Information processing apparatus, information processing method, and information processing program

Patent metadata

Field	Value
Publication number	US-2022317293-A1
Application number	US-202017629540-A
Country	US
Kind code	A1
Filing date	Jul 8, 2020
Priority date	Aug 5, 2019
Publication date	Oct 6, 2022
Grant date	—

Abstract

An information processing apparatus according to the present disclosure includes: a preliminary map generation unit that creates a preliminary map based on ranging information obtained by an optical ranging sensor; an acquisition unit that acquires measurement information obtained by an ultrasonic sensor; and a difference extraction unit that extracts difference information between the preliminary map and the measurement information.

First claim

1 . An information processing apparatus comprising:
a preliminary map generation unit that creates a preliminary map based on ranging information obtained by an optical ranging sensor; an acquisition unit that acquires measurement information obtained by an ultrasonic sensor; and a difference extraction unit that extracts difference information between the preliminary map and the measurement information.

2 . The information processing apparatus according to claim 1 ,
wherein the acquisition unit acquires the measurement information detected by the ultrasonic sensor at a same time as a time of creation of the preliminary map.

3 . The information processing apparatus according to claim 1 , further comprising
a transformation unit that transforms the measurement information into a coordinate system of the preliminary map, wherein the difference extraction unit extracts the difference information by using the measurement information transformed by the transformation unit.

4 . The information processing apparatus according to claim 1 , further comprising
a display unit that displays the difference information.

5 . The information processing apparatus according to claim 1 ,
wherein the acquisition unit acquires imaging information obtained by imaging a position corresponding to the difference information by an imaging means.

6 . The information processing apparatus according to claim 5 ,
wherein the acquisition unit acquires the imaging information obtained by the imaging means at a same time as a time of creation of the preliminary map.

7 . The information processing apparatus according to claim 1 ,
wherein the preliminary map generation unit updates the preliminary map.

8 . The information processing apparatus according to claim 7 ,
wherein the preliminary map generation unit updates the preliminary map based on the measurement information.

9 . The information processing apparatus according to claim 7 ,
wherein the preliminary map generation unit updates information regarding a position corresponding to the difference information in the preliminary map, based on the measurement information.

10 . The information processing apparatus according to claim 7 ,
wherein, in a case where it is determined in the difference information that an obstacle is present by the measurement information and it is determined by the ranging information that the obstacle is not present, the preliminary map generation unit updates the preliminary map on an assumption that the obstacle is present.

11 . The information processing apparatus according to claim 7 ,
wherein, in a case where it is determined in the difference information that an obstacle is not present by the measurement information and it is determined by the ranging information that the obstacle is present, the preliminary map generation unit updates the preliminary map on an assumption that the obstacle is not present.

12 . The information processing apparatus according to claim 7 ,
wherein, when there is one obstacle and when obstacle presence/absence information indicating presence or absence of another obstacle located within a predetermined range from the one obstacle has been acquired, the preliminary map generation unit updates the preliminary map based on the obstacle presence/absence information.

13 . The information processing apparatus according to claim 7 ,
wherein, when there is a first obstacle determined to be present by the measurement information and when obstacle presence/absence information indicating presence or absence of a second obstacle located within a predetermined range from the first obstacle has been acquired, the preliminary map generation unit updates the preliminary map based on the obstacle presence/absence information.

14 . The information processing apparatus according to claim 13 ,
wherein, when it is determined that the second obstacle is not present within a predetermined range from the first obstacle by the measurement information and it is determined that the second obstacle is present by the ranging information, the preliminary map generation unit updates the preliminary map on an assumption that the second obstacle is not present.

15 . The information processing apparatus according to claim 7 ,
wherein the preliminary map generation unit searches for a first location determined to have an obstacle by the measurement information of the difference information, and then searches for a second location determined to have an obstacle by the measurement information of the difference information.

16 . The information processing apparatus according to claim 7 ,
wherein the preliminary map generation unit updates the preliminary map by arranging a preliminary obstacle at a first location determined to have an obstacle based on the measurement information, and subsequently, updates the preliminary map on an assumption that no obstacle is present at a second location determined to have no obstacle by the measurement information and determined to have an obstacle by the measurement information.

17 . An information processing method of executing processes comprising:
creating a preliminary map based on ranging information obtained by an optical ranging sensor; acquiring measurement information obtained by an ultrasonic sensor; and extracting difference information between the preliminary map and the measurement information.

18 . An information processing program designed to execute processes comprising:
creating a preliminary map based on ranging information obtained by an optical ranging sensor; acquiring measurement information obtained by an ultrasonic sensor; and extracting difference information between the preliminary map and the measurement information.

Assignees

• Sony Group Corp

Inventors

• Nakai Mikio
• Watanabe Ryo

Classifications

• G01S15/89

  for mapping or imaging · CPC title

• G01S15/86 Primary

  Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection · CPC title

• G01S15/931 Primary

  of land vehicles · CPC title

• G05D1/02

  Control of position or course in two dimensions · CPC title

• G01S17/89

  for mapping or imaging · CPC title