Control device for a mobile body, mobile body control system, method for controlling a mobile body, and storage medium

Abstract

To provide a control device for a mobile body, a mobile body control system, a mobile body control method, and a storage medium that can more effectively update map information for the mobile body to estimate its own position. [Solution] A control device for a moving object comprising: an acquisition unit that acquires images of the surrounding environment of a moving object; a recognition unit that recognizes objects present around the moving object based on the images; a self-position estimation unit that estimates the self-position of the moving object based on the images; a movement control unit that controls the movement of the moving object based on the self-position estimation result; and an information processing unit that extracts a first image from the images that satisfies predetermined conditions for updating map information and stores the first image in a storage unit, wherein the predetermined conditions are conditions for extracting an image that includes at least a first type of object whose position should be indicated in the map information, and the information processing unit determines a first type of object from among the recognized objects present around the moving object and extracts a first image in which the determined first type of object is photographed.

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