# US 2019/0318179 A1 · Recording medium recording information processing program, information processing method, and information processing apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0318179 A1 - Document ID: US20190318179A1 - Status: Published application - Kind: A1 - Application number: 16/447,926 - Filed: 2019-06-20 - Published: 2019-10-17 - Earliest claimed: 2017-01-16 - Assignees: Fujitsu Limited - Applicants: Fujitsu Limited - Inventors: SHAN JIANG; Sosuke Yamao; Shigeyuki Odashima - Web page: https://patentgrep.com/patent/US20190318179A1 ## CPC - G06T 7/579: from motion - G06V 20/586: {of parking space} - G06T 7/11: Region-based segmentation - G06T 7/215: Motion-based segmentation - G06T 7/73: using feature-based methods - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06V 20/647: {by matching two-dimensional images to three-dimensional objects} - G08G 1/14: indicating individual free spaces in parking areas - G06T 2207/20021: Dividing image into blocks, subimages or windows - G06T 2207/30264: Parking - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A recording medium records an information processing program for causing a computer to execute processing including: acquiring an image from an imaging device provided in a first moving body; estimating a self-position of the first moving body by a first algorithm based on the image; generating a first point group that indicates a three-dimensional shape around the first moving body; generating a second point group that indicates the three-dimensional shape by a second algorithm based on data used in the first algorithm; merging the first point group and second point group so as to generate a third point group; extracting a space of an area group where a second moving body is parked from the third point group based on a movement track of the first moving body and information regarding a size of the second moving body; dividing the extracted space; and specifying each area of the area group. ## Claims ### Claim 1 A non-transitory computer-readable recording medium recording an information processing program for causing a computer to execute processing comprising: acquiring an image which is imaged by an imaging device provided in a first moving body; estimating a self-position of the first moving body by a first algorithm based on the acquired image; generating a first point group that indicates a three-dimensional shape around the first moving body; generating a second point group that indicates the three-dimensional shape by a second algorithm based on data which is used in the first algorithm; merging the generated first point group and second point group so as to generate a third point group; extracting a space of an area group where a second moving body is parked from the third point group based on a movement track of the first moving body and information regarding a size of the second moving body; dividing the extracted space; and specifying each area of the area group. ### Claim 2 (depends on 1) The non-transitory computer-readable recording medium according to claim 1, wherein in the specifying processing, average values of widths and depths of the respective areas of the area group in the extracted space are calculated, and the each area of the area group is specified by dividing the space based on the calculated average values of the widths and the depths of the respective areas. ### Claim 3 (depends on 2) The non-transitory computer-readable recording medium according to claim 2, wherein the processing further includes: correcting a drift of the first point group by aligning the first point group based on the width and the depth of the each specified area. ### Claim 4 (depends on 1) The non-transitory computer-readable recording medium according to claim 1, wherein the second moving body is a car, and the specifying processing includes specifying each parking area of the area group where the car is parked by dividing the space. ### Claim 5 An information processing method, comprising: acquiring, by a computer, an image which is imaged by an imaging device provided in a first moving body; estimating a self-position of the first moving body by a first algorithm based on the acquired image and generating a first point group that indicates a three-dimensional shape around the first moving body; generating a second point group that indicates the three-dimensional shape by a second algorithm based on data which is used in the first algorithm; merging the generated first point group and second point group area so as to generate a third point group; extracting a space of an area group where a second moving body is parked from the third point group based on a movement track of the first moving body and information regarding a size of the second moving body; and dividing the extracted space and specifying each area of the area group. ### Claim 6 (depends on 5) The information processing method according to claim 5, wherein in the specifying, average values of widths and depths of the respective areas of the area group in the extracted space are calculated, and the each area of the area group is specified by dividing the space based on the calculated average values of the widths and the depths of the respective areas. ### Claim 7 (depends on 6) The information processing method according to claim 6, wherein further comprising: correcting a drift of the first point group by aligning the first point group based on the width and the depth of the each specified area. ### Claim 8 (depends on 5) The information processing method according to claim 5, wherein the second moving body is a car, and the specifying includes specifying each parking area of the area group where the car is parked by dividing the space. ### Claim 9 An information processing apparatus comprising: a memory; and a processor coupled to the memory and configured to: acquire an image which is imaged by an imaging device provided in a first moving body; estimate a self-position of the first moving body by a first algorithm based on the acquired image and generate a first point group that indicates a three-dimensional shape around the first moving body; generate a second point group that indicates the three-dimensional shape by a second algorithm based on data which is used in the first algorithm; merge the generated first point group and second point group so as to generate a third point group; extract a space of an area group where a second moving body is parked from the third point group based on a movement track of the first moving body and information regarding a size of the second moving body; and divide the extracted space and specify each area of the area group. ### Claim 10 (depends on 9) The information processing apparatus according to claim 9, wherein the processor is configured to: calculate average values of widths and depths of the respective areas of the area group in the extracted space; and specify the each area of the area group by dividing the space based on the calculated average values of the widths and the depths of the respective areas. ### Claim 11 (depends on 10) The information processing apparatus according to claim 10, wherein the processor is configured to: correct a drift of the first point group by aligning the first point group based on the width and the depth of the each specified area. ### Claim 12 (depends on 9) The information processing apparatus according to claim 9, wherein the second moving body is a car, and each parking area of the area group where the car is parked by dividing the space is specified.