US 12,276,522 B2
Information processing apparatus, movable apparatus, information processing method, and storage medium
Hisayoshi Furihata, Tokyo (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Jan. 23, 2023, as Appl. No. 18/157,969.
Claims priority of application No. 2022-018484 (JP), filed on Feb. 9, 2022.
Prior Publication US 2023/0251106 A1, Aug. 10, 2023
Int. Cl. G01C 21/32 (2006.01); G01C 21/00 (2006.01); G01C 21/28 (2006.01); G06V 20/50 (2022.01)
CPC G01C 21/3837 (2020.08) [G06V 20/50 (2022.01)] 14 Claims
OG exemplary drawing
 
1. An information processing apparatus comprising:
at least one processor or circuit configured to function as a plurality of units comprising:
(1) a sensor information acquisition unit configured to acquire sensor information that includes shape information of a surrounding environment from a three-dimensional sensor mounted on a movable apparatus;
(2) a position and orientation information acquisition unit configured to acquire position and orientation information of the three-dimensional sensor when the three-dimensional sensor has measured the shape information;
(3) an object recognition unit configured to recognize a portion corresponding to a movable object in the shape information based on the sensor information;
(4) a setting unit configured to set, in a case where the portion is recognized, a region behind the portion within a predetermined range from the portion, as seen from the three-dimensional sensor, as a measurement omission region to be remeasured that corresponds to a measurement omission based on the sensor information, the position and orientation information, and the portion; and
(5) a map information creation unit configured to create a shape map of the surrounding environment based on the shape information, the position and orientation information, and information of the measurement omission region, wherein the measurement omission region is distinguishably displayed in the shape map.