Sensor Fusion Tracking With Dynamic High-Resolution Detection Range
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Solution Overview
Problem
Existing vehicle tracking systems face inefficiencies due to a fixed fusion area between millimeter-wave radar and image sensors, leading to unnecessary high processing loads even when no obstacles are present, as the accuracy in detecting information is consistently set high regardless of the environment.
Innovation Solution
An information processing apparatus that includes a first object detector for millimeter-wave radar data and a second object detector for image sensor data, a tracking section to predict the state of a target object, and a detection accuracy controller to dynamically set a high-resolution range based on predicted object states, allowing for variable accuracy settings depending on the presence and type of obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a fixed fusion area with high detection accuracy is maintained, then object detection accuracy is improved, but processing load increases unnecessarily when no obstacles are present
Solution Approach 1:
The patent applies dynamics by making the fusion area configurable and adjustable rather than fixed. The detection accuracy controller dynamically modifies the fusion area based on detected objects and environmental conditions, allowing the system to expand the fusion area when obstacles are detected and reduce it when the environment is clear, thus balancing detection accuracy with processing load
Solution Approach 2:
The patent changes the parameter of fusion area size and detection accuracy level based on environmental conditions. The detection accuracy controller adjusts these parameters dynamically - increasing fusion area and detection accuracy when obstacles are present, and decreasing them when the environment is clear, thereby resolving the contradiction between maintaining high accuracy and reducing unnecessary processing load
2Reliability
If detection accuracy is consistently set high in all areas, then object detection reliability is improved, but energy consumption increases
Solution Approach 1:
The patent applies local quality by differentiating detection accuracy across different spatial regions. Instead of uniformly high detection accuracy across the entire field of view, the system concentrates high detection accuracy only in the dynamic fusion area where obstacles are detected or likely to be present, while reducing or disabling detection in areas without obstacles, thus improving reliability where needed while reducing energy consumption overall
Data Source
AI summary
The present technology relates to an information processing apparatus, an information processing method, a program, a mobile-object control apparatus, and a mobile object that make it possible to appropriately set the accuracy in detecting an object.An information processing apparatus includes a first object detector that performs an object detection on the basis of first sensor data from a first sensor; a second object detector that performs an object detection on the basis of second sensor data from a second sensor that differs in type from the first sensor; a tracking section that predicts a state of a target object that is a tracking target, on the basis of a result of the object detection performed on the basis of the first sensor data, and on the basis of a result of the object detection performed on the basis of the second sensor data; and a detection accuracy controller that sets a high-resolution range on the basis of the state of the target object that is predicted on the basis of the result of the object detection performed on the basis of the first sensor data, and on the basis of the result of the object detection performed on the basis of the second sensor data, the high-resolution range being a range in which an object detection is performed with a higher degree of accuracy than in a range other than the high-resolution range. The present technology is applicable to, for example, a system used to track a target object around a vehicle.