Information processing device, information processing method, and computer program product
According to an embodiment, an information processing device includes a memory and processing circuitry. The processing circuitry is configured to acquire a peripheral image of a moving object, set a cell in response to a plurality of traveling candidate lines of the moving object in a peripheral area of the moving object, specify a type of an object included in the cell using one or more partitioned areas smaller than the cell included in the peripheral image, and determine whether or not the moving object can progress for the cell based on the type of the object.
1. An information processing device comprising:
processing circuitry configured to:
acquire a peripheral image of a moving object;
set a cell having a shape along each of a plurality of traveling candidate lines of the moving object in a peripheral area of the moving object, the traveling candidate lines being a plurality of progressing candidate lines each of which can be taken when the moving object progresses and each of which is along each of various directions, each cell shape with a width depending on a width of the moving object, and with the width and a height that are adjusted depending on the peripheral environment;
specify a type of an object included in the cell using one or more partitioned areas smaller than the cell included in the peripheral image; and
determine whether or not the moving object is progressable for the cell based on the type of the object.
2. The information processing device according to claim 1 , wherein
the processing circuitry is configured to set a plurality of cells arranged along the traveling candidate line.
3. The information processing device according to claim 2 , wherein
a length of the cell in a direction along the traveling candidate line is a length depending on peripheral environment of the moving object.
4. The information processing device according to claim 1 , wherein
a length of the cell in a direction crossing the traveling candidate line is a length depending on a vehicle width of the moving object.
5. The information processing device according to claim 1 , wherein
the cell has a shape obtained by projecting the moving object on a two-dimensional plane, the shape formed along the traveling candidate line, or a rectangular shape.
6. The information processing device according to claim 1 , wherein
the processing circuitry is configured to set a plurality of progressing candidate lines along which the moving object is likely to progress and the cells in response to the progressing candidate lines according to a steering range of the moving object and a speed range of the moving object; and
select the plurality of progressing candidate lines and the cells in response to the progressing candidate lines based on current speed and a current steering angle of the moving object, as the cells in response to the plurality of traveling candidate lines, among the plurality of progressing candidate lines and the cells in response to the progressing candidate lines.
7. The information processing device according to claim 1 , wherein
the processing circuitry is configured to calculate likelihood of a type of an object included in the partitioned area; and
specify a type of an object included in the cell based on the likelihood of the type of the object in the partitioned area included in the cell.
8. The information processing device according to claim 7 , wherein
the processing circuitry is configured to specify a type of an object included in the cell using a full connect layer in Deep Neural Network.
9. The information processing device according to claim 7 , wherein
the processing circuitry is configured to specify a type of an object having a largest statistical value of likelihood included in the cell as the type of the object included in the cell.
10. The information processing device according to claim 7 , wherein
the processing circuitry is configured to uniquely specify a type of an object for each of the partitioned areas included in the cell and specifies the type of the object included in the cell based on a number of the partitioned areas for each specified type of the object.
11. The information processing device according to claim 1 , wherein
a size of the partitioned area inside a predetermined area included in the peripheral image is smaller than a size of the partitioned area inside an area other than the predetermined area in the peripheral image.
12. The information processing device according to claim 1 , wherein
the type of the object is at least one of a roadway, a sidewalk, a moving obstacle, and a stationary obstacle.
13. The information processing device according to claim 1 , wherein
the peripheral area is the peripheral image.
14. The information processing device according to claim 1 , wherein
the processing circuitry is configured to output determination result information indicating whether or not the moving object is progressable for the cell.
15. An information processing method implemented by a computer, the method comprising:
acquiring a peripheral image of a moving object;
setting a cell having a shape along each of a plurality of traveling candidate lines of the moving object in a peripheral area of the moving object, the traveling candidate lines being a plurality of progressing candidate lines each of which can be taken when the moving object progresses and each of which is along each of various directions, each cell shape with a width depending on a width of the moving object, and with the width and a height that are adjusted depending on the peripheral environment:
specifying a type of an object included in the cell using one or more partitioned areas smaller than the cell included in the peripheral image; and
determining whether or not the moving object is progressable for the cell based on the type of the object.
16. The information processing method according to claim 15 , wherein
the setting includes setting a plurality of the cells arranged along the traveling candidate line.
17. The information processing method according to claim 16 , wherein
a length of the cell in a direction along the traveling candidate line is a length depending on peripheral environment of the moving object.
18. The information processing method according to claim 15 , wherein
a length of the cell in a direction crossing the traveling candidate line is a length depending on a vehicle width of the moving object.
19. The information processing method according to claim 15 , wherein
the cell has a shape obtained by projecting the moving object on a two-dimensional plane, the shape formed along the traveling candidate line, or a rectangular shape.
20. An information processing device comprising:
a memory; and
processing circuitry configured to display a display screen, which includes determination result information indicating whether or not a moving object is progressable for a cell, larger than a pixel area, having a shape along each of a plurality of traveling candidate lines of the moving object, on a display, the traveling candidate lines being a plurality of progressing candidate lines each of which can be taken when the moving object progresses and each of which is along each of various directions, each cell shape with a width depending on a width of the moving object, and with the width and a height that are adjusted depending on the peripheral environment.