Information processing device, movable apparatus, information processing method, and storage medium

An information processing device comprising at least one processor or circuit configured to function as:

• a sensor information acquisition unit configured to acquire information regarding surroundings of a movable apparatus;
• a communication unit configured to acquire movable apparatus information regarding a different movable apparatus in the surroundings from the different movable apparatus;
• a position and orientation information measurement unit configured to perform measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;
• a determination unit configured to determine whether or not the movable apparatus is to follow the different movable apparatus on the basis of the movable apparatus information acquired by the communication unit;
• and
• the processor controls a moving direction of the movable apparatus based a determination result by the determination unit,
• wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determination unit in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and
• wherein the movable apparatus follows the different movable apparatus based on the determination result by the determination unit in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

An information processing method comprising:

• acquiring information regarding surroundings of a movable apparatus;
• performing measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;
• analyzing motion of a different movable apparatus in the surroundings from the information regarding the surroundings of the movable apparatus acquired in the acquiring of the information regarding the surroundings;
• determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the reliability of the position and orientation information of the movable apparatus and a result of the analysis in the analyzing of the motion;
• and
• controlling a moving direction of the movable apparatus based a determination result by the determining,
• wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and
• wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

An information processing method comprising:

• acquiring information regarding surroundings of a movable apparatus;
• acquiring movable apparatus information regarding a different movable apparatus in the surroundings from the different movable apparatus;
• performing measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;
• determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the movable apparatus information acquired in the acquiring of the movable apparatus information;
• and
• controlling a moving direction of the movable apparatus based a determination result by the determining,
• wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and
• wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

A non-transitory computer-readable storage medium storing a computer program including instructions for executing following processes:

• sensor information acquiring of acquiring information regarding surroundings of a movable apparatus;
• position and orientation information measuring of performing measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information;
• movable apparatus analyzing of analyzing motion of a different movable apparatus in the surroundings from the information regarding the surroundings of the movable apparatus acquired in the sensor information acquiring;
• determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the reliability of the position and orientation information of the movable apparatus and a result of the analysis in the movable apparatus analyzing;
• and
• controlling a moving direction of the movable apparatus based a determination result by the determining,
• wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and
• wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.

A non-transitory computer-readable storage medium storing a computer program including instructions for executing following processes:

• sensor information acquiring of acquiring information regarding surroundings of a movable apparatus;
• communicating of acquiring movable apparatus information of a different movable apparatus in the surroundings from the different movable apparatus;
• position and orientation information measuring of performing measurement in regard to posture position information of the movable apparatus and a reliability of the position and orientation information;
• determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the movable apparatus information acquired in the communicating;
• and
• controlling a moving direction of the movable apparatus based a determination result by the determining,
• wherein, the movable apparatus performs autonomous traveling toward a predetermined destination based on the determination result by the determining in a case where the reliability of the position and orientation information is equal to or greater than a predetermined threshold value, and
• wherein the movable apparatus follows the different movable apparatus based on the determination result by the determining in a case where the reliability of the position and orientation information is less than the predetermined threshold value and the moving direction of the movable apparatus and a moving direction of the different movable apparatus are within a preset range.