Patent ID: 11897517
Assignee: KABUSHIKI KAISHA TOSHIBA
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 13:
14. A vehicle control system that controls a vehicle, the system comprising:
an information processing device configured to estimate a three-dimensional position of an object; and
a vehicle control device configured to control a drive mechanism to drive the vehicle based on the three-dimensional position,
the information processing device comprising:
one or more processors configured to:
acquire a plurality of pieces of detection information that is information including detection results at two-dimensional positions different from each other acquired by detection of the object by one or more detection devices through a transmission body, the plurality of pieces of detection information each including distortion due to the transmission body that exists between the detection devices and the object,
detect a feature point from each of the plurality of pieces of detection information, and
estimate, by minimizing an error between a three-dimensional position corresponding to the feature point and a detection position of the feature point corrected based on an initial distortion map expressing distortion at each of the two-dimensional positions, a revised distortion map, the three-dimensional position, and the detection position, wherein

the initial distortion map is expressed at a resolution smaller than that of the pieces of detection information, and
the feature point is corrected by using the distortion corrected according to a difference between the resolution of the initial distortion map and the resolution of the pieces of detection information.