US 12,169,135 B2
Information processing apparatus, information processing method, and storage medium
Ayato Imai, Tokyo (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Mar. 4, 2022, as Appl. No. 17/687,457.
Claims priority of application No. 2021-037808 (JP), filed on Mar. 9, 2021.
Prior Publication US 2022/0291009 A1, Sep. 15, 2022
Int. Cl. G01C 21/36 (2006.01); G01C 21/00 (2006.01); G01C 21/30 (2006.01); H04W 4/02 (2018.01); H04W 4/029 (2018.01)
CPC G01C 21/3638 (2013.01) [G01C 21/30 (2013.01); G01C 21/3844 (2020.08); H04W 4/025 (2013.01); H04W 4/029 (2018.02)] 12 Claims
OG exemplary drawing
 
1. An information processing apparatus comprising:
at least one processor configured to function as:
an acquisition unit configured to acquire three-dimensional map information including a plurality of map elements corresponding to all movement paths of a moving object, each of the plurality of map elements including (i) sensor information obtained by a sensor mounted on the moving object and measuring an environment, and (ii) position and orientation information about the sensor, the position and orientation information being estimated based on the sensor information;
a detection unit configured to detect that the moving object has reached a location near a certain point a plurality of times based on the sensor information included in each of two map elements among the plurality of map elements, wherein each of the two map elements used to detect that the moving object has reached the location near the certain point the plurality of times belongs to a respective movement path of two movement paths among all the movement paths, and wherein the moving object has reached the location near the certain point one of the plurality of times in each of the two movement paths;
a selection unit configured to select map elements on each of the two movement paths, other than the two map elements, for a map elements group, the selected map elements including sensor information obtained by measuring an environment partially common to an environment measured to obtain the sensor information included in each of the two map elements used by the detection unit to detect that the moving object has reached the location near the certain point the plurality of times;
a first position and orientation acquisition unit configured to acquire, for each of the two map elements, a relative position and orientation between the map element on one of the two movement paths and each of the selected map elements on the other of the two movement paths based on the sensor information included in the selected map elements;
a second position and orientation acquisition unit configured to acquire relative positions and orientations between adjacent map elements of the plurality of map elements on all the movement paths;
a correction unit configured to correct the position and orientation information about the sensor included in each of the selected map elements corresponding to the two movement paths where the moving object has reached the location near the certain point the plurality of times based on the relative positions and orientations acquired by the first position and orientation acquisition unit and the relative positions and orientations acquired by the second position and orientation acquisition unit; and
a control device configured to control movements of the moving object based on the corrected position and orientation information.