Estimation device, estimation method, and non-transitory computer readable storage medium

A method for estimating an environment around a vehicle using a plurality of cameras, comprising:

• (a) a coordinate calculation step for calculating a group of three-dimensional coordinates representing a position of an element disposed in an environment around the vehicle using visual odometry based on a two-dimensional image acquired by at least one of the plurality of cameras;
• (b) an information integration step for acquiring each three dimensional coordinate of the group of three-dimensional coordinates, one or more reliability scores corresponding to one or more reference parameters among a plurality of types of parameters related to reliability of the three-dimensional coordinates, and identification key information for specifying the one or more reliability scores corresponding to the three-dimensional coordinates, the one or more reliability scores being determined based on relationship information representing a relationship between the one or more reference parameters and the one or more reliability scores;
• and generating a plurality of data points by integrating the three-dimensional coordinates and the one or more reliability scores based on the identification key information;
• and
• (c) a generation step for receiving the plurality of data points as input and generating visual information from the plurality of data points using a machine learning model that has been preliminarily trained to generate the visual information that visually represents the element according to the one or more reliability scores included in the plurality of data points.

A non-transitory tangible computer readable storage medium comprising instructions being executed by a computer, the instructions including a computer-implemented method for estimating an environment around a vehicle using a plurality of cameras,

• the instructions including:
• calculating a group of three-dimensional coordinates representing a position of an element disposed in an environment around the vehicle using visual odometry based on a two-dimensional image acquired by at least one of the plurality of cameras;
• acquiring each three dimensional coordinate of the group of three-dimensional coordinates, one or more reliability scores corresponding to one or more reference parameters among a plurality of types of parameters related to reliability of the three-dimensional coordinates, and identification key information for specifying the one or more reliability scores corresponding to the three-dimensional coordinates, the one or more reliability scores being determined based on relationship information representing a relationship between the one or more reference parameters and the one or more reliability scores;
• generating a plurality of data points by integrating the three-dimensional coordinates and the one or more reliability scores based on the identification key information;
• and
• receiving the plurality of data points as input and generating visual information from the plurality of data points using a machine learning model that has been preliminarily trained to generate the visual information that visually represents the element according to the one or more reliability scores included in the plurality of data points.