Control apparatus for moving body, control method for moving body, and program

A control apparatus for a moving body that moves by recognizing a movable area, the control apparatus comprising:

• an object recognizing unit inputting a non-depth image, which is an image in which a surrounding area of the moving body is imaged, not directly including depth information and recognizing a dynamic object imaged in the non-depth image;
• a movable area recognizing unit inputting a depth image in which the surrounding area of the moving body is imaged and recognizing a movable area in the surrounding area of the moving body on the basis of a recognition result of the dynamic object acquired by the object recognizing unit and the depth image;
• and
• a control unit controlling a driving device disposed in the moving body to move in the movable area,
• wherein the movable area recognizing unit recognizes a blind spot area that becomes a blind spot from the moving body due to an obstacle other than the dynamic object in the surrounding area of the moving body and recognizes an area except for an area of the obstacle other than the dynamic object and the blind spot area as the movable area.

A control method for a moving body that moves by recognizing a movable area using a control apparatus of the moving body, the control method comprising:

• an object recognizing process of inputting a non-depth image, which is an image in which a surrounding area of the moving body is imaged, not directly including depth information and recognizing a dynamic object imaged in the non-depth image;
• and
• a movable area recognizing process of inputting a depth image in which the surrounding area of the moving body is imaged and recognizing a movable area in the surrounding area of the moving body on the basis of a recognition result of the dynamic object acquired in the movable area recognizing process and the depth image,
• wherein, in the movable area recognizing process, a blind spot area that becomes a blind spot from the moving body due to an obstacle other than the dynamic object in the surrounding area of the moving body is recognized, and an area except for an area of the obstacle other than the dynamic object and the blind spot area is recognized as the movable area, and
• wherein a driving device disposed in the moving body is controlled to move in the movable area.

A program causing a control apparatus for a moving body that moves by recognizing a movable area to execute:

• an object recognizing process of inputting a non-depth image, which is an image in which a surrounding area of the moving body is imaged, not directly including depth information and recognizing a dynamic object imaged in the non-depth image;
• a movable area recognizing process of inputting a depth image in which the surrounding area of the moving body is imaged and recognizing a movable area in the surrounding area of the moving body on the basis of a recognition result of the dynamic object acquired in the movable area recognizing process and the depth image;
• and
• a control process of controlling a driving device disposed in the moving body to move in the movable area,
• wherein, in the movable area recognizing process, a blind spot area that becomes a blind spot from the moving body due to an obstacle other than the dynamic object in the surrounding area of the moving body is recognized, and an area except for an area of the obstacle other than the dynamic object and the blind spot area is recognized as the movable area.