a plurality of pieces of detection information that is information including detection results at two-dimensional positions different from each other acquired by detection of an object by one or more detection devices through a transmission body, the plurality of pieces of detection information each including distortion due to the transmission body that exists between the detection devices and the object;
• detecting a feature point from each of the plurality of pieces of detection information;
• and
• estimating, by minimizing an error between a three-dimensional position corresponding to the feature point and a detection position of the feature point corrected based on an initial distortion map expressing distortion at each of the two-dimensional positions, a revised distortion map, the three-dimensional position;
• and the detection position, wherein
• the initial distortion map is expressed at a resolution smaller than that of the pieces of detection information, and
• the feature point is corrected by using the distortion corrected according to a difference between the resolution of the initial distortion map and the resolution of the pieces of detection information.

A computer program product comprising a non-transitory computer readable medium including programmed instructions, the instructions causing a computer to execute:

• acquiring a plurality of pieces of detection formation that is information including detection results at two-dimensional positions different from each other acquired by detection of an object by one or more detection devices through a transmission body, the plurality of pieces of detection information each including distortion due to the transmission body that exists between the detection devices and the object;
• detecting a feature point from each of the plurality of pieces of detection information;
• and
• estimating, by minimizing an error between a three-dimensional position corresponding to the feature point and a detection position of the feature point corrected based on an initial distortion map expressing distortion at each of the two-dimensional positions, a revised distortion map, the three-dimensional position, and the detection position, wherein
• the initial distortion map is expressed at a resolution smaller than that of the pieces of detection information, and
• the feature point is corrected by using the distortion corrected according to a difference between the resolution of the initial distortion map and the resolution of the pieces of detection information.

A vehicle control system that controls a vehicle, the system comprising:

• an information processing device configured to estimate a three-dimensional position of an object;
• and
• a vehicle control device configured to control a drive mechanism to drive the vehicle based on the three-dimensional position,
• the information processing device comprising:
• one or more processors configured to:
• acquire a plurality of pieces of detection information that is information including detection results at two-dimensional positions different from each other acquired by detection of the object by one or more detection devices through a transmission body, the plurality of pieces of detection information each including distortion due to the transmission body that exists between the detection devices and the object,
• detect a feature point from each of the plurality of pieces of detection information, and
• estimate, by minimizing an error between a three-dimensional position corresponding to the feature point and a detection position of the feature point corrected based on an initial distortion map expressing distortion at each of the two-dimensional positions, a revised distortion map, the three-dimensional position, and the detection position, wherein
• the initial distortion map is expressed at a resolution smaller than that of the pieces of detection information, and
• the feature point is corrected by using the distortion corrected according to a difference between the resolution of the initial distortion map and the resolution of the pieces of detection information.