Information processing apparatus, information processing method, and computer program

An information processing apparatus comprising:

• processing circuitry configured to
• analyze sensor information and create map base data that is data used for updating an environment map including environment information;
• hold the environment map and update the environment map on a basis of the map base data;
• create first map base data having a first range and first resolution and a second map base data having a second range wider than the first range and second resolution lower than the first resolution, wherein the second map base data does not include at least a part of data in a region overlapping the first map base data;
• update a first environment map having a third range and the first resolution on a basis of the first map base data;
• and
• update a second environment map having a fourth range wider than the third range and the second resolution on a basis of environment information in the first environment map and the second map base data, wherein a mobile object autonomously moves through an environment based on at least one of the first environment map or the second environment map.

An information processing method comprising:

• acquiring sensor information acquired by a sensor sensing an environment around a mobile object;
• analyzing the sensor information and creating map base data that is data used for updating an environment map that describes the environment around the mobile object and includes environment information recorded in association with each of a plurality of voxels of the environment map;
• updating the environment map based on the map base data;
• analyzing the environment map to compensate for a missing part of the environment information in the environment map;
• estimating content of a missing part of a predetermined kind of environment information in a first region of the environment map where the predetermined kind of environment information is missing by evaluating continuity of another kind of environment information in the environment map with a second region of the environment map where the predetermined kind of environment information is recorded;
• providing the estimated content as compensation for the missing part;
• preparing action planning of the mobile object based on the environment map;
• and
• controlling an actuator to move the mobile object through the environment according to the action planning.

An information processing method comprising:

• acquiring sensor information;
• analyzing the sensor information and creating map base data that is data used for updating an environment map including environment information;
• updating the environment map on a basis of the map base data;
• creating first map base data having a first range and first resolution;
• creating second map base data having a second range wider than the first range and second resolution lower than the first resolution, wherein the second map base data does not include at least a part of data in a region overlapping the first map base data;
• updating a first environment map having a third range and the first resolution on a basis of the first map base data;
• and
• updating a second environment map having a fourth range wider than the third range and the second resolution on a basis of environment information in the first environment map and the second map base data;
• and
• autonomously moving a mobile object through an environment based on at least one of the first environment map or the second environment map.

A non-transitory computer-readable storage medium storing computer-readable instructions thereon which, when executed by a computer, causes the computer to perform a method, the method comprising:

• acquiring sensor information acquired by a sensor sensing an environment around a mobile object;
• analyzing the sensor information and creating map base data that is data used for updating an environment map that describes the environment around the mobile object and includes environment information recorded in association with each of a plurality of voxels of the environment map;
• updating the environment map based on the map base data;
• analyzing the environment map, to compensate for a missing part of the environment information in the environment map;
• estimating content of a missing part of a predetermined kind of environment information in a first region of the environment map where the predetermined kind of environment information is missing by evaluating continuity of another kind of environment information in the environment map with a second region of the environment map where the predetermined kind of environment information is recorded;
• providing the estimated content as compensation for the missing part-;
• preparing action planning of the mobile object based on the environment map;
• and
• controlling an actuator to move the mobile object through the environment according to the action planning.

A non-transitory computer-readable storage medium storing computer-readable instructions thereon which, when executed by a computer, causes the computer to perform a method, the method comprising:

• acquiring sensor information;
• analyzing the sensor information and creating map base data that is data used for updating an environment map including environment information;
• updating the environment map on a basis of the map base data;
• creating first map base data having a first range and first resolution;
• creating second map base data having a second range wider than the first range and second resolution lower than the first resolution, wherein the second map base data does not include at least a part of data in a region overlapping the first map base data;
• updating a first environment map having a third range and the first resolution on a basis of the first map base data;
• and
• updating a second environment map having a fourth range wider than the third range and the second resolution on a basis of environment information in the first environment map and the second map base data;
• and
• autonomously moving a mobile object through an environment based on at least one of the first environment map or the second environment map.