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

Patent metadata

Field	Value
Publication number	US-2022290996-A1
Application number	US-202017754159-A
Country	US
Kind code	A1
Filing date	Sep 16, 2020
Priority date	Oct 3, 2019
Publication date	Sep 15, 2022
Grant date	—

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

1 . An information processing device comprising:
a first estimator that estimates a self-position on a basis of a first coordinate system; a second estimator that estimates a self-position on a 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 a basis of another estimation result.

2 . The information processing device according to claim 1 further comprising
a coordinate transformer that transforms a position in the second coordinate system into a position in the first coordinate system, wherein
the information acquisition part acquires the self-position information on a basis of at least one of the first estimation result or the second estimation result transformed into the first coordinate system.

3 . The information processing device according to claim 2 , wherein
the information acquisition part acquires the self-position information on a basis of the first estimation result in a case where a reliability of the first estimation result is equal to or higher than the predetermined threshold, and acquires the self-position information in the first coordinate system on a basis of the second estimation result transformed by the coordinate transformer in a case where the reliability of the first estimation result is lower than the predetermined threshold.

4 . The information processing device according to claim 2 , wherein
the information acquisition part does not generate the self-position information in a case where a distance between the first estimation result and the second estimation result transformed by the coordinate transformer acquired at the same timing is longer than a predetermined distance.

5 . The information processing device according to claim 2 further comprising:
a control point acquisition part that acquires, as a control point, a combination of the first estimation result and the second estimation result acquired at the same timing;
a control point storage that stores the control point acquired by the control point acquisition part; and
a parameter generator that generates a transformation parameter used for transformation by the coordinate transformer on a basis of a first predetermined number or more of the control points stored in the control point storage.

6 . The information processing device according to claim 5 , wherein
the control point acquisition part in a case where the second estimation result for the same time as the acquired first estimation result does not exist, corrects the second estimation result acquired in the past to an estimation result at the time when the first estimation result is acquired, in a case where the first estimation result for the same time as the acquired second estimation result does not exist, corrects the first estimation result acquired in the past to an estimation result at the time when the second estimation result is acquired, and acquires the control point.

7 . The information processing device according to claim 6 , wherein
regarding one acquired estimation result, the control point acquisition part corrects a most recent past another estimation result by dead reckoning.

8 . The information processing device according to claim 5 , wherein
in a case where at least one of the reliability of the first estimation result or the reliability of the second estimation result at the same timing is lower than a predetermined threshold, the control point acquisition part does not acquire a combination at the timing as the control point.

9 . The information processing device according to claim 5 , wherein
the control point acquisition part deletes one or a plurality of the control points stored in the control point storage in a case where the control points stored in the control point storage are equal to or more than a second predetermined number.

10 . The information processing device according to claim 9 , wherein
the control point acquisition part deletes the control points in ascending order of acquired time.

11 . The information processing device according to claim 9 , wherein
the control point acquisition part deletes the control points in ascending order of reliability of any one of the first estimation result or the second estimation result.

12 . The information processing device according to claim 5 , wherein
the control point acquisition part sets an environment in which the first estimation result is not used and an environment in which the second estimation result is not used, and does not acquire the control point in these environments.

13 . The information processing device according to claim 1 , wherein
the first estimator and the second estimator set an environment in which no estimation is performed, and do not estimate the self-position in these environments.

14 . The information processing device according to claim 2 further comprising a third estimator, . . . , and an Nth estimator (integer of N≥3), wherein
the coordinate transformer transforms a coordinate system of each of the estimators into the first coordinate system, and
the information acquisition part acquires the self-position information on a basis of position information estimated by each of the transformed estimators.

15 . An information processing system comprising:
a movable body including a first acquisition part that acquires information for estimating a self-position in a first coordinate system, and a second acquisition part that acquires information for estimating a self-position in a second coordinate system different from the first coordinate system; and a first estimator that acquires a first estimation result based on information acquired by the first acquisition part, a second estimator that acquires a second estimation result based on information acquired by the second acquisition part, and an information acquisition part that, in a case where reliability of one of the first estimation result and the second estimation result in a coordinate system of the one estimation result is lower than a predetermined threshold, acquires position information of the movable body on a basis of another estimation result, provided inside or outside the movable body.

16 . An information processing method comprising:
estimating a self-position on a basis of a first coordinate system by a first estimator; estimating a self-position on a basis of a second coordinate system different from the first coordinate system by a second estimator; and 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, acquiring self-position information on a basis of another estimation result by an information acquisition part.

17 . A program causing a computer to execute:
first estimation processing of estimating a self-position on a basis of a first coordinate system; second estimation processing of estimating a self-position on a basis of a second coordinate system different from the first coordinate system; and information acquisition processing of, in a case where reliability of one of a first estimation result by the first estimation processing and a second estimation re

Assignees

• Sony Group Corp

Inventors

• Nakai Mikio

Classifications

• G01C21/1652 Primary

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

• G01C21/28 Primary

  with correlation of data from several navigational instruments · CPC title

• G08G5/34

  for flight plan modification · CPC title

• G05D1/02

  Control of position or course in two dimensions · CPC title