Information processing apparatus, information processing method, and storage medium

An information processing apparatus comprising one or more processors and one or more memories storing a program which causes the one or more processors to function as:

• an obtaining unit configured to obtain an image, wherein an image capturing apparatus captures the image while moving;
• and
• an updating unit configured to update a three-dimensional map, the three-dimensional map having information including the image and a first position and orientation of the image capturing apparatus when the image capturing apparatus captured the image, through determining that a reliability of the first position and orientation of the image capturing apparatus is higher than a reliability of a second position and orientation of the image capturing apparatus when the image capturing apparatus captures a new image captured by the image capturing apparatus, the second position and orientation of the image capturing apparatus being estimated based on the new image which was not included in the information which the three-dimensional map has.

An information processing apparatus comprising one or more processors and one or more memories storing a program which causes the one or more processors to function as:

• an obtaining unit configured to obtain an image, wherein an image capturing apparatus captures the image while moving;
• and
• a determining unit configured to determine a second position and orientation of the image capturing apparatus, in a case where the obtaining unit obtains a second image which is not included in information which a three-dimensional map has, the information including a first image and a first position and orientation of the image capturing apparatus when the image capturing apparatus captured the first image, such that a reprojection error of three-dimensional position information of a feature point commonly included in the first image and the second image is reduced while maintaining the first position and orientation.

An information processing apparatus comprising one or more processors and one or more memories storing a program which causes the one or more processors to function as:

• an obtaining unit configured to obtain sensing information obtained from sensing of an object by a sensor apparatus while the sensor apparatus moves;
• and
• an updating unit configured to update a three-dimensional map, the three-dimensional map having information including the sensing information and a first position and orientation of the sensor apparatus when the sensor apparatus sensed the object to obtain the sensing information, through determining that a reliability of the first position and orientation of the sensor apparatus is higher than a reliability of a second position and orientation of the sensor apparatus when the sensor apparatus sensed the object to obtain new sensing information, the second position and orientation of the sensor apparatus being estimated based on the new sensing information which was not included in the information which the three-dimensional map has.

A method comprising:

• obtaining an image, wherein an image capturing apparatus captures the image while moving;
• and
• updating a three-dimensional map, the three-dimensional map having information including the image and a first position and orientation of the image capturing apparatus when the image capturing apparatus captured the image, through determining that a reliability of the first position and orientation of the image capturing apparatus is higher than a reliability of a second position and orientation of the image capturing apparatus when the image capturing apparatus captures a new image captured by the image capturing apparatus, the second position and orientation of the image capturing apparatus being estimated based on the new image which was not included in the information which the three-dimensional map has.

A method comprising:

• obtaining an image, wherein an image capturing apparatus captures the image while moving;
• and
• determining a second position and orientation of the image capturing apparatus, in a case of obtaining a second image which is not included in information which a three-dimensional map has, the information including a first image and a first position and orientation of the image capturing apparatus when the image capturing apparatus captured the first image, such that a reprojection error of three-dimensional position information of a feature point commonly included in the first image and the second image is reduced while maintaining the first position and orientation.

A method comprising:

• obtaining sensing information obtained from sensing of an object by a sensor apparatus while the sensor apparatus moves;
• and
• updating a three-dimensional map, the three-dimensional map having information including the sensing information and a first position and orientation of the sensor apparatus when the sensor apparatus sensed the object to obtain the sensing information, through determining that a reliability of the first position and orientation of the sensor apparatus is higher than a reliability of a second position and orientation of the sensor apparatus when the sensor apparatus sensed the object to obtain new sensing information, the second position and orientation of the sensor apparatus being estimated based on the new sensing information which was not included in the information which the three-dimensional map has.

A non-transitory computer-readable medium storing a program which causes a computer to perform:

• obtaining an image, wherein an image capturing apparatus captures the image while moving;
• and
• updating a three-dimensional map, the three-dimensional map having information including the image and a first position and orientation of the image capturing apparatus when the image capturing apparatus captured the image, through determining that a reliability of the first position and orientation of the image capturing apparatus is higher than a reliability of a second position and orientation of the image capturing apparatus when the image capturing apparatus captures a new image captured by the image capturing apparatus, the second position and orientation of the image capturing apparatus being estimated based on the new image which was not included in the information which the three-dimensional map has.