Abstract: A recording medium records a program that causes a computer to execute processing of: obtaining pieces of three-dimensional point data observed a mobile body; calculating a feature amount according to a distance between a position of the mobile body and each of three-dimensional points indicated by the pieces of three-dimensional point data; and specifying a reference point that corresponds to the position of the mobile body from among reference points in a mobile space of the mobile body which are registered in a database that registers a combinations each of the respective reference points and the feature amounts according to the distance between the position of the respective reference points and each of three-dimensional points indicated by a pieces of three-dimensional point data observed from the position of the respective reference points, based on the calculated feature amount and the database.

Abstract: A computer is configured to: specify the number of times of a time point when the target is detected at the same time point among time points by each set of two sensors among the three or more sensors by using whether the target is detected by each of the three or more sensors at each time point; generate information indicating connectivity regarding estimation accuracy of a relative positional relationship between sensors by using the number of times specified for each set of sensors and a variance of arrangement positions of the targets at the time points; generate information indicating a first relative positional relationship between two sensors having connectivity by using the information indicating connectivity; generates information indicating a second relative positional relationship between two sensors having no connectivity by using the information indicating connectivity and the information indicating the first relative positional relationship; and outputs the generated information.

Abstract: An information processing apparatus includes: a memory; and a processor coupled to the memory and configured to: acquire feature points from a shot image; calculate, from each of the acquired feature points, with preset conditions, a plurality of context feature amounts that has a success-or-failure vector of a single-attribute; and extract, from among the acquired feature points, feature points of which a product of the plurality of context feature amounts is equal to or greater than a preset threshold.

Abstract: A recording medium records an information processing program for causing a computer to execute processing including: acquiring an image from an imaging device provided in a first moving body; estimating a self-position of the first moving body by a first algorithm based on the image; generating a first point group that indicates a three-dimensional shape around the first moving body; generating a second point group that indicates the three-dimensional shape by a second algorithm based on data used in the first algorithm; merging the first point group and second point group so as to generate a third point group; extracting a space of an area group where a second moving body is parked from the third point group based on a movement track of the first moving body and information regarding a size of the second moving body; dividing the extracted space; and specifying each area of the area group.

Abstract: An object recognition apparatus includes: a memory; and a processor coupled to the memory and configured to execute an acquisition process that includes acquiring RGB-depth (D) image data on a target object in which an object is stored, the RGB-D image data being acquired by an RGB-D camera; execute a presumption process that includes presuming a frontmost plane of the target object from the acquired RGB-D image data; execute a sorting process that includes sorting features of the target object at a position specified by the presumed frontmost plane from among features extracted based on the RGB-D image data; and execute a computing process that includes computing a position and an orientation of the target object by performing matching between the RGB-D image data and a template of the target object using the sorted features.

Abstract: An information processing apparatus includes: a memory; and a processor coupled to the memory and configured to: acquire feature points from a shot image; calculate, from each of the acquired feature points, with preset conditions, a plurality of context feature amounts that has a success-or-failure vector of a single-attribute; and extract, from among the acquired feature points, feature points of which a product of the plurality of context feature amounts is equal to or greater than a preset threshold.

Abstract: A recording medium records an information processing program for causing a computer to execute processing including: acquiring an image from an imaging device provided in a first moving body; estimating a self-position of the first moving body by a first algorithm based on the image; generating a first point group that indicates a three-dimensional shape around the first moving body; generating a second point group that indicates the three-dimensional shape by a second algorithm based on data used in the first algorithm; merging the first point group and second point group so as to generate a third point group; extracting a space of an area group where a second moving body is parked from the third point group based on a movement track of the first moving body and information regarding a size of the second moving body; dividing the extracted space; and specifying each area of the area group.

Abstract: A recording medium records a program that causes a computer to execute processing of: obtaining pieces of three-dimensional point data observed a mobile body; calculating a feature amount according to a distance between a position of the mobile body and each of three-dimensional points indicated by the pieces of three-dimensional point data; and specifying a reference point that corresponds to the position of the mobile body from among reference points in a mobile space of the mobile body which are registered in a database that registers a combinations each of the respective reference points and the feature amounts according to the distance between the position of the respective reference points and each of three-dimensional points indicated by a pieces of three-dimensional point data observed from the position of the respective reference points, based on the calculated feature amount and the database.

Abstract: An object recognition apparatus includes: a memory; and a processor coupled to the memory and configured to execute an acquisition process that includes acquiring RGB-depth (D) image data on a target object in which an object is stored, the RGB-D image data being acquired by an RGB-D camera; execute a presumption process that includes presuming a frontmost plane of the target object from the acquired RGB-D image data; execute a sorting process that includes sorting features of the target object at a position specified by the presumed frontmost plane from among features extracted based on the RGB-D image data; and execute a computing process that includes computing a position and an orientation of the target object by performing matching between the RGB-D image data and a template of the target object using the sorted features.

Abstract: An information processing apparatus includes: a memory; and a processor coupled to the memory and configured to execute an acquisition process that includes acquiring a plurality of images which are captured from different positions and include a same feature point, execute a specification process that includes specifying the direction of sight of a user who looks at a panoramic image which is generated based on the plurality of images, and execute a display control process that includes selecting particular images from the plural images based on the direction of sight and displaying the panoramic image composed of the selected particular images.

Abstract: A worker terminal acquires information on a characteristic point of a subject, which is included in image information captured by a camera, and position/posture information of the camera. A worker terminal computes a distance from the camera to the subject based on the acquired information on the characteristic point and the acquired position/posture information. A remote support device changes a scale of image information that is arranged to generate a panorama image in accordance with the computed distance.