Information processing apparatus, information processing method, and information processing program
AssigneeSony Group Corporation
InventorsRyota Sawahashi, Masataka Toyoura
Life of this patent
Estimating the term…
Abstract
To provide an information processing apparatus, an information processing method, and an information processing program that enable detection of a non-planar environment at low cost. The information processing apparatus according to an embodiment includes: a detection unit that detects an obstacle location that becomes obstruction for traveling in a traveling direction on the basis of a three-dimensional point cloud determined to be a traveling surface and a two-dimensional point cloud corresponding to the traveling direction.
Claims16
An information processing apparatus, comprising:
- processing circuitry configured to
- detect an obstacle location that becomes an obstruction for traveling in a traveling direction on a basis of (i) a three-dimensional point cloud determined to be a traveling surface and (ii) a two-dimensional point cloud corresponding to the traveling direction;
- estimate a normal line for every point included in a plane specified on a basis of the three-dimensional point cloud;
- correct a direction of one of the normal lines such that an inner product of a vector from a sensor to a target point and a normal vector of the target point becomes negative;
- determine a normal line-added point cloud with normal line information of the normal line estimated for every point included in the plane, the normal line information including continuous values of the three-dimensional point cloud;
- determine the traveling surface on a basis of the normal line-added point cloud;
- generate a map based on two-dimensional information on a basis of information indicating the obstacle location;
- and
- control travelling of a mobile body on a basis of the map.
An information processing method executed by a processor, the method comprising:
- detecting an obstacle location that becomes an obstruction for traveling in a traveling direction on a basis of (i) a three-dimensional point cloud determined to be a traveling surface and (ii) a two-dimensional point cloud corresponding to the traveling direction;
- estimating a normal line for every point included in a plane specified on a basis of the three-dimensional point cloud;
- correcting a direction of one of the normal lines such that an inner product of a vector from a sensor to a target point and a normal vector of the target point becomes negative;
- determining a normal line-added point cloud with normal line information of the normal line estimated for every point included in the plane, the normal line information including continuous values of the three-dimensional point cloud;
- determining the traveling surface on a basis of the normal line-added point cloud;
- generating a map based on two-dimensional information on a basis of information indicating the obstacle location;
- and
- controlling travelling of a mobile body on a basis of the map.
A non-transitory computer readable medium storing an information processing program that when executed by a computer causes the computer to execute a method, the method comprising:
- detecting an obstacle location that becomes an obstruction for traveling in a traveling direction on a basis of (i) a three-dimensional point cloud determined to be a traveling surface and (ii) a two-dimensional point cloud corresponding to the traveling direction;
- estimating a normal line for every point included in a plane specified on a basis of the three-dimensional point cloud;
- correcting a direction of one of the normal lines such that an inner product of a vector from a sensor to a target point and a normal vector of the target point becomes negative;
- determining a normal line-added point cloud with normal line information of the normal line estimated for every point included in the plane, the normal line information including continuous values of the three-dimensional point cloud;
- determining the traveling surface on a basis of the normal line-added point cloud;
- generating a map based on two-dimensional information on a basis of information indicating the obstacle location;
- and
- controlling travelling of a mobile body on a basis of the map.
Dependencies are inferred from the claim text.