Abstract: Information regarding an obstacle region and information regarding an empty region are optimally updated to minimize an information amount. In the obstacle region, an obstacle exists in space where a mobile body moves. In the empty region, an obstacle does not exist. According to the disclosure, there is provided an environmental information update apparatus including an update unit that updates information regarding an obstacle region and information regarding an empty region, an obstacle existing in space where a mobile body moves in the obstacle region, the obstacle not existing in the empty region, in which the update unit updates the obstacle region, and updates the empty region on the basis of different periods of elapsed time.

Abstract: An information processing apparatus according to an aspect of the present technology includes an estimation unit, a generation unit, and a frequency control unit. The estimation unit estimates at least one of a location or a posture of a mobile object. The generation unit generates a movement plan for moving the mobile object. The frequency control unit controls frequency of update of the movement plan to be performed by the generation unit, on the basis of load index information serving as an index of a load on the estimation unit.

Abstract: To achieve a reduction of power consumption by stopping an inter-node data input/output process and node processing by autonomous control of each node without using a management table. Included are a data processing unit that performs predetermined processing on data input from an upstream node; and a data output management unit that outputs, to a downstream node, the data on which the predetermined processing has been performed in the data processing unit, and monitors a state of the downstream node. The data output management unit controls the data processing unit to stop the data processing in a case of detecting that there is no downstream node using the output data. The stop of node processing and inter-node data input/output are performed upstream in a chain manner.

Abstract: To provide an information processing apparatus, an information processing method, and a program that are capable of continuingly generating a self-position also in a featureless environment, that is, an environment where a movable object moves and which has no features. An information processing apparatus includes a first self-position identification unit and an evaluation unit. The first self-position identification unit identifies a first self-position of a movable object on the basis of first sensing data. The evaluation unit evaluates whether or not each component of the identified first self-position is valid.

Abstract: Provided is a self-position estimation mechanism that can absorb the influence of resetting of a position estimator. A difference between a position for each epoch and a position of a previous epoch estimated by a first estimation unit using a camera image and IMU information and a velocity and an acceleration for each epoch estimated by a second estimation unit using the camera image and the IMU information are acquired. Whether the difference acquired for each epoch is an outlier is tested on the basis of a threshold and whether the velocity and acceleration acquired for each epoch is an outlier is tested on the basis of a threshold. A self-position is estimated using the difference for each epoch and the velocity and acceleration for each epoch after the outlier is removed.

Abstract: An information processing apparatus of the present disclosure includes: a first acquisition unit that acquires distance information between a measurement target and a distance measurement sensor, which is measured by the distance measurement sensor; a second acquisition unit that acquires position information of a reflector that mirror-reflects a detection target detected by the distance measurement sensor; and an obstacle map creation unit that creates an obstacle map on the basis of the distance information acquired by the first acquisition unit and the position information of the reflector acquired by the second acquisition unit, in which the obstacle map creation unit creates a second obstacle map by specifying a first area in a first obstacle map including the first area created by mirror reflection of the reflector on the basis of the position information of the reflector, integrating a second area, which is obtained by inverting the specified first area with respect to a position of the reflector, into

Abstract: The influence of multipath on the positioning calculation based on positioning signals transmitted from satellites is reduced. A self-position is estimated using a positioning calculation result based on a positioning signal transmitted from a satellite. Movement of a mobile body is controlled on the basis of the estimated self-position. A multipath reduction action signal is output when the mobile body is in a multipath environment. The mobile body is controlled so as to take a multipath reduction action when the mobile body is in a predetermined movement state and the multipath reduction action signal is output.

Abstract: Provided are an image processing apparatus, an image processing method, and a moving body that enable removal of noise in distance images. A distance image having a pixel value corresponding to a distance to an object and an intensity image having a pixel value corresponding to the received light intensity of light reflected from the object that are taken at the same angle are acquired, and a pixel value of a pixel in the distance image that corresponds to a pixel having a pixel value smaller than a predetermined threshold in the intensity image is converted into a no-distance pixel. Noise in the distance image is removed in this way.

Abstract: The present technology relates to a moving body and a control method capable of improving affinity of the moving body for a person and a space. A moving body according to one aspect of the present technology includes a top plate that serves as a desk at which a person performs work, a support arm that supports the top plate and that can extend and contract, and a moving unit that holds the support arm and performs movement for causing the work to be performed. Furthermore, the moving body controls a posture state including a state of the support arm and a movement state of the moving unit in accordance with a relationship with an environment state as a state of a surrounding environment and a person state as a state of the person located around, sensed by a sensor. The present technology can be applied to a movable robot.

Abstract: The present technology relates to a control device, an information processing method, and a program that are capable of planning a correct route as a movement route of a mobile object. A control device on one aspect of the present technology is a device that generates a map representing a position occupied by an object on the basis of a detection result by an optical sensor, estimates a position of a mirror-surface object that is an object having a mirror surface, and plans, in a case where presence of the mirror-surface object is estimated in a dividing section where an arrangement of predetermined objects is divided, a route that does not pass through the dividing section as a movement route of the mobile object on the basis of the map. The present technology can be applied to a mobile object such as a robot that moves autonomously.

Abstract: The present disclosure relates to an image processing apparatus, an image processing method, a program, and a moving body that enable removal of noise in distance images. A distance image having a pixel value corresponding to a distance to an object and an intensity image having a pixel value corresponding to the received light intensity of light reflected from the object that are taken at the same angle are acquired, and a pixel value of a pixel in the distance image that corresponds to a pixel having a pixel value smaller than a predetermined threshold in the intensity image is converted into a no-distance pixel. Noise in the distance image is removed in this way. The present disclosure is applicable to vehicle-mounted systems.

Abstract: An information processing apparatus according to an aspect of the present technology includes an estimation unit, a generation unit, and a frequency control unit. The estimation unit estimates at least one of a location or a posture of a mobile object. The generation unit generates a movement plan for moving the mobile object. The frequency control unit controls frequency of update of the movement plan to be performed by the generation unit, on the basis of load index information serving as an index of a load on the estimation unit.

Abstract: Information regarding an obstacle region and information regarding an empty region are optimally updated to minimize an information amount. In the obstacle region, an obstacle exists in space where a mobile body moves. In the empty region, an obstacle does not exist. According to the disclosure, there is provided an environmental information update apparatus including an update unit that updates information regarding an obstacle region and information regarding an empty region, an obstacle existing in space where a mobile body moves in the obstacle region, the obstacle not existing in the empty region, in which the update unit updates the obstacle region, and updates the empty region on the basis of different periods of elapsed time.

Abstract: The present technology relates to an information processing apparatus, a self-localization method, a program, and a mobile body that allow for improvement in the accuracy of self-localization of the mobile body. The information processing apparatus includes: a comparison unit that compares a plurality of captured images with a reference image imaged in advance, the plurality of captured images being images obtained by imaging a predetermined direction at different positions; and a self-localization unit that performs self-localization of a mobile body on the basis of a result of the comparison between each of the plurality of captured images and the reference image. The present technology can be applied to a system that performs self-localization of a mobile body, for example.

Abstract: To achieve a reduction of power consumption by stopping an inter-node data input/output process and node processing by autonomous control of each node without using a management table. Included are a data processing unit that performs predetermined processing on data input from an upstream node; and a data output management unit that outputs, to a downstream node, the data on which the predetermined processing has been performed in the data processing unit, and monitors a state of the downstream node. The data output management unit controls the data processing unit to stop the data processing in a case of detecting that there is no downstream node using the output data. The stop of node processing and inter-node data input/output are performed upstream in a chain manner.

Abstract: An autonomous mobile device is implemented that adjusts a sensor rate according to a situation, and enables both reduction of power consumption and processing resources, and safe traveling. The autonomous mobile device includes: a sensor; a sensor information analysis unit that generates sensor analysis information by inputting output information from the sensor; an action plan determination unit that generates an action plan by inputting the sensor analysis information; a sensor rate calculation unit that calculates an optimal sensor rate of the sensor on the basis of at least one of the sensor analysis information or the action plan information; and a sensor control unit that adjusts either a sensing rate of the sensor or an output rate of sensor output information to the optimal sensor rate.

Abstract: There is provided methods and apparatus for estimating a position of a movable object based on a received satellite signal. A range of use of an acquired image of an environment around the movable object is determined based on a received satellite signal. An estimated position of the movable object is determined based on the range of use of the acquired image and a key frame from a key frame map.

Abstract: An information processing apparatus includes an input unit and a control unit. The input unit is configured to be capable of inputting, as operation information for detecting an operation on an operation surface of an operation body, first operation information for detecting an up-operation from the operation surface, the first operation information including information on an up-position as information on a position at which the up-operation is performed. The control unit is configured to determine whether or not the input first operation information is valid based on a change amount in a movement direction on the operation surface of the operation body at a position with the up-position being a reference.