US 12,073,732 B2
Action control device and action control method, and program
Kenichiro Oi, Tokyo (JP); Masaki Handa, Tokyo (JP); Takuto Motoyama, Tokyo (JP); Shun Lee, Tokyo (JP); and Masahiko Toyoshi, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/434,014
Filed by Sony Group Corporation, Tokyo (JP)
PCT Filed Feb. 21, 2020, PCT No. PCT/JP2020/006992
§ 371(c)(1), (2) Date Aug. 26, 2021,
PCT Pub. No. WO2020/179491, PCT Pub. Date Sep. 10, 2020.
Claims priority of application No. 2019-040139 (JP), filed on Mar. 6, 2019.
Prior Publication US 2022/0157179 A1, May 19, 2022
Int. Cl. G08G 5/00 (2006.01); G05D 1/00 (2006.01)
CPC G08G 5/0069 (2013.01) [G05D 1/101 (2013.01); G08G 5/0017 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An action control device, comprising:
a plurality of self-position estimation systems, wherein the plurality of self-position estimation systems include a Vision-based self-position estimation system and a global positioning system (GPS)-based self-position estimation system;
processing circuitry configured to
select, for each of a plurality of waypoints, a self-position estimation system from the plurality of self-position estimation systems used to estimate a position of a mobile object, each of the plurality of self-position estimation systems having a different estimation accuracy,
obtain a state of the mobile object based on an inertial measurement of the mobile object, vision-based observation information from the Vision-based self-position estimation system, and GPS-based observation information from the GPS-based self-position estimation system,
specify the selected self-position estimation system for each of the plurality of waypoints,
in a case that the self-position estimation system and speed of the mobile object for a predetermined one of the plurality of waypoints are specified, specify a lowest altitude at which the specified self-position estimation system effectively functions for the predetermined one of the plurality of waypoints, and
control an action of the mobile object according to an action plan created in advance based on the state of the mobile object.