Object recognition device, object recognition method and program

Abstract

The object recognition device acquires external field information from by an external detection device arranged on a movable body, and acquires object position information indicating a position of an object existing around the movable body. Then, the object recognition device extracts prediction information, predicted to include information indicating the object, from the external field information based on the object position information, and recognizes the object based on the prediction information.

1 . An object recognition device comprising:
 a first acquisition unit configured to acquire external field information outputted by an external detection device arranged on a movable body;   a second acquisition unit configured to acquire object position information indicating a position of an object existing around the movable body and attribute information indicating an attribute of the object;   a recognition unit configured to recognize the object based on the external field information, the object position information, and the attribute information; and   an estimation unit configured to estimate the position of the movable body based on the object position information and information of a recognized object.   
     
     
         2 . The object recognition device according to  claim 1 , wherein the estimation unit estimates the position of the movable body using the object position information and the information of the recognized object for a plurality of objects. 
     
     
         3 . The object recognition device according to  claim 1 , wherein the estimation unit estimates the position and an azimuth angle of the movable body. 
     
     
         4 . The object recognition device according to  claim 1 ,
 wherein the recognition unit recognizes the object by a recognition method determined based on the attribute information.   
     
     
         5 . The object recognition device according to  claim 1 , wherein the recognition unit recognizes the object by a different method for each of the attributes of the objects. 
     
     
         6 . An object recognition method comprising:
 a first acquisition process configured to acquire external field information outputted by an external detection device arranged on a movable body;   a second acquisition process configured to acquire object position information indicating a position of an object existing around the movable body and attribute information indicating an attribute of the object;   a recognition process configured to recognize the object based on the external field information, the object position information, and the attribute information; and   an estimation process configured to estimate the position of the movable body based on the object position information and information of a recognized object.   
     
     
         7 . A non-transitory computer-readable medium storing a program executed by a computer in an object recognition device, the program causing the computer to function as:
 a first acquisition unit configured to acquire external field information outputted by an external detection device arranged on a movable body;   a second acquisition unit configured to acquire object position information indicating a position of an object existing around the movable body and attribute information indicating an attribute of the object;   a recognition unit configured to recognize the object based on the external field information, the object position information, and the attribute information; and   an estimation unit configured to estimate the position of the movable body based on the object position information and information of a recognized object.