| CPC G05D 1/0044 (2013.01) [G05D 1/0016 (2013.01); G05D 1/0219 (2013.01); G05D 1/0246 (2013.01)] | 10 Claims |
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1. An information processing device comprising:
circuitry configured to
acquire instruction information including instruction from an operator on a first moving direction for a moving body in an absolute coordinate system,
transform, in real time, the first moving direction included in the acquired instruction information into a second moving direction in a relative coordinate system based on a reference position, which is determined according to a surrounding environment of the moving body, and a relative position of the moving body to the reference position, the reference position being determined based on a centroid of a group comprising a plurality of operation targets as a group to be photographed by the moving body,
determine that the one of the plurality of targets is separated from the group, under a condition that a distance between the one of the plurality of targets and the centroid of the group exceeds a predetermined threshold,
switch the reference position, in the relative coordinate system, from the current reference position determined based on the plurality of targets, to a new reference position determined based on the one of the plurality of targets that is separate from the group, and
control the moving body on the basis of the second moving direction.
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