Information processing method, program, and mobile body control system

A program for causing a computer to execute processing of:

• acquiring, on a basis of structure information of an environment in which a mobile body moves, shape information representing a shape of the environment in a same format as sensor information;
• extracting, from the structure information, semantic information representing a meaning of each region constituting the environment;
• estimating the semantic information about the sensor information acquired by sensing the environment during movement of the mobile body;
• and
• estimating an absolute position of the mobile body in the environment by performing matching between the shape information and the sensor information for each attribute on a basis of the semantic information.

A mobile body control system comprising:

• a shape information acquisition unit that, on a basis of structure information of an environment in which a mobile body moves, acquires shape information representing a shape of the environment in a same format as sensor information;
• a semantic information extraction unit that, from the structure information, extracts semantic information representing a meaning of each region constituting the environment;
• a semantic information estimation unit that estimates the semantic information about the sensor information acquired by sensing the environment during movement of the mobile body;
• and
• a matching unit that performs matching between the shape information and the sensor information for each attribute on a basis of the semantic information.