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US 2026/0210734 A1Published application
Information processing apparatus, control method for information processing apparatus, and storage medium
AssigneeCanon Kabushiki Kaisha
InventorAyato Imai
Life of this patent
Estimating the term…
Abstract
An information processing apparatus performs first correction for correcting, in a case where a loop of a movement path of a sensor is detected, a position and orientation associated with a first measurement point used for estimation of a position and orientation to a position and orientation based on a second measurement point that is present near the sensor when the loop is detected.
Claims20
An information processing apparatus comprising:
- a memory storing instructions;
- and
- at least one processor executing the instructions causing the information processing apparatus to function as:
- an acquisition unit configured to acquire sensor information obtained by measuring a surrounding environment, the sensor information is obtained using output from a sensor configured to move;
- a generation unit configured to generate map data indicating a map based on a movement path of the sensor, the map data including a measurement point where the sensor information is associated with a position and orientation of the sensor;
- an estimation unit configured to estimate the position and orientation of the sensor based on the sensor information acquired by the acquisition unit and the measurement point;
- a detection unit configured to detect, based on the output from the sensor, a second measurement point that has closed a loop as a result of a first measurement point being revisited;
- a first correction unit configured to correct, at a position where the loop is detected, position and orientation information of one or more third measurement points used by the estimation unit to estimate the position and orientation, by using a difference between position and orientation information of the second measurement point before aligning with the first measurement point, and position and orientation information of the second measurement point after aligning with the first measurement point;
- and
- a second correction unit configured to correct, after position and orientation information of the third measurement points have been corrected by the first correction unit, position and orientation information associated with a plurality of measurement points different from the third measurement points,
- wherein, in response to the detection unit detecting that the loop has been closed, the generation unit is configured to refrain from generating a new measurement point during a period from detection of the loop until completion of the correction by the first correction unit.
8 more elements
An information processing method comprising:
- acquiring sensor information obtained by measuring a surrounding environment, the sensor information is obtained using output from a sensor configured to move;
- generating map data indicating a map based on a movement path of the sensor, the map data including a measurement point where the sensor information is associated with a position and orientation of the sensor;
- estimating the position and orientation of the sensor based on the acquired sensor information and the measurement point;
- detecting, based on the output from the sensor, a second measurement point that has closed a loop as a result of a first measurement point being revisited;
- correcting, at a position where the loop is detected, position and orientation information of one or more third measurement points used to estimate the position and orientation, by using a difference between position and orientation information of the second measurement point before aligning with the first measurement point, and position and orientation information of the second measurement point after aligning with the first measurement point;
- and
- correcting, after position and orientation information of the third measurement points have been corrected by the first correction, position and orientation information associated with a plurality of measurement points different from the third measurement points,
- wherein, in response to detecting that the loop has been closed, the generation unit is configured to refrain from generating a new measurement point during a period from detection of the loop until completion of the correction by the first correction unit.
5 more elements
A non-transitory storage medium storing a program for causing a computer to execute an information processing method, the method comprising:
- acquiring sensor information obtained by measuring a surrounding environment, the sensor information is obtained using output from a sensor configured to move;
- generating map data indicating a map based on a movement path of the sensor, the map data including a measurement point where the sensor information is associated with a position and orientation of the sensor;
- estimating the position and orientation of the sensor based on the acquired sensor information and the measurement point;
- detecting, based on the output from the sensor, a second measurement point that has closed a loop as a result of a first measurement point being revisited;
- correcting, at a position where the loop is detected, position and orientation information of one or more third measurement points used to estimate the position and orientation, by using a difference between position and orientation information of the second measurement point before aligning with the first measurement point, and position and orientation information of the second measurement point after aligning with the first measurement point;
- and
- correcting, after position and orientation information of the third measurement points have been corrected by the first correction, position and orientation information associated with a plurality of measurement points different from the third measurement points,
- wherein, in response to detecting that the loop has been closed, the generation unit is configured to refrain from generating a new measurement point during a period from detection of the loop until completion of the correction by the first correction unit.
5 more elements
Dependencies are inferred from the claim text.