# US 12,217,512 B2 · Information processing apparatus and information processing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,217,512 B2 - Document ID: US12217512B2 - Status: Granted - Kind: B2 - Application number: 17/607,057 - Filed: 2020-04-27 - Published: 2022-06-30 - Granted: 2025-02-04 - Earliest claimed: 2019-05-09 - Assignees: Sony Group Corporation - Applicants: Sony Group Corporation - Inventors: Ryo Watanabe; Mikio Nakai - Web page: https://patentgrep.com/patent/US12217512B2 ## CPC - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G05D 1/242: Means based on the reflection of waves generated by the vehicle (using passive navigation aids external to the vehicle G05D1/244; using signals provided by artificial sources external to the vehicle G05D1/247) - G05D 1/2464: {using an occupancy grid} - G06F 18/22: Matching criteria, e.g. proximity measures - G06N 3/0464: Convolutional networks [CNN, ConvNet] - G06N 3/08: Learning methods - G06N 3/09: Supervised learning - G06V 10/26: Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion - G06V 10/764: using classification, e.g. of video objects - G06V 20/17: taken from planes or by drones - G06V 30/19153: {using rules for classification or partitioning the feature space} - G01S 7/4802: {using analysis of echo signal for target characterisation; Target signature; Target cross-section} - G01S 17/89: for mapping or imaging - G05D 2105/28: of freight - G05D 2107/13: Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters - G05D 2107/70: Industrial sites, e.g. warehouses or factories - G05D 2109/10: Land vehicles - G05D 2111/17: {Coherent light, e.g. laser signals} - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract An information processing apparatus according to an embodiment of the present technology includes a classification unit and a generation unit. The classification unit classifies an object detected in a space on a basis of a predetermined criterion. The generation unit sets a priority for the object on a basis of a classification result by the classification unit, and generates position-related information regarding a position in the space on a basis of the set priority. Use of the position-related information makes it possible to improve the accuracy of autonomous movement control. This makes it possible to improve the accuracy of autonomous movement control. ## Claims ### Claim 1 An information processing apparatus, comprising: circuitry configured to: classify an object, detected in a space, based on a specific criterion, wherein the specific criterion comprises date and time information; set a priority for the object based on a result of the classification; and generate position-related information regarding a position of the information processing apparatus in the space based on the set priority for the object. ### Claim 2 (depends on 1) The information processing apparatus according to claim 1, wherein the circuitry is further configured to classify the object based on a likelihood of movement of the object. ### Claim 3 (depends on 2) The information processing apparatus according to claim 2, wherein the circuitry is further configured to classify the object as a moving object, a quasi-stationary object, or a stationary object. ### Claim 4 (depends on 3) The information processing apparatus according to claim 3, wherein the circuitry is further configured to set a first priority for the object classified as the moving object, set a second priority higher than the first priority for the object classified as the quasi-stationary object, and set a third priority higher than the second priority for the object classified as the stationary object. ### Claim 5 (depends on 1) The information processing apparatus according to claim 1, wherein the circuitry is further configured to: classify the object based on detection information detected by a sensor of a mobile object, wherein the mobile object includes the information processing apparatus, and the mobile object moves in the space; and generate position information regarding a position and a posture of the mobile object in the space as the position-related information. ### Claim 6 (depends on 5) The information processing apparatus according to claim 5, wherein the circuitry is further configured to: collate the detection information with map information based on the priority, wherein the map information is regarding the space; and generate the position information of the mobile object based on the collation of the detection information with the map information. ### Claim 7 (depends on 6) The information processing apparatus according to claim 6, wherein the circuitry is further configured to select collation target information from the detection information based on the priority; and collate the collation target information with the map information. ### Claim 8 (depends on 1) The information processing apparatus according to claim 1, wherein the circuitry is further configured to generate map information regarding the space as the position-related information. ### Claim 9 (depends on 8) The information processing apparatus according to claim 8, wherein the map information includes a position of the object detected in the space and includes the priority set for the object. ### Claim 10 (depends on 8) The information processing apparatus according to claim 8, wherein the map information includes at least one of an occupancy grid map or a group of image feature points each including position information. ### Claim 11 (depends on 8) The information processing apparatus according to claim 8, wherein the circuitry is further configured to: set divided regions, for division of the space into a plurality of regions, based on the result; and generate the map information for each of the divided regions. ### Claim 12 (depends on 11) The information processing apparatus according to claim 11, wherein the circuitry is further configured to set the divided regions based on a position of the object detected in the space and the result of the classification for the object. ### Claim 13 (depends on 11) The information processing apparatus according to claim 11, wherein the circuitry is further configured to update the map information corresponding to each of the divided regions based on movement of the object from each of the divided regions. ### Claim 14 (depends on 13) The information processing apparatus according to claim 13, wherein the circuitry is further configured to generate update information to update the map information generated for each of the divided regions, wherein the update information is generated based on the result of the classification for the object in each of the divided regions. ### Claim 15 (depends on 14) The information processing apparatus according to claim 14, wherein the update information includes at least one of a necessity of update, a timing of update, or a frequency of update. ### Claim 16 An information processing apparatus, comprising circuitry configured to: classify an object, detected in a space, based on a specific criterion; set a priority for the object based on a result of the classification; generate position-related information regarding a position in the space based on the set priority for the object; generate map information regarding the space as the position-related information, wherein the map information is an occupancy grid map; and set, based on the set priority, a priority for each grid of the occupancy grid map. ### Claim 17 An information processing method, comprising: in an information processing apparatus: classifying an object, detected in a space, based on a specific criterion, wherein the specific criterion comprises date and time information; setting a priority for the object based on a result of the classification; and generating position-related information regarding a position of the information processing apparatus in the space based on the set priority for the object. ### Claim 18 A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by an information processing apparatus, cause the information processing apparatus to execute operations, the operations comprising: classifying an object, detected in a space, based on a specific criterion, wherein the specific criterion comprises date and time information; setting a priority for the object based on a result of the classification; and generating position-related information regarding a position of the information processing apparatus in the space based on the set priority for the object.