Information processing apparatus, information processing method, and mobile device

An information processing method, comprising:

• generating a plurality of clusters based on sensor data including a plurality of high-dimensional point clouds;
• constructing a plurality of high-dimensional objects based on the generated plurality of clusters of the plurality of high-dimensional point clouds;
• subjecting the plurality of high-dimensional objects to low-dimensional projection;
• generating a plurality of low-dimensional objects based on the subjection of the plurality of high-dimensional objects to the low-dimensional projection;
• performing a hidden surface removal process on the plurality of low-dimensional objects;
• averaging the plurality of low-dimensional objects;
• obtaining an object based on the average of the plurality of low-dimensional objects;
• performing a filling process, by use of the obtained object, to fill gaps between the plurality of low-dimensional objects after the hidden surface removal process;
• and
• constructing a map, after the filling process, based on the plurality of low-dimensional objects.

A mobile device, comprising:

• a main body;
• a device driver configured to move the main body;
• a sensor mountable on the main body, wherein the sensor is configured to acquire sensor data including a plurality of high-dimensional point clouds;
• and
• a central processing unit (CPU) configured to:
• acquire, from the sensor, the sensor data including the plurality of high-dimensional point clouds;
• generate a plurality of clusters based on the acquired sensor data including the plurality of high-dimensional point clouds;
• construct a plurality of high-dimensional objects based on the generated plurality of clusters of the plurality of high-dimensional point clouds;
• subject the plurality of high-dimensional objects to low-dimensional projection;
• generate a plurality of low-dimensional objects based on the subjection of the plurality of high-dimensional objects to the low-dimensional projection;
• perform a hidden surface removal process on the plurality of low-dimensional objects;
• average the plurality of low-dimensional objects;
• obtain an object based on the average of the plurality of low-dimensional objects;
• perform a filling process, by use of the obtained object, to fill gaps between the plurality of low-dimensional objects after the hidden surface removal process;
• construct an environmental map, after the filling process, based on the plurality of low-dimensional objects;
• plan a route on based on the constructed environmental map;
• and
• control an operation of the device driver based on the planned route.