US 11,989,029 B2
Information processing apparatus, information processing method, information processing system, and storage medium
Keisuke Tateno, Kawasaki (JP); and Makoto Tomioka, Kawasaki (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Jan. 12, 2023, as Appl. No. 18/153,787.
Application 18/153,787 is a continuation of application No. 16/550,074, filed on Aug. 23, 2019, granted, now 11,573,574.
Claims priority of application No. 2018-161414 (JP), filed on Aug. 30, 2018; and application No. 2019-134500 (JP), filed on Jul. 22, 2019.
Prior Publication US 2023/0168686 A1, Jun. 1, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01)
CPC G05D 1/0251 (2013.01) [G05D 1/0038 (2013.01); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0219 (2013.01); G05D 1/0221 (2013.01); B60R 2300/301 (2013.01); B60R 2300/302 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An information processing apparatus for determining control values for controlling a position of a vehicle for conveying a cargo, the information processing apparatus comprising:
one or more processors configured to function as:
an acquisition unit configured to acquire first information for identifying a three-dimensional shape of the cargo,
a storage unit configured to store a three-dimensional map representing three-dimensional image features of an environment generated based on a captured image of the environment;
a generation unit configured to generate from the three-dimensional map a two-dimensional map indicating objects in the environment based on height information included in the first information; and
a determination unit configured to, based on the two-dimensional map, determine the control values for preventing the cargo and the object from coming closer than a predetermined distance in the two dimensional map.