Information processing device, information processing method, and information processing system

Patent metadata

Field	Value
Publication number	US-12215978-B2
Application number	US-202017754159-A
Country	US
Kind code	B2
Filing date	Sep 16, 2020
Priority date	Oct 3, 2019
Publication date	Feb 4, 2025
Grant date	Feb 4, 2025

Abstract

To improve accuracy of position estimation on the basis of a plurality of estimation results.An information processing device includes: a first estimator that estimates a self-position on the basis of a first coordinate system; a second estimator that estimates a self-position on the basis of a second coordinate system different from the first coordinate system; and an information acquisition part that, in a case where reliability of one of a first estimation result by the first estimator and a second estimation result by the second estimator in a coordinate system of the one estimation result is lower than a predetermined threshold, acquires self-position information on the basis of another estimation result.

First claim

The invention claimed is:

1. An information processing device, comprising:
a first estimator configured to estimate a first self-position based on a first coordinate system to obtain a first estimation result;
a second estimator configured to estimate a second self-position based on a second coordinate system to obtain a second estimation result, wherein the second coordinate system is different from the first coordinate system;
a coordinate transformer configured to transform the second self-position in the second coordinate system into a position in the first coordinate system for transformation of the second estimation result into the first coordinate system; and
a processor configured to:
in a case where a reliability of one of the first estimation result by the first estimator or the second estimation result by the second estimator is lower than a threshold, acquire self-position information based on a third estimation result; and
in a case where at least one of the first estimation result or the second estimation result transformed into the first coordinate system has the reliability one of equal to or higher than the threshold, acquire the self-position information based on the at least one of the first estimation result or the second estimation result transformed into the first coordinate system.

2. The information processing device according to claim 1 , wherein the processor is further configured to:
acquire the self-position information based on the first estimation result in a case where the reliability of the first estimation result is one of equal to or higher than the threshold; and
acquire the self-position information in the first coordinate system based on the transformed second estimation result in a case where the reliability of the first estimation result is lower than the threshold.

3. The information processing device according to claim 1 , wherein
a timing of acquisition of the first estimation result is same as a timing of acquisition of the second estimation result, and
the processor is further configured to not generate the self-position information in a case where a distance between the first estimation result and the transformed second estimation result is longer than a specific distance.

4. The information processing device according to claim 1 , further comprising a control point storage and a parameter generator, wherein
in a case where a timing of acquisition of the first estimation result is same as a timing of acquisition of the second estimation result, the processor is further configured to acquire, as a control point, a combination of the first estimation result and the second estimation result,
the control point storage is configured to store a plurality of control points, wherein the plurality of control points includes the control point,
the parameter generator is configured to generate a transformation parameter for the transformation of the second estimation result by the coordinate transformer, and
the generation of the transformation parameter is based on a first number of the stored plurality of control points.

5. The information processing device according to claim 4 , wherein the processor is further configured to:
in a case where the second estimation result for the same time as the first estimation result does not exist, correct the second estimation result acquired in past to a specific estimation result at a time of acquisition of the first estimation result;
in a case where the first estimation result for the same time as the second estimation result does not exist, correct the first estimation result acquired in past to a specific estimation result at a time of acquisition of the second estimation result; and
acquire the control point based on the correction of at least one of the second estimation result or the first estimation result.

6. The information processing device according to claim 5 , wherein
the processor is further configured to correct a most recent past estimation result by dead reckoning process.

7. The information processing device according to claim 4 , wherein
in a case where at least one of the reliability of the first estimation result or the reliability of the second estimation result is lower than the threshold, the processor is further configured to not acquire a combination at the timing as the control point.

8. The information processing device according to claim 4 , wherein the processor is further configured control deletion of at least one control point of the stored plurality of control points in a case where the stored plurality of control points is one of equal to or more than a second number.

9. The information processing device according to claim 8 , wherein the processor is further configured to control the deletion of the at least one control point in an ascending order of acquired time of the stored plurality of control points.

10. The information processing device according to claim 8 , wherein the processor is further configured to control the deletion of the at least one control point in an ascending order of the reliability of one of the first estimation result or the second estimation result.

11. The information processing device according to claim 4 , wherein the processor is further configured to:
set a first environment in which the first estimation result is unusable, and a second environment in which the second estimation result is unusable; and
not acquire the control point in the first environment and the second environment.

12. The information processing device according to claim 1 , wherein each of the first estimator and the second estimator is further configured to set an environment in which the estimation of the first self-position and the estimation of the second self-position is not performed.

13. The information processing device according to claim 1 , further comprising a plurality of estimators that includes the first estimator, the second estimator, and a third estimator, wherein
each estimator of the plurality of estimators is configured to estimate position information,
the coordinate transformer is further configured to transform a plurality of coordinate systems of the plurality of estimators into the first coordinate system,
the plurality of coordinate systems includes the first coordinate system and the second coordinate system,
each coordinate system of the plurality of coordinate systems corresponds to a respective estimator of the plurality of estimators, and
the processor is further configured to acquire the self-position information based on the position information.

14. An information processing system, comprising:
a movable body that comprises:
a processor configured to:
acquire first information for estimation of a first self-position in a first coordinate system; and
acquire second information for estimation of a second self-position in a second coordinate system different from the first coordinate system;

a first estimator configured to estimate the first self-position based on the acquired first information to obtain a first estimation result;
a second estimator configured to estimate the second self-position based on the acquired second information to obtain a second estimation result; and
a coordinate transformer configured to transform the second self-position in the second coordinate system into a position in the first coordinate system for transformation of the second estimation result into the first coordinate system, wherein the processor is further configured to:
in a case where a reliability of one of the first estimation result or the second estimation r

Assignees

• Sony Group Corp

Inventors

• Nakai Mikio

Classifications

• G08G5/34

  for flight plan modification · CPC title

• G05D1/02

  Control of position or course in two dimensions · CPC title

• G01C21/28 Primary

  with correlation of data from several navigational instruments · CPC title

• G01C21/1652 Primary

  with ranging devices, e.g. LIDAR or RADAR · CPC title