公开(公告)号：US11926038B2

公开(公告)日：2024-03-12

申请号：US16959513

申请日：2018-10-22

Applicant: SONY CORPORATION

Inventor： Ryo Watanabe ,  Shin Yoshimura ,  Toshihisa Sanbommatsu

IPC: B25J13/08 ,  B25J9/16 ,  B25J19/02 ,  G01C21/16 ,  G05D1/00 ,  G05D1/02 ,  G06V20/40

CPC classification number: B25J13/089 ,  B25J9/1664 ,  B25J19/023 ,  G01C21/1656 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/027 ,  G05D1/0272 ,  G06V20/46

Abstract: There is provided an information processing apparatus including a controller that, when an autonomous mobile object estimates a self-position, determines which of a first estimation method using a result of sensing by a first sensor unit configured to sense internal world information in relation to the autonomous mobile object and a second estimation method using a result of sensing by a second sensor unit configured to sense external world information in relation to the autonomous mobile object is used by the autonomous mobile object based on whether a state of the autonomous mobile object is a stopped state.

公开(公告)号：US11592829B2

公开(公告)日：2023-02-28

申请号：US16767593

申请日：2018-11-21

Applicant: Sony Corporation

Inventor： Dai Kobayashi ,  Ryo Watanabe

IPC: G05D1/02 ,  G06N3/04 ,  G06N3/08

Abstract: A control device and a control method can quickly estimate a self-location even when the self-location is unknown. In a case of storing information supplied in a time series detected by LIDAR or a wheel encoder and estimating a self-location by using the stored time-series information, when a position change happens unpredictably in advance such as a kidnap state is detected, the stored time-series information is reset, and then the self-location is estimated again. Example host platforms include a multi-legged robot, a flying object, and an in-vehicle system that autonomously moves in accordance with a mounted computing machine.

公开(公告)号：US11537131B2

公开(公告)日：2022-12-27

申请号：US16763216

申请日：2018-11-06

Applicant: SONY CORPORATION

Inventor： Dai Kobayashi ,  Takamori Yamaguchi ,  Ryo Watanabe

IPC: G05D1/02 ,  G01S17/931 ,  G01C3/08 ,  G01S17/89

Abstract: The present disclosure relates to a control device, and a control method, a program, and a mobile body that enable efficient search for surrounding information when it is in an own position indefinite state. When it is in an own position indefinite state, on the basis of an own position, obstacle position information around oneself, and information of a surface sensing possible range of a surface sensing unit including a stereo camera for determining the own position, information of a surface-sensed area of an obstacle is recorded, and a search route is planned on the basis of the information of the surface-sensed area of the obstacle. The present technology can be applied to a multi-legged robot, a flying body, and an in-vehicle system that autonomously move according to a mounted computer.

公开(公告)号：US11954804B2

公开(公告)日：2024-04-09

申请号：US17250690

申请日：2019-08-14

Applicant: SONY CORPORATION

Inventor： Hajime Wakabayashi ,  Kuniaki Torii ,  Ryo Watanabe

IPC: G06T19/00 ,  G06F18/22 ,  G06V10/74 ,  G06V20/56 ,  G06V20/58

CPC classification number: G06T19/00 ,  G06F18/22 ,  G06T19/006 ,  G06V10/761 ,  G06V20/56 ,  G06V20/58 ,  G06V20/588

Abstract: Provided is an information processing device that enables a virtual object to be displayed at an appropriate position in the real world. The information processing device includes a position estimation unit that estimates a current position in a first coordinate system, a display position setting unit that sets a display position of a virtual object in a third coordinate system on the basis of an environment database, virtual object information including the display position of the virtual object in a second coordinate system, and an observed image captured near the current position, a meta information generation unit that generates observation meta information, and an environment database management unit that compares observation data with environment data of the environment database to determine whether to add the observation data to the environment database.

公开(公告)号：US11822341B2

公开(公告)日：2023-11-21

申请号：US16956664

申请日：2018-12-14

Applicant: SONY CORPORATION

Inventor： Dai Kobayashi ,  Ryo Watanabe

IPC: G06T7/73 ,  G05D1/02 ,  G01S17/42 ,  G01S17/89 ,  G06F18/22

CPC classification number: G05D1/0251 ,  G01S17/42 ,  G01S17/89 ,  G06F18/22 ,  G06T7/74 ,  G06T2207/10012 ,  G06T2207/30252

Abstract: Provided are a control device, a control method, and a mobile object that enable distinction among positions and accurate estimation of a self-position even in an environment where different positions include many similar feature amounts in surroundings and are thus likely to be erroneously detected as being the same position. In accordance with a place corresponding to the self-position, an image feature amount is extracted from an image of surroundings to which a mask has been added on the basis of a place-related non-feature portion representing an area, in the image of the surroundings, that is not useful for identifying the self-position, and the image feature amount and positional information regarding the self-position are associated with each other and registered in a position/image feature amount database (DB).

公开(公告)号：US11661084B2

公开(公告)日：2023-05-30

申请号：US16763223

申请日：2018-10-30

Applicant: SONY CORPORATION

Inventor： Ryo Watanabe ,  Masataka Toyoura ,  Takamori Yamaguchi ,  Ryo Takahashi ,  Keisuke Maeda

IPC: B60W60/00 ,  G01C21/34 ,  G01S19/42

CPC classification number: B60W60/0025 ,  G01C21/3407 ,  G01C21/3453 ,  G01S19/42

Abstract: An information processing apparatus according to an aspect of the present technology includes an estimation unit, a generation unit, and a frequency control unit. The estimation unit estimates at least one of a location or a posture of a mobile object. The generation unit generates a movement plan for moving the mobile object. The frequency control unit controls frequency of update of the movement plan to be performed by the generation unit, on the basis of load index information serving as an index of a load on the estimation unit.

公开(公告)号：US11500386B2

公开(公告)日：2022-11-15

申请号：US16645174

申请日：2018-09-04

Applicant: Sony Corporation

Inventor： Dai Kobayashi ,  Takamori Yamaguchi ,  Ryo Watanabe

IPC: G05D1/02 ,  G05D1/00 ,  H04W4/40

Abstract: An action plan is generated even when the own position is unknown in order to move autonomously. A route is planned for each position constituting an own-position candidate on the basis of status of surroundings. Multiple candidates of an action plan constituting multiple action candidates are generated on the basis of the planned routes. An evaluation value is set to each of the generated multiple action plan candidates. The action plan is determined using the action plan candidates in accordance with their evaluation values. This technology is applied advantageously to multi-legged robots, flying objects, and onboard systems each controlled by an onboard computer to move autonomously.

公开(公告)号：US20210026356A1

公开(公告)日：2021-01-28

申请号：US16645174

申请日：2018-09-04

Applicant: Sony Corporation

Inventor： Dai Kobayashi ,  Takamori Yamaguchi ,  Ryo Watanabe

IPC: G05D1/02 ,  G05D1/00

Abstract: An action plan is generated even when the own position is unknown in order to move autonomously. A route is planned for each position constituting an own-position candidate on the basis of status of surroundings. Multiple candidates of an action plan constituting multiple action candidates are generated on the basis of the planned routes. An evaluation value is set to each of the generated multiple action plan candidates. The action plan is determined using the action plan candidates in accordance with their evaluation values. This technology is applied advantageously to multi-legged robots, flying objects, and onboard systems each controlled by an onboard computer to move autonomously.