Information processing device, information processing method, and information processing system

An information processing system, comprising:

• a movable body that comprises:
• a processor configured to:
• acquire first information for estimation of a first self-position in a first coordinate system;
• and
• acquire second information for estimation of a second self-position in a second coordinate system different from the first coordinate system;
• a first estimator configured to estimate the first self-position based on the acquired first information to obtain a first estimation result;
• a second estimator configured to estimate the second self-position based on the acquired second information to obtain a second estimation result;
• and
• a coordinate transformer configured to transform the second self-position in the second coordinate system into a position in the first coordinate system for transformation of the second estimation result into the first coordinate system, wherein the processor is further configured to:
• in a case where a reliability of one of the first estimation result or the second estimation result is lower than a threshold, acquire position information of the movable body based on a third estimation result;
• and
• in a case where at least one of the first estimation result or the second estimation result transformed into the first coordinate system has the reliability one of equal to or higher than the threshold, acquire the position information based on the at least one of the first estimation result or the second estimation result transformed into the first coordinate system.

An information processing method, comprising:

• estimating, by a first estimator, a first self-position based on a first coordinate system to obtain a first estimation result;
• estimating, by a second estimator, a second self-position based on a second coordinate system to obtain a second estimation result, wherein the second coordinate system is different from the first coordinate system;
• transforming, by a coordinate transformer, the second self-position in the second coordinate system into a position in the first coordinate system for transformation of the second estimation result into the first coordinate system;
• in a case where a reliability of one of the first estimation result by the first estimator or the second estimation result by the second estimator is lower than a threshold, acquiring self-position information based on a third estimation result;
• and
• in a case where at least one of the first estimation result or the second estimation result transformed into the first coordinate system has the reliability one of equal to or higher than the threshold, acquiring the self-position information based on the at least one of the first estimation result or the second estimation result transformed into the first coordinate system.

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

• estimating, by a first estimator, a first self-position based on a first coordinate system to obtain a first estimation result;
• estimating, by a second estimator, a second self-position based on a second coordinate system to obtain a second estimation result, wherein the second coordinate system is different from the first coordinate system;
• transforming, by a coordinate transformer, the second self-position in the second coordinate system into a position in the first coordinate system for transformation of the second estimation result into the first coordinate system;
• in a case where a reliability of one of the first estimation result or the second estimation result is lower than a threshold, acquiring self-position information based on a third estimation result;
• and
• in a case where at least one of the first estimation result or the second estimation result transformed into the first coordinate system has the reliability one of equal to or higher than the threshold, acquiring the self-position information based on the at least one of the first estimation result or the second estimation result transformed into the first coordinate system.

An information processing device, comprising:

• a first estimator configured to estimate a first self-position in a first coordinate system to obtain a first estimation result;
• a second estimator configured to estimate a second self-position in a second coordinate system to obtain a second estimation result, wherein the second coordinate system is different from the first coordinate system;
• a coordinate transformer configured to transform the second estimation result by the second estimator from the second coordinate system to the first coordinate system based on a transformation parameter;
• a storage configured to store the first estimation result and the second estimation result as a first control point in a case where a reliability of the first estimation result by the first estimator at a time of interest and a reliability of the second estimation result by the second estimator at the time of interest are one of equal to or higher than a threshold;
• and
• a parameter generator configured to generate the transformation parameter based on:
• the first control point at the time of interest stored in the storage, and
• a second control point before the time of interest.

An information processing device, comprising:

• a first estimator configured to estimate a first self-position in a first coordinate system to obtain a first estimation result;
• a second estimator configured to estimate a second self-position in a second coordinate system to obtain a second estimation result, wherein the second coordinate system is different from the first coordinate system;
• a coordinate transformer configured to transform the second estimation result by the second estimator from the second coordinate system to the first coordinate system based on a transformation parameter;
• a processor configured to:
• set a first region having a reliability of the first estimation result lower than a certain value,
• evaluate the reliability to be low in a case where the first estimation result at a time of interest is within the first region;
• evaluate the reliability to be high in a case where the first estimation result at the time of interest is outside the first region;
• and
• control a storage to store the first estimation result at the time of interest and the second estimation result at the time of interest as a first control point in a case where the reliability of the first estimation result at the time of interest is high;
• and
• a parameter generator configured to generate the transformation parameter based on the first control point at the time of interest and a second control point before the time of interest.