公开(公告)号：US12097848B2

公开(公告)日：2024-09-24

申请号：US17616776

申请日：2020-06-01

Applicant: SONY GROUP CORPORATION

Inventor： Takuto Motoyama

IPC: B60W30/095 ,  G01C21/00 ,  G06V10/147 ,  G06V10/22 ,  G06V10/26 ,  G06V20/58 ,  G06V20/70 ,  G08G1/0965

CPC classification number: B60W30/095 ,  G01C21/3815 ,  G06V10/147 ,  G06V10/22 ,  G06V10/26 ,  G06V20/58 ,  G06V20/70 ,  G08G1/0965 ,  B60W2420/403 ,  B60W2540/01 ,  B60W2540/221 ,  B60W2540/229 ,  B60W2554/4041 ,  B60W2556/40 ,  B60W2720/106

Abstract: There is provided an apparatus and a method that allows appropriate pulling over of a mobile object to a safe road shoulder when an emergency occurs during automated driving. A travelable region available for a vehicle to travel is set like an occupancy map based on distance information from a depth sensor. Image attribute information is generated from an image by semantic segmentation. An evacuation space is set in the travelable region based on the image attribute information that represents the situation of the road surface of the travelable region, and thus an evacuation space map is created.

公开(公告)号：US12073732B2

公开(公告)日：2024-08-27

申请号：US17434014

申请日：2020-02-21

Applicant: Sony Group Corporation

Inventor： Kenichiro Oi ,  Masaki Handa ,  Takuto Motoyama ,  Shun Lee ,  Masahiko Toyoshi

IPC: G08G5/00 ,  G05D1/00

CPC classification number: G08G5/0069 ,  G05D1/101 ,  G08G5/0017

Abstract: The present disclosure relates to action control device and an action control method and a program that enable more appropriate action control to be achieved.
An EKF processing unit selects a self-position estimation unit used to estimate a position of a drone from a plurality of the self-position estimation units which is different in estimation accuracy on the basis of waypoints that are indexes when the drone acts, and obtains a state of the drone. Then, a navigator controls an action of the drone according to an action plan created in advance on the basis of the state of the drone. The present technology can be applied to, for example, a mission flight control device that controls a mission flight of a drone.

公开(公告)号：US11854210B2

公开(公告)日：2023-12-26

申请号：US17767347

申请日：2020-10-14

Applicant: SONY GROUP CORPORATION

Inventor： Masahiko Toyoshi ,  Kohei Urushido ,  Shun Lee ,  Shinichiro Abe ,  Takuto Motoyama

IPC: G06T7/194 ,  G06T7/30 ,  G06V20/64 ,  B64C39/02 ,  B64U101/30

CPC classification number: G06T7/194 ,  B64C39/024 ,  G06T7/30 ,  G06V20/647 ,  B64U2101/30 ,  B64U2201/10 ,  G06T2207/10028 ,  G06T2207/10032 ,  G06T2207/30181 ,  G06T2207/30241

Abstract: To enable high-speed autonomous flight of a flight object. A three-dimensional real-time observation result is generated on the basis of self-position estimation information and three-dimensional distance measurement information. A prior map corresponding to a three-dimensional real-time observation result is acquired. The three-dimensional real-time observation result and the prior map are aligned. After the alignment, the three-dimensional real-time observation result is expanded on the basis of the prior map. A flight route is set on the basis of the three-dimensional real-time observation result having been expanded. In the flight object such as a drone, a somewhat long flight route can be accurately calculated at a time in a global behavior plan, which enables high-speed autonomous flight of the flight object.

公开(公告)号：US12229980B2

公开(公告)日：2025-02-18

申请号：US17753793

申请日：2020-07-17

Applicant: SONY GROUP CORPORATION

Inventor： Kohei Urushido ,  Takuto Motoyama ,  Masahiko Toyoshi ,  Shun Lee

IPC: G06T7/593 ,  G01C3/08 ,  G06T7/73 ,  H04N13/239 ,  H04N13/00

Abstract: An information processing apparatus includes: a plurality of stereo cameras arranged so that directions of baseline lengths of the stereo cameras intersect each other; a depth estimation unit that estimates, from captured images captured by the plurality of stereo cameras, a depth of an object included in the captured images; and an object detection unit that detects the object based on the depth estimated by the depth estimation unit and reliability of the depth, the reliability being determined in accordance with an angle of a direction of an edge line of the object with respect to the directions of the baseline lengths of the plurality of stereo cameras.

公开(公告)号：US12018926B2

公开(公告)日：2024-06-25

申请号：US17299400

申请日：2019-12-03

Applicant: SONY GROUP CORPORATION

Inventor： Takuto Motoyama ,  Masaki Handa ,  Shinichiro Abe ,  Masahiko Toyoshi ,  Shun Lee ,  Kenichiro Oi

IPC: G01B11/02 ,  B64C39/02 ,  B64U101/30 ,  G06T7/80 ,  H04N23/54 ,  H04N23/695

CPC classification number: G01B11/026 ,  B64C39/024 ,  G06T7/85 ,  H04N23/54 ,  H04N23/695 ,  B64U2101/30

Abstract: A controller includes an acquisition unit that acquires image data captured by an imaging device for photographing disposed in a moving body, and a calculation unit that calculates a relative position of a position of a subject, which is detected by a plurality of distance-measuring imaging devices provided in the moving body, based on the subject included in the image data.

公开(公告)号：US11814155B2

公开(公告)日：2023-11-14

申请号：US17297082

申请日：2019-11-26

Applicant: SONY GROUP CORPORATION

Inventor： Masaki Handa ,  Shinichiro Abe ,  Masahiko Toyoshi ,  Takuto Motoyama ,  Shun Lee ,  Kenichiro Oi

IPC: B64C13/00 ,  B64C39/02 ,  B64D47/08 ,  G01C7/02 ,  G05D1/00 ,  B64U101/30

CPC classification number: B64C13/00 ,  B64C39/02 ,  B64D47/08 ,  G01C7/02 ,  G05D1/00 ,  B64U2101/30 ,  B64U2201/00

Abstract: A control apparatus includes an acquisition unit that acquires captured data in which an object around a moving object is captured by an imaging unit, where the moving object is one of a moving object that is irradiated with spontaneous emission light and a moving object that moves with a predetermined pattern, and a determination unit that determines that the object is an obstacle if the captured data acquired by the acquisition unit includes a specific pattern.