Information processing device, information processing method, and program

Abstract

An information processing device of the present disclosure generates first reliability information indicating a region, of a target region, in which a target object may be present, on the basis of velocity information of an object present in the target region generated on the basis of reflected wave information indicating a reflected wave of an electromagnetic wave emitted to the target region. Additionally, the information processing device generates second reliability information indicating a region, of the target region, in which the target object may be present, on the basis of intensity of the reflected wave of the object present in the target region, indicated by the reflected wave information. The information processing device then estimates, on the basis of the first reliability information and the second reliability information, a region, of the target region, in which the target object is present.

Description

Information processing device, information processing method, and recording medium

[0001] The present disclosure relates to an information processing device, an information processing method, and a program.

[0002] A technique related to the present disclosure is disclosed in Patent Document 1. Patent Document 1 discloses a technique for detecting an object that reflects a large amount of millimeter-wave radar, such as metal, based on the reflection intensity of the millimeter-wave radar.

[0003] International Publication No. 2017 / 057058

[0004] The technology disclosed in Patent Document 1 detects all objects that reflect millimeter-wave radar. Therefore, it is difficult to detect only a desired portion of objects with high accuracy using the technology disclosed in Patent Document 1. For example, in addition to metals, wet vegetation and the like can also reflect millimeter-wave radar. The technology disclosed in Patent Document 1 detects all such objects, making it difficult to detect only a desired portion of the objects with high accuracy.

[0005] In view of the above-described problems, an example of an object of the present disclosure is to provide an information processing device, an information processing method, and a program that accurately detect a desired object.

[0006] According to the present disclosure, there is provided an information processing device having: a first processing means that generates first reliability information indicating an area within the target area where a target object may exist, based on speed information of an object present in the target area that is generated based on reflected wave information that indicates reflected waves of electromagnetic waves irradiated to the target area; a second processing means that generates second reliability information indicating an area within the target area where the target object may exist, based on at least one of the intensity of the reflected wave of the object present in the target area that is indicated by the reflected wave information and an image generated by imaging the target area with an imaging means; and an estimation means that estimates an area within the target area where the target object exists, based on the first reliability information and the second reliability information.

[0007] Furthermore, according to the present disclosure, there is provided an information processing method in which one or more computers generate first reliability information indicating an area within the target area where the target object may be present, based on speed information of an object present in the target area generated based on reflected wave information indicating the reflected wave of an electromagnetic wave irradiated to the target area, generate second reliability information indicating an area within the target area where the target object may be present, based on at least one of the intensity of the reflected wave of the object present in the target area indicated by the reflected wave information and an image generated by imaging the target area with an imaging means, and estimate the area within the target area where the target object is present, based on the first reliability information and the second reliability information.

[0008] Furthermore, according to the present disclosure, there is provided a program that causes a computer to function as: a first processing means that generates first reliability information indicating an area within the target area where a target object may exist, based on speed information of an object present in the target area that is generated based on reflected wave information that indicates the reflected wave of an electromagnetic wave irradiated to the target area; a second processing means that generates second reliability information indicating an area within the target area where the target object may exist, based on at least one of the intensity of the reflected wave of the object present in the target area that is indicated by the reflected wave information and an image generated by imaging the target area with an imaging means; and an estimation means that estimates the area within the target area where the target object exists, based on the first reliability information and the second reliability information.

[0009] According to one aspect of the present disclosure, an information processing device, an information processing method, and a program for detecting a desired object with high accuracy are realized.

[0010] FIG. 1 is a diagram illustrating an example of a functional block diagram of an information processing device according to the present disclosure. FIG. 2 is a flowchart illustrating an example of a processing flow of an information processing device according to the present disclosure. FIG. 3 is a diagram illustrating an example of a processing performed by an information processing device according to the present disclosure. FIG. 4 is a diagram illustrating another example of a processing performed by an information processing device according to the present disclosure. FIG. 5 is a diagram illustrating an example of a hardware configuration of an information processing device according to the present disclosure. FIG. 6 is a diagram illustrating another example of a processing performed by an information processing device according to the present disclosure.

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In this disclosure, the drawings relate to one or more embodiments. In all drawings, similar components are designated by similar reference numerals, and descriptions thereof will be omitted as appropriate.

[0012] First Embodiment Fig. 1 is a functional block diagram showing an overview of an information processing device 10. Fig. 2 is a flowchart showing an example of the flow of processing executed by the information processing device 10.

[0013] 1, the information processing device 10 includes a first processing unit 11, a second processing unit 12, and an estimation unit 13. These functional units execute the process shown in FIG.

[0014] In S10, the first processing unit 11 generates first reliability information. The first reliability information indicates an area of ​​the target area where a target object may exist. The first processing unit 11 generates the first reliability information based on speed information of an object existing in the target area. The speed information of the object existing in the target area is generated based on reflected wave information that indicates a reflected wave of an electromagnetic wave irradiated to the target area.

[0015] In S11, the second processing unit 12 generates second reliability information. Similar to the first reliability information, the second reliability information indicates an area of ​​the target area where a target object may exist. The second processing unit 12 generates the second reliability information based on at least one of the intensity of the reflected wave from an object present in the target area indicated by the reflected wave information and an image generated by capturing an image of the target area with the imaging unit.

[0016] In S12, the estimation unit 13 estimates an area in the target area where the target object exists, based on the first reliability information and the second reliability information.

[0017] 3 to 5 show processes executed by the information processing device 10. The information processing device 10 can execute at least one of the processes shown in FIGS.

[0018] In the process shown in Fig. 3, the information processing device 10 generates first reliability information based on speed information of an object present in the target area. The information processing device 10 also generates second reliability information based on the intensity of the electromagnetic wave reflected by the object present in the target area. Both the first reliability information and the second reliability information are generated based on reflected wave information that indicates the reflected wave of the electromagnetic wave irradiated to the target area. Then, the information processing device 10 estimates the area of ​​the target area where the target object exists based on the first reliability information and the second reliability information.

[0019] In the process shown in Fig. 4, the information processing device 10 generates first reliability information based on speed information of an object present in the target area. The first reliability information is generated based on reflected wave information indicating reflected waves of electromagnetic waves irradiated onto the target area. The information processing device 10 also generates second reliability information based on an image generated by capturing an image of the target area with an imaging means. Then, the information processing device 10 estimates an area of ​​the target area where the target object exists based on the first reliability information and the second reliability information.

[0020] In the process shown in Fig. 5, the information processing device 10 generates first reliability information based on speed information of an object present in the target area. The information processing device 10 also generates second reliability information based on the intensity of the reflected waves of the electromagnetic waves from the object present in the target area. Both the first reliability information and the second reliability information are generated based on reflected wave information indicating the reflected waves of the electromagnetic waves irradiated onto the target area. The information processing device 10 also generates second reliability information based on an image generated by capturing an image of the target area with an imaging unit. The information processing device 10 then estimates the area of ​​the target area where the target object is present based on the first reliability information and the two pieces of second reliability information.

[0021] The information processing device 10 can detect objects that reflect electromagnetic waves by utilizing the intensity of the reflected electromagnetic waves. Furthermore, the information processing device 10 can detect various objects that appear in images by utilizing images. Furthermore, by utilizing the speed information, the information processing device 10 can distinguish between objects such as plants that move due to external factors such as wind, and objects such as metal objects that do not move or hardly move due to external factors such as wind. The information processing device 10 can accurately detect a target object by estimating the area where the target object exists based on such multiple pieces of information.

[0022] Second Embodiment "Overview" The information processing device 10 of the second embodiment is a specific implementation of the configuration of the information processing device 10 of the first embodiment. The information processing device 10 of the second embodiment executes the process shown in Fig. 3. This will be described in detail below.

[0023] "Hardware Configuration" First, an example of the hardware configuration of the information processing device 10 will be described. Each functional unit of the information processing device 10 is realized by any combination of hardware and software. Those skilled in the art will understand that there are various variations in the realization method and device. Software includes programs that are pre-stored in the device before shipping, and programs downloaded from recording media such as CDs (Compact Discs) or servers on the Internet.

[0024] FIG. 6 is a block diagram illustrating an example of the hardware configuration of an information processing device 10. As shown in FIG. 6, the information processing device 10 has a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit 4A includes various modules. The information processing device 10 does not necessarily have to have the peripheral circuit 4A. Note that the information processing device 10 may be composed of multiple devices that are physically and / or logically separated. In this case, each of the multiple devices may have the above hardware configuration.

[0025] The bus 5A is a data transmission path for the processor 1A, memory 2A, peripheral circuit 4A, and input / output interface 3A to mutually transmit and receive data. The processor 1A is, for example, a processing unit such as a CPU or a graphics processing unit (GPU). The memory 2A is, for example, a random access memory (RAM) or a read-only memory (ROM). The input / output interface 3A includes interfaces for acquiring information from input devices, external devices, external servers, external sensors, cameras, etc., and interfaces for outputting information to output devices, external devices, external servers, etc. The input / output interface 3A also includes an interface for connecting to a communication network such as the Internet. Examples of input devices include a keyboard, mouse, microphone, physical buttons, touch panel, etc. Examples of output devices include a display, speaker, printer, mailer, etc. The processor 1A can issue commands to each module and perform calculations based on the results of those calculations.

[0026] "Functional Configuration" Next, the functional configuration of the information processing device 10 will be described in detail. Fig. 1 shows an example of a functional block diagram of the information processing device 10. As shown in the figure, the information processing device 10 has a first processing unit 11, a second processing unit 12, and an estimation unit 13.

[0027] The first processing unit 11 generates first reliability information indicating an area of ​​the target area where the target object may exist.

[0028] The "target area" is an area that is the target of searching for the presence of a target object. The target area may be a part of the ground, a part of a building, or something else. FIG. 3 shows an example of a target area. The target area shown in the figure is a part of the ground. The target area shown in the figure includes a can P. １ , rock P ２ , grass P ３ exists.

[0029] A "target object" is an object that is the search target. As shown in FIGS. 3 to 5, the information processing device 10 searches for a target object based on reflected wave information that indicates reflected waves of electromagnetic waves. Therefore, an object that reflects electromagnetic waves can be a search target by the information processing device 10. Objects that reflect electromagnetic waves are often made mainly of metal, but are not limited to this. In one example, a "can" is the target object.

[0030] "First reliability information" indicates an area of ​​the target area where there is a possibility that a target object exists. FIG. 3 shows an example of the first reliability information. The illustrated first reliability information divides the target area into multiple sub-areas, and indicates the reliability that a target object does not exist for each sub-area. In the example of FIG. 3, the reliability is indicated by a numerical value between 0 and 1. The higher the reliability, the more likely it is that a target object does not exist. And, the lower the reliability, the more likely it is that a target object exists.

[0031] The first processing unit 11 generates first reliability information based on speed information of an object present in a target region.

[0032] "Speed ​​information of objects present in the target area" indicates the speed of objects present in the target area. The speed information may include time series information of the speed of objects present in the target area. The speed information may also include statistical information calculated from the time series information of the speed. The statistical information indicates the degree of dispersion of the speed within a unit time. "Unit time" is, for example, a few seconds, tens of seconds, several minutes, or several tens of minutes, but is not limited to these. "Degree of dispersion" indicates the degree of dispersion of the speed within a unit time. The degree of dispersion can be expressed by, for example, variance (such as the mean squared deviation), standard deviation, distribution feature (such as the difference between the maximum and minimum values), etc., but is not limited to these.

[0033] The velocity information of an object present in the target region is generated based on reflected wave information indicating the reflected wave of the electromagnetic wave irradiated onto the target region.

[0034] The "electromagnetic waves" are, for example, millimeter waves, and an example of their wavelength is 0.3 GHz or more and 300 GHz or less. However, the band of the electromagnetic waves is not limited to millimeter waves. The electromagnetic waves may be near infrared rays, far infrared rays, etc.

[0035] The "reflected wave" is the emitted electromagnetic wave reflected by an object present in the target area. When an object that reflects the electromagnetic wave is present in the target area, the strength of the reflected wave increases.

[0036] Such emission of electromagnetic waves and reception of reflected waves are achieved by an electromagnetic wave transmitting / receiving device. The electromagnetic wave transmitting / receiving device includes an electromagnetic wave transmitting unit that transmits electromagnetic waves and an electromagnetic wave receiving unit that receives reflected waves. The electromagnetic wave transmitting / receiving device may include multiple, for example, two, electromagnetic wave receiving units. These multiple electromagnetic wave receiving units are spaced apart from each other and receive reflected waves of the electromagnetic waves emitted by the same electromagnetic wave transmitting unit. This increases the accuracy of detecting the position of the target object.

[0037] The transmission method used by the electromagnetic wave transmitter is, for example, any of FMCW (Frequency Modulated Continuous Wave), pulse, CW (Continuous Wave) Doppler, two-frequency CW, and pulse compression, but may be other than these.

[0038] In one example, the electromagnetic wave transmitting and receiving device is mounted on a measuring device. The measuring device is a mobile device. The measuring device may be, for example, an air vehicle such as a drone, or a self-propelled device on land. The measuring device can be moved automatically or by remote control. For example, the measuring device can move automatically along a pre-registered route. While the measuring device is moving, the electromagnetic wave transmitting and receiving device irradiates electromagnetic waves onto a target area and receives the reflected waves.

[0039] In another example, the electromagnetic wave transmitting and receiving device is carried by a worker. While the worker carries the electromagnetic wave transmitting and receiving device and moves around, the electromagnetic wave transmitting and receiving device irradiates an area of ​​interest with electromagnetic waves and receives the reflected waves.

[0040] "Reflected wave information" is generated by the electromagnetic wave transmitting and receiving device. More specifically, the reflected wave information is generated based on the results of reception of the reflected wave by the electromagnetic wave receiving unit. The reflected wave information includes, for example, time series information on the intensity of the reflected wave. This time series information includes a combination of the date and time the reflected wave was received and the intensity of the reflected wave at that time. If multiple electromagnetic wave receiving units are provided, reflected wave information is generated for each of the multiple electromagnetic wave receiving units.

[0041] The electromagnetic wave transmitting and receiving device may generate location information indicating the location of the electromagnetic wave transmitting and receiving device. The location information is indicated by, for example, latitude and longitude. The location information may include altitude in addition to latitude and longitude. This location information may be generated using, for example, GPS, or may be generated using other methods, such as SLAM (Simultaneous Localization and Mapping). The electromagnetic wave transmitting and receiving device may then add location information of the electromagnetic wave transmitting and receiving device at the time the reflected wave was received to the above-mentioned reflected wave information.

[0042] The location information may be information separate from the reflected wave information. In this case, the location information is time-series information of the location of the electromagnetic wave transmitting and receiving device. This time-series information includes a combination of a date and time and the location of the electromagnetic wave transmitting and receiving device at that date and time.

[0043] The reflected wave information generated by the electromagnetic wave transmitting and receiving device is input to the information processing device 10 by any means. For example, the electromagnetic wave transmitting and receiving device and the information processing device 10 may be configured to be able to communicate with each other. The electromagnetic wave transmitting and receiving device may then transmit the generated reflected wave information to the information processing device 10 via the communication means. The transmission of the reflected wave information from the electromagnetic wave transmitting and receiving device to the information processing device 10 may be performed by real-time processing or batch processing.

[0044] Alternatively, the reflected wave information generated by the electromagnetic wave transmitting and receiving device may be stored in any storage device. The storage device may be provided within the electromagnetic wave transmitting and receiving device, or may be provided in an external device configured to be able to communicate with the electromagnetic wave transmitting and receiving device. The reflected wave information stored in the storage device may then be input to the information processing device 10 at any timing and by any means.

[0045] The position information can be input to the information processing device 10 in the same manner as the reflected wave information.

[0046] Next, an example of the process in which the first processing unit 11 generates first reliability information based on reflected wave information will be described.

[0047] First, the first processing unit 11 generates three-dimensional information by processing the reflected wave information. Specifically, the reflected wave information includes a time-series signal of the intensity of the reflected wave and the position of the electromagnetic wave transmitting / receiving device. For example, the first processing unit 11 performs an FFT (Fast Fourier Transform) multiple times on the reflected wave constituting this time-series signal. If there are multiple electromagnetic wave receiving units, the first processing unit 11 performs this processing for each electromagnetic wave receiving unit. Through this processing, the distance from the electromagnetic wave receiving unit to the reflection point that is the origin of the reflected wave, the angle, the position of the reflection point, the velocity of the reflection point, and the like are calculated. The velocity calculated here becomes the "velocity information of an object present in the target area" described above.

[0048] For example, the first processing unit 11 calculates an estimated value of the intensity of the reflected wave for at least one first point included in a three-dimensional space corresponding to the target region by integrating the results of FFTs on the reflected waves measured by different electromagnetic wave receiving units at the same time. The first processing unit 11 then performs this process on the reflected waves measured at multiple times to calculate an estimated value of the intensity of the reflected wave for each of the multiple first points, and these values ​​are used as three-dimensional information. This estimated value can be considered to indicate the possibility that a target object exists at the first point. Hereinafter, this value will be referred to as the "first value." Furthermore, the first processing unit 11 can calculate the velocity for each of the multiple first points by integrating the results of FFTs on the reflected waves measured by different electromagnetic wave receiving units at the same time. Note that the method of generating the three-dimensional information, such as the method of generating the first value and the method of calculating the velocity for each first point, is not limited to this example.

[0049] Next, the first processing unit 11 generates two-dimensional information by projecting the three-dimensional information onto a predetermined plane. Hereinafter, this predetermined plane will be referred to as the projection plane. The angle that the projection plane makes with the ground of the target area is preferably 10° or less. In other words, the projection plane is preferably horizontal to the ground of the target area.

[0050] FIG. 7 is a diagram illustrating an example of processing performed by the first processing unit 11. The first processing unit 11 identifies multiple first points corresponding to a second point. For example, the first processing unit 11 determines multiple first points that overlap with a second point when viewed from a direction perpendicular to the projection surface as first points corresponding to the second point. The first processing unit 11 then identifies a first value corresponding to each of the identified multiple first points and uses the first value to generate a second value indicating the possibility that the target object is present at the second point. The second value may be a statistical value (maximum, minimum, average, mode, median, etc.) of the multiple first values. Alternatively, the first value corresponding to the first point closest to the target area among the first points whose first values ​​exceed a reference value may be determined as the second value. The first processing unit 11 then determines the second value for each second point as two-dimensional information. In other words, the two-dimensional information can be considered as black and white image data (two-dimensional image). The first processing unit 11 can also integrate the velocities of multiple first points corresponding to each second point using a similar process to calculate the velocity for each second point. In this embodiment, one second point corresponds to one child region, but a collection of multiple second points may also correspond to one child region. When a collection of multiple second points corresponds to one child region, a statistical value (maximum, minimum, average, mode, median, etc.) of the values ​​(second values ​​or velocities) of the multiple second points can be used as the value of each child region.

[0051] The first processing unit 11 then generates first reliability information based on the speed of each second point of the two-dimensional information. Specifically, measurements or the like are performed in advance to obtain speed feature amounts of other objects that may be confused with the target object. The first processing unit 11 then searches for points that indicate speed feature amounts of other objects that may be confused with the target object from among the multiple second points, and calculates reliability based on the search results.

[0052] The first processing unit 11 increases the reliability of points that indicate speed features of other objects that may be confused with the target object, and decreases the reliability of points that do not indicate speed features of other objects that may be confused with the target object. As described above, the example of the first reliability information of this embodiment shown in FIG. 3 indicates the reliability that the target object does not exist for each sub-region. The higher the reliability, the more likely the target object does not exist. And, the lower the reliability, the more likely the target object exists.

[0053] For example, if the target object is a "can," "plants, trees, etc." are other objects that may be confused with the target object. Since both reflect electromagnetic waves, there is a possibility of confusion in searches based on reflected electromagnetic waves.

[0054] Here, a specific example of the process for generating the above-mentioned first reliability information will be described. Note that the example here is merely an example, and other processes may also be adopted within the scope of the process for generating the above-mentioned first reliability information.

[0055] The first processing unit 11 calculates the degree of variance of speed within a unit time (speed feature) for each second point based on multiple consecutive pieces of two-dimensional information within a unit time. Furthermore, measurements or the like are performed in advance to determine a numerical range of the degree of variance of speed within a unit time (speed feature) of other objects that may be confused with the target object. The first processing unit 11 then searches for points from the multiple second points whose degree of variance of speed within a unit time falls within the numerical range of the degree of variance of speed within a unit time of other objects that may be confused with the target object, and calculates reliability based on the search results.

[0056] The above-described speed feature of each object may vary depending on the environment. Therefore, measurements may be performed in advance under multiple environments, and speed feature of other objects that may be confused with the target object may be obtained for each environment. The first processing unit 11 may then generate the first reliability information using the feature corresponding to the environment when the reflected wave information to be processed was measured. Environments may be classified, for example, as indoors or outdoors. Furthermore, outdoor environments may be further subdivided based on wind speed, weather, etc. The environment when the reflected wave information to be processed was measured may be input to the information processing device 10 by a user of the information processing device 10, or may be acquired by the information processing device 10 from a database storing such information.

[0057] Returning to FIG. 1, the second processing unit 12 generates second reliability information indicating an area of ​​the target area where the target object may exist.

[0058] The "second reliability information" indicates an area of ​​the target area where there is a possibility that the target object exists. FIG. 3 shows an example of the second reliability information. The illustrated second reliability information divides the target area into multiple sub-areas and indicates the reliability of the presence of the target object for each sub-area. In the example of FIG. 3, the reliability is indicated by a numerical value between 0 and 1. The higher the reliability, the higher the possibility that the target object exists. And the lower the reliability, the lower the possibility that the target object exists.

[0059] The second processing unit 12 generates second reliability information based on the intensity of the reflected wave from an object present in the target area indicated by the reflected wave information described above.

[0060] The first reliability information is generated based on the "speed information of an object present in the target area indicated by the reflected wave information." In contrast, the second reliability information is generated based on the "intensity of the reflected wave from an object present in the target area indicated by the reflected wave information." In this respect, the first reliability information and the second reliability information differ.

[0061] The second processing unit 12 generates second reliability information based on the "two-dimensional information generated based on reflected wave information" described above with reference to FIG. 7. As described above, the two-dimensional information generated based on the reflected wave information indicates a second value for each second point. The second value of the second point is a statistical value of the intensity of the reflected wave of the corresponding first point (first point). In this embodiment, one second point corresponds to one child region.

[0062] For example, measurements are performed in advance to generate a probability distribution of the intensity of the reflected wave from the target object. Then, the second processing unit 12 can calculate the reliability of each second point based on the probability distribution and the second values ​​of each of the multiple second points in the two-dimensional information. The higher the probability of the second value indicated by the probability distribution, the higher the reliability.

[0063] Note that multiple conditions may be set in advance based on the geology of the target area, the weather when the reflected waves were generated, the material components of the target object, etc., and the above-described probability distribution may be generated for each setting. The second processing unit 12 may then generate the second reliability information based on the probability distribution corresponding to the geology of the target area, the weather when the reflected waves were generated, the material components of the target object, etc. If the geology of the target area, the weather when the reflected waves were generated, the material components of the target object, etc., satisfy multiple conditions, the second processing unit 12 may generate multiple pieces of second reliability information based on the probability distribution corresponding to each condition. The second processing unit 12 may then integrate the multiple pieces of second reliability information to generate the second reliability information. An example of an integration method is a method of calculating reliability statistics (average, maximum, minimum, mode, median, etc.) for each second point, but this is not limited thereto. In addition, the geology of the target area, the weather when the reflected waves were generated, the material components of the target object, etc. may be input into the information processing device 10 by, for example, a user of the information processing device 10, or may be obtained by the information processing device 10 from a database in which these are stored.

[0064] As another example, the second processing unit 12 may generate second reliability information in which the reliability increases as the second value increases. In this example, the second processing unit 12 calculates the reliability for each second point using a "rule for calculating reliability from the second value" that has been generated in advance. The rule is realized using a function, a table, or the like.

[0065] As another example, the second processing unit 12 may detect a cluster representing the shape of the target object from among clusters of second points. The detection can be achieved using techniques such as pattern matching, feature matching, and a classifier generated by machine learning. Then, the reliability of the second points belonging to the detected cluster may be relatively increased.

[0066] The process of generating the second information from the reflected wave information may be performed by the first processing unit 11 or the second processing unit 12 .

[0067] As described above, the second processing unit 12 processes the reflected wave information to generate three-dimensional information indicating the possibility that a target object exists for a plurality of first points included in a three-dimensional space corresponding to the target region. The second processing unit 12 then projects the three-dimensional information onto a predetermined plane to generate two-dimensional information (two-dimensional images) indicating the possibility that a target object exists for each of a plurality of second points included in the plane. The second processing unit 12 then generates second reliability information based on the two-dimensional information.

[0068] As a modified example, at least one of the first processing unit 11 and the second processing unit 12 may perform the above-described processing using at least one of geological information of the target area and weather information at the time the reflected waves were generated. For example, the geology of a specific area of ​​the target area may be more likely to generate reflected waves. Also, depending on the weather, water or snow may accumulate on the surface of the target area, affecting the reflected waves. At least one of the first processing unit 11 and the second processing unit 12 can reflect this influence in the above-described detection processing.

[0069] For example, at least one of the first processing unit 11 and the second processing unit 12 may generate three-dimensional information or two-dimensional information by multiplying the first value or the second value by a parameter corresponding to the geology of the location. This parameter is set in advance. Furthermore, at least one of the first processing unit 11 and the second processing unit 12 may generate three-dimensional information or two-dimensional information by multiplying the first value or the second value by a parameter corresponding to the weather at the time of measurement. This parameter is also set in advance.

[0070] The geological information and weather information may be input to the information processing device 10 by a user of the information processing device 10, or may be acquired by the information processing device 10 from a database in which the information processing device 10 stores the information.

[0071] Returning to FIG. 1, the estimation unit 13 estimates an area in the target area where the target object exists, based on the first reliability information and the second reliability information.

[0072] For example, the estimation unit 13 can estimate, within the target area, an area where the first reliability information satisfies a first condition and the second reliability information satisfies a second condition as an area where the target object exists.

[0073] In one example, the estimation unit 13 can estimate a child region in which the reliability indicated by the first reliability information is less than or equal to a first threshold and the reliability indicated by the second reliability information is greater than or equal to a second threshold as a region in which a target object exists.

[0074] Additionally, the estimation unit 13 integrates the first reliability information and the second reliability information for each sub-region within the target region, and can estimate a sub-region where the integration result satisfies a predetermined condition as a region where the target object exists.

[0075] For example, the estimation unit 13 may calculate, for each child region, an integrated score of the reliability indicated by the first reliability information and the reliability indicated by the second reliability information. In one example, the integrated score increases as the reliability indicated by the first reliability information decreases, and increases as the reliability indicated by the second reliability information increases. The estimation unit 13 may then estimate a child region whose integrated score is equal to or greater than a threshold as a region in which a target object is present. The calculation of the integrated score is realized using a function, a table, or the like.

[0076] For example, the estimation unit 13 may represent the first reliability information as a reliability map φ1 and the second reliability information as a reliability map φ2 as shown in FIG. 3, and set a linear or nonlinear function F(φ1, φ2) related to the reliability maps φ1 and φ2. The estimation unit 13 may then estimate a sub-region where the value of this function F is equal to or greater than a threshold as a region where a target object exists. The function F may be learned in advance by machine learning or the like. The function F may be learned as a regression function using, for example, a neural network or the like.

[0077] Next, an example of the flow of processing executed by the information processing device 10 will be described with reference to the flowchart of FIG.

[0078] In S10, the information processing device 10 generates first reliability information. The first reliability information indicates an area of ​​the target area where a target object may exist. The information processing device 10 generates the first reliability information based on speed information of an object existing in the target area. The speed information of the object existing in the target area is generated based on reflected wave information that indicates a reflected wave of an electromagnetic wave irradiated to the target area.

[0079] In S11, the information processing device 10 generates second reliability information. Similar to the first reliability information, the second reliability information indicates an area of ​​the target area where a target object may exist. The information processing device 10 generates the second reliability information based on at least one of the intensity of reflected waves from an object present in the target area indicated by the reflected wave information and an image generated by capturing an image of the target area with an imaging means. As described above, in this embodiment, the information processing device 10 generates the second reliability information based on the intensity of reflected waves from an object present in the target area indicated by the reflected wave information.

[0080] In S12, the information processing device 10 estimates an area in the target area where the target object exists, based on the first reliability information and the second reliability information.

[0081] The information processing device 10 can output estimation results. For example, the information processing device 10 may output detection results such as those shown in FIG. 3. The illustrated detection results divide a target region into multiple sub-regions and indicate the reliability of the presence of a target object for each sub-region. In the illustrated example, the reliability is indicated as a value between 0 and 1. This reliability may be the above-described integrated score or the value of the function F normalized to a value between 0 and 1. Additionally, the information processing device 10 may display information that highlights a region (a region where sub-regions are gathered) in the illustrated detection results where the target object is estimated to exist. The highlighted information may be a mark surrounding the region where the target object is estimated to exist, or may be something else.

[0082] "Effects" The information processing device 10 can detect objects that reflect electromagnetic waves by utilizing the intensity of the reflected electromagnetic waves. Furthermore, by utilizing the speed information, the information processing device 10 can distinguish between objects such as plants that move due to external factors such as wind, and objects such as metal objects that do not move or move very little due to external factors such as wind. The information processing device 10 can accurately detect the target object by estimating the area in which the target object exists based on such multiple pieces of information. For example, the information processing device 10 can accurately detect objects such as metal objects that reflect electromagnetic waves and do not move or move very little due to external factors such as wind.

[0083] Such an information processing device 10 can be used, for example, to search for metal objects (such as cans), diagnose infrastructure (diagnose structures including gas pipes and reinforcing bars), etc. During such searches or diagnoses, even if objects such as plants and trees that move due to external factors such as wind are present in the target area, the information processing device 10 can search for the target object with high accuracy while excluding these objects.

[0084] Third Embodiment An information processing apparatus 10 according to a third embodiment is a specific implementation of the configuration of the information processing apparatus 10 according to the first embodiment. The information processing apparatus 10 according to the third embodiment executes the process shown in Fig. 4, which will be described in detail below.

[0085] An example of a functional block diagram of an information processing apparatus 10 according to the third embodiment is shown in FIG.

[0086] The configuration of the first processing unit 11 is the same as that of the first and second embodiments.

[0087] The second processing unit 12 generates second reliability information based on an image generated by capturing an image of the target area with the imaging means.

[0088] The "imaging means" is what is known as a camera. An example of an imaging means is a visible light camera. A visible light camera is a camera that detects visible light and creates an image. The imaging means may also be a camera that detects other electromagnetic waves such as near-infrared rays, far-infrared rays, ultraviolet rays, millimeter waves, etc. and creates an image. The imaging means may capture still images or may capture moving images. Images generated by the imaging means may be provided with information indicating the date and time of shooting and the location where the images were taken. If the images generated by the imaging means are moving images, information indicating the date and time of shooting and the location where the images were taken may be provided for each frame image.

[0089] In one example, the imaging means is mounted on the measuring device. The imaging means may be mounted on a measuring device that is equipped with the electromagnetic wave transmitting and receiving device described in the second embodiment. That is, both the electromagnetic wave transmitting and receiving device and the imaging means may be mounted on one measuring device. The measuring device may be, for example, an air vehicle such as a drone, or a device that runs on land. The measuring device can be moved automatically or remotely. For example, the measuring device can move automatically along a pre-registered route. While the measuring device is moving, it images the target area with the imaging means.

[0090] In another example, the imaging means is carried by a worker, who carries the imaging means and takes images of the target area with the imaging means while moving around.

[0091] The image generated by the imaging means is input to the information processing device 10 by any means. For example, the imaging means and the information processing device 10 may be configured to be able to communicate with each other. The imaging means may then transmit the generated image to the information processing device 10 via the communication means. The transmission of the image from the imaging means to the information processing device 10 may be performed by real-time processing or by batch processing.

[0092] Alternatively, the images generated by the imaging means may be stored in any storage device. The storage device may be provided within the imaging means or in an external device configured to be able to communicate with the imaging means. The images stored in the storage device may then be input to the information processing device 10 at any timing and by any means.

[0093] The second processing unit 12 can detect the target object from the image generated by the imaging unit using any image analysis method. Examples of the image analysis method include, but are not limited to, using a classifier generated by machine learning, using semantic segmentation, pattern matching with images of pre-registered target objects, and matching with features of pre-registered target objects. Semantic segmentation is described in, for example, the following document: "Long, Jonathan, Evan Shelhamer, and Trevor Darrell. "Fully convolutional networks for semantic segmentation." Proceedings of the IEEE conference on computer vision and pattern recognition, 2015."

[0094] The second processing unit 12 can generate second reliability information based on the detection result. The reliability of each child region indicated by the second reliability information may be a discrete value or a continuous value.

[0095] For example, the second processing unit 12 can generate second reliability information based on the detection result and a reliability calculation rule prepared in advance. The details of the reliability calculation rule are not particularly limited. However, the reliability calculation rule is defined so that the reliability of a sub-region in which a target object is detected is relatively high and the reliability of a sub-region in which a target object is not detected is relatively low. In the second reliability information, the higher the reliability, the higher the possibility that a target object exists. And, the lower the reliability, the lower the possibility that a target object exists.

[0096] Alternatively, the second processing unit 12 may calculate the reliability of each sub-region indicated by the second reliability information based on the reliability that each sub-region obtained as a result of the image analysis indicates the target object. The second processing unit 12 may use the reliability that is the result of the image analysis as the reliability of the second reliability information, or may calculate the reliability from the reliability using a predetermined formula.

[0097] FIG. 4 shows an example of the second reliability information. The illustrated second reliability information divides the target region into multiple sub-regions and indicates the reliability of the presence of a target object for each sub-region. In the example of FIG. 4, the reliability is indicated by a numerical value between 0 and 1. The higher the reliability, the higher the possibility that the target object is present. The lower the reliability, the lower the possibility that the target object is present. In this embodiment, one pixel corresponds to one sub-region, but a collection of multiple pixels may also correspond to one sub-region. When a collection of multiple pixels corresponds to one sub-region, the statistical value (maximum, minimum, average, mode, median, etc.) of the values ​​of the multiple pixels (the above-mentioned reliability and certainty) can be used as the value of each sub-region.

[0098] The configuration of the estimation unit 13 is the same as that of the first and second embodiments.

[0099] When integrating first reliability information based on reflected wave information generated by an electromagnetic wave transmitting / receiving device and second reliability information based on an image generated by an imaging unit, it is necessary to identify the correspondence between the child regions of the first reliability information and the child regions of the second reliability information. Corresponding child regions are regions related to the same point within the target region. There are various means for realizing this identification, and one example will be described below.

[0100] "First Identification Example" In one example, the user may input to specify the correspondence. One example of the input is to use the first reliability information and the second reliability information shown in FIG. 4 . In this example, the first reliability information and the second reliability information shown in FIG. 4 are displayed on the screen. The user shifts the position of at least one of the first reliability information and the second reliability information to make the corresponding child regions overlap. The user can identify the corresponding child regions based on the shape, size, etc. of the clusters of child regions whose reliability indicated in the first reliability information and the second reliability information is equal to or greater than a predetermined value. The estimation unit 13 then identifies the overlapping child regions as corresponding child regions.

[0101] As another example, an "image generated by the imaging means ("Image" in FIG. 4)" and a "two-dimensional image generated based on reflected wave information ("Information Obtained from Reflected Wave Information" in FIG. 4)" may be displayed on the screen. Then, the user may shift the position of at least one of the image and the two-dimensional image so that corresponding points overlap with each other. Then, the estimation unit 13 may identify the overlapping child regions as corresponding child regions.

[0102] "Second Specific Example" The second processing unit 12 may transform the image generated by the imaging means into the same coordinate system as the two-dimensional image generated based on the reflected wave information, based on the positions of the imaging means and the electromagnetic wave transmitting and receiving device. If the imaging means and the electromagnetic wave transmitting and receiving device are mounted on the same measurement device, this transformation can be achieved based on the distance, orientation, etc. between the imaging means and the electromagnetic wave transmitting and receiving device. A transformation rule is prepared in advance to transform the image generated by the imaging means into a predetermined coordinate system based on the position information. The second processing unit 12 performs the above-mentioned transformation of the image generated by the imaging means using the transformation rule. Examples of image transformation methods include, but are not limited to, image transformations such as affine transformation and homography transformation. The viewpoint of the transformed image becomes the same as the viewpoint of the two-dimensional image generated based on the reflected wave information. As a result, a child region at a predetermined position (e.g., center) in the image generated by the imaging means and a child region at the same predetermined position (e.g., center) in the two-dimensional image generated based on the reflected wave information correspond to each other.

[0103] Next, an example of the flow of processing executed by the information processing device 10 will be described with reference to the flowchart of FIG.

[0104] In S10, the information processing device 10 generates first reliability information. The first reliability information indicates an area of ​​the target area where a target object may exist. The information processing device 10 generates the first reliability information based on speed information of an object existing in the target area. The speed information of the object existing in the target area is generated based on reflected wave information that indicates a reflected wave of an electromagnetic wave irradiated to the target area.

[0105] In S11, the information processing device 10 generates second reliability information. Similar to the first reliability information, the second reliability information indicates an area of ​​the target area where a target object may exist. The information processing device 10 generates the second reliability information based on at least one of the intensity of the reflected waves from an object present in the target area indicated by the reflected wave information and an image generated by capturing an image of the target area with an imaging unit. As described above, in this embodiment, the information processing device 10 generates the second reliability information based on an image generated by capturing an image of the target area with an imaging unit. Note that, as described in the second specific example above, the information processing device 10 may transform an image using a transformation rule prepared in advance, and then process the transformed image to generate the second reliability information.

[0106] In S12, the information processing device 10 estimates an area in the target area where the target object exists, based on the first reliability information and the second reliability information.

[0107] The information processing device 10 can output estimation results. For example, the information processing device 10 may output detection results such as those shown in FIG. 4. The illustrated detection results divide a target region into multiple sub-regions and indicate the reliability of the presence of a target object for each sub-region. In the illustrated example, the reliability is indicated as a value between 0 and 1. This reliability may be the above-described integrated score or the value of the function F normalized to a value between 0 and 1. Additionally, the information processing device 10 may display information emphasizing a region (a region where sub-regions are gathered) in the illustrated detection results where the target object is estimated to exist. Furthermore, the information processing device 10 may display information emphasizing a region (a region where sub-regions are gathered) in the image generated by the imaging means where the target object is estimated to exist. The highlighted information may be a mark surrounding the region where the target object is estimated to exist, or may be something else.

[0108] Other configurations of the information processing device 10 of this embodiment are similar to those of the information processing device 10 of the first and second embodiments.

[0109] The information processing device 10 of this embodiment can detect various objects appearing in an image by using the image generated by the imaging unit. Furthermore, by using the velocity information, the information processing device 10 can distinguish between objects such as vegetation that move due to external factors such as wind and objects such as metal objects that do not move or hardly move due to external factors such as wind. The information processing device 10 can accurately detect a target object by estimating the area where the target object exists based on such multiple pieces of information. Such an information processing device 10 can be used, for example, to search for metal objects (such as cans) or to diagnose infrastructure (such as structures containing gas pipes and reinforcing bars).

[0110] Here, a modified example of this embodiment will be described. In the above description, the second processing unit 12 detected the target object from the image generated by the imaging unit based on the external characteristics of the target object itself. In this modified example, it is assumed that the target object is partially or completely hidden underground or inside a building and is not visible enough to be detected in the image generated by the imaging unit. It is also assumed that a marker indicating the location of the target object is attached on the ground or outside the building. The marker is visible enough to be detected in the image generated by the imaging unit. The marker may be drawn on the ground or outside the building with ink, paint, or the like. The marker may also be an object that is installed on the ground or outside the building by any means. The marker on the object may simply be placed in a predetermined position, or may be immobilized from that position by any means.

[0111] In a modified example, the second processing unit 12 detects the marker from the image generated by the imaging unit using an arbitrary image analysis method. Examples of the image analysis method include, but are not limited to, using a classifier generated by machine learning, pattern matching with images of pre-registered target objects, and collation with feature quantities of pre-registered target objects. Alternatively, the user may check the image and find the marker. The user may then input the position of the marker to the information processing device 10. This input is, for example, input of a rectangular area surrounding the marker position.

[0112] The second processing unit 12 can then generate second reliability information based on the detection result and a reliability calculation rule prepared in advance. The details of the reliability calculation rule are not particularly limited. However, the reliability calculation rule is defined so that the reliability of a child region in which a marker is detected is relatively high and the reliability of a child region in which a marker is not detected is relatively low. In the second reliability information, the higher the reliability, the higher the possibility that a target object exists. And the lower the reliability, the lower the possibility that a target object exists.

[0113] Fourth Embodiment An information processing apparatus 10 according to a fourth embodiment is a specific implementation of the configuration of the information processing apparatus 10 according to the first embodiment. The information processing apparatus 10 according to the fourth embodiment executes the process shown in Fig. 5, which will be described in detail below.

[0114] The configuration of the first processing unit 11 is the same as in the first to third embodiments.

[0115] The second processing unit 12 generates second reliability information based on the intensity of the reflected waves from objects present in the target area indicated by the reflected wave information. The second processing unit 12 also generates second reliability information based on an image generated by capturing an image of the target area with the imaging unit. That is, the second processing unit 12 generates these two pieces of second reliability information. The means for generating each piece of second reliability information are as described in the second and third embodiments.

[0116] The estimation unit 13 estimates an area in the target area where the target object exists, based on the first reliability information and the two pieces of second reliability information.

[0117] For example, the estimation unit 13 can estimate, within the target area, an area in which the first reliability information satisfies a first condition and both of the second reliability information satisfy a second condition as an area in which a target object exists.

[0118] In one example, the estimation unit 13 can estimate, as a region where a target object exists, a child region where the reliability indicated by the first reliability information is equal to or less than a first threshold and the reliability indicated by each of the two pieces of second reliability information is equal to or greater than a second threshold. The second threshold applied to each of the two pieces of second reliability information may be the same value or different values.

[0119] In addition, the estimation unit 13 can estimate, as a region where a target object exists, a region within the target region where the first reliability information satisfies a first condition and at least one of the two pieces of second reliability information satisfies a second condition.

[0120] In one example, the estimation unit 13 can estimate, as a region where a target object exists, a child region where the reliability indicated by the first reliability information is equal to or less than a first threshold and at least one of the reliability indicated by each of the two pieces of second reliability information is equal to or greater than a second threshold. The second threshold applied to each of the two pieces of second reliability information may be the same value or different values.

[0121] Additionally, the estimation unit 13 integrates the first reliability information and the two pieces of second reliability information for each child region within the target region. Then, the estimation unit 13 can estimate a child region for which the integration result satisfies a predetermined condition as a region in which a target object exists. The integration method is as described in the second embodiment. The estimation unit 13 can calculate the integrated score and the value of the function F using the same method as in the second embodiment. In one example, the estimation unit 13 can integrate two pieces of second reliability information using the method described in the second embodiment, and then integrate the first reliability information and the integrated second reliability information using the method described in the second embodiment. Note that the estimation unit 13 may integrate the first reliability information and the two pieces of second reliability information together.

[0122] Next, an example of the flow of processing executed by the information processing device 10 will be described with reference to the flowchart of FIG.

[0123] In S10, the information processing device 10 generates first reliability information. The first reliability information indicates an area of ​​the target area where a target object may exist. The information processing device 10 generates the first reliability information based on speed information of an object existing in the target area. The speed information of the object existing in the target area is generated based on reflected wave information that indicates a reflected wave of an electromagnetic wave irradiated to the target area.

[0124] In S11, the information processing device 10 generates second reliability information. Similar to the first reliability information, the second reliability information indicates an area of ​​the target area where a target object may exist. The information processing device 10 generates the second reliability information based on at least one of the intensity of reflected waves from an object present in the target area indicated by the reflected wave information and an image generated by capturing an image of the target area with an imaging unit. As described above, the information processing device 10 generates the second reliability information based on the intensity of reflected waves from an object present in the target area indicated by the reflected wave information. The information processing device 10 also generates the second reliability information based on an image generated by capturing an image of the target area with an imaging unit. Note that, as described in the second specific example above, the information processing device 10 may transform an image using a previously prepared transformation rule, and then process the transformed image to generate the second reliability information.

[0125] In S12, the information processing device 10 estimates an area in the target area where the target object exists, based on the first reliability information and the two pieces of second reliability information.

[0126] Other configurations of the information processing apparatus 10 of this embodiment are similar to those of the information processing apparatus 10 of the first to third embodiments.

[0127] The information processing device 10 can detect objects that reflect electromagnetic waves by utilizing the intensity of reflected electromagnetic waves. Furthermore, the information processing device 10 can detect various objects that appear in images by utilizing images. Furthermore, the information processing device 10 can distinguish between objects, such as vegetation, that move due to external factors such as wind, and objects, such as metal objects, that do not move or hardly move due to external factors such as wind, by utilizing the velocity information. The information processing device 10 can accurately detect a target object by estimating the area where the target object exists based on such multiple pieces of information. Such an information processing device 10 can be used, for example, to search for metal objects (such as cans) and diagnose infrastructure (such as structures containing gas pipes and reinforcing bars).

[0128] <Modifications> Modifications that can be applied to the above-described embodiment will be described.

[0129] "First Modification" After performing a correction process on the image generated by the imaging means, the second processing unit 12 may perform object recognition or object detection on the corrected image. As an example, the second processing unit 12 may perform a correction to adjust the brightness of the image generated by the imaging means. The second processing unit 12 may adjust the brightness of the image generated by the imaging means using, for example, the technology disclosed in the following document. The second processing unit 12 may perform the correction when the brightness of the image generated by the imaging means satisfies a predetermined condition (brightness is equal to or less than a threshold value). "Shibata, Takashi, Masayuki Tanaka, and Masatoshi Okutomi. "Gradient-domain image reconstruction framework with intensity-range and base-structure constraints." Proceedings of the IEEE conference on computer vision and pattern recognition. 2016." "Tanaka, Masayuki, Takashi Shibata, and Masatoshi Okutomi. "Gradient-based low-light image enhancement." 2019 IEEE International Conference on Consumer Electronics (ICCE). IEEE, 2019.”

[0130] "Second Modification" In the above-described embodiment, the first reliability information divides the target area into a plurality of sub-areas, and indicates the reliability that the target object "does not exist" for each sub-area. As a modification, the first reliability information may divide the target area into a plurality of sub-areas, and indicate the reliability that the target object "exists" for each sub-area. In this case, the higher the reliability, the higher the possibility that the target object exists. And the lower the reliability, the lower the possibility that the target object exists.

[0131] The first processing unit 11 generates first reliability information based on the velocity of each second point of the two-dimensional information. Specifically, measurements or the like are performed in advance to obtain a feature amount of the velocity of the target object. Then, the first processing unit 11 searches for a point that indicates the feature amount of the velocity of the target object from among the multiple second points, and calculates reliability based on the search result.

[0132] Here, a specific example of the process for generating the first reliability information of the second modified example will be described. Note that the example here is merely an example, and other processes may also be adopted within the scope of the process for generating the first reliability information described above.

[0133] The first processing unit 11 calculates the degree of variance of velocity within a unit time (velocity feature) for each second point based on multiple consecutive pieces of two-dimensional information within a unit time. Furthermore, measurements or the like are performed in advance to determine a numerical range of the degree of variance of velocity within a unit time of the target object (velocity feature). The first processing unit 11 then searches for points from the multiple second points whose degree of variance of velocity within a unit time falls within the numerical range of the degree of variance of velocity within a unit time of the target object, and calculates reliability based on the search results.

[0134] The above-described speed feature of each object may vary depending on the environment. Therefore, measurements may be performed in advance under multiple environments, and the speed feature of the target object may be calculated for each environment. The first processing unit 11 may then generate the first reliability information using the feature corresponding to the environment when the reflected wave information to be processed was measured. The environment may be classified, for example, as indoors or outdoors. Furthermore, the outdoor environment may be further subdivided based on wind speed, etc. The environment when the reflected wave information to be processed was measured may be input to the information processing device 10 by a user of the information processing device 10, or may be acquired by the information processing device 10 from a database storing such information.

[0135] In the above-described embodiment, the determination criteria used by the estimation unit 13 are based on the premise that "the first reliability information divides the target region into a plurality of sub-regions and indicates the reliability that the target object "does not exist" for each sub-region." In the second modified example, the determination criteria used by the estimation unit 13 are changed due to a modification of the first reliability information. That is, the determination criteria are changed so that a sub-region with a high reliability indicated by the first reliability information is more likely to be estimated as a region where the target object exists. The configuration of the estimation unit 13 described above can be modified in this way.

[0136] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0137] In addition, in the flowcharts used in the above explanation, multiple steps (processes) are described in order. However, the order of the steps performed in each embodiment is not limited to the order described. In each embodiment, the order of the steps shown in the drawings can be changed as long as it does not cause any problems in terms of the content.

[0138] Some or all of the above embodiments may be described as in the following supplementary notes, but are not limited to the following: 1. An information processing device comprising: a first processing means that generates first reliability information indicating an area within the target area where a target object may exist, based on speed information of an object present in the target area generated based on reflected wave information indicating reflected waves of electromagnetic waves irradiated to the target area; a second processing means that generates second reliability information indicating an area within the target area where the target object may exist, based on at least one of the intensity of the reflected wave of the object present in the target area indicated by the reflected wave information and an image generated by imaging the target area with an imaging means; and an estimation means that estimates the area within the target area where the target object exists, based on the first reliability information and the second reliability information. 1. The information processing device according to 1, wherein the second processing means generates both the second reliability information based on the intensity of the reflected wave of an object present in the target area indicated by the reflected wave information and the second reliability information based on the image, and the estimation means estimates the area of ​​the target area where the target object is present based on the first reliability information and two pieces of second reliability information. 3. The information processing device according to 1 or 2, wherein the first processing means generates the first reliability information based on a degree of variance in speed of an object present in the target area within a unit time. 4. The information processing device according to 3, wherein the first processing means generates the first reliability information based on a degree of variance in speed of the target object within a unit time that is predefined and a degree of variance in speed of an object present in the target area generated based on the reflected wave information. 5. 5. The information processing device according to any one of 1 to 4, wherein the estimation means integrates the first reliability information and the second reliability information for each child region within the target region, and estimates the child region where the integration result satisfies a predetermined condition as a region where the target object is present. 6. The information processing device according to any one of 1 to 5, wherein the estimation means estimates, within the target region, a region where the first reliability information satisfies a first condition and the second reliability information satisfies a second condition as a region where the target object is present.7. The information processing device according to any one of 1 to 6, wherein the frequency of the electromagnetic waves is 0.3 GHz or more and 300 GHz or less. 8. The information processing device according to any one of 1 to 7, wherein the second processing means processes the intensity of the reflected waves from an object present in the target area indicated by the reflected wave information to generate three-dimensional information indicating the possibility that the target object exists for a plurality of first points included in a three-dimensional space corresponding to the target area, projects the three-dimensional information onto a predetermined plane to generate two-dimensional information indicating the possibility that the target object exists for each of a plurality of second points included in the plane, and generates the second reliability information based on the two-dimensional information. 9. 10. An information processing method in which one or more computers: generate first reliability information indicating an area within the target area where the target object may exist based on speed information of an object present in the target area generated based on reflected wave information indicating the reflected waves of electromagnetic waves irradiated to the target area; generate second reliability information indicating an area within the target area where the target object may exist based on at least one of the intensity of the reflected waves of the object present in the target area indicated by the reflected wave information and an image generated by imaging the target area with an imaging means; and estimate the area within the target area where the target object exists based on the first reliability information and the second reliability information. A program that causes a computer to function as: a first processing means that generates first reliability information indicating an area within the target area where a target object may exist, based on speed information of an object present in the target area that is generated based on reflected wave information that indicates the reflected waves of electromagnetic waves irradiated to the target area; a second processing means that generates second reliability information indicating an area within the target area where the target object may exist, based on at least one of the intensity of the reflected wave of the object present in the target area that is indicated by the reflected wave information and an image generated by imaging the target area with an imaging means; and an estimation means that estimates the area within the target area where the target object exists, based on the first reliability information and the second reliability information.

[0139] Some or all of Supplements 2 to 8 that are dependent on the information processing device of Supplement 1 described above may also be dependent on the information processing method of Supplement 9 and the program of Supplement 10 in the same dependent relationship as Supplement 1 and Supplements 2 to 8. Furthermore, within the scope of each of the above-mentioned embodiments, some or all of the configurations described as Supplements can be realized in various hardware, software, various recording means for recording software, or systems.

[0140] This application claims priority based on Japanese Patent Application No. 2023-126858, filed August 3, 2023, the disclosure of which is incorporated herein by reference in its entirety.

[0141] REFERENCE SIGNS LIST 10 Information processing device 11 First processing unit 12 Second processing unit 13 Estimation unit 1A Processor 2A Memory 3A Input / output I / F 4A Peripheral circuit 5A Bus

Claims

1. A first processing means generates first reliability information indicating a region within the target region in which a target object may exist, based on reflected wave information indicating reflected waves of electromagnetic waves irradiated onto the target region, and based on velocity information of an object present in the target region, which is generated based on reflected wave information indicating reflected waves of electromagnetic waves irradiated onto the target region. A second processing means generates second confidence information indicating a region within the target region in which the target object may exist, based on at least one of the intensity of the reflected wave of an object present in the target region as indicated by the reflected wave information, and an image generated by imaging the target region with an imaging means. Estimation means for estimating the region within the target area in which the target object exists, based on the first reliability information and the second reliability information, An information processing device having

2. The second processing means is, The system generates both the second reliability information based on the intensity of the reflected waves of an object in the target region indicated by the reflected wave information, and the second reliability information based on the image. The estimation means is, The information processing device according to claim 1, which estimates the region in the target region in which the target object exists based on the first reliability information and the two second reliability information.

3. The first processing means is, The information processing apparatus according to claim 1 or 2, which generates the first reliability information based on the degree of dispersion of the velocity of an object in the target region within a unit time.

4. The first processing means is, The information processing apparatus according to claim 3, which generates the first reliability information based on the degree of velocity dispersion of a predefined target object within the unit time and the degree of velocity dispersion of an object in the target region within the unit time generated based on the reflected wave information.

5. The estimation means is, The first reliability information and the second reliability information are integrated for each sub-region within the target region. The information processing apparatus according to claim 1 or 2, wherein the child region whose integration result satisfies predetermined conditions is estimated to be the region in which the target object exists.

6. The estimation means is, The information processing apparatus according to claim 1 or 2, wherein, among the target area, the area in which the first reliability information satisfies the first condition and the second reliability information satisfies the second condition is estimated to be the area in which the target object exists.

7. The information processing apparatus according to claim 1 or 2, wherein the frequency of the electromagnetic wave is 0.3 GHz or more and 300 GHz or less.

8. The second processing means is, By processing the intensity of the reflected waves of an object present in the target region indicated by the reflected wave information, three-dimensional information is generated for a plurality of first points included in the three-dimensional space corresponding to the target region, indicating the possibility of the presence of the target object. By projecting the three-dimensional information onto a predetermined plane, two-dimensional information is generated indicating the possibility of the target object existing at each of a plurality of second points contained within the plane. The information processing apparatus according to claim 1 or 2, which generates the second reliability information based on the two-dimensional information.

9. One or more computers, Based on reflected wave information indicating the reflected waves of electromagnetic waves irradiated onto the target area, a first reliability information is generated that indicates the area within the target area where the target object may be present, based on velocity information of objects present in the target area, Based on the intensity of the reflected waves of an object present in the target region indicated by the reflected wave information, and at least one of the images generated by imaging the target region with the imaging means, a second confidence information is generated that indicates a region within the target region where the target object may be present. An information processing method for estimating the region within the target region in which the target object exists, based on the first reliability information and the second reliability information.

10. Computers, A first processing means generates first reliability information indicating a region within the target region in which a target object may exist, based on velocity information of an object present in the target region, which is generated based on reflected wave information indicating reflected waves of electromagnetic waves irradiated onto the target region. A second processing means generates second confidence information indicating a region within the target region in which the target object may exist, based on at least one of the intensity of the reflected wave of an object present in the target region as indicated by the reflected wave information, and an image generated by imaging the target region with an imaging means. Estimation means for estimating the region within the target area in which the target object exists, based on the first reliability information and the second reliability information. A program that makes it function as such.