Information processing device, map update method, program, and information processing system

• US 10,083,188 B2
• Filed: 07/12/2017
• Issued: 09/25/2018
• Est. Priority Date: 03/09/2010
• Status: Active Grant

• Current Assignee: Sony Corporation (Sony Group Corp.)
• Original Assignee: Sony Corporation (Sony Group Corp.)
• Inventors: Oi, Kenichiro, Wang, Quan, Matsuda, Kouichi, Yoshigahara, Takayuki
• Primary Examiner(s): EL CHANTI, HUSSEIN A
• Application Number:
  US15/647,813
• Publication Number:
  US 20170322949A1
• Time in Patent Office: 440 Days
• CPC Class Codes: G06F 16/2379 Updates performed during online database operations; commit processing
• CPC Class Codes: G06F 16/29 Geographical information databases
• CPC Class Codes: G06F 16/51 Indexing; Data structures therefor; Storage structures
• CPC Class Codes: G06T 1/20 Processor architectures; Processor configuration, e.g. pipelining
• CPC Class Codes: G06T 11/20 Drawing from basic elements, e.g. lines or circles
• CPC Class Codes: G06T 15/20 Perspective computation
• CPC Class Codes: G06T 2200/04 involving 3D image data
• CPC Class Codes: G06T 2219/024 Multi-user, collaborative environment
• CPC Class Codes: G06T 3/20 Linear translation of whole images or parts thereof, e.g. panning
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06T 7/60 Analysis of geometric attributes
• CPC Class Codes: G06T 7/70 Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06V 30/224 of printed characters having additional code marks or containing code marks
• CPC Class Codes: G09G 2370/02 Networking aspects
• CPC Class Codes: G09G 5/006 Details of the interface to the display terminal specific for a display terminal using a CRT G09G1/167; using a flat panel G09G3/2096; circuits for interfacing with colour displays G09G5/04
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/025 using location based information parameters
• CPC Class Codes: H04W 4/029 Location-based management or tracking services

Abstract

There is provided an information processing device including: a global map acquiring unit that acquires at least a part of a global map representing positions of objects in a real space where a plurality of users are in activity; a local map generating unit that generates a local map representing positions of nearby objects detectable by a device of one user among the plurality of users; and an updating unit that updates the global map based on position data of objects included in the local map.

Claims

1. An information processing device comprising:

a global map acquiring unit that acquires a part of a global map representing positions of one or more feature points on objects in a real space,

wherein the global map is generated based on data from devices of a plurality of users;

a local map generating unit that generates a local map representing positions of the one or more feature points on objects detectable by a first device of one user among the plurality of users,

wherein the local map is generated based on data from the device of a single user;

a position generation unit that generates a position of the first device of the user in the global map, based on feature points in the local map and feature points of the global map; and

an updating unit that updates the global map based on the one or more feature points included in the local map,

wherein the positions of feature points in the global map and the local map are defined as three-dimensional position, and

wherein the global map acquiring unit, the local map generating unit, the position generation unit, and the updating unit are each implemented via at least one processor.

2. The information processing device according to claim 1, further comprising:

a calculating unit that calculates a relative position of the local map to the global map based on the one or more feature points included in the global map and the one or more feature points included in the local map,

wherein the calculating unit is implemented via at least one processor.

3. The information processing device according to claim 2, further comprising:

a converting unit that performs coordinate conversion from position data of the one or more feature points included in the local map to data of a coordinate system of the global map according to the relative position of the local map, wherein the updating unit updates the global map by using the position data of the one or more feature points included in the local map after the coordinate conversion by the converting unit,

wherein the converting unit is implemented via at least one processor.

4. The information processing device according to claim 1, wherein the information processing device is a terminal device possessed by the user.

5. The information processing device according to claim 3, wherein the global map acquiring unit acquires at least a part of the global map from a server device storing the global map.

6. The information processing device according to claim 4, wherein the global map acquiring unit acquires a part of the global map corresponding to a local area containing a position of the terminal device in the real space.

7. The information processing device according to claim 4, wherein the global map acquiring unit acquires a part of the global map representing positions of a predetermined number of objects located in close proximity to the terminal device.

8. The information processing device according to claim 1, wherein the local map generating unit generates the local map based on an input image obtained by imaging the real space using an imaging device and feature data indicating a feature of appearance of one or more objects.

9. The information processing device according to claim 3, wherein the calculating unit calculates the relative position of the local map based on position data of an immobile object included in common in the global map and the local map.

10. The information processing device according to claim 3, wherein the calculating unit calculates the relative position of the local map so that, when converting the position data of the one or more feature points included in the local map into the data of the coordinate system of the global map, a difference between the data after conversion and the position data of the one or more feature points included in the global map is smaller as a whole.

11. The information processing device according to claim 1, wherein the global map includes position data of each object in the real space in a coordinate system of the global map and a time stamp related to the position data.

12. The information processing device according to claim 1, wherein the global map acquiring unit is configured so as not to acquire any global map other than one that is within a predetermined distance from the information processing device.

13. An information processing method comprising:

acquiring a part of a global map representing positions of one or more feature points on objects in a real space,

wherein the global map is generated based on data from devices of a plurality of users;

generating a local map representing positions of the one or more feature points on objects detectable by a first device of one user among the plurality of users;

generating a position of the first device of the user in the global map, based on feature points in the local map and feature points of the global map; and

updating the global map based on the one or more feature points included in the local map,

wherein the positions of feature points in the global map and the local map are defined as three-dimensional position.

14. An information processing device comprising:

circuitry configured to

acquire a part of a global map representing positions of one or more feature points on objects in a real space,

wherein the global map is generated based on data from devices of a plurality of users;

generate a local map representing positions of the one or more feature points on objects detectable by a first device of one user among the plurality of users,

wherein the local map is generated based on data from the device of a single user;

generate a position of the first device of the user in the global map, based on feature points in the local map and feature points of the global map; and

update the global map based on the one or more feature points included in the local map,

wherein the positions of feature points in the global map and the local map are defined as three-dimensional position.

15. An information processing system comprising:

a server device that stores a global map representing positions of one or more feature points on objects in a real space, wherein the global map is generated based on data from devices of a plurality of users; and

an information processing device possessed by one user among the plurality of users, the information processing device including;

a global map acquiring unit that acquires a part of the global map representing positions of one or more feature points on objects in a real space,

wherein the global map is generated based on data from devices of the plurality of users;

a local map generating unit that generates a local map representing positions of the one or more feature points on objects detectable by a first device of one user among the plurality of users,

wherein the local map is generated based on data from the device of a single user;

a position generation unit that generates a position of the first device of the user in the global map, based on feature points in the local map and feature points of the global map; and

an updating unit that updates the global map based on the one or more feature points included in the local map,

wherein the positions of feature points in the global map and the local map are defined as three-dimensional position, and

wherein the global map acquiring unit, the local map generating unit, the position generation unit, and the updating unit are each implemented via at least one processor.