RECORDING MEDIUM RECORDING INFORMATION PROCESSING PROGRAM, INFORMATION PROCESSING METHOD, AND INFORMATION PROCESSING APPARATUS

• US 20190318179A1
• Filed: 06/20/2019
• Published: 10/17/2019
• Est. Priority Date: 01/16/2017
• Status: Active Grant

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: JIANG, SHAN, Yamao, Sosuke, Odashima, Shigeyuki
• Granted Patent: US 10,885,357 B2
• Time in Patent Office: Days
• CPC Class Codes: G06T 2207/20021 Dividing image into blocks, subimages or windows
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/215 Motion-based segmentation
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/73 using feature-based methods
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/586 of parking space
• CPC Class Codes: G06V 20/647 by matching two-dimensional images to three-dimensional objects
• CPC Class Codes: G08G 1/14 indicating individual free spaces in parking areas

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

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.

2. 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.

3. 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.

4. 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.

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.

6. 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.

7. 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.

8. 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.

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.

10. 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.

11. 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.

12. 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.