The present technology relates to an information processing apparatus, an information processing method, and a program that allow a sensing time of a sensor to be easily and accurately determined. An information processing apparatus includes a control circuit that outputs a control signal for controlling a sensing timing of a sensor, a counter that updates a counter value in a predetermined cycle, and an addition circuit that adds, to sensor data output from the sensor, sensing time information including a first counter value, a second counter value, and a GNSS (Global Navigation Satellite System) time in a GNSS. The first counter value is obtained when the control signal is output from the control circuit, and the second counter value is obtained when a pulse signal synchronous with the GNSS time is output from a GNSS receiver. The present technology can be applied to, for example, a vehicle-mounted camera.

The present technology relates to an information processing apparatus, an information processing method, and a program that allow a sensing time of a sensor to be easily and accurately determined. An information processing apparatus includes a control circuit that outputs a control signal for controlling a sensing timing of a sensor, a counter that updates a counter value in a predetermined cycle, and an addition circuit that adds, to sensor data output from the sensor, sensing time information including a first counter value, a second counter value, and a GNSS (Global Navigation Satellite System) time in a GNSS. The first counter value is obtained when the control signal is output from the control circuit, and the second counter value is obtained when a pulse signal synchronous with the GNSS time is output from a GNSS receiver. The present technology can be applied to, for example, a vehicle-mounted camera.

An information processing apparatus includes an input interface, a processor, and an output interface. The input interface obtains observation data obtained from an observation space. The processor detects a detection target included in the observation data. The processor maps coordinates of the detected detection target as coordinates of a detection target in a virtual space, tracks a position and a velocity of a material point indicating the detection target in the virtual space, and maps coordinates of the tracked material point in the virtual space as coordinates in a display space. The processor sequentially observes a size of the detection target in the display space and estimates a size of a detection target at a present time on a basis of observed values of a size of a detection target at the present time and estimated values of a size of a past detection target. The output interface outputs output information based on the coordinates of the material point mapped to the display space and the estimated size of the detection target.

Erroneous detection due to erroneous parallax measurement is suppressed to accurately detect a step present on a road. An in-vehicle environment recognition device 1 includes a processing device that processes a pair of images acquired by a stereo camera unit 100 mounted on a vehicle. The processing device includes a stereo matching unit 200 that measures a parallax of the pair of images and generates a parallax image, a step candidate extraction unit 300 that extracts a step candidate of a road on which the vehicle travels from the parallax image generated by the stereo matching unit 200, a line segment candidate extraction unit 400 that extracts a line segment candidate from the images acquired by the stereo camera unit 100, an analysis unit 500 that performs collation between the step candidate extracted by the step candidate extraction unit 300 and the line segment candidate extracted by the line segment candidate extraction unit 400 and analyzes validity of the step candidate based on the collation result and an inclination of the line segment candidate, and a three-dimensional object detection unit 600 that detects a step present on the road based on the analysis result of the analysis unit 500.

Example data processing methods and apparatus are provided. One example method includes obtaining an image captured by an in-vehicle camera. A to-be-detected target in the image is determined. A feature region corresponding to the to-be-detected target in the image is further determined based on a location of the to-be-detected target in the image. A first parking state is determined based on the image and wheel speedometer information. A first homography matrix corresponding to the first parking state is determined from a prestored homography matrix set, where different parking states correspond to different homography matrices. Image information of the feature region is processed based on the first homography matrix to obtain a detection result.

Example data processing methods and apparatus are provided. One example method includes obtaining an image captured by an in-vehicle camera. A to-be-detected target in the image is determined. A feature region corresponding to the to-be-detected target in the image is further determined based on a location of the to-be-detected target in the image. A first parking state is determined based on the image and wheel speedometer information. A first homography matrix corresponding to the first parking state is determined from a prestored homography matrix set, where different parking states correspond to different homography matrices. Image information of the feature region is processed based on the first homography matrix to obtain a detection result.

A computer-implemented method for predicting properties of a plurality of objects in a vicinity of a vehicle includes multiple steps that can be carried out by computer hardware components. The method includes determining a grid map representation of road-users perception data, with the road-users perception data including tracked perception results and/or untracked sensor intermediate detections. The method also includes determining a grid map representation of static environment data based on data obtained from a perception system and/or a pre-determined map. The method further includes determining the properties of the plurality of objects based on the grid map representation of road-users perception data and the grid map representation of static environment data.

A computer-implemented method for predicting properties of a plurality of objects in a vicinity of a vehicle includes multiple steps that can be carried out by computer hardware components. The method includes determining a grid map representation of road-users perception data, with the road-users perception data including tracked perception results and/or untracked sensor intermediate detections. The method also includes determining a grid map representation of static environment data based on data obtained from a perception system and/or a pre-determined map. The method further includes determining the properties of the plurality of objects based on the grid map representation of road-users perception data and the grid map representation of static environment data.

The disclosed technology provides solutions provides solutions for improving sensor data accuracy and in particular, for improving radar data by de-noising radar elevation measurements using a height-map. In some aspects, a process of the disclosed technology can include steps for receiving camera data corresponding with a first location, receiving radar data comprising a plurality of radar points, and processing the radar data to generate height-corrected radar data. In some aspects, the process can further include steps for projecting the height-corrected radar data into an image space to generate radar-image data. Systems and machine-readable media are also provided.

This application provides an image processing method, a network training method, and a related device, and relates to image processing technologies in the artificial intelligence field. The method includes: inputting a first image including a first vehicle into an image processing network to obtain a first result output by the image processing network, where the first result includes location information of a two-dimensional 2D bounding frame of the first vehicle, coordinates of a wheel of the first vehicle, and a first angle of the first vehicle, and the first angle of the first vehicle indicates an included angle between a side line of the first vehicle and a first axis of the first image; and generating location information of a three-dimensional 3D outer bounding box of the first vehicle based on the first result.