Information processing device, mobile device, information processing method, and computer program

Abstract

To provide an information processing system capable of generating or updating an environmental map according to an object.SOLUTION: An information processing system that moves or controls a moving body acquires information on the surroundings of the moving body, analyzes the kind of an object being present around the moving body on the basis of the acquired information on the surroundings, and generates or updates an environmental map, which represents the surrounding information of the moving body, on the basis of the analyzed kind of the object.SELECTED DRAWING: Figure 4

Claims

1. A sensor information acquisition means for acquiring information about the surroundings of a moving object, An object analysis means analyzes the types of objects present around the moving object using the sensor information acquired by the sensor information acquisition means, The system includes an environmental map generation means that generates or updates an environmental map, which is information about the surroundings of the moving object, based on the type of the object analyzed by the object analysis means, The object analysis means obtains a residual value indicating the likelihood of the object remaining, based on the type of the object, and also makes the residual value different depending on whether or not the object has wheels. The environmental map generation means is an information processing device characterized by generating or updating the environmental map according to the remaining values ​​of the feature points of each object.

2. The information processing apparatus according to claim 1, characterized in that the object analysis means performs object recognition based on the sensor information.

3. The information processing device according to claim 1, characterized in that the environmental map generation means does not update the environmental map when the remaining value of the object is less than a predetermined value.

4. The information processing device according to claim 1, characterized in that the display unit displays the environmental map and the remaining value.

5. The information processing apparatus according to claim 1, characterized in that the sensor information includes any of the following: imaging data of the object, distance imaging data with distance information to the object added, or three-dimensional point cloud data representing the shape of the object.

6. The information processing apparatus according to claim 1, characterized in that the object analysis means analyzes the type of object in areas where the difference between feature points extracted from the sensor information and feature points on the environmental map is greater than or equal to a predetermined value.

7. A mobile body characterized by having a mobile body control means that controls the driving of the mobile body based on the environmental map generated by the environmental map generation means of the information processing means described in claim 1.

8. A sensor information acquisition step that acquires information about the surroundings of a moving object, An object analysis step is performed to analyze the types of objects present around the moving object using the sensor information acquired in the sensor information acquisition step, The system includes an environmental map generation step which generates or updates an environmental map, which is information about the surroundings of the moving body, based on the type of the object analyzed in the object analysis step, The object analysis step obtains a residual value indicating the likelihood of the object remaining, based on the type of the object, and makes the residual value different depending on whether or not the object has wheels. The environmental map generation step is characterized by generating or updating the environmental map according to the remaining values ​​of the feature points of each object.

9. A computer program for causing a computer to function as each of the means of the information processing apparatus described in Claim 1.

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