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US 2024/0404078 A1Published application
Bird's-eye view data generation device, bird's-eye view data generation program, bird's-eye view data generation method, and robot
AssigneesOMRON Corporation, Kyoto University
InventorsMai KUROSE NISHIMURA, Shohei NOBUHARA, Ko NISHINO
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Abstract
The present disclosure provides a bird's-eye view data generating device including a memory; and at least one processor coupled to the memory.
Claims10
A bird's-eye view data generating device comprising:
- a memory;
- and
- at least one processor coupled to the memory,
- the at least one processor being configured to:
- acquire time-series data that is two-dimensional observation information expressing at least one moving body observed in a dynamic environment from a viewpoint of an observing moving body that is equipped with an observation device;
- and
- generate bird's-eye view data, which expresses an on-ground locus of movement of the observing moving body and on-ground loci of movement of respective moving bodies that are obtained in a case in which the observing moving body is observed from a bird's-eye view position, from the time-series data of the two-dimensional observation information and by using a motion model, which is determined in advance and expresses motions of the moving bodies, and relative positions of the moving bodies from the observing moving body in an actual space, which relative positions are determined by using prior information, which relates to sizes of the moving bodies in an actual space, and sizes and positions of the moving bodies in the two-dimensional observation information.
4 more elements
(canceled)
A bird's-eye view data generating method in which a computer executes processing comprising:
- acquiring time-series data that is two-dimensional observation information expressing at least one moving body observed in a dynamic environment from a viewpoint of an observing moving body that is equipped with an observation device;
- and
- generating bird's-eye view data, which expresses an on-ground locus of movement of the observing moving body and on-ground loci of movement of respective moving bodies that are obtained in a case in which the observing moving body is observed from a bird's-eye view position, from the time-series data of the two-dimensional observation information and by using a motion model, which is determined in advance and expresses motions of the moving bodies, and relative positions of the moving bodies from the observing moving body in an actual space, which relative positions are determined by using prior information, which relates to sizes of the moving bodies in an actual space, and sizes and positions of the moving bodies in the two-dimensional observation information.
A robot comprising:
- an acquiring section acquiring time-series data that is two-dimensional observation information expressing at least one moving body observed in a dynamic environment from a viewpoint of a robot that is equipped with an observation device;
- a generating section generating bird's-eye view data, which expresses an on-ground locus of movement of the robot and on-ground loci of movement of respective moving bodies that are obtained in a case in which the robot is observed from a bird's-eye view position, from the time-series data of the two-dimensional observation information and by using a motion model, which is determined in advance and expresses motions of the moving bodies, and relative positions of the moving bodies from the robot in an actual space, which relative positions are determined by using prior information, which relates to sizes of the moving bodies in an actual space, and sizes and positions of the moving bodies in the two-dimensional observation information;
- an autonomous traveling section causing the robot to travel autonomously;
- and
- a control section that, by using the bird's-eye view data, controls the autonomous traveling section such that the robot moves to a destination.
2 more elements
Dependencies are inferred from the claim text.