# US 2025/0095202 A1 · Program, information processing device, and information processing method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0095202 A1 - Document ID: US20250095202A1 - Status: Published application - Kind: A1 - Application number: 18/728,238 - Filed: 2022-12-22 - Published: 2025-03-20 - Earliest claimed: 2022-02-03 - Assignees: Sony Group Corporation - Applicants: Sony Group Corporation - Inventors: Jun GOMITA - Web page: https://patentgrep.com/patent/US20250095202A1 ## CPC - G06T 7/246: using feature-based methods, e.g. the tracking of corners or segments - G06T 7/74: {involving reference images or patches} - G01C 11/02: Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures - G01C 21/005: {with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence)} - G01C 21/3811: {Point data, e.g. Point of Interest [POI]} - G01C 21/3837: {Data obtained from a single source} - G01S 17/89: for mapping or imaging - G06T 7/579: from motion - G06T 2207/30244: Camera pose - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Comprehensive sensing in a predetermined space is more effectively and more efficiently assisted. A program is provided for causing a computer to function as an information processing device including an output control unit that controls output of support information for assisting comprehensive sensing in a predetermined space, in which the output control unit performs output control of the support information, on the basis of a positional relationship between a feature point detected from acquired sensing information and a set reference point. ## Claims ### Claim 1 A program for causing a computer to function as an information processing device including an output control unit that controls output of support information for assisting comprehensive sensing in a predetermined space, wherein the output control unit performs output control of the support information, on a basis of a positional relationship between a feature point detected from acquired sensing information and a set reference point. ### Claim 2 (depends on 1) The program according to claim 1, wherein the output control unit controls the output of the support information, on a basis of a coverage ratio regarding the acquired sensing information, calculated on a basis of the positional relationship between the feature point and the reference point. ### Claim 3 (depends on 2) The program according to claim 2, wherein the coverage ratio is calculated on a basis of an intersection between a spherical surface of a sphere centered on the reference point or a circumference of a circle centered on the reference point and a straight line connecting the feature point and the reference point. ### Claim 4 (depends on 3) The program according to claim 3, wherein the coverage ratio is calculated by obtaining a coverage region on the spherical surface or the circumference, formed by a plurality of the intersections related to a plurality of the feature points, for each sensor position and each sensor posture when the acquired sensing information is acquired. ### Claim 5 (depends on 4) The program according to claim 4, wherein the output control unit controls the output of the support information, on a basis of the coverage region. ### Claim 6 (depends on 5) The program according to claim 5, wherein the support information includes information regarding a recommended direction of sensing to be newly performed, and the recommended direction is calculated on a basis of the coverage region. ### Claim 7 (depends on 6) The program according to claim 6, wherein the recommended direction is calculated on a basis of a gravity of a non-coverage region on the spherical surface or the circumference. ### Claim 8 (depends on 2) The program according to claim 2, wherein the coverage ratio is recalculated on a basis of the newly acquired feature point. ### Claim 9 (depends on 2) The program according to claim 2, wherein the coverage ratio is recalculated on a basis of position change of the reference point. ### Claim 10 (depends on 2) The program according to claim 2, wherein the coverage ratio is calculated on a basis of a designated invalid region. ### Claim 11 (depends on 2) The program according to claim 2, wherein the support information includes the coverage ratio. ### Claim 12 (depends on 4) The program according to claim 4, wherein the support information includes information regarding the feature point and a sensor position and a sensor posture when the acquired sensing information is acquired. ### Claim 13 (depends on 2) The program according to claim 2, wherein the information processing device further includes a coverage ratio calculation unit that calculates the coverage ratio. ### Claim 14 (depends on 1) The program according to claim 1, wherein the sensing information includes image information. ### Claim 15 (depends on 1) The program according to claim 1, wherein the sensing information is used for SLAM. ### Claim 16 (depends on 1) The program according to claim 1, wherein the information processing device further includes a sensor unit that acquires the sensing information. ### Claim 17 (depends on 1) The program according to claim 1, wherein the information processing device further includes a display unit that displays the support information according to control by the output control unit. ### Claim 18 (depends on 1) The program according to claim 1, wherein the information processing device includes a mobile device. ### Claim 19 An information processing device comprising: an output control unit configured to control output of support information for assisting comprehensive sensing in a predetermined space, wherein the output control unit performs output control of the support information, on a basis of a positional relationship between a feature point detected from acquired sensing information and a set reference point. ### Claim 20 An information processing method comprising: by a processor controlling output of support information for assisting comprehensive sensing in a predetermined space, wherein controlling the output of the support information further includes performing output control of the support information, on a basis of a positional relationship between a feature point detected from acquired sensing information and a set reference point.