Information processing device, information processing method, autonomous traveling robot device, and storage medium

An information processing device comprising at least one processor or circuit configured to function as:

• a history acquisition unit configured to acquire history information of an estimated positions of a moving body, the estimated positions being based on a captured image from a camera mounted on the moving body;
• an arrangement information acquisition unit configured to acquire obstacle arrangement information indicating an arrangement of obstacles in a 3D space using a sensor that is different from the camera;
• an area estimation unit configured to estimate areas where the moving body can autonomously travel by using the camera, by expanding the estimated positions acquired by the history acquisition unit to a distance range corresponding to a predetermined allowable error, wherein a path for autonomous travel of the moving body can be set in the areas;
• a direction acquisition unit configured to, in a case where the moving body is moving forward, acquire, as a direction usable for autonomous travel directions obtained by connecting the estimated positions acquired by the history acquisition unit in increasing order of time, and that, in a case where the moving body is moving backward, acquire as the direction usable for autonomous travel, the directions obtained by connecting the estimated positions acquired by the history acquisition unit in descending order of time;
• a map image generation unit configured to generate a map image, used for setting a path for autonomous travel of the moving body, including (i) an obstacle arrangement based on the obstacle arrangement information, (ii) the estimated areas, and (iii) arrows corresponding to the acquired directions;
• and
• a display control unit configured to control display of the map image.

An information processing device comprising at least one processor or circuit configured to function as:

• a history acquisition unit configured to acquire history information of estimated positions of a moving body, the estimated positions being based on a captured image from a camera mounted on the moving body;
• an arrangement information acquisition unit configured to acquire obstacle arrangement information indicating an arrangement of obstacles in a 3D space using a sensor that is different from the camera;
• an area information estimation unit configured to estimate areas where the moving body can autonomously travel by using the camera by expanding the estimated positions acquired by the history acquisition unit to a distance range corresponding to a predetermined allowable error, wherein a path for autonomous travel of the moving body can be set in the areas;
• a direction acquisition unit configured to, in a case where the moving body is moving forward, acquire, as a direction usable for autonomous travel directions obtained by connecting the estimated positions acquired by the history acquisition unit in increasing order of time, and that, in a case where the moving body is moving backward, acquire as the direction usable for autonomous travel, the directions obtained by connecting the estimated positions acquired by the history acquisition unit in descending order of time;
• a path search unit configured to search for a travel path of the moving body based on the estimated areas where the moving body can autonomously travel;
• a map image generation unit configured to generate a map image, used for setting a path for autonomous travel of the moving body, including (i) an obstacle arrangement based on the obstacle arrangement information, (ii) the estimated areas, and (iii) arrows corresponding to the acquired directions;
• and
• a display control unit configured to control display of the map image with the travel path of the moving body on the map image.

An information processing method comprising:

• acquiring history information of estimated positions of a moving body, the estimated positions being based on a captured image from a camera mounted on the moving body;
• acquiring obstacle arrangement information indicating an arrangement of obstacles in a 3D space using a sensor that is different from the camera;
• estimating areas where the moving body can autonomously travel using the camera by expanding the estimated positions to a distance range corresponding to a predetermined allowable error, wherein a path for autonomous traveling of the moving body can be set in the areas represented in the area information;
• acquiring direction information that, in a case where the moving body is moving forward, indicates a direction usable for autonomous traveling by connecting the estimated positions in increasing order as the direction usable for autonomous traveling that is obtained by connecting the estimated positions in descending order to time;
• searching for a travel path of the moving body based on the estimated positions and the obstacle arrangement information;
• generating a map image used for setting a path for autonomous travel of the moving body, including (i) an obstacle arrangement based on the obstacle arrangement information, (ii) the estimated areas, and (iii) arrows corresponding to the acquired directions;
• and
• controlling display of the map image with the travel path of the moving body on the map image;
• and
• using the map image for autonomously moving the moving body.

An autonomous traveling robot device comprising at least one processor or circuit configured to function as:

• a history acquisition unit configured to acquire history information of estimated positions of a moving body, the estimated positions being based on a captured image from a camera mounted on the moving body;
• an arrangement information acquisition unit configured to acquire obstacle arrangement information indicating an arrangement of obstacles in a 3D space using a sensor that is different from the camera;
• an area information estimation unit configured to estimate areas where the moving body can autonomously travel by using the camera by expanding the estimated positions acquired by the history acquisition unit to a distance range corresponding to a predetermined allowable error, wherein a path for autonomous travel of the moving body can be set in the areas;
• a direction acquisition unit configured to, in a case where the moving body is moving forward, acquire, as a direction usable for autonomous travel directions obtained by connecting the estimated positions acquired by the history acquisition unit in increasing order of time, and that, in a case where the moving body is moving backward, acquire as the direction usable for autonomous travel, the directions obtained by connecting the estimated positions acquired by the history acquisition unit in descending order of time;
• a path search unit configured to search for a travel path of the moving body based on the estimated areas where the moving body can autonomously travel;
• a map image generation unit configured to generate a map image, used for setting a path for autonomous travel of the moving body, including (i) an obstacle arrangement based on the obstacle arrangement information, (ii) the estimated areas, and (iii) arrows corresponding to the acquired directions;
• and
• a movement control unit configured to control movement of the moving body based on the travel path found by the path search unit.

An information processing method comprising:

• acquiring history information of estimated positions of a moving body, the estimated positions being based on a captured image from a camera mounted on the moving body;
• acquiring obstacle arrangement information indicating an arrangement of obstacles in a 3D space using a sensor that is different from the camera;
• estimating areas where the moving body can autonomously travel using the camera by expanding the estimated positions to a distance range corresponding to a predetermined allowable error, wherein a path for autonomous traveling of the moving body can be set in the areas represented in the area information;
• acquiring direction information that, in a case where the moving body is moving forward, indicates a direction usable for autonomous traveling by connecting the estimated positions in increasing order as the direction usable for autonomous traveling that is obtained by connecting the estimated positions in descending order to time;
• generating a map image used for setting a path for autonomous travel of the moving body, including (i) an obstacle arrangement based on the obstacle arrangement information, (ii) the estimated areas, and (iii) arrows corresponding to the acquired directions;
• and
• using the map image for autonomously moving the moving body.

A non-transitory computer-readable storage medium configured to store a computer program comprising instructions for executing the processes of:

• acquiring history information of estimated positions of a moving body, the estimated positions being based on a captured image from a camera mounted on the moving body;
• acquiring obstacle arrangement information indicating an arrangement of obstacles in a 3D space using a sensor that is different from the camera;
• estimating areas where the moving body can autonomously travel using the camera by expanding the estimated positions to a distance range corresponding to a predetermined allowable error, wherein a path for autonomous traveling of the moving body can be set in the areas represented in the area information;
• acquiring direction information that, in a case where the moving body is moving forward, indicates a direction usable for autonomous traveling by connecting the estimated positions in increasing order as the direction usable for autonomous traveling that is obtained by connecting the estimated positions in descending order to time;
• generating a map image used for setting a path for autonomous travel of the moving body, including (i) an obstacle arrangement based on the obstacle arrangement information, (ii) the estimated areas, and (iii) arrows corresponding to the acquired directions;
• and
• using the map image for autonomously moving the moving body.