Information processing apparatus, moving body control system, control method, and non-transitory computer-readable medium

A control method executed in an information processing apparatus, the control method comprising:

• extracting at least one first photographed image, the first photographed image being similar to a second photographed image which is photographed by using a second photographing apparatus mounted on a moving apparatus, the moving apparatus being moving in a predetermined region, from a plurality of first photographed images which are photographed by using a first photographing apparatus for creating a three-dimensional image of the predetermined region;
• estimating a first photographing orientation of the first photographing apparatus, the first photographing apparatus photographing the first photographed image which is extracted, and a second photographing orientation of the second photographing apparatus at a time when the second photographed image is photographed;
• and
• controlling an action of the moving apparatus based on the first photographing orientation and the second photographing orientation, wherein
• the first photographing orientation is a first angle of a photographing direction of the first photographing apparatus with respect to a specific direction, and the second photographing orientation is a second angle of a photographing direction of the second photographing apparatus with respect to the specific direction, and
• in controlling the action of the moving apparatus, a speed of the moving apparatus is decreased in a case where a difference between the first angle and the second angle is greater than a threshold value defined in advance.

A non-transitory computer-readable medium storing a program, the program causing a computer to execute:

• extracting at least one first photographed image, the first photographed image being similar to a second photographed image which is photographed by using a second photographing apparatus mounted on a moving apparatus, the moving apparatus being moving in a predetermined region, from a plurality of first photographed images which are photographed by using a first photographing apparatus for creating a three-dimensional image of the predetermined region;
• estimating a first photographing orientation of the first photographing apparatus, the first photographing apparatus photographing the first photographed image which is extracted, and a second photographing orientation of the second photographing apparatus at a time when the second photographed image is photographed;
• and
• controlling an action of the moving apparatus based on the first photographing orientation and the second photographing orientation, wherein
• the first photographing orientation is a first angle of a photographing direction of the first photographing apparatus with respect to a specific direction, and the second photographing orientation is a second angle of a photographing direction of the second photographing apparatus with respect to the specific direction, and
• in controlling the action of the moving apparatus, a speed of the moving apparatus is decreased in a case where a difference between the first angle and the second angle is greater than a threshold value defined in advance.