Information processing apparatus, information processing method, program, and flight object

An information processing method comprising:

• generating a three-dimensional real-time observation result based on self-position estimation information and three-dimensional distance measurement information obtained from a sensor;
• acquiring a prior map corresponding to the three-dimensional real-time observation result;
• aligning the three-dimensional real-time observation result with the prior map;
• and
• expanding the three-dimensional real-time observation result based on the prior map;
• and
• determining a flight route based on the three-dimensional real-time observation result having been expanded, and
• wherein the prior map includes information related to recognized environmental structure including at least one of a topography, a wall, or a building,
• wherein the expanding of the three-dimensional real-time observation result corresponds to semantic segmentation of the recognized environmental structure so that an expanded area of the three-dimensional real-time result is continuous for same semantics within and outside a detection range of the sensor, and
• wherein the method further comprises:
• performing the semantic segmentation on the three-dimensional real-time observation result to determine whether continuity is present in semantics at a connection portion with respect to previously performed semantic segmentation of the prior map in relation to the recognized environmental structure;
• and
• expanding, with a result of the semantic segmentation, a plane at the connection portion.

A flight object comprising:

• circuitry configured to
• generate a three-dimensional real-time observation result based on self-position estimation information and three-dimensional distance measurement information obtained from a sensor,
• acquire a prior map corresponding to the three-dimensional real-time observation result,
• align the three-dimensional real-time observation result with the prior map,
• expand the three-dimensional real-time observation result based on the prior map, and
• determine a flight route based on the three-dimensional real-time observation result having been expanded,
• wherein the prior map includes information related to recognized environmental structure including at least one of a topography, a wall, or a building,
• wherein the expanding of the three-dimensional real-time observation result corresponds to semantic segmentation of the recognized environmental structure so that an expanded area of the three-dimensional real-time result is continuous for same semantics within and outside a detection range of the sensor, and
• wherein the circuitry is further configured to
• perform the semantic segmentation on the three-dimensional real-time observation result to determine whether continuity is present in semantics at a connection portion with respect to previously performed semantic segmentation of the prior map in relation to the recognized environmental structure, and
• expand, with a result of the semantic segmentation, a plane at the connection portion.