Information processing device, system, control method, and recording medium

Abstract

The present invention relates to an information processing device, system, control method, and recording medium. An information processing device includes: a shape information acquisition unit 204 configured to acquire shape information of a surrounding environment of a mobile body measured by a sensor installed in the mobile body; a position / posture acquisition unit configured to acquire position / posture information of the sensor; a correction status acquisition unit configured to acquire a progress status related to a process of correcting the position / posture information; a priority determination unit configured to determine the priority of areas for generating a map; and a map generation unit configured to generate the map based on the shape information and the position / posture information acquired when acquiring the shape information, wherein the map generation unit generates the map in order from the areas with the highest priority according to the progress status.

Description

Technical Field

[0001] The present invention relates to an information processing device, a mobile object, a method for controlling an information processing device, and a recording medium. Background Art

[0002] The field of mobile objects operating in environments such as factories and logistics warehouses, such as unmanned transport vehicles (e.g., automated guided vehicles (AGVs)) and autonomous mobile robots (AMRs), has attracted considerable attention. Unmanned mobile objects travel along a set path while estimating their own position. Technologies have also been proposed for generating maps (hereinafter referred to as maps) representing the shapes of obstacles using data collected while traveling along the path.

[0003] Japanese Patent Application No. 2010-511957 (a translation of a PCT application) discloses a technique for rapidly generating a map by detecting whether an object included in the map is moving or non-moving and selectively reflecting the changed environmental information, including the moved objects, on the original map. Furthermore, Raul Mur-Artal and Juan D. Tardos' "ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras" (IEEE Transactions on Robotics, 2017, Vol. 33, No. 5, pp. 1255-1262) discloses a loop closure technique for correcting position and posture deviations when generating environmental map data by moving a mobile body equipped with a sensor. By using loop closure technology, the accuracy of the map can be improved.

[0004] However, the technology disclosed in Japanese Patent Publication No. 2010-511957 (a translation of a PCT application) cannot reduce the delay time for map generation when a layout map needs to be regenerated based on position / posture measurement errors of a moving object when loop closure is performed. Summary of the Invention

[0005] The present invention reduces delay time that occurs when generating a map in the presence of correction of position / posture information of a measurement sensor.

[0006] According to the present invention, the information processing device includes: a shape information acquisition unit, which is configured to acquire shape information of the surrounding environment of a mobile body measured by a sensor installed in the mobile body; a position / posture acquisition unit, which is configured to acquire position / posture information of the sensor; a correction status acquisition unit, which is configured to acquire a progress status related to a process of correcting the position / posture information; a priority determination unit, which is configured to determine the priority of an area for generating a map; and a map generation unit, which is configured to generate the map based on the shape information and the position / posture information acquired when acquiring the shape information, wherein the map generation unit generates the map in order from the area with high priority according to the progress status.

[0007] Further features of the present invention will become apparent from the following description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a diagram showing the traveling environment of a mobile object.

[0009] Figure 2 is a diagram showing the configuration of an information processing apparatus according to the first embodiment.

[0010] Figure 3 is a diagram showing the hardware configuration of an information processing device.

[0011] Figure 4 is a flowchart illustrating processing of the information processing apparatus according to the first embodiment.

[0012] Figure 5 is a flowchart showing the map generation process according to the first embodiment.

[0013] 6A to 6D is a diagram showing a step-by-step map in the first embodiment.

[0014] Figure 7 is a diagram showing the configuration of an information processing apparatus according to the second embodiment.

[0015] Figure 8 is a flowchart showing a map generation process according to the second embodiment.

[0016] Figure 9 It is a diagram showing result notification and parameter settings of a map. DETAILED DESCRIPTION

[0017] (First embodiment)

[0018] In this embodiment, an example of applying the method according to this embodiment will be described in which a mobile body equipped with a sensor for measuring the shape of an obstacle is manually moved while an operator visually checks a map of the space in which the mobile body is moving. In this embodiment, an example of measuring the surrounding environment of the road on which the mobile body is traveling and generating a layout map representing the shape of obstacles, the shape of buildings and roads, etc. will be described as a map. In order to prevent omissions in obstacle shape measurements, it is necessary to continuously update the display of the map while the mobile body is moving. In order to update the display of the map in real time, it is necessary to reduce the time (delay time) before the error-corrected map is generated after the shape data is measured. Therefore, in this embodiment, a priority for determining the order of map generation is set for each partial area within the space that is the object of map generation.

[0019] Figure 1 It is a diagram showing the traveling environment of a mobile object. Figure 1 Schematic diagram of a space as an object for generating a map, viewed from above. The mobile body 101 is a mobile body equipped with a position / posture measurement sensor 102 and a shape measurement sensor 103. The position / posture measurement sensor 102 includes a camera and measures the position / posture of the mobile body 101. For example, the camera included in the position / posture measurement sensor 102 captures and acquires a grayscale image obtained by capturing the surrounding environment of the mobile body 101 at a constant frequency (for example, 30 times / second). The shape measurement sensor 103 includes a depth sensor and measures shape information of nearby objects. The shape measurement sensor 103 acquires a distance image at a constant frequency (for example, 30 times / second) based on the measurement results of the surrounding environment of the mobile body 101 obtained using the depth sensor, for example. In this embodiment, two shape measurement sensors 103 are installed in the mobile body 101.

[0020] The space 104 is a predetermined space used as an object for generating a map. Obstacles 105, 106, 107, 108, 109, and 110 are obstacles existing in the space 104. When measuring the shapes of obstacles 105 to 110, the operator causes the moving object 101 to travel near the obstacles. For example, the travel route of the moving object 101 starts from the start and end point 112 and ends at Figure 1 The vehicle travels clockwise on the travel path 111 and returns to the start and end point 112 in a cycle.

[0021] Figure 22 is a diagram illustrating the configuration of an information processing system including an information processing device according to this embodiment. Information processing system 201 includes position / posture measurement sensor 102, shape measurement sensor 103, position / posture measurement unit 202, correction unit 206, information processing device 203, input acceptance unit 210, and display unit 211. Information processing device 203 includes shape information acquisition unit 204, position / posture acquisition unit 205, correction status acquisition unit 207, priority determination unit 208, and map generation unit 209.

[0022] The position / posture measurement unit 202 calculates the position / posture information of the shape measurement sensor 103 based on the measurement results acquired by the position / posture measurement sensor 102. More specifically, the position / posture measurement unit 202 first acquires the position and posture of the position / posture measurement sensor 102 based on the captured image captured by the position / posture measurement sensor 102. Next, the position / posture measurement unit 202 calculates the position / posture of the shape measurement sensor 103 from the position / posture of the position / posture measurement sensor 102 based on the relative positional relationship between the position / posture measurement sensor 102 and the shape measurement sensor 103 that has been set in advance. As a method for acquiring the position / posture of the position / posture measurement sensor 102 from the captured image of the position / posture measurement sensor 102, a known method such as SLAM technology can be used.

[0023] The information processing device 203 generates a map of the surrounding environment to which the mobile object 101 is moving based on information acquired by the mobile object 101. In this embodiment, while the information processing device 203 is described as being included in the mobile object 101, the configuration is not limited thereto, and the information processing device 203 may be configured as an external information processing device capable of communicating with the mobile object 101. The shape information acquisition unit 204 acquires shape information of obstacles near the travel path from the shape measurement sensor 103. In this embodiment, a range image is acquired as the shape information.

[0024] The position / posture acquisition unit 205 acquires the position / posture information of the shape measurement sensor 103 calculated by the position / posture measurement unit 202 from the position / posture measurement unit 202. In this embodiment, two shape measurement sensors 103 are mounted on the mobile object 101, so the acquired position / posture information corresponds to both sensors. The position / posture information represents coordinate values ​​indicating the position of the shape measurement sensor 103 in the coordinate system set in the space 104, as well as an angle indicating the measurement direction of the shape measurement sensor 103.

[0025] The correction unit 206 performs error correction processing on the position / posture information of the shape measurement sensor 103 measured by the position / posture measurement unit 202. The correction status acquisition unit 207 acquires progress information regarding the process of correcting the position / posture information. In the first embodiment, the correction status acquisition unit 207 acquires information indicating whether the error correction process for the position / posture information has been completed from the correction unit 206 as progress information. The priority determination unit 208 determines the priority of map generation for each partial area within the space 104 that is the target of map generation.

[0026] The map generation unit 209 generates a map. Based on the correction status acquired by the correction status acquisition unit 207, the map generation unit 209 generates the map based on the shape information acquired by the shape information acquisition unit 204, the position / posture information acquired by the position / posture acquisition unit 205, and the priority determined by the priority determination unit 208. The input acceptance unit 210 accepts input from the user. The display unit 211 is, for example, a liquid crystal display, and converts the map data generated by the map generation unit 209 into an image and displays the image. The information processing device 203 may include the correction unit 206, the input acceptance unit 210, and the display unit 211.

[0027] Figure 3 3 is a diagram showing the hardware configuration of the information processing device 203. A central processing unit (CPU) 301 controls various devices connected to a system bus 311. A read-only memory (ROM) 302 stores programs for a basic input / output system (BIOS) and a boot program. A random access memory (RAM) 303 serves as a main storage device for the CPU 301. An external memory 304 stores programs processed by the information processing device 203.

[0028] The input unit 305 is a keyboard, a pointing device, or a robot controller, and performs processing such as inputting information from the user. The display unit 306 has a display device such as a liquid crystal display or a projector, and outputs the calculation results of the information processing device 203 to the display device according to the instruction from the CPU 301, and displays the calculation results on the screen. The communication interface (I / F) unit 307 communicates information with external devices via a network. The communication of the communication I / F 307 is any type such as Ethernet, USB, serial communication, or radio communication. The network can be configured as a communication network such as a LAN or WAN, a cellular network (e.g., LTE or 5G, etc.), a radio network, or a combination of these networks. In other words, the network can be configured so that data can be sent and received, and the communication scheme of the physical layer can adopt any scheme. The sensor input / output (I / O) 308 is connected to the position / posture measurement sensor 102 and the shape measurement sensor 103, and performs information communication.

[0029] Will refer to Figures 4 to 6D The processing of the information processing apparatus 203 according to the present embodiment is described. Figure 4 303 is a flowchart showing the entire processing according to the present embodiment performed by the information processing device 203. The CPU 301 of the information processing device 203 calls the program corresponding to each module stored in the ROM 302 or the external memory 304 into the RAM 303 and executes the program. Figure 4 The individual processes shown.

[0030] In step S401, the shape information acquisition unit 204 acquires shape information of the vicinity of the moving object 101. The shape information is, for example, a distance image based on the result measured by the shape measurement sensor 103 using the depth sensor. The shape information acquired in this step is stored in the RAM 303 in the order acquired.

[0031] In step S402, the position / posture acquisition unit 205 acquires the position / posture information of the shape measurement sensor 103 acquired when the shape measurement sensor 103 measured the shape. If the correction unit 206 has performed correction processing on the position / posture information, the position / posture information acquired in this step is the corrected position / posture information. The data acquired in this step is stored in the RAM 303 in association with the data acquired in step S401. Hereinafter, the associated shape information and position / posture information will be referred to as "map element data."

[0032] In step S403, the correction status acquisition unit 207 acquires information indicating the progress status of the correction process for correcting the position / orientation error of the shape measurement sensor 103. The progress status information indicates whether the correction process for correcting the position / orientation error of the shape measurement sensor 103 has been completed. For example, if the correction process is a loop closed correction process, the correction status information indicates whether the loop closed correction process has been completed. The correction status acquisition unit 207 acquires the progress status information from the correction unit 206.

[0033] In step S404, the priority determination unit 208 sets priorities for map generation for each partial area within the travel space. For example, the priority determination unit 208 generates a data group by sorting all map element data groups in order from the closest to the current position of the mobile object 101. The priority determination unit 208 then divides the sorted map element data groups into predetermined groups and stores each map element data group as partial area data in the RAM 303. In this case, the priority determination unit 208 can set the data size of each map element data group to be uniform. Furthermore, the priority determination unit 208 sets priorities for each partial area data group in the order of sorting. Priority setting is not limited to this, and other examples of priority setting will be described below.

[0034] In step S405, the map generation unit 209 generates a map. Figure 5 The map generation details are described below. In step S406, the input receiving unit 210 determines whether to terminate the movement of the mobile body 101. More specifically, the input receiving unit 210 determines whether an end instruction has been input from the operator to the input unit 305. If an end instruction has been input from the operator, the movement of the mobile body 101 is terminated, and the process ends. On the other hand, if an end instruction has not been input from the operator, the process returns to step S401.

[0035] Details of the map generation process of step S405 will be described below. Figure 5 303 and execute the program. Figure 5 Each process represented in .

[0036] In step S501, the map generation unit 209 acquires the map element data group stored in RAM 303 in steps S401 and S402, and the partial area data group stored in RAM 303 in step S404. In step S502, the map generation unit 209 determines whether the correction process for correcting errors in the position and orientation of the shape measurement sensor 103 has been completed. More specifically, the map generation unit 209 determines whether the correction process has ended based on the correction process progress information acquired by the correction status acquisition unit 207 in step S403. If the correction process is determined to be not yet completed, the process moves to step S503. On the other hand, if the correction process is determined to be completed, the process moves to step S504.

[0037] In step S503, the map generation unit 209 generates map data based on the map element data acquired in step S501. For example, the map generation unit 209 first calculates the coordinates of the three-dimensional point group corresponding to each pixel in the range image included in each map element data, based on the camera parameters in the direction of the range image's shooting location. Next, the map generation unit 209 extracts the three-dimensional point group whose distance from the floor surface is within a predetermined range and calculates the two-dimensional coordinates projected onto a plane corresponding to the floor surface. The map generation unit 209 then generates map data corresponding to the calculated two-dimensional coordinates.

[0038] Once the correction process for correcting errors in the position and orientation of the shape measurement sensor 103 has completed, the map generation unit 209 generates map data through the processes of steps S504 to S506. In steps S504 to S506, map data for each region is generated in order of highest priority. In step S504, the map generation unit 209 extracts the highest-priority partial region data from the group of partial region data acquired in step S501. In other words, the map generation unit 209 extracts the highest-priority partial region data from the partial region data for which map data generation has not yet been performed.

[0039] In step S505, the map generation unit 209 generates map data for the partial area corresponding to the highest-priority partial area data extracted in step S504. In other words, for each range image belonging to the corresponding partial area, the map generation unit 209 calculates the coordinates of the three-dimensional point cluster corresponding to each pixel based on the camera parameters in the direction of the range image's shooting location. Next, the map generation unit 209 extracts the three-dimensional point cluster within a predetermined distance from the floor surface and calculates its two-dimensional coordinates projected onto a plane corresponding to the floor surface. The map generation unit 209 then generates map data for the highest-priority area based on the calculated two-dimensional coordinates.

[0040] In step S506, the map generation unit 209 checks whether any remaining partial area data exists in the group of partial area data acquired in step S501 that has not yet been processed for map data generation. If any remaining partial area data exists, the process returns to step S504, and a map is generated for the partial area data with the highest priority among the remaining partial areas. On the other hand, if no remaining partial area data exists, in other words, if the process of generating a map corresponding to all the partial area data has been completed, the process ends.

[0041] 6A to 6D 1 and 2 are diagrams showing views of generating a map in a step-by-step manner in the first embodiment. Figure 6A : is a diagram of the arrangement of the moving object 101 and obstacles in the traveling environment when the position / posture information is corrected, as viewed from above. Figure 1 As shown, the moving object 101 moves clockwise in the space 104 . Figure 6B 、 Figure 6C and Figure 6D The diagram shows a map 600 displayed in a display device included in the display unit 306 in chronological order. The map 600 is sequentially generated from a partial area closer to the current position of the moving body 101, and the generated map area is enlarged according to the movement of the moving body 101.

[0042] According to this embodiment, even when loop closure processing is in progress, the delay time in map generation can be reduced by prioritizing map generation near the current position of the mobile object 101. In other words, the delay time in map generation that occurs when the position / posture information of the measurement sensor is corrected can be reduced.

[0043] (Modification of the first embodiment)

[0044] While this embodiment describes an example in which the shape measurement sensor 103 includes a depth sensor, the configuration is not limited to this, as long as it can acquire the shape information of the obstacle. For example, a stereo camera or a single-lens camera can be used. If a single-lens camera is used, the distance to the obstacle can be calculated using motion stereo, or the distance can be estimated using a learning model that outputs distance information based on brightness information. Furthermore, while this embodiment describes an example in which two shape measurement sensors 103 are mounted on the left and right sides of the moving object 101 relative to the direction of travel, the arrangement and number of shape measurement sensors 103 are not limited to this, as long as the shape of obstacles surrounding the moving object can be measured. For example, the shape measurement sensors can be mounted at a 45-degree angle relative to the direction of travel, or they can be mounted so as to provide a full, top-down view. The number of shape measurement sensors used can be one, three, or more. Furthermore, while this embodiment describes an example in which the shape information is a range image, the configuration is not limited to this, and the shape information can be, for example, the three-dimensional coordinate values ​​of a point group on the obstacle surface, or a set of measurement directions and distance values ​​to the obstacle in that measurement direction.

[0045] While this embodiment describes a method in which the position / orientation measurement unit 202 measures position and orientation using SLAM technology based on images captured by a camera included in the position / orientation measurement sensor 102 installed in the mobile object 101, the method is not limited thereto. As a method for measuring position and orientation, a method capable of measuring the position and orientation of the shape measurement sensor 103 or the mobile object 101 equipped with the shape measurement sensor 103 can be used. For example, a method using SLAM technology based on measurement values ​​acquired by a LiDAR or depth sensor installed in the mobile object 101 can be used. Alternatively, the position and orientation of the mobile object 101 can be calculated based on the number of rotations of the vehicle wheels included in the mobile object 101 or an inertial sensor installed in the mobile object 101. Alternatively, a magnetic sensor, an optical sensor, a radio wave beacon, or GPS can be used to measure position and orientation, or the position and orientation of the mobile object 101 can be detected from video footage from a bird's-eye view camera installed in the space 104. Furthermore, position and orientation can be measured by combining multiple of the above methods.

[0046] While this embodiment describes an example in which the correction status acquisition unit 207 acquires information indicating the completion / incompleteness of error correction processing for position / posture information from the correction unit 206, the information acquired by the correction status acquisition unit 207 may be any information that can be used to determine whether error correction processing has been performed. For example, the information may be a flag indicating whether the position / posture has changed or a value indicating the extent of the correction processing. If the correction status acquisition unit 207 acquires a value indicating the extent of the correction processing in step S403, it then determines in step S502 whether the extent of the correction processing is equal to or greater than a threshold. As long as the position / posture information is corrected, the correction processing performed by the correction unit 206 may be processing other than loop closure correction. For example, the correction processing may be processing that eliminates deviation values ​​in position and posture, or may be processing that adds position / posture information.

[0047] While this embodiment describes an example in which the priority determination unit 208 sets a high priority near the current position, the priority setting method is not limited to this. Priority-setting areas can be specified based on the position and posture measured along the travel path. For example, priority can be set based on the movement schedule of the mobile object 101. More specifically, a high priority can be set for areas located in the direction of travel of the mobile object 101, or a location that the mobile object 101 may pass can be predicted, and a relatively high priority can be set near the predicted location. Furthermore, if the position / posture acquisition unit 205 acquires new position / posture information while the map generation unit 209 is generating a map, the priority can be changed based on the measurement status, such as when a higher priority is set for a partial area near the newly acquired position than for other partial areas. Alternatively, a user instruction can be accepted, and a relatively higher priority can be set for a user-specified partial area. This priority setting method allows map generation to prioritize areas where the user has a high request for visual recognition. Furthermore, a relatively higher priority can be set for partial areas whose shape information was acquired close in time.

[0048] The high-priority area determined by priority determination unit 208 can be set to have a width approximately equal to the measurable distance of shape measurement sensor 103 when the mobile object in the partial area is positioned at the center of the partial area. Furthermore, the areas for which priority is set can be limited to predetermined areas, and other areas can be set as non-targets for map generation. This method of setting priority allows for map generation in a shorter time.

[0049] Furthermore, while step S404 of this embodiment sets the number of shape information and position / posture information sets to be constant regardless of the partial area, the configuration is not limited to this. For example, the number of sets can be changed based on the CPU 301 usage rate and the remaining capacity of the RAM 303. More specifically, if the CPU usage rate is high or if the remaining capacity of the RAM is low, the number of sets of shape information and position / posture information can be reduced. This can reduce the increase in delay time associated with map generation.

[0050] (Second embodiment)

[0051] In the first embodiment, once the position and orientation correction process has been completed, the map generation is advanced according to the priority of each partial area. In the second embodiment, an embodiment will be described in which, in addition to map generation, the position and orientation correction process is performed in order from the highest priority.

[0052] Will refer to Figure 7 The configuration of the information processing system according to the present embodiment is described. Figure 7 2 is a diagram showing the configuration of an information processing device according to the second embodiment. The information processing system 201 according to this embodiment includes a position / posture measurement sensor 102, a shape measurement sensor 103, a position / posture measurement unit 202, an information processing device 700, an input acceptance unit 210, and a display unit 211. The information processing device 700 includes a shape information acquisition unit 204, a position / posture acquisition unit 205, a correction state acquisition unit 701, a correction unit 702, a priority determination unit 208, and a map generation unit 209. Figure 7 Components identical to those according to the first embodiment are assigned the same reference numerals, and descriptions thereof will be omitted. The input acceptance unit 210 and the display unit 211 may be included in the information processing apparatus 700.

[0053] Correction status acquisition section 701 acquires information indicating whether error correction processing can be performed on the position / posture information. Here, error correction processing on the position / posture information is loop closure correction. Whether error correction processing can be performed is determined based on whether the position and posture acquired by position / posture acquisition section 205 are close to any of the acquired positions / position groups (in other words, whether the movement path of mobile object 101 forms a loop).

[0054] If the correction state acquired by the correction state acquisition unit 701 is a state in which error correction processing can be performed on the position / posture information, the correction unit 702 performs error correction processing on the position / posture. At this time, the correction unit 702 performs error correction processing in order of the position and posture included in the partial region with the higher priority, based on the position / posture information acquired by the position / posture acquisition unit 205 and the partial region information to which the priority set by the priority determination unit 208 is attached.

[0055] The entire processing according to the present embodiment performed by the information processing device 203 is the same as the processing according to the first embodiment ( Figure 4 ) are the same. In addition, all the position / posture information acquired in step 402 of the second embodiment is position / posture information that has not yet been corrected by the correction unit 702. Figure 8 Details of the map generation process performed in step 405 of the second embodiment will be described. Figure 8 303 and execute the program. Figure 8 Each process represented in . Figure 8 In the Figure 5 The same reference numerals as those indicated in are assigned to the same processes as those according to the first embodiment, and description thereof will be omitted.

[0056] After acquiring the map element data group and the partial area data group in step S501, the process transfers to step S801. In step S801, the map generation unit 209 acquires information from the correction status acquisition unit 701 indicating whether position / posture information correction processing can be performed. If loop closure processing, which is the correction processing according to this embodiment, cannot be performed, the process transfers to step S503. On the other hand, if loop closure processing can be performed, the process transfers to step S504.

[0057] If the position / posture information correction processing can be performed, the map generation unit 209 generates map data by performing the processing of steps S504, S802, S505, and S506. In steps S504, S802, S505, and S506, the position / posture correction processing and map data generation processing are performed on each area in order from the highest priority.

[0058] In step S504, if the partial area data with the highest priority is obtained, the process transfers to step S802. In step S802, the correction unit 702 performs local loop closure correction processing to correct errors in the position / posture information of the corresponding partial area based on the position / posture information included in the partial area data with the highest priority extracted in step S504. After the correction processing is performed, the process transfers to step S505, and a map is generated based on the partial area data with the highest priority extracted in step S504 and the data corrected in step S802.

[0059] As described above, according to this embodiment, in addition to generating a map for each partial area, it is also possible to perform error correction on the position / posture information for each partial area, thereby reducing the delay time that occurs when generating the map. Therefore, it is possible to reduce the delay time that occurs when generating a map while correcting the position / posture information acquired by the measurement sensor.

[0060] (Variation of the Second Embodiment)

[0061] The areas that are corrected with priority by the correction unit 702 in step S802 may include the areas with the highest priority for map generation determined by the priority determination unit 208. Therefore, the priority of the areas corrected by the correction unit 702 may be a priority determined using a method other than the priority determined by the priority determination unit 208. For example, the priority of correction by the correction unit 702 may be set for an area larger than the range of the partial area determined by the priority determination unit 208.

[0062] (Third embodiment)

[0063] In this embodiment, a method for notifying the result of map generation and performing a parameter setting function related to map generation in the case where a map is generated in a step-by-step manner according to the first embodiment or the second embodiment will be described.

[0064] Figure 9 is a diagram illustrating a map generation result notification and parameter settings. GUI screen 901 displays the map being generated and a graphical user interface (GUI) for setting parameters related to map generation. For example, GUI screen 901 is displayed on a touch panel that integrates display unit 306 and input unit 305. GUI screen 901 is displayed on display unit 306 via display unit 211, and input acceptance unit 210 accepts user instructions regarding GUI screen 901.

[0065] The GUI screen 901 includes a parameter setting area 902, a travel history display area 903, a correction status display area 904, and a map display area 905. Parameter setting area 902 displays parameters related to the current map generation, and the user can select the setting items they wish to set and set the parameters. For example, the user presses the element quantity setting icon 907 and specifies the amount of map data (the number of elements) corresponding to the range of the partial area. The priority determination unit 208 determines the partial area for which priority has been set so that the amount of data specified by the user is included. Furthermore, by pressing the end icon 908, the user indicates the end of map generation.

[0066] The travel history display area 903 is a plan view showing the history of positions corresponding to the travel path 111 that the moving body 101 has traveled. The correction status display area 904 is an area that displays the progress status of the correction processing of the position and orientation acquired by the correction status acquisition unit 207 . Figure 9 The correction status display area 904 is shown to indicate that the loop closure correction process can be started. The map display area 905 is an area where a map 906 generated by the map generation unit 209 is displayed. The map 906 is displayed in a step-by-step manner starting from the partial area where the map has been generated.

[0067] As described above, according to the present embodiment, input of parameters for controlling map generation and perception of the map generation status can be intuitively performed using the GUI.

[0068] (Variation of the Third Embodiment)

[0069] While the entire generated partial map is displayed in map display area 905 in this embodiment, the display method is not limited to this as long as a map of a partial area is displayed. For example, only a portion of the generated partial map can be magnified and displayed. In particular, by displaying the vicinity of the current position of mobile object 101 at an enlarged scale, the operator can easily recognize any omissions in measuring obstacle shapes if they have occurred.

[0070] The parameter for determining the range of the partial area within the space 104 set in the parameter setting area 902 may be a parameter other than the number of map elements. For example, the number of map elements may be stored in the information processing device in association with a plurality of modes, and the modes may be configured so as to be capable of being specified in the parameter setting area 902. Furthermore, it may be configured so as to be capable of setting priorities corresponding to variations of the priority setting method described in the modified example of the first embodiment. For example, it may be configured so as to be capable of specifying a mode that prioritizes a partial area existing near the current position or a mode that prioritizes a partial area at a position on the arranged travel path.

[0071] (Other embodiments)

[0072] The embodiments of the present invention can also be implemented by the following method, that is, providing software (program) that performs the functions of the above-mentioned embodiments to a system or device through a network or various storage media, and the computer or central processing unit (CPU) or microprocessing unit (MPU) of the system or device reads and executes the program.

[0073] While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

[0074] This application claims priority from Japanese Patent Application No. 2021-125014, filed on July 30, 2021, which is hereby incorporated by reference herein in its entirety.

Claims

1. An information processing device, comprising: a shape information acquisition unit configured to acquire shape information of a surrounding environment of the moving body measured by a sensor installed in the moving body; a position / posture acquiring unit configured to acquire position / posture information of the sensor; a correction status acquisition unit configured to acquire a progress status related to a process of correcting the position / posture information; a priority determination unit configured to determine the priority of the areas for generating a map; as well as a map generating unit configured to generate the map based on the shape information and the position / posture information acquired when acquiring the shape information, The map generating unit generates the map in order from the area with the highest priority according to the progress status.

2. The information processing device according to claim 1, wherein The priority determination unit sets the priority higher as a region is closer to a current position of the sensor based on the position / posture information.

3. The information processing device according to claim 1, wherein The priority determination unit sets the priority corresponding to the movement schedule of the mobile body. The information processing device according to claim 1 , wherein: The priority determination unit sets the priority according to an instruction of a user. The information processing device according to claim 1 , wherein: In a case where the shape information acquisition unit acquires the shape information during generation of the map, the priority determination unit sets the highest priority to an area including the position of the sensor acquired when the shape information is acquired. The information processing device according to claim 1 , in, The progress status is information indicating whether the process of correcting the position / posture information has been completed, and Here, when the process of correcting the position / posture information has been completed, the map generation unit generates the map according to the priority.

7. The information processing apparatus according to claim 1 , further comprising a correction unit configured to perform processing for correcting the position / posture information acquired by the position / posture acquisition unit, in, The progress status is information indicating whether the process of correcting the position / posture information can be performed, and In the case where the processing of correcting the position / posture information can be performed, The correction unit performs the process of correcting the position / posture information according to the priority, and The map generation unit generates the map based on the shape information and the position / posture information corrected by the correction unit according to the priority.

8. The information processing device according to claim 1, wherein The priority determination unit sets the areas so that the amount of data of the shape information corresponding to the respective areas to which the priorities are set is uniform. 9 . The information processing apparatus according to claim 1 , further comprising a display unit configured to display the map generated by the map generating unit and a GUI for setting parameters related to generation of the map in a display device.

10. The information processing device according to claim 1, wherein The correction process is a loop closure correction.

11. An information processing system comprising: The information processing device according to any one of claims 1 to 10; a shape measurement unit installed in the mobile body and configured to measure a shape of a surrounding environment of the mobile body; a position / posture measurement unit installed in the mobile body and configured to measure position / posture information of the shape measurement unit; as well as A display device is configured to display the map generated by the map generating unit.

12. A method for controlling an information processing device, the method comprising: Acquiring shape information of the surrounding environment of the moving object measured by a sensor installed in the moving object; Obtaining position / posture information of the sensor; acquiring a progress status related to a process of correcting the position / posture information; Prioritize regions for map generation; as well as generating the map based on the shape information and the position / posture information acquired when acquiring the shape information, The generating of the map includes generating the map in order from the area with the highest priority according to the progress status.

13. A non-transitory recording medium storing a control program for an information processing device, the control program causing a computer to perform the steps of a method for controlling the information processing device, the method comprising: Acquiring shape information of the surrounding environment of the moving object measured by a sensor installed in the moving object; Obtaining position / posture information of the sensor; acquiring a progress status related to a process of correcting the position / posture information; Prioritize regions for map generation; as well as generating the map based on the shape information and the position / posture information acquired when acquiring the shape information, The generating of the map includes generating the map in order from the area with the highest priority according to the progress status.

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