Information processing apparatus, mobile object, control system, and information processing method

A mobile object, comprising:

• a sensing device;
• and
• circuitry configured to:
• acquire information regarding a self-location and a posture of the mobile object, wherein the self-location and the posture of the mobile object correspond to a first time instant;
• acquire control prediction information;
• and
• control the sensing device at a second time instant based on the control prediction information,
• wherein
• the second time instant is subsequent to the first time instant,
• the control prediction information is based on the information regarding the self-location and the posture, a location of a disturbance factor in an image, and map information, and
• the sensing device is configured to capture the image at the second time instant based on the control prediction information.

A control system, comprising:

• a mobile object that includes a sensing device and circuitry;
• and
• an information processing device comprising a central processing unit (CPU) configured to:
• acquire first information regarding a first location and a first posture of the mobile object,
• wherein the first location and the first posture correspond to a first time instant;
• predict a second location and a second posture of the mobile object based on the first information, wherein
• the second location and the second posture correspond to a second time instant, and
• the second time instant is subsequent to the first time instant;
• predict a position and a location of a disturbance factor in an image based on the predicted second location of the mobile object at the second time instant, the predicted second posture of the mobile object at the second time instant, and map information,
• wherein the image is to be captured by the sensing device at the second time instant;
• generate, based on the predicted position of the disturbance factor and the predicted location of the disturbance factor in the image, control prediction information for control of the sensing device;
• and
• transmit the control prediction information,
• wherein the circuitry is configured to control the sensing device based on the control prediction information.

An information processing method, comprising:

• acquiring first information regarding a first location and a first posture of a mobile object,
• wherein
• the first location and the first posture correspond to a first time instant,
• the mobile object includes a sensing device, and
• the sensing device includes an image-capturing device;
• predicting a second location and a second posture of the mobile object based on the first information, wherein
• the second location and the second posture correspond to a second time instant, and
• the second time instant is subsequent to the first time instant;
• predicting a position and a location of a disturbance factor in an image based on the predicted second location of the mobile object at the second time instant, the predicted second posture of the mobile object at the second time instant, and map information,
• wherein the image is to be captured by the image-capturing device at the second time instant;
• generating, based on the predicted position of the disturbance factor and the predicted location of the disturbance factor in the image, first control prediction information for control of the sensing device;
• and
• transmitting the first control prediction information,
• wherein the sensing device is controlled at the second time instant based on the first control prediction information.

A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a processor, cause the processor to execute operations, the operations comprising:

• acquiring first information regarding a first location and a first posture of a mobile object,
• wherein
• the first location and the first posture correspond to a first time instant,
• the mobile object includes a sensing device, and
• the sensing device includes an image-capturing device;
• predicting a second location and a second posture of the mobile object based on the first information, wherein
• the second location and the second posture correspond to a second time instant, and
• the second time instant is subsequent to the first time instant;
• predicting a position and a location of a disturbance factor in an image based on the predicted second location of the mobile object at the second time instant, the predicted second posture of the mobile object at the second time instant, and map information,
• wherein the image is to be captured by the image-capturing device at the second time instant;
• generating, based on the predicted position of the disturbance factor and the predicted location of the disturbance factor in the image, first control prediction information for control of the sensing device;
• and
• transmitting the first control prediction information,
• wherein the sensing device is controlled at the second time instant based on the first control prediction information.