Information processing device for constructing an occupied map for a mobile robot

An information processing device for processing detection information obtained by detection of an object at a periphery of a mobile body to construct an occupied map as a map indicating an occupation probability at a periphery of a movement path of the mobile body, comprising:

• a detector configured to acquire, by emitting beams to the periphery of the mobile body, a presence or absence of the object as the detection information on each beam;
• a controller configured to control the detector;
• and
• a constructor configured to construct the occupied map,
• wherein the constructor includes
• a storage configured to store, in chronological order, the detection information acquired by the detector,
• a producer configured to produce a temporal map of the periphery of the mobile body based on the detection information stored in the storage,
• an acquirer configured to acquire, by setting, in the temporal map produced by the producer, each determination point in each cell through which the beam in the detection information passes, a normal line to each determination point based on the presence or absence of the object in a plurality of the cells at a periphery of the cell to which each determination point on the temporal map belongs, and
• a determinator configured to determine a validity of the detection information on each determination point based on a size of an incident angle as an angle between each beam and the normal line at each determination point, and
• the producer constructs the occupied map by means of the detection information on which the validity of each determination point is reflected.