INFORMATION PROCESSING APPARATUS, CONTROL METHOD OF THE INFORMATION PROCESSING APPARATUS, AND STORAGE MEDIUM
First Claim
1. An information processing apparatus estimating at least one of self-position and self-orientation in a predetermined coordinate system, comprising:
- a positioning information receiving unit configured to receive positioning information which is transmitted externally;
a received position identifying unit configured to identify a received position of the positioning information in the predetermined coordinate system based on the received positioning information;
a marker existence determination unit configured to determine whether there exists at least one of different plural markers, which are disposed in a real world, within a predetermined area where the identified received position is set as a reference thereof;
an imaged image data acquisition unit configured to acquire imaged image data by causing an imaging device to image an oriented direction of the imaging device when it is determined that the marker exists within the predetermined area;
a marker image determination unit configured to determine whether the marker is imaged in the acquired imaged image data; and
a self-position/self-orientation calculation unit configured to calculate at least one of the self-position and the self-orientation in the predetermined coordinate system,wherein, when it is determined that the marker exists within the predetermined area and it is also determined that the marker is imaged in the imaged image data, the self-position/self-orientation calculation unit is configured to calculate at least one of the self-position and the self-orientation based on the marker in the acquired imaged image data, andwherein, when it is determined that the marker does not exist within the predetermined area or when the marker is not imaged in the imaged image data, the self-position/self-orientation calculation unit is configured to calculate at least one of the self-position and the self-orientation based on received position information, which indicates the identified received position, and physical amounts which are measured by sensors for measuring the physical amounts to be used for autonomous navigation.
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Accused Products
Abstract
An information processing apparatus includes a self-position/self-orientation calculation unit calculating self-position and/or self-orientation in the predetermined coordinate system based on a marker in acquired imaged image data when it is determined that the marker exists within a predetermined area and the marker is imaged in the imaged image data and based on received position information and physical amounts measured by sensors for measuring the physical amounts to be used for autonomous navigation when the marker does not exist within the predetermined area or the marker is not imaged in the imaged image data.
27 Citations
9 Claims
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1. An information processing apparatus estimating at least one of self-position and self-orientation in a predetermined coordinate system, comprising:
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a positioning information receiving unit configured to receive positioning information which is transmitted externally; a received position identifying unit configured to identify a received position of the positioning information in the predetermined coordinate system based on the received positioning information; a marker existence determination unit configured to determine whether there exists at least one of different plural markers, which are disposed in a real world, within a predetermined area where the identified received position is set as a reference thereof; an imaged image data acquisition unit configured to acquire imaged image data by causing an imaging device to image an oriented direction of the imaging device when it is determined that the marker exists within the predetermined area; a marker image determination unit configured to determine whether the marker is imaged in the acquired imaged image data; and a self-position/self-orientation calculation unit configured to calculate at least one of the self-position and the self-orientation in the predetermined coordinate system, wherein, when it is determined that the marker exists within the predetermined area and it is also determined that the marker is imaged in the imaged image data, the self-position/self-orientation calculation unit is configured to calculate at least one of the self-position and the self-orientation based on the marker in the acquired imaged image data, and wherein, when it is determined that the marker does not exist within the predetermined area or when the marker is not imaged in the imaged image data, the self-position/self-orientation calculation unit is configured to calculate at least one of the self-position and the self-orientation based on received position information, which indicates the identified received position, and physical amounts which are measured by sensors for measuring the physical amounts to be used for autonomous navigation. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling an information processing apparatus estimating at least one of self-position and self-orientation in a predetermined coordinate system, the method comprising:
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receiving positioning information which is transmitted externally; identifying a received position of the positioning information in the predetermined coordinate system based on the received positioning information; determining whether there exists at least one of different plural markers, which are disposed in a real world, within a predetermined area where the identified received position is set as a reference thereof; acquiring imaged image data by causing an imaging device to image an oriented direction of the imaging device when it is determined that the marker exists within the predetermined area; determining whether the marker is imaged in the acquired imaged image data; calculating, when it is determined that the marker exists within the predetermined area and it is also determined that the marker is imaged in the imaged image data, at least one of the self-position and the self-orientation based on the marker in the acquired imaged image data, and calculating, when it is determined that the marker does not exist within the predetermined area or when the marker is not imaged in the imaged image data, at least one of the self-position and the self-orientation based on received position information, which indicates the identified received position, and physical amounts which are measured by sensors for measuring the physical amounts to be used for autonomous navigation.
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9. A non-transitory storage medium storing a computer-readable program causing an information processing apparatus estimating at least one of self-position and self-orientation in a predetermined coordinate system to execute a control method comprising:
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receiving positioning information which is transmitted externally; identifying a received position of the positioning information in the predetermined coordinate system based on the received positioning information; determining whether there exists at least one of different plural markers, which are disposed in a real world, within a predetermined area where the identified received position is set as a reference thereof; acquiring imaged image data by causing an imaging device to image an oriented direction of the imaging device when it is determined that the marker exists within the predetermined area; determining whether the marker is imaged in the acquired imaged image data; calculating, when it is determined that the marker exists within the predetermined area and it is also determined that the marker is imaged in the imaged image data, at least one of the self-position and the self-orientation based on the marker in the acquired imaged image data, and calculating, when it is determined that the marker does not exist within the predetermined area or when the marker is not imaged in the imaged image data, at least one of the self-position and the self-orientation based on received position information, which indicates the identified received position, and physical amounts which are measured by sensors for measuring the physical amounts to be used for autonomous navigation.
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Specification