Abstract: A technique of estimating a surrounding environment with higher accuracy from observation data obtained by using sensing equipment is disclosed. According to the technique, a certain pixel in an observation data space which includes the observation data obtained by a sensor 50 is sampled. With regard to the sampled pixel, a grid-unspecified logarithm-likelihood ratio indicating whether a received signal is a signal reflected from a detected object is calculated from an intensity value of the received signal, and a distribution function of an angle indicating the degree of dispersion centering on an azimuth angle is calculated. Then, the product of the grid-unspecified logarithm-likelihood ratio and the distribution function is calculated and thereby a calculation for updating an occupation probability of the object is performed across a plurality of grids in an occupancy grid map by using a value obtained by dispersing the likelihood using the distribution function.

Abstract: A technique for stable and fast computation of a variance representing a confidence interval for an estimation result in an estimation apparatus using a neural network including an integrated layer that combines a dropout layer for dropping out part of input data and an FC layer for computing a weight is provided. When input data having a multivariate distribution is supplied to the integrated layer, a data analysis unit 30 determines, based on a numerical distribution of terms formed by respective products of each vector element of the input data and the weight, a data type of each vector element of output data from the integrated layer. An estimated confidence interval computation unit 20 applies an approximate computation method associated with the data type, to analytically compute a variance of each vector element of the output data from the integrated layer based on the input data to the integrated layer.

Abstract: A technique of estimating a surrounding environment with higher accuracy from observation data obtained by using sensing equipment is disclosed. According to the technique, a certain pixel in an observation data space which includes the observation data obtained by a sensor 50 is sampled. With regard to the sampled pixel, a grid-unspecified logarithm-likelihood ratio indicating whether a received signal is a signal reflected from a detected object is calculated from an intensity value of the received signal, and a distribution function of an angle indicating the degree of dispersion centering on an azimuth angle is calculated. Then, the product of the grid-unspecified logarithm-likelihood ratio and the distribution function is calculated and thereby a calculation for updating an occupation probability of the object is performed across a plurality of grids in an occupancy grid map by using a value obtained by dispersing the likelihood using the distribution function.

Abstract: An encoder according to the present invention is an encoder for encoding an optical wavelength-multiplexed signal compliant with optical CDMA into a code having a code pattern, including: L optical fibers 36 and 42 (where L is an integer equal to or greater than two) each having a plurality of gratings 37 to 47; and a circulator 52 for coupling the plurality of optical fibers 36 and 42. The code pattern contains time bins t1 to t3. A plurality of wavelengths ?1, ?4 and ?5 are assigned to the time bin t1. If a sum of an optical path difference in each optical fiber from the grating which reflects the optical signal of the wavelength ?1 to the grating which reflects the optical signal of the wavelength ?4 is calculated for all of the optical fibers 36 and 42, the sum equals zero.

Abstract: An encoder according to the present invention is an encoder for encoding an optical wavelength-multiplexed signal compliant with optical CDMA into a code having a code pattern, including: L optical fibers 36 and 42 (where L is an integer equal to or greater than two) each having a plurality of gratings 37 to 47; and a circulator 52 for coupling the plurality of optical fibers 36 and 42. The code pattern contains time bins t1 to t3. A plurality of wavelengths ?1, ?4 and ?5 are assigned to the time bin t1. If a sum of an optical path difference in each optical fiber from the grating which reflects the optical signal of the wavelength ?1 to the grating which reflects the optical signal of the wavelength ?4 is calculated for all of the optical fibers 36 and 42, the sum equals zero.

Abstract: There is provided an apparatus for performing, by optical code division multiplex access, at least one of encoding and decoding of wavelength-division-multiplexed light. The apparatus includes: an optical input/output section 203 for handling input/output of the wavelength-division-multiplexed light; and N fiber gratings (where N is an integer equal to or greater than two) 101 to 103, which are in a series connection to the optical input/output section 203. Each of the N fiber gratings has a sampled grating structure having an alternating array of first regions (11 to 14; 21 to 24; and 31 to 34) which provide a refractive index modulation with a relatively large amplitude and second regions (201) which provide a refractive index modulation with a relatively small amplitude, the first and second regions being disposed with a constant period P.

Abstract: There is provided an apparatus for performing, by optical code division multiplex access, at least one of encoding and decoding of wavelength-division-multiplexed light. The apparatus includes: an optical input/output section 203 for handling input/output of the wavelength-division-multiplexed light; and N fiber gratings (where N is an integer equal to or greater than two) 101 to 103, which are in a series connection to the optical input/output section 203. Each of the N fiber gratings has a sampled grating structure having an alternating array of first regions (11 to 14; 21 to 24; and 31 to 34) which provide a refractive index modulation with a relatively large amplitude and second regions (201) which provide a refractive index modulation with a relatively small amplitude, the first and second regions being disposed with a constant period P.