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 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: 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: 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.

Abstract: Of a plurality of learning models learned to output geometric information corresponding to a captured image, a learning model corresponding to a setting region is acquired.

Abstract: An information processing apparatus comprises an extraction unit configured to extract, as an image edge group, a plurality of image edges in the vicinity, which are detected from a captured image obtained by capturing a target object; a determination unit configured to determine a positional relationship between the image edges included in the image edge group; a holding unit configured to hold a positional relationship between model edges that constitute a three-dimensional model of the target object; a selection unit configured to select a combination of an image edge and a model edge, which correspond to each other, based on matching between the positional relationship of the image edges and the positional relationship of the model edges; and an collation unit configured to estimate a position/orientation of the target object based on the combination.

Abstract: It is an object to enable a grasping operation to be executed according to a state of an object. The invention provides an information processing apparatus which determines the grasping operation in a grasping unit for grasping the object. The information processing apparatus has: an obtaining unit for obtaining an image acquired by capturing the object; a recognizing unit for recognizing a state of the object from the image obtained by the obtaining unit; and a generating unit for generating information for allowing the grasping unit to execute the grasping operation on the basis of the object state recognized by the recognizing unit and conditions to execute the grasping operation.

Abstract: An information processing apparatus includes an acquisition unit configured to acquire a feature point cloud indicating a three-dimensional shape of an environment where a moving object travels, and an output unit configured to output a two-dimensional map indicating positions of feature points on a two-dimensional plane excluding feature points that represent a feature of a ceiling in the environment or a travel surface of the moving object from the feature point cloud.

Abstract: An information processing apparatus presenting information to an operator operating an image pickup device includes an image-pickup range setting portion setting an image pickup range over which an image can be taken by the image pickup device, a position and orientation calculation portion calculating a position and orientation of the image pickup device by using the image taken by the image pickup device, an evaluation portion evaluating an image pickup situation in the image pickup range, set by the image-pickup range setting portion, on the basis of the position and orientation calculated by the position and orientation calculation portion, and a guide information presentation portion presenting, in accordance with evaluation by the evaluation portion, guide information for guiding an operation of the image pickup device on a display device.

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.