Information processing apparatus, information processing method, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorsShozo Yoshimura, Masakazu Fujiki
Life of this patent
Estimating the term…
Abstract
An information processing apparatus that performs control related to movement of a moving object configured to measure its own position includes a memory storing instructions, and at least one processor that, upon execution of the instructions, is configured to operate as a first acquisition unit configured to acquire environmental information about an environment where the moving object moves, an estimation unit configured to estimate first positional information indicating that a region subjected to measurement accuracy degradation is below a threshold value based on the environmental information, and a determination unit configured to determine content of control information based on the first positional information.
Claims8
An information processing apparatus for controlling a moving device that includes measuring unit for measuring a position of the moving device from frame images of a moving picture capturing surroundings of the moving device, the information processing apparatus comprising:
- a memory storing instructions;
- and
- at least one processor that, upon execution of the instructions, is configured to operate as:
- detection unit configured to detect, as blinking feature points, feature points that are extracted from one frame image captured at one time but not extracted from another frame image captured at a different time, and to detect, based on the blinking feature points, the occurrence of brightness fluctuations caused by flicker in an environment in which the moving device moves;
- an estimation unit configured to divide a space in which the moving device moves into a plurality of regions, and to estimate, as a region in which measurement accuracy of the measuring unit changes due to brightness fluctuations caused by flicker, a region in which the number of the blinking feature points detected by the detection means is greater than or equal to a threshold;
- and
- a determination unit configured to determine, based on the region in which the measurement accuracy changes, a speed of the moving device or a moving route of the moving device.
An information processing method, executed by one or more processors, for controlling a moving device that measures a position of the moving device from frame images of a moving picture capturing surroundings of the moving device, the method comprising:
- detecting, as blinking feature points, feature points that are extracted from one frame image captured at one time but not extracted from another frame image captured at a different time, and detecting, based on the blinking feature points, the occurrence of brightness fluctuations caused by flicker in an environment in which where the moving device moves;
- divide a space in which the moving device moves into a plurality of regions, and estimating, as a region in which measurement accuracy of the measuring changes due to brightness fluctuations caused by flicker, a region in which the number of the blinking feature points detected by the detection means is greater than or equal to a threshold;
- and
- determining, based on the region in which the measurement accuracy changes, a speed of the moving device or a moving route of the moving device.
A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors, configure an information processing apparatus to execute a control method for controlling a moving device that measures a position of the moving device from frame images of a moving picture capturing surroundings of the moving device, the control method comprising:
- detecting, as blinking feature points, feature points that are extracted from one frame image captured at one time but not extracted from another frame image captured at a different time, and detecting, based on the blinking feature points, the occurrence of brightness fluctuations caused by flicker in an environment in which where the moving device moves;
- dividing a space in which the moving device moves into a plurality of regions, and estimating, as a region in which measurement accuracy of the measuring changes due to brightness fluctuations caused by flicker, a region in which the number of the blinking feature points detected by the detection means is greater than or equal to a threshold;
- and
- determining, based on the region in which the measurement accuracy changes, a speed of the moving device or a moving route of the moving device.
Dependencies are inferred from the claim text.