Information processing apparatus, information processing method, mobile object, storage medium, and system

An information processing method executed by a computer to estimate a destination of movement of a dynamic object, the information processing method comprising:

• selecting a plurality of geographic locations from a vicinity of the dynamic object;
• using a likelihood function to calculate a likelihood that each geographic location is the destination, for each of the plurality of geographic locations using a likelihood function;
• reselecting the plurality of geographic locations based on the likelihood of each geographic location;
• and
• estimating the destination based on the plurality of reselected geographic locations,
• wherein the likelihood function is based on at least one of a state of the dynamic object and a position of an obstacle around the dynamic object.

A system configured to estimate a destination of movement of a dynamic object, the system comprising:

• a selection unit configured to select a plurality of geographic locations from a vicinity of the dynamic object;
• a calculation unit configured to use a likelihood function to calculate a likelihood that each geographic location is the destination, for each of the plurality of geographic locations;
• a reselection unit configured to reselect the plurality of geographic locations based on the likelihood of each geographic location;
• and
• an estimation unit configured to estimate the destination based on the plurality of reselected geographic locations,
• wherein the likelihood function is based on at least one of a state of the dynamic object and a position of an obstacle around the dynamic object.