Generation method, non-transitory computer-readable storage medium for storing generation program, and information processing apparatus

A non-transitory computer-readable storage medium storing a generation program of generating a sensor selection order in extrinsic calibration of a multi-sensor system that detects a target using a three or more sensors, the generation program comprising instructions which, when the generation program is executed by a computer, cause the computer to perform processing including:

• obtaining detection results of the target at a plurality of time points by the three or more sensors, each sensor of the three or more sensors being configured to measure a distance between the target and each sensor and output a three-dimensional point cloud including at least a point corresponding to the measured distance;
• specifying a share number indicating a number of times of a time point when the target is detected at a same time point among the plurality of time points by each set of two sensors among the three or more sensors on a basis of whether each of the three or more sensors has detected the target at each time point;
• generating a target share number graph including three or more nodes and edges, wherein each node of the three or more nodes represents a corresponding sensor of the three or more sensors, each edge of the edges represents connectivity between any two nodes of the three or more nodes, and the specified share number is set as a weight of a corresponding one of the edges;
• generating a sensor connectivity graph obtained by leaving the edge having the weight that is a predetermined number or more from the target share number graph, wherein a set of two nodes connected in the sensor connectivity graph indicates a set of two sensors in which the number of times the target is observed at the same time point is the predetermined number or more the same time point is a predetermined number or more, and
• calculating a variance σ of positions of the target at the plurality of time points observed by the set of two sensors at time points,
• reflecting the variance σ of the target as a sensor in the sensor connectivity graph by setting a logarithmic function of the variance σ as the weight of each edge;
• specifying a path that minimizes a sum of the edges;
• and
• specifying, on the basis of the specified path, an order of sensors to be selected when calculating external parameters;
• wherein the order of the sensors in which the variance σ of the positions of the target becomes as large as possible is specified so that the calculation of the external parameters of the sensors becomes stable.

An information processing apparatus of generating a sensor selection order in extrinsic calibration of a multi-sensor system that detects a target using a three or more sensors, the information processing apparatus comprising:

• a memory;
• and
• a processor coupled to the memory, the processor being configured to perform processing including:
• obtaining detection results of the target at a plurality of time points by three or more sensors, each sensor of the three or more sensors being configured to measure a distance between the target and each sensor and output a three-dimensional point cloud including at least a point corresponding to the measured distance;
• specifying a share number indicating a number of times of a time point when the target is detected at a same time point among the plurality of time points by each set of two sensors among the three or more sensors on a basis of whether each of the three or more sensors has detected the target at each time point;
• generating a target share number graph including three or more nodes and edges, wherein each node of the three or more nodes represents a corresponding sensor of the three or more sensors, each edge of the edges represents connectivity between any two of the three or more nodes, and the specified share number is set as a weight of a corresponding one of the edges;
• generating a sensor connectivity graph obtained by leaving the edge having the weight that is a predetermined number or more from the target share number graph, wherein a set of two nodes connected in the sensor connectivity graph indicates a set of two sensors in which the number of times the target is observed at the same time point is the predetermined number or more, and
• calculating a variance o of positions of the target at the plurality of time points observed by the set of two sensors at time points,
• reflecting the variance σ of the target as a sensor in the sensor connectivity graph by setting a logarithmic function of the variance σ as the weight of each edge;
• specifying a path that minimizes a sum of the edges;
• and
• specifying, on the basis of the specified path, an order of sensors to be selected when calculating external parameters;
• wherein the order of the sensors in which the variance σ of the positions of the target becomes as large as possible is specified so that the calculation of the external parameters of the sensors becomes stable.