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US 11,906,970 B2Granted
Information processing device and information processing method
AssigneeSony Group Corporation
InventorsKento Suzuki, Atsushi Okamori
Life of this patent
Estimating the term…
Abstract
An information processing device according to the present disclosure includes an acquisition unit that acquires an arrangement of a landmark and surrounding terrain data, a first estimation unit that estimates a range in which a self-position is located on a basis of a landmark map that is a map indicating the arrangement of the landmark, and a second estimation unit that estimates the self-position from the range in which the self-position is located on a basis of a terrain data map that is a map indicating the surrounding terrain data.
Claims9
An information processing device, comprising:
- an image sensor configured to capture an image of a landmark;
- a depth sensor configured to detect depth data associated with a terrain surrounding the information processing device;
- and
- circuitry configured to:
- execute an image recognition process on the captured image;
- acquire an arrangement of the landmark based on the image recognition process on the captured image;
- acquire a landmark movement range of the landmark;
- generate, based on the detected depth data, a first terrain data map indicating surrounding terrain data of the terrain;
- estimate, based on the arrangement of the landmark acquired, the landmark movement range and a landmark map indicating the arrangement of the landmark, a range in which a self-position of the information processing device is located;
- position, on the first terrain data map, the estimated range in which the self-position is located;
- generate a second terrain data map based on the position of the estimated range on the first terrain data map;
- estimate, based on the second terrain data map and the landmark movement range, the self-position from the range in which the self-position is located;
- and
- control self-driving of the information processing device based on the estimated self-position.
11 more elements
An information processing method, comprising:
- capturing, by an image sensor of an information processing device, an image of a landmark;
- detecting, by a depth sensor of the information processing device, depth data associated with a terrain surrounding the information processing device;
- executing, by circuitry of the information processing device, an image recognition process on the captured image;
- acquiring, by the circuitry, an arrangement of the landmark based on the image recognition process on the captured image;
- acquiring, by the circuitry, a landmark movement range of the landmark;
- generating, by the circuitry, based on the detected depth data, a first terrain data map indicating surrounding terrain data of the terrain;
- estimating, by the circuitry, based on the arrangement of the landmark acquired, the landmark movement range and a landmark map indicating the arrangement of the landmark, a range in which a self-position of the information processing device is located;
- positioning, by the circuitry, on the first terrain data map, the estimated range in which the self-position is located;
- generating, by the circuitry, a second terrain data map based on the position of the estimated range on the first terrain data map;
- estimating, by the circuitry, based on the second terrain data map and the landmark movement range, the self-position in the range in which the self-position is located;
- and
- controlling, by the circuitry, self-driving of the information processing device based on the estimated self-position.
9 more elements
A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by an information processing device, cause the information processing device to execute operations, the operations comprising:
- capturing, by an image sensor of the information processing device, an image of a landmark;
- detecting, by a depth sensor of the information processing device, depth data associated with a terrain surrounding the information processing device;
- executing, by circuitry of the information processing device, an image recognition process on the captured image;
- acquiring, by the circuitry, an arrangement of the landmark based on the image recognition process on the captured image;
- acquiring, by the circuitry, a landmark movement range of the landmark;
- generating, by the circuitry, based on the detected depth data, a first terrain data map indicating surrounding terrain data of the terrain;
- estimating, by the circuitry, based on the arrangement of the landmark acquired, the landmark movement range and a landmark map indicating the arrangement of the landmark, a range in which a self-position of the information processing device is located;
- positioning, by the circuitry, on the first terrain data map, the estimated range in which the self-position is located;
- generating, by the circuitry, a second terrain data map based on the position of the estimated range on the first terrain data map;
- estimating, by the circuitry, based on the second terrain data map and the landmark movement range, the self-position from the range in which the self-position is located;
- and
- controlling, by the circuitry, self-driving of the information processing device based on the estimated self-position.
9 more elements
Dependencies are inferred from the claim text.