Information processing apparatus, control apparatus for moving body, method of controlling information processing apparatus, and method of controlling moving body

A method of controlling an-apparatus that estimates an instruction position for a moving body used by a user, the method comprising:

• acquiring vocal utterance information regarding the instruction position from a communication device used by the user, wherein the vocal utterance information includes vocal utterance indicating a visual mark;
• acquiring a captured image captured by the moving body;
• identifying the visual mark in the vocal utterance information;
• determining an object region in the captured image, the object region corresponding to the visual mark identified in the vocal utterance information;
• estimating the instruction position based on the object region determined in the determining;
• and
• controlling the moving body to cause the moving body to move to the estimated instruction position to meet with the user,
• wherein the method further comprising:
• calculating a probability distribution indicating a probability corresponding to the visual mark for one or more object regions recognized in the captured image, and determining the object region, having a probability equal to or greater than a first threshold, as the object region corresponding to the visual mark, and
• transmitting additional vocal utterance information for narrowing down the visual mark to the communication device of the user in a case where the probability corresponding to the visual mark for two or more object regions is greater than or equal to a second threshold and smaller than the first threshold.

An apparatus for a moving body that estimates an instruction position for a moving body used by a user, the apparatus comprising:

• one or more processors;
• and
• a memory storing instructions which, when executed by the one or more processors, cause the one or more processors to:
• acquire vocal utterance information regarding the instruction position from a communication device used by the user, wherein the vocal utterance information includes vocal utterance indicating a visual mark;
• acquire a captured image captured by the moving body;
• identify the visual mark in the vocal utterance information;
• determine an object region in the captured image, the object region corresponding to the visual mark identified in the vocal utterance information;
• estimate the instruction position based on the determined object region;
• and
• control the moving body to cause the moving body to move to the estimated instruction position to meet with the user,
• wherein the instructions cause the one or more processors to calculate a probability distribution indicating a probability corresponding to the visual mark for one or more object regions recognized in the captured image, and determine the object region, having a probability equal to or greater than a first threshold, as the object region corresponding to the visual mark, and
• wherein the instructions cause the one or more processors to transmit additional vocal utterance information for narrowing down the visual mark to the communication device of the user in a case where the probability corresponding to the visual mark for two or more object regions is greater than or equal to a second threshold and smaller than the first threshold.

A method of controlling a moving body that estimates an instruction position for a moving body used by a user, the method comprising:

• acquiring vocal utterance information regarding the instruction position from a communication device used by the user, wherein the vocal utterance information includes vocal utterance indicating a visual mark;
• acquiring a captured image captured by the moving body;
• identifying the visual mark in the vocal utterance information;
• determining an object region in the captured image, the object region corresponding to the visual mark identified in the vocal utterance information;
• estimating the instruction position based on the object region determined in the determining;
• and
• controlling the moving body to cause the moving body to move to the estimated instruction position to meet with the user,
• wherein the method further comprising:
• calculating a probability distribution indicating a probability corresponding to the visual mark for one or more object regions recognized in the captured image, and determining the object region, having a probability equal to or greater than a first threshold, as the object region corresponding to the visual mark, and
• transmitting additional vocal utterance information for narrowing down the visual mark to the communication device of the user in a case where the probability corresponding to the visual mark for two or more object regions is greater than or equal to a second threshold and smaller than the first threshold.

An apparatus that estimates an instruction position for a moving body by a user, the apparatus comprising:

• one or more processors;
• and
• a memory storing instructions which, when executed by the one or more processors, cause the one or more processors to:
• acquire vocal utterance information regarding the instruction position including a visual mark from a communication device used by the user;
• acquire a captured image captured by the moving body;
• determine an object region in the captured image corresponding to the visual mark included in the vocal utterance information;
• estimate the instruction position based on the object region determined;
• and
• control the moving body to cause the moving body to move to the estimated instruction position to meet with the user,
• wherein the instructions cause the one or more processors to transmit additional vocal utterance information for narrowing down the visual mark to the communication device of the user in a case where the probability corresponding to the visual mark for two or more object regions is greater than or equal to a second threshold and smaller than a first threshold.