US 11,946,768 B2
Information processing apparatus, moving body, method for controlling information processing apparatus, and recording medium
Kenji Isatake, Kanagawa (JP); and Masaya Katamine, Tokyo (JP)
Assigned to CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Jul. 21, 2022, as Appl. No. 17/870,349.
Claims priority of application No. 2021-125014 (JP), filed on Jul. 30, 2021.
Prior Publication US 2023/0039203 A1, Feb. 9, 2023
Int. Cl. G01C 21/00 (2006.01)
CPC G01C 21/3807 (2020.08) [G01C 21/3833 (2020.08)] 13 Claims
OG exemplary drawing
 
1. An information processing apparatus comprising:
at least one processor and memory holding a program which makes the processor function as:
a shape information acquiring unit configured to acquire shape information of a surrounding environment of a movable apparatus measured by a sensor mounted in the movable apparatus;
a position and posture acquiring unit configured to acquire position and posture information of a sensor mounted in the movable apparatus;
a state acquiring unit configured to acquire a processing state relating to a process of correcting the position and posture information due to the movable apparatus revisiting a position already acquired by the position and posture acquiring unit;
a determining unit configured to determine an area to generate a map with priority; and
a map generating unit configured to generate the map from the area determined by the determining unit on the basis of the shape information, the position and posture information acquired at the time of acquisition of the shape information, and the processing state.