US 11,854,210 B2
Information processing apparatus, information processing method, program, and flight object
Masahiko Toyoshi, Kanagawa (JP); Kohei Urushido, Kanagawa (JP); Shun Lee, Saitama (JP); Shinichiro Abe, Kanagawa (JP); and Takuto Motoyama, Tokyo (JP)
Assigned to SONY GROUP CORPORATION, Tokyo (JP)
Appl. No. 17/767,347
Filed by SONY GROUP CORPORATION, Tokyo (JP)
PCT Filed Oct. 14, 2020, PCT No. PCT/JP2020/038704
§ 371(c)(1), (2) Date Apr. 7, 2022,
PCT Pub. No. WO2021/079794, PCT Pub. Date Apr. 29, 2021.
Claims priority of application No. 2019-193922 (JP), filed on Oct. 25, 2019.
Prior Publication US 2022/0392079 A1, Dec. 8, 2022
Int. Cl. G06T 7/194 (2017.01); G06T 7/30 (2017.01); G06V 20/64 (2022.01); B64C 39/02 (2023.01); B64U 101/30 (2023.01)
CPC G06T 7/194 (2017.01) [B64C 39/024 (2013.01); G06T 7/30 (2017.01); G06V 20/647 (2022.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01); G06T 2207/10028 (2013.01); G06T 2207/10032 (2013.01); G06T 2207/30181 (2013.01); G06T 2207/30241 (2013.01)] 13 Claims
OG exemplary drawing
 
1. An information processing apparatus comprising:
a generation unit configured to generate a three-dimensional real-time observation result based on self-position estimation information and three-dimensional distance measurement information;
an acquisition unit configured to acquire a prior map corresponding to the three-dimensional real-time observation result;
an alignment unit configured to align the three-dimensional real-time observation result with the prior map; and
an expansion unit configured to expand, after the alignment, the three-dimensional real-time observation result based on the prior map when it is determined that continuity is present in semantics at a connection portion between the three-dimensional real-time observation result and the prior map,
wherein the generation unit, the acquisition unit, the alignment unit, and the expansion unit are each implemented via at least one processor.