Abstract: A driving assistance device includes a recording unit that records vehicle past traveling positions and related position estimation information, and a relative position estimation unit that estimates a vehicle relative position based on a sensor, adds a history of the relative position to the past traveling position, and uses the output of the sensor. The driving assistance device further includes a position estimation unit that estimates a vehicle position with respect to the past traveling positions and adds a history of the estimated position to the past traveling position, in addition to a deviation determination unit that determines deviation from the past traveling positions using a distribution of the past traveling positions, the vehicle position relative to the past traveling positions, and a reference value. The driving assistance device includes a control unit that controls the vehicle to cancel a warning or deviation when the deviation is determined.

Abstract: Provided are a self-map generation device and a self-position estimation device with which it is possible to achieve high-accuracy self-position estimation even when an observation error due to a sensor is large by estimating an error amount of a landmark serving as an observation point and improving the quality of a self-generated point group map.

Abstract: The present invention addresses the problem of providing a camera position/attitude calibration device with which the relative position/attitude of a camera and a robot can be calibrated without interrupting a task which is set in the robot.

Abstract: An object is to provide a map creation/self-location estimation device capable of estimating a location/attitude of an ego vehicle with high accuracy.

Abstract: An object of the present invention is to realize lane deviation warning/control at an intersection, on a multilane road and in an environment where no lane dividing lines are present and GNSS accuracy is low.

Abstract: An information processing apparatus simulates a measurable region of a sensor when the sensor is arranged in a measurement region to be measured, and the information processing apparatus includes: a generation unit that generates a measurement region map with environment information based on a three-dimensional model of the measurement region to be measured and the environment information that causes a change in a measurement result of the sensor; an execution unit that virtually arranges the sensor on the measurement region map with environment information generated by the generation unit, and simulates the measurable region of the sensor based on sensor information related to the measurable region of the sensor; and an output unit that outputs a result of simulation by the execution unit.

Abstract: An object is to provide a self-position estimation device capable of highly accurately estimating self-location and attitudes on a map containing information such as lane centerlines, stop lines, and traffic rules. A representative self-position estimation device according to the present invention includes a self-position estimation portion that estimates a self-location and attitude on a high-precision map from measurement results of a sensor to measure objects around a vehicle; a low-precision section detection portion that detects a low-precision section indicating low estimation accuracy based on the self-location and attitude estimated by the self-position estimation portion; and a self-map generation portion that generates a self-generated map saving a position and type of the object on the high-precision map in the low-precision section detected by the low-precision section detection portion.

Abstract: An information processing apparatus simulates a measurable region of a sensor when the sensor is arranged in a measurement region to be measured, and the information processing apparatus includes: a generation unit that generates a measurement region map with environment information based on a three-dimensional model of the measurement region to be measured and the environment information that causes a change in a measurement result of the sensor; an execution unit that virtually arranges the sensor on the measurement region map with environment information generated by the generation unit, and simulates the measurable region of the sensor based on sensor information related to the measurable region of the sensor; and an output unit that outputs a result of simulation by the execution unit.

Abstract: In a three-dimensional measurement apparatus, a plurality of cameras and an arithmetic device are connected via a network, and includes: a plurality of photographing units; an image acquisition unit; a local time acquisition unit; a moving object detection unit to detect a moving object from the image; an image holding unit to hold an image in which the moving object is detected, in association with the local time at which the image has been photographed; an image selection unit; a three-dimensional position/synchronization deviation estimation unit to estimate a three-dimensional position of the moving object and a synchronization deviation between cameras, from an image selected by the image selection unit and a local time associated with the image; a synchronization deviation holding unit to hold the synchronization deviation; and an output unit to output an estimation result of the three-dimensional position/synchronization deviation estimation unit.

Abstract: The present invention addresses the problem of providing a camera position/attitude calibration device with which the relative position/attitude of a camera and a robot can be calibrated without interrupting a task which is set in the robot.

Abstract: The purpose of the present invention is to provide an outside recognition device for a vehicle with which it is possible to correctly estimate the orientation of an obstruction. An outside recognition device according to the present invention is provided with an obstruction detection unit for detecting an obstruction in an image, an orientation estimation unit for estimating the orientation of the obstruction detected by the obstruction detection unit, and an orientation correction unit for correcting the orientation estimated by the orientation estimation unit in accordance with the positional relationship of the obstruction and the camera. With this outside recognition device for a vehicle, it is possible to correctly estimate the orientation of the obstruction.

Abstract: In a three-dimensional measurement apparatus, a plurality of cameras and an arithmetic device are connected via a network, and includes: a plurality of photographing units; an image acquisition unit; a local time acquisition unit; a moving object detection unit to detect a moving object from the image; an image holding unit to hold an image in which the moving object is detected, in association with the local time at which the image has been photographed; an image selection unit; a three-dimensional position/synchronization deviation estimation unit to estimate a three-dimensional position of the moving object and a synchronization deviation between cameras, from an image selected by the image selection unit and a local time associated with the image; a synchronization deviation holding unit to hold the synchronization deviation; and an output unit to output an estimation result of the three-dimensional position/synchronization deviation estimation unit.

Abstract: The obstacle detection device comprises: a first camera installed on a moving vehicle used for photographing a frontward or rearward view of the vehicle; a second camera installed on the vehicle used for photographing a sideward view of the vehicle; a parking space detection unit for detecting a parking space on the basis of an image obtained by photographing by the first camera; a memory unit for storing a real-space area of the parking space; a motion acquisition unit for acquiring information about behaviors of the vehicle; an obstacle calculation unit for calculating information about an obstacle present in the vicinity of the parking space on the basis of multiple images obtained by photographing by the second camera at different points in time; and a processing area setting unit for controlling, the calculation by the obstacle calculation unit.

Abstract: The purpose of the present invention is to provide an outside recognition device for a vehicle with which it is possible to correctly estimate the orientation of an obstruction. An outside recognition device according to the present invention is provided with an obstruction detection unit for detecting an obstruction in an image, an orientation estimation unit for estimating the orientation of the obstruction detected by the obstruction detection unit, and an orientation correction unit for correcting the orientation estimated by the orientation estimation unit in accordance with the positional relationship of the obstruction and the camera. With this outside recognition device for a vehicle, it is possible to correctly estimate the orientation of the obstruction.

Abstract: The obstacle detection device comprises: a first camera installed on a moving vehicle used for photographing a frontward or rearward view of the vehicle; a second camera installed on the vehicle used for photographing a sideward view of the vehicle; a parking space detection unit for detecting a parking space on the basis of an image obtained by photographing by the first camera; a memory unit for storing a real-space area of the parking space; a motion acquisition unit for acquiring information about behaviors of the vehicle; an obstacle calculation unit for calculating information about an obstacle present in the vicinity of the parking space on the basis of multiple images obtained by photographing by the second camera at different points in time; and a processing area setting unit for controlling, the calculation by the obstacle calculation unit.