Object detection probability calculating apparatus, object detection probability calculating method, and program
An object detection probability calculating apparatus includes a processor; and a memory storing instructions that cause the processor to execute a process. The process includes calculating an object detection probability indicating a probability at which a person is able to detect a predetermined object appearing in an image, based on a parameter of image quality acquired from a camera provided at a moving body capable of automatic movement and distance information indicating a distance from the moving body or the camera to the predetermined object.
1 . An object detection probability calculating apparatus for remotely monitoring automatic driving of a moving body, comprising:
a processor; and
a memory storing instructions that cause the processor to execute a process, the process including
calculating an object detection probability indicating a probability at which a person is able to detect a predetermined object appearing in an image, based on a parameter of image quality acquired from a camera provided at a moving body capable of automatic movement and distance information indicating a distance from the moving body or the camera to the predetermined object;
determining whether the calculated object detection probability is below a predetermined threshold; and
stopping automatic driving of the moving body upon determining that the calculated object detection probability is below the predetermined threshold.
2 . The object detection probability calculating apparatus according to claim 1 , wherein the object detection probability is calculated based on the parameter and the distance information by using a model of the object detection probability, the model indicating a relationship between a value of the parameter and the object detection probability.
3 . The object detection probability calculating apparatus according to claim 2 , wherein the model is a model in which the object detection probability increases as the parameter increases, and the object detection probability does not change when the parameter is equal to or greater than a first predetermined value; in which the object detection probability increases in a case where the distance is equal to or smaller than a second predetermined value, and the object detection probability is equal to or greater than a certain value even in a case where the parameter is equal to or smaller than a third predetermined value; and in which the object detection probability decreases as the distance increases, and the object detection probability is 0 in a case where the distance is equal to or greater than a fourth predetermined value.
4 . The object detection probability calculating apparatus according to claim 1 , wherein the parameter is a bit rate, a resolution, or a frame rate related to the image.
5 . The object detection probability calculating apparatus according to claim 1 , wherein the process further includes transmitting object detection probability information indicating the calculated object detection probability, to an operator terminal for remotely monitoring movement of the moving body.
6 . The object detection probability calculating apparatus according to claim 1 , wherein the object detection probability calculating apparatus is installed at the moving body or installed in a monitoring center in which an operator terminal for remotely monitoring movement of the moving body is installed.
7 . The object detection probability calculating apparatus according to claim 1 , wherein the process further comprises:
initiating an operation of the moving body based on an instruction from an operator remotely upon an end of automatic driving of the moving body.
8 . An object detection probability calculating method for remotely monitoring automatic driving of a moving body, comprising:
calculating an object detection probability indicating a probability at which a person is able to detect a predetermined object appearing in an image, based on a parameter of image quality acquired from a camera provided at a moving body capable of automatic movement and distance information indicating a distance from the moving body or the camera to the predetermined object;
determining whether the calculated object detection probability is below a predetermined threshold; and
stopping automatic driving of the moving body upon determining that the calculated object detection probability is below the predetermined threshold.
9 . A non-transitory computer-readable recording medium having computer-readable instructions stored thereon, which when executed, cause a computer to perform the object detection probability calculating method according to claim 8 .