| CPC G06T 7/73 (2017.01) [G06V 10/60 (2022.01); G06V 10/757 (2022.01); G06T 2207/30252 (2013.01)] | 6 Claims |
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1. An information processing device comprising:
at least one processor; and
at least one memory holding a program that makes the processor function to perform:
a first generation step of generating map elements based on position/posture information of an imaging device in the case where an image is captured, which is estimated from the image captured by the imaging device mounted on a vehicle, and three-dimensional position information of a feature point included in the image;
a second generation step of generating three-dimensional map information based on the plurality of map elements generated by the imaging device that capture images in a plurality of different positions/postures;
an estimation step of estimating an error in the position/posture information of the imaging device in a specific map element;
an output step of to outputting first information related to the re-arrival of the vehicle in the vicinity of a point where the vehicle has passed, if the estimated error exceeds a threshold;
a correction step of correcting position/posture information of the imaging device included in a map element corresponding to the vicinity of the point where the vehicle has passed, if the vehicle has moved based on the first information; and
a setting step of setting accuracy with which the three-dimensional map information is generated,
wherein if the accuracy is set high, the threshold is lower as compared to the case if the accuracy is set low.
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