US 11,926,038 B2
Information processing apparatus and information processing method
Ryo Watanabe, Tokyo (JP); Shin Yoshimura, Tokyo (JP); and Toshihisa Sanbommatsu, Tokyo (JP)
Assigned to SONY CORPORATION, Tokyo (JP)
Appl. No. 16/959,513
Filed by SONY CORPORATION, Tokyo (JP)
PCT Filed Oct. 22, 2018, PCT No. PCT/JP2018/039117
§ 371(c)(1), (2) Date Jul. 1, 2020,
PCT Pub. No. WO2019/138640, PCT Pub. Date Jul. 18, 2019.
Claims priority of application No. 2018-002002 (JP), filed on Jan. 10, 2018.
Prior Publication US 2021/0053232 A1, Feb. 25, 2021
Int. Cl. B25J 13/08 (2006.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); G01C 21/16 (2006.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06V 20/40 (2022.01)
CPC B25J 13/089 (2013.01) [B25J 9/1664 (2013.01); B25J 19/023 (2013.01); G01C 21/1656 (2020.08); G05D 1/0251 (2013.01); G05D 1/0253 (2013.01); G05D 1/027 (2013.01); G05D 1/0272 (2013.01); G06V 20/46 (2022.01)] 16 Claims
OG exemplary drawing
 
1. An information processing apparatus, comprising:
a first sensor unit configured to periodically sense internal world information associated with an autonomous mobile object to output a plurality of first sensing results;
a second sensor unit configured to sense external world information associated with the autonomous mobile object to output a second sensing result;
a storage configured to store:
a plurality of key frames obtained by previously capturing images at multiple locations in a real space; and
positional information of the multiple locations in association with the plurality of key frames; and
a controller configured to:
determine a state of the autonomous mobile object is one of a stopped state or a moving state;
determine, based on the determination that the state of the autonomous mobile object is the moving state, that a first estimation method is to be used by the autonomous mobile object for an estimation of a self-position of the autonomous mobile object;
determine, based on the determination that the state of the autonomous mobile object is the stopped state, that a second estimation method is to be used by the autonomous mobile object for the estimation of the self-position of the autonomous mobile object;
periodically estimate, by the first estimation method, the self-position by a periodic integration of the plurality of first sensing results that corresponds to a plurality of first timings until a current time;
estimate, by the second estimation method, the self-position based on the second sensing result, and the positional information of the multiple locations in association with the plurality of key frames;
successively specify, at a first timing of the plurality of first timings when the first sensor unit acquires a first sensing result of the plurality of first sensing results while the state of the autonomous mobile object is the moving state, a condition of a ground on which the autonomous mobile object is moving based on the first sensing result acquired at the first timing;
change, at the first timing, a length of a given distance based on the specified condition of the ground; and
plan a stop condition such that the state of the autonomous mobile object is sequentially changed from the moving state to the stopped state,
wherein the stop condition is planned based on a continuous movement of the autonomous mobile object by the given distance.