Information processing apparatus, vehicle, and information processing method using correlation between attributes
According to an embodiment, an information processing apparatus includes a memory having computer executable components stored therein; and a processing circuit communicatively coupled to the memory. The processing circuit acquires a plurality of pieces of observation information of surroundings of a moving body, generates a plurality of pieces of attribute information of the surroundings of the moving body on the basis of the plurality of pieces of observation information, and sets a reliability of the attribute information of the surroundings of the moving body on the basis of correlation of the plurality of pieces of attribute information.
1. An information processing apparatus, comprising:
a memory having computer executable components stored therein; and
processing circuitry communicatively coupled to the memory, the processing circuitry configured to:
acquire a plurality of pieces of observation information of surroundings of a moving body;
generate a plurality of pieces of attribute information of the surroundings of the moving body based on the plurality of pieces of observation information; and
set a reliability of each of the plurality of pieces of attribute information of the surroundings of the moving body based on attribute information included in one or more past pieces of attribute information corresponding to an area at a same position as each respective piece of attribute information, wherein
the processing circuitry is further configured to set the reliability of a piece of attribute information corresponding to a given area based on a difference between (1) a proportion of the one or more past pieces of attribute information having a same value as the piece of attribute information, and (2) a numerical value of the piece of attribute information corresponding to the given area, and
at least one of the one or more past pieces of attribute information used to set the reliability of the piece of attribute information corresponding to the given area corresponds to a different position of the moving body than a position of the moving body corresponding to the piece of attribute information for the given area.
2. The apparatus according to claim 1 , wherein the processing circuitry is further configured to
acquire position information indicating an observation position, and
set, from the plurality of pieces of attribute information for the area corresponding to the same position, a reliability of the area, based on the acquired position information.
3. The apparatus according to claim 1 , wherein
the plurality of pieces of observation information are each a captured image obtained through imaging, by an imager, an area surrounding the moving body.
4. The apparatus according to claim 1 , wherein the plurality of pieces of observation information are information indicating a position of an object existing in the surroundings of the moving body.
5. The apparatus according to claim 1 , wherein
the processing circuitry is further configured to set the reliability to a higher value as the proportion of the one or more past pieces of attribute information having the same value as the piece of attribute information is higher, and set the reliability to a lower value as the proportion of the one or more past pieces of attribute information having a same value as the piece of attribute information is lower.
6. The apparatus according to claim 1 , wherein
the processing circuitry is further configured to calculate a travelable probability of the moving body based on the plurality of pieces of attribute information.
7. The apparatus according to claim 6 , wherein
the processing circuitry is further configured to calculate the travelable probability of a first area where an attribute is a roadway to be a higher value than the travelable probability of a second area where the attribute is other than the roadway.
8. The apparatus according to claim 6 , wherein
the processing circuitry is further configured to acquire, for each of a plurality of sensors that observes the surroundings of the moving body, probability information indicating a travelable probability of the surroundings of the moving body, and reliability information indicating the reliability of each of the plurality of pieces of attribute information of the surroundings of the moving body, and determine a final probability of the travelable probability of the surroundings of the moving body based on the acquired probability information and the acquired reliability information corresponding to each of the plurality of sensors.
9. The apparatus according to claim 8 , wherein
the processing circuitry is further configured to determine the travelable probability of the surroundings of the moving body corresponding to a particular sensor having a highest reliability as the final probability.
10. The apparatus according to claim 8 , wherein
the processing circuitry is further configured to perform a weighted summing of the travelable probabilities of each of the plurality of sensors to determine the final probability, wherein weights used in the weighted summing are determined according to the reliability information of each of the plurality of sensors.
11. The apparatus according to claim 8 , wherein the memory is configured to store therein the final probability.
12. The apparatus according to claim 8 , wherein
the processing circuitry is further configured to calculate control information of the moving body based on the determined final probability.
13. The apparatus according to claim 6 , wherein
the processing circuitry is further configured to calculate control information of the moving body.
14. The apparatus according to claim 1 , further comprising:
a sensor configured to measure the plurality of pieces of observation information.
15. A vehicle mounting the information processing apparatus according to claim 1 .
16. The information processing apparatus of claim 1 , wherein the processing circuitry is further configured to calculate the reliability of the piece of attribute information corresponding to the given area as 1−|L(t)−L′(t)|, wherein
L(t) is the numerical value of the piece of attribute information at time t for the given area, and
L′(t) is an average value of the one or more past pieces of attribute information over a past N times for the given area, where N is an integer greater than 2.
17. An information processing apparatus, comprising:
a display configured to display information regarding an existence probability of an object existing in surroundings of a moving body, the existence probability being calculated based on each of a plurality of pieces of attribute information of the surroundings of the moving body and a reliability of each of the plurality of pieces of attribute information based on attribute information included in one or more past pieces of attribute information corresponding to an area at a same position as each respective piece of attribute information, wherein
the information processing apparatus sets the reliability of a piece of attribute information corresponding to a given area based on a difference between (1) a proportion of the one or more past pieces of attribute information having a same value as the piece of attribute information, and (2) a value of the piece of attribute information corresponding to the given area, and
at least one of the one or more past pieces of attribute information used to set the reliability of the piece of attribute information corresponding to the given area corresponds to a different position of the moving body than a position of the moving body corresponding to the piece of attribute information for the given area.
18. The apparatus according to claim 17 , wherein
the reliability of a piece of attribute information is calculated using a plurality of past pieces of attribute information for a same area.
19. The apparatus according to claim 17 , wherein
the existence probability of the object is an obstacle map.
20. An information processing method, comprising:
acquiring a plurality of pieces of observation information of surroundings of a moving body;
generating a plurality of pieces of attribute information of the surroundings of the moving body based on the plurality of pieces of observation information; and
setting a reliability of each of the plurality of pieces of attribute information of the surroundings of the moving body based on attribute information included in one or more past pieces of attribute information corresponding to an area at a same position as each respective piece of attribute information, wherein
the setting comprises setting the reliability of a piece of attribute information corresponding to a given area based on a difference between (1) a proportion of the one or more past pieces of attribute information having a same value as the piece of attribute information, and (2) a value of the piece of attribute information corresponding to the given area, and
at least one of the one or more past pieces of attribute information used to set the reliability of the piece of attribute information for information corresponding to the given area corresponds to a different position of the moving body than a position of the moving body corresponding to the piece of attribute information for the given area.