Abstract: An information processing apparatus acquires a route plan of a movable apparatus; acquires information regarding an obstacle factor hindering a way of the route plan of the movable apparatus; calculates the degree of obstacle for the route plan of the movable apparatus based on the information regarding the obstacle factor; determines an obstacle countermeasure for reducing the degree of obstacle based on the information regarding the obstacle factor and the route plan; and performs at least one of control for causing the obstacle factor evacuate and control for the movable apparatus to avoid the obstacle factor based on the obstacle countermeasure.

Abstract: An information processing device includes a position and orientation measurement unit to calculate a position and an orientation of a movable apparatus based on measurement information of a first sensor that measures an environment in surroundings of the movable apparatus. A first environment map is created in a vicinity of the movable apparatus based on the measurement information of the first sensor and the position and the orientation, and a second environment map to be merged with the first environment maps determined. Information regarding the second environment map is acquired and a traveling path of the movable apparatus is determined to merge the first environment map and the second environment map based on the information regarding the second environment map.

Abstract: There is provided with an information processing apparatus. An acquisition unit acquires a first processing result including information for identifying the position of the mobile object and a second processing result including information for identifying the position of the mobile object. The first processing result is obtained by executing a first processing method on an image obtained by measuring at least surroundings of the mobile object by using a light receiving sensor installed on the mobile object. The second processing result is obtained by executing a second processing method different from the first processing method on an observation result obtained by observing the mobile object by using a light receiving sensor installed at a location at which it is possible to observe the mobile object.

Abstract: An information processing device includes a route information acquisition unit configured to acquire information on a scheduled route of each of a plurality of movable apparatuses; a congestion degree calculation unit configured to divide a route acquired by the route information acquisition unit into a plurality of sections and calculate a congestion degree indicating a density of movable apparatuses present within the sections for each of the sections; a following route planning unit configured to, on the basis of the congestion degree calculated by the congestion degree calculation unit, determine a following route section in which a movable apparatus performs following route with respect to another movable apparatus and determine whether or not to perform following with respect to each of the plurality of movable apparatuses within the following route section; and a control instruction determination unit configured to determine a control instruction with respect to each of the plurality of movable apparat

Abstract: In order to provide a map suitable for a movable apparatus which autonomously moves, a map data generation device includes a spatial data acquisition unit configured to acquire spatial data generated by measuring an object present in a space with a sensor, an attribute data acquisition unit configured to acquire attribute data indicating an attribute of a movable apparatus which autonomously moves in the space, and a map data generation unit configured to generate map data which is used when the movable apparatus autonomously moves in the space on the basis of the attribute data and the spatial data.

Abstract: An information processing device for reducing a loss in a movable apparatus and a facility acquires operation plans of a plurality of movable apparatuses; acquires restriction information on a facility to be utilized by the movable apparatuses; calculates, regarding a plurality of candidates for a control method for the movable apparatuses and the facility for the movable apparatuses utilizing the facility on the basis of at least the restriction information, a loss caused in a case in which each of the candidates is performed; and determines a control method from the candidates on the basis of the losses calculated by the loss calculation unit.

Abstract: An information processing device capable of improving moving efficiency of a movable apparatus is characterized by: acquiring information regarding surroundings of a movable apparatus; performing measurement in regard to position and orientation information of the movable apparatus and a reliability of the position and orientation information; analyzing motion of a different movable apparatus in the surroundings from the information regarding the surroundings of the movable apparatus; and determining whether or not the movable apparatus is to follow the different movable apparatus on the basis of the reliability of the position and orientation information of the movable apparatus and a result of the analysis.

Abstract: To provide an information processing apparatus capable of improving the efficiency of operation of a movable apparatus, an information processing apparatus comprises: a passing region calculation unit configured to calculate a passing region through which a movable apparatus passes; an object detection unit configured to detect an object around the movable apparatus by a sensor; and an object detection range setting unit configured to set an object detection range in which the object is detected by the object detection unit based on the passing region calculated by the passing region calculation unit.

Abstract: An information processing apparatus that is able to reduce the workload for the creation of maps in a plurality of regions acquires region information including at least one of a shape feature or a pattern feature relating to a predetermined region; calculates a degree of similarity between a first region and a second region based on first region information relating to the first region and second region information relating to the second region that have been acquired; and in a case in which the degree of similarity that has been calculated is at or above a predetermined threshold, acquires second map information relating to the second region based on first map information relating to the first region.

Abstract: There is provided with an information processing apparatus. From an image capturing apparatus which can move, a captured image of an object is obtained. The position of the image capturing apparatus is derived using the captured image and a three-dimensional map. The three-dimensional map is corrected using information indicating a reliability of: information indicating the three-dimensional position of the feature included in a predefined area in the three-dimensional map held by the holding unit; and information indicating a three-dimensional position of another feature of the object, the information obtained based on the captured image from an expanded area of the predefined area in the three-dimensional map held by the holding unit.

Abstract: An information processing device that improves accuracy of a map used to measure a position and an orientation of a movable apparatus includes: a map acquisition unit configured to acquire a map for measuring a position and an orientation of a movable apparatus; a detection unit configured to detect a visual index from a drawing information which corresponds to a real space that the movable apparatus moves or an object in the real space; a registration unit configured to perform registration of a coordinate system between the map and the drawing information; an association unit configured to perform association between the visual index included in the drawing information after the registration and a constituent element included in the map; and a correction unit configured to correct the map based on a result of the association.

Abstract: An information processing apparatus comprising a memory storing instructions; and a processor executing the instructions causing the information processing apparatus to acquire sensor information from a sensor mounted on a moving body, generate map data based on the sensor information, calculate a use appropriateness degree of the map data based on at least one of the sensor information and the map data, and determine whether or not to use the map data in a position and/or orientation measurement of the moving body that is based on the use appropriateness degree.

Abstract: An information processing apparatus includes an update unit and an obtaining unit. The obtaining unit obtains a second position of a map feature point included in map information based on the map information and information obtained from a vehicle sensor. The map information includes a map feature point first position measured in an environment including a closed route along which the vehicle travels. The sensor-obtained information includes a sensor feature point measured by the sensor mounted on the vehicle while the vehicle travels along the closed route. Where a distance between an estimated vehicle first position and an estimated vehicle second position is greater than a threshold, map information updating is restrained. Where the vehicle traveling near the vehicle first position continues traveling along the closed route, the update unit updates the map information between when the vehicle leaves the vehicle first position and nears the vehicle second position.

Abstract: An information processing apparatus includes one or more computer-readable storage media and one or more processors in communication with the one or more computer-readable storage media. The one or more processors and the one or more computer-readable storage media are configured to acquire a plurality of map elements from a storage unit configured to store three-dimensional map information based on the plurality of map elements, each of which includes an image captured by an imaging apparatus mounted on a vehicle and also includes position information indicating a position of the imaging apparatus by which the image is captured, make a determination to detect a map element including an image captured at a position where wrong position is likely to be estimated in a localization of the imaging apparatus, and generate display data for distinguishably displaying the position indicated by the position information included in the detected map element.

Abstract: In an information processing device processing map information of a surrounding environment of a vehicle, a sensor information acquiring unit acquires output information of a sensor performing measurement relating to a movement amount or the surrounding environment of the vehicle. An error generation amount calculating unit calculates an error generation amount in position information of an element configuring map information on the basis of the acquired information. An accumulative error evaluating unit evaluates an accumulation degree of the calculated error generation amount. A correction determining unit determines need for an accumulative error correcting process relating to map information on the basis of an evaluation result of the accumulative error. In accordance with an instruction from the correction determining unit, a notification device notifies a user of need for correction using loop closure.

Abstract: The information processing apparatus is provided with a measurement unit configured to perform position and orientation measurement of at least one of a position and an orientation of a moving body based on a first sensor data and a second sensor data stored in a moving body, a control content determination unit configured to determine control content of the moving body based on at least one of the position and orientation measured by the measurement unit, a dependency degree acquisition unit configured to acquire a dependency degree of the second sensor data with respect to the first sensor data, and a reliability degree calculation unit configured to calculate a reliability degree that represents a smallness of an accumulation value of the dependency degree, wherein the control content determination unit is configured to determine a control content of the moving body based on the reliability degree.

Abstract: An information processing device that can show an area in which reliable autonomous traveling is possible acquires history information of a position/orientation of a moving body estimated based on a captured image from a camera mounted on the moving body, acquires obstacle arrangement information indicating an arrangement of obstacles in a space where the moving body moves, acquires autonomous traveling possibility information indicating an area in which a setting for causing the moving body to autonomously travel is possible based on the history information, and generates a map image showing the arrangement of obstacles and the area in which autonomous traveling is possible based on the obstacle arrangement information and the autonomous traveling possibility information.

Abstract: An information processing apparatus that performs control related to movement of a moving object configured to measure its own position includes a memory storing instructions, and at least one processor that, upon execution of the instructions, is configured to operate as a first acquisition unit configured to acquire environmental information about an environment where the moving object moves, an estimation unit configured to estimate first positional information indicating that a region subjected to measurement accuracy degradation is below a threshold value based on the environmental information, and a determination unit configured to determine content of control information based on the first positional information.

Abstract: An information processing apparatus including at least one memory storing instructions and at least one processor that, upon execution of the instructions, is configured to acquire, based on a measurement value measured by a sensor attached to a moving object, information about a position and an orientation of the moving object and a reliability of position/orientation estimation, generates, based on the position and the orientation and the reliability, a reliability map including the reliability for each orientation of the sensor, and determines the orientation of the moving object with the sensor such that the reliability increases, based on the generated reliability map.

Abstract: Difference information between a first element of a vehicle estimated in accordance with measurement information acquired by a first sensor and a second element of the vehicle acquired simultaneously with the first element is acquired. The difference information is according to the same coordinate system as the first element and the second element. An element for controlling movement of the vehicle is selected from the first element and the second element. When the element for controlling movement of the vehicle is switched to another element of the first element and the second element, the other element selected is corrected by using the difference information.