Granted Patent B2

US 12,646,261 · App. 18/683,952 · Granted Jun 2, 2026

Inventors: Manabu Kawashima (Tokyo, JP); Daiki Yamanaka (Tokyo, JP); Takashi Seno (Tokyo, JP)

Assignee: SONY GROUP CORPORATION

G06T19/00A63F13/537G06T17/20

Abstract

Claims (27)

1 . An information processing apparatus comprising circuitry configured to:

acquire first three-dimensional information related to an occupancy probability of an object in a real space and second three-dimensional information related to an estimation result of a surface shape of the object,

classify the object based on the first three-dimensional information and floor surface information related to a floor surface in the real space, and

highlight a surface of the object classified based on the second three-dimensional information.

2 . The information processing apparatus according to claim 1 , wherein

the circuitry is further configured to:

determine an outlier rate of the object according to a predetermined condition based on the first three-dimensional information and the floor surface information, and

change display of the object according to the outlier rate.

3 . The information processing apparatus according to claim 2 , wherein the circuitry determines the outlier rate according to a size of the object as the predetermined condition.

4 . The information processing apparatus according to claim 2 , wherein the circuitry determines the outlier rate according to a ratio of a voxel in an unobserved state among a plurality of the voxels in a surrounding of the object as the predetermined condition.

5 . The information processing apparatus according to claim 4 , wherein the circuitry determines the outlier rate according to a state of the voxel in a gravity direction in the real space in the surrounding of the object.

6 . The information processing apparatus according to claim 2 , wherein the circuitry determines the outlier rate according to a temporal change of a state of the first three-dimensional information as the predetermined condition.

7 . The information processing apparatus according to claim 6 , wherein

the first three-dimensional information is updated based on distance information measured by a distance measuring device, and

the circuitry determines whether or not the state has changed based on a ranging range of the distance measuring device.

8 . The information processing apparatus according to claim 2 , wherein the circuitry determines the outlier rate according to a height of the object from the floor surface.

9 . The information processing apparatus according to claim 1 , wherein the first three-dimensional information is an occupancy grid map.

10 . The information processing apparatus according to claim 1 , wherein the second three-dimensional information includes mesh data defining a surface by a plurality of vertices and a side connecting the plurality of vertices.

11 . The information processing apparatus according to claim 1 , wherein the circuitry highlights the surface of the object present within a movement range of a target object moving in the real space.

12 . An information processing method comprising:

acquiring first three-dimensional information related to an occupancy probability of an object in a real space and second three-dimensional information related to an estimation result of a surface shape of the object;

classifying the object based on the first three-dimensional information and floor surface information related to a floor surface in the real space; and

highlighting a surface of the object classified based on the second three-dimensional information.

13 . A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method, the method comprising:

acquiring first three-dimensional information related to an occupancy probability of an object in a real space and second three-dimensional information related to an estimation result of a surface shape of the object;

classifying the object based on the first three-dimensional information and floor surface information related to a floor surface in the real space; and

highlighting a surface of the object classified based on the second three-dimensional information.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (15)