# US 2020/0401611 A1 · Information processing device, map update method, program, and information processing system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2020/0401611 A1 - Document ID: US20200401611A1 - Status: Published application - Kind: A1 - Application number: 17/007,858 - Filed: 2020-08-31 - Published: 2020-12-24 - Earliest claimed: 2010-03-09 - Assignees: Sony Corporation - Applicants: Sony Corporation - Inventors: Kenichiro OI; Quan WANG; Kouichi MATSUDA; Takayuki YOSHIGAHARA - Web page: https://patentgrep.com/patent/US20200401611A1 ## CPC - G06F 16/29: Geographical information databases - G06F 16/2379: {Updates performed during online database operations; commit processing} - G06F 16/51: Indexing; Data structures therefor; Storage structures - G06T 1/20: Processor architectures; Processor configuration, e.g. pipelining - G06T 3/20: Linear translation of whole images or parts thereof, e.g. panning - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - G06T 7/60: Analysis of geometric attributes - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 11/20: Drawing from basic elements - G06T 15/20: Perspective computation - G06V 30/224: of printed characters having additional code marks or containing code marks - G09G 5/006: {Details of the interface to the display terminal (specific for a display terminal using a CRT G09G1/167; using a flat panel G09G3/2096; circuits for interfacing with colour displays G09G5/04)} - H04W 4/02: Services making use of location information - H04W 4/025: {using location based information parameters} - H04W 4/029: Location-based management or tracking services - G06T 2200/04: involving 3D image data - G06T 2219/024: Multi-user, collaborative environment - G09G 2370/02: Networking aspects - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G09G: ARRANGEMENTS OR CIRCUITS FOR CONTROL OF INDICATING DEVICES USING STATIC MEANS TO PRESENT VARIABLE INFORMATION (arrangements for transferring data between digital computers and displays G06F3/14; static indicating arrangements comprising an association of a number of separate sources or light control cells G09F9/00; static indicating arrangements comprising integral associations of a number of light sources H01J, H01K, H10H, H05B33/12; scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission, details thereof H04N1/00) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) ## Abstract There is provided an information processing device including: a global map acquiring unit that acquires at least a part of a global map representing positions of objects in a real space where a plurality of users are in activity; a local map generating unit that generates a local map representing positions of nearby objects detectable by a device of one user among the plurality of users; and an updating unit that updates the global map based on position data of objects included in the local map ## Claims ### Claim at position 1 1-14. (canceled) ### Claim 15 An information processing system comprising: a server device including: at least one circuit configured to: store a global map representing positions of one or more feature points on objects in a real space, wherein the global map is generated based on data from a plurality of information processing apparatuses; distribute the global map to an information processing apparatus of the plurality of information processing apparatuses; update the global map based on data from the information processing apparatus; and distribute the updated global map to the information processing apparatus; and the information processing apparatus including: an imaging device that captures the objects in the real space; and at least one circuit configured to: acquire at least a part of the global map representing positions of the one or more feature points on objects in a real space; generate a data based on an image captured by the imaging device, wherein the data includes the positions of the one or more feature points on the objects in the real space and timestamp indicating a captured time of the image captured by the imaging device; and transmit the data to the server device for updating the global map, wherein the positions of the one or more feature points in the global map and the data are defined as a three-dimensional position. ### Claim 16 (depends on 15) The information processing system according to claim 15, wherein a plurality of users are in activity in the real space. ### Claim 17 (depends on 16) The information processing system according to claim 16, wherein the at least one circuit included in the information processing apparatus is further configured to: generate a local map representing positions of one or more of the objects detectable by a device of one user among the plurality of users; update the global map based on position data of the one or more objects included in the local map; count a number of the one or more objects included in the local map; calculate a relative position of the local map to the global map based on the number of the one or more objects and position data of the one or more objects included in the global map and position data of the one or more objects included in the local map. ### Claim 18 (depends on 17) The information processing system according to claim 17, wherein the at least one circuit included in the information processing apparatus is further configured to: partially visualize the positions of the one or more objects in the global map onto a screen in response to an instruction from the one user, wherein the objects may be either nearby to the one user or in an area remote from the one user. ### Claim 19 (depends on 17) The information processing system according to claim 17, wherein the at least one circuit included in the information processing apparatus is further configured to: generate the local map based on an input image obtained by imaging the real space using an imaging device and feature data indicating a feature of appearance of the one or more objects. ### Claim 20 (depends on 17) The information processing system according to claim 17, wherein the information processing apparatus is a terminal device possessed by the one user. ### Claim 21 (depends on 20) The information processing system according to claim 20, wherein the at least one circuit included in the information processing apparatus is further configured to: acquire at least a part of the global map from a server device storing the global map, and update the global map of the server device by transmitting position data of the one or more objects to the server device. ### Claim 22 (depends on 21) The information processing system according to claim 21, wherein the at least one circuit included in the information processing apparatus is further configured to: acquire a part of the global map corresponding to a local area containing a position of the terminal device in the real space. ### Claim 23 (depends on 21) The information processing system according to claim 21 wherein the at least one circuit included in the information processing apparatus is further configured to: acquire a part of the global map representing positions of a predetermined number of objects located in close proximity to the terminal device. ### Claim 24 (depends on 17) The information processing system according to claim 17, wherein the at least one circuit included in the information processing apparatus is further configured to: perform coordinate conversion from the position data of the one or more objects included in the local map to data of a coordinate system of the global map according to the relative position of the local map; and update the global map by using the position data of the one or more objects included in the local map after the coordinate conversion. ### Claim 25 (depends on 24) The information processing system according to claim 24, wherein the at least one circuit included in the information processing apparatus is further configured to: calculate the relative position of the local map based on position data of an immobile object included in common in the global map and the local map. ### Claim 26 (depends on 24) The information processing system according to claim 24, wherein the at least one circuit included in the information processing apparatus is further configured to: calculate the relative position of the local map so that, when converting the position data of objects included in the local map into data of the coordinate system of the global map, a difference between the data after conversion and the position data of the one or more objects included in the global map is smaller as a whole. ### Claim 27 (depends on 24) The information processing system according to claim 24, wherein the global map includes position data of each of the one or more objects in the real space in the coordinate system of the global map and a time stamp related to the position data. ### Claim 28 (depends on 15) The information processing system according to claim 15, wherein the objects include a landmark. ### Claim 29 (depends on 28) The information processing system according to claim 28, wherein the landmark is an immobile object. ### Claim 30 An information processing apparatus comprising: an imaging device that captures objects in real space; and at least one circuit configured to: acquire at least a part of a global map representing positions of one or more feature points on the objects in the real space; generate a data based on an image captured by the imaging device, wherein the data includes the positions of the one or more feature points on the objects in the real space and timestamp indicating a captured time of the image captured by the imaging device; and transmit the data to a server device for updating the global map, wherein the positions of the one or more feature points in the global map and the data are defined as a three-dimensional position. ### Claim 31 A server device comprising: at least one circuit configured to: store a global map representing positions of one or more feature points on objects in a real space, wherein the global map is generated based on data from a plurality of information processing apparatuses; distribute the global map to an information processing apparatus of the plurality of information processing apparatuses; update the global map based on data from the information processing apparatus; and distribute the updated global map to the information processing apparatus, wherein the data from plurality of information processing apparatus is generated based on an image captured by an imaging device, and includes positions of one or more feature points on the objects in the real space and timestamp indicating a captured time of the image captured by the imaging device, and wherein the positions of the one or more feature points in the global map and the data are defined as a three-dimensional position. ### Claim 32 An information processing method comprising: storing, by a server device, a global map representing positions of one or more feature points on objects in a real space, wherein the global map is generated based on data from a plurality of information processing apparatuses; distributing, by the server device, the global map to an information processing apparatus of the plurality of information processing apparatuses; updating, by the server device, the global map based on data from the information processing apparatus; distributing, by the server device, the updated global map to the information processing apparatus; capturing, by an imaging device including in an information processing apparatus, the objects in the real space; acquiring, by the information processing apparatus, at least a part of the global map representing positions of the one or more feature points on objects in a real space; generating, by the information processing apparatus, a data based on an image captured by the imaging device, wherein the data includes the positions of the one or more feature points on the objects in the real space and timestamp indicating a captured time of the image captured by the imaging device; and transmitting, by the information processing apparatus, the data to the server device for updating the global map, wherein the positions of the one or more feature points in the global map and the data are defined as a three-dimensional position. ### Claim 33 A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method, the method comprising: storing, by a server device, a global map representing positions of one or more feature points on objects in a real space, wherein the global map is generated based on data from a plurality of information processing apparatuses; distributing, by the server device, the global map to an information processing apparatus of the plurality of information processing apparatuses; updating, by the server device, the global map based on data from the information processing apparatus; distributing, by the server device, the updated global map to the information processing apparatus; capturing, by an imaging device including in an information processing apparatus, the objects in the real space; acquiring, by the information processing apparatus, at least a part of the global map representing positions of the one or more feature points on objects in a real space; generating, by the information processing apparatus, a data based on an image captured by the imaging device, wherein the data includes the positions of the one or more feature points on the objects in the real space and timestamp indicating a captured time of the image captured by the imaging device; and transmitting, by the information processing apparatus, the data to the server device for updating the global map, wherein the positions of the one or more feature points in the global map and the data are defined as a three-dimensional position.