# US 12,602,053 B2 · Information processing apparatus, moving body control system, control method, and non-transitory computer-readable medium

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- Number: US 12,602,053 B2
- Document ID: US12602053B2
- Status: Granted
- Kind: B2
- Application number: 18/265,475
- Filed: 2020-12-15
- Published: 2024-04-11
- Granted: 2026-04-14
- Earliest claimed: 2020-12-15
- Assignees: NEC Corporation
- Applicants: NEC Corporation
- Inventors: Takayuki Suzuki
- Web page: https://patentgrep.com/patent/US12602053B2

## CPC

- G05D 1/2435: {Extracting 3D information}
- G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80)
- G06T 15/00: Three-dimensional [3D] image rendering
- G05D 2111/10: Optical signals
- G06T 2207/30244: Camera pose
- G06T 2207/30252: Vehicle exterior; Vicinity of vehicle
- H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION

## Abstract

The information processing apparatus includes an extraction unit configured to extract at least one first photographed image, the first photographed image being similar to a second photographed image which is photographed by using a second photographing apparatus mounted on a moving apparatus, the moving apparatus being moving in a predetermined region, from a plurality of first photographed images which are photographed by using a first photographing apparatus for creating a three-dimensional image of the predetermined region, an estimation unit configured to estimate a first photographing orientation of the first photographing apparatus, the first photographing apparatus photographing the first photographed image which is extracted, and a second photographing orientation of the second photographing apparatus at a time when the second photographed image is photographed, and a control unit configured to control an action of the moving apparatus based on the first photographing orientation and the second photographing orientation.

## Claims

### Claim 1

An information processing apparatus comprising:
at least one memory storing instructions, and
at least one processor configured to execute the instructions to;
extract at least one first photographed image, the first photographed image being similar to a second photographed image which is photographed by using a second photographing apparatus mounted on a moving apparatus, the moving apparatus being moving in a predetermined region, from a plurality of first photographed images which are photographed by using a first photographing apparatus for creating a three-dimensional image of the predetermined region;
estimate a first photographing orientation of the first photographing apparatus, the first photographing apparatus photographing the first photographed image which is extracted, and a second photographing orientation of the second photographing apparatus at a time when the second photographed image is photographed; and
control an action of the moving apparatus based on the first photographing orientation and the second photographing orientation, wherein
the first photographing orientation is a first angle of a photographing direction of the first photographing apparatus with respect to a specific direction, and the second photographing orientation is a second angle of a photographing direction of the second photographing apparatus with respect to the specific direction, and
the at least one processor is further configured to execute the instructions to decrease a speed of the moving apparatus in a case where a difference between the first angle and the second angle is greater than a threshold value defined in advance.

### Claim 2 (depends on 1)

The information processing apparatus according to claim 1, wherein the at least one processor is further configured to execute the instructions to
change a speed of the moving apparatus based on the first photographing orientation and the second photographing orientation.

### Claim 3 (depends on 1)

The information processing apparatus according to claim 1, wherein the at least one processor is further configured to execute the instructions to
increase the speed of the moving apparatus in a case where the difference between the first angle and the second angle is smaller than a threshold value defined in advance.

### Claim 4 (depends on 1)

The information processing apparatus according to claim 1,
wherein the three-dimensional image is generated by using SfM (structure from motion).

### Claim 5

A control method executed in an information processing apparatus, the control method comprising:
extracting at least one first photographed image, the first photographed image being similar to a second photographed image which is photographed by using a second photographing apparatus mounted on a moving apparatus, the moving apparatus being moving in a predetermined region, from a plurality of first photographed images which are photographed by using a first photographing apparatus for creating a three-dimensional image of the predetermined region;
estimating a first photographing orientation of the first photographing apparatus, the first photographing apparatus photographing the first photographed image which is extracted, and a second photographing orientation of the second photographing apparatus at a time when the second photographed image is photographed; and
controlling an action of the moving apparatus based on the first photographing orientation and the second photographing orientation, wherein
the first photographing orientation is a first angle of a photographing direction of the first photographing apparatus with respect to a specific direction, and the second photographing orientation is a second angle of a photographing direction of the second photographing apparatus with respect to the specific direction, and
in controlling the action of the moving apparatus, a speed of the moving apparatus is decreased in a case where a difference between the first angle and the second angle is greater than a threshold value defined in advance.

### Claim 6

A non-transitory computer-readable medium storing a program, the program causing a computer to execute:
extracting at least one first photographed image, the first photographed image being similar to a second photographed image which is photographed by using a second photographing apparatus mounted on a moving apparatus, the moving apparatus being moving in a predetermined region, from a plurality of first photographed images which are photographed by using a first photographing apparatus for creating a three-dimensional image of the predetermined region;
estimating a first photographing orientation of the first photographing apparatus, the first photographing apparatus photographing the first photographed image which is extracted, and a second photographing orientation of the second photographing apparatus at a time when the second photographed image is photographed; and
controlling an action of the moving apparatus based on the first photographing orientation and the second photographing orientation, wherein
the first photographing orientation is a first angle of a photographing direction of the first photographing apparatus with respect to a specific direction, and the second photographing orientation is a second angle of a photographing direction of the second photographing apparatus with respect to the specific direction, and
in controlling the action of the moving apparatus, a speed of the moving apparatus is decreased in a case where a difference between the first angle and the second angle is greater than a threshold value defined in advance.