Obstacle Detection Using Ground Surface Shape Estimation
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Solution Overview
Problem
Existing obstacle detection systems inaccurately identify road surfaces as obstacles due to low sensor accuracy, leading to unreliable obstacle detection, especially when the road surface shape estimation is inaccurate.
Innovation Solution
An information processing apparatus that includes a position acquisition unit, a shape acquisition unit, and a calculation unit, which acquires three-dimensional position information of detection points, estimates the ground surface shape, and calculates the existence probability of obstacles based on the distance of detection points from the ground surface, thereby distinguishing between travelable regions and obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If road surface shape estimation is performed using a single sensor, then device complexity is reduced, but measurement precision deteriorates leading to erroneous obstacle detection
Solution Approach 1:
The patent combines data from a laser sensor and a camera to estimate road surface shape. The laser sensor provides distance information while the camera provides visual information, and their fusion enables accurate road surface estimation without requiring additional specialized sensors, thus resolving the contradiction between device complexity and measurement precision.
2Measurement precision
If detection threshold is lowered to improve obstacle detection sensitivity, then detection precision improves, but false positive rate increases due to road surface misclassification
Solution Approach 1:
The patent introduces road surface shape estimation as an intermediary step between raw sensor data and obstacle detection. By first estimating the road surface shape and then comparing detection points against this estimated surface, the system can accurately distinguish between road surface points and actual obstacles, enabling low detection thresholds without increasing false positives.
3Adaptability or versatility
If another sensor is added to detect obstacles in directions where points are removed, then obstacle detection coverage is improved, but device complexity and cost increase
Solution Approach 1:
The patent makes the existing sensor system multi-functional by using the same laser sensor and camera for both road surface estimation and obstacle detection. The processed road surface shape information serves dual purposes: defining the drivable area and providing a reference for obstacle detection in all directions, eliminating the need for additional specialized sensors.
Data Source
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AI summary
According to an arrangement, an information processing apparatus(20) includes a position acquisition unit(20C), a shape acquisition unit(20D) and a calculation unit(20E). The position acquisition unit(20C) acquires three-dimensional position information of a detection point. The shape acquisition unit(20D) acquires target surface shape information indicating a shape of a target surface. The calculation unit(20E) calculates state information of an object according to a first distance of the detection point from the target surface on the basis of the three-dimensional position information and the target surface shape information.