US 12,215,978 B2
Information processing device, information processing method, and information processing system
Mikio Nakai, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/754,159
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Sep. 16, 2020, PCT No. PCT/JP2020/035064
§ 371(c)(1), (2) Date Mar. 25, 2022,
PCT Pub. No. WO2021/065510, PCT Pub. Date Apr. 8, 2021.
Claims priority of application No. 2019-183103 (JP), filed on Oct. 3, 2019.
Prior Publication US 2022/0290996 A1, Sep. 15, 2022
Int. Cl. G01C 21/28 (2006.01)
CPC G01C 21/28 (2013.01) 19 Claims
OG exemplary drawing
 
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.