Patent ID: 11860640
Assignee: SONY GROUP CORPORATION
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 14:
15. A non-transitory computer readable medium containing a program that causes a computer to perform a method comprising:
estimating as a labeling information boundary, based on labeling information according to a type of a subject in a captured image, an area in which a boundary of a movable area of a mobile body exists in the captured image;
estimating as a distance image boundary, based on a distance image, an area in which the boundary of the movable area exists in the distance image; and
determining the boundary of the movable area based on the labeling information boundary and the distance image boundary,
wherein the labeling information boundary is estimated based on the labeling information and the distance image by:
setting, based on the labeling information, a boundary of an area labeled as a subject of a type corresponding to the movable area as the boundary of the movable area, and
further estimating the boundary of the movable area as labeling information boundary by setting a vertical width of the boundary of the movable area set on a basis of the labeling information in accordance with a distance based on the distance image.