公开(公告)号：US20220334259A1

公开(公告)日：2022-10-20

申请号：US17763347

申请日：2020-08-11

Applicant: SONY GROUP CORPORATION

Inventor： MASATAKA TOYOURA ,  KEISUKE TSUDAKA

IPC: G01S17/89 ,  G01S17/86 ,  G01S17/931

Abstract: To provide an information processing apparatus, an information processing method, and a program that are capable of continuingly generating a self-position also in a featureless environment, that is, an environment where a movable object moves and which has no features. An information processing apparatus includes a first self-position identification unit and an evaluation unit. The first self-position identification unit identifies a first self-position of a movable object on the basis of first sensing data. The evaluation unit evaluates whether or not each component of the identified first self-position is valid.

公开(公告)号：US20220253065A1

公开(公告)日：2022-08-11

申请号：US17597356

申请日：2020-06-17

Applicant: SONY GROUP CORPORATION

Inventor： MASATAKA TOYOURA

IPC: G05D1/02

Abstract: An information processing apparatus of the present disclosure includes: a first acquisition unit that acquires distance information between a measurement target and a distance measurement sensor, which is measured by the distance measurement sensor; a second acquisition unit that acquires position information of a reflector that mirror-reflects a detection target detected by the distance measurement sensor; and an obstacle map creation unit that creates an obstacle map on the basis of the distance information acquired by the first acquisition unit and the position information of the reflector acquired by the second acquisition unit, in which the obstacle map creation unit creates a second obstacle map by specifying a first area in a first obstacle map including the first area created by mirror reflection of the reflector on the basis of the position information of the reflector, integrating a second area, which is obtained by inverting the specified first area with respect to a position of the reflector, into the first obstacle map, and deleting the first area from the first obstacle map.

公开(公告)号：US20220244401A1

公开(公告)日：2022-08-04

申请号：US17623813

申请日：2020-07-01

Applicant: SONY GROUP CORPORATION

Inventor： YUSUKE TAKAHASHI ,  MASATAKA TOYOURA ,  RYO WATANABE

IPC: G01S19/22 ,  G01C21/20 ,  G05D1/10

Abstract: The influence of multipath on the positioning calculation based on positioning signals transmitted from satellites is reduced. A self-position is estimated using a positioning calculation result based on a positioning signal transmitted from a satellite. Movement of a mobile body is controlled on the basis of the estimated self-position. A multipath reduction action signal is output when the mobile body is in a multipath environment. The mobile body is controlled so as to take a multipath reduction action when the mobile body is in a predetermined movement state and the multipath reduction action signal is output.

公开(公告)号：US20240221209A1

公开(公告)日：2024-07-04

申请号：US18556930

申请日：2022-01-17

Applicant: SONY GROUP CORPORATION

Inventor： HIROTAKA TANAKA ,  MASATAKA TOYOURA ,  KOZUE YAMAMOTO ,  YOSHIYA ASAUMI

IPC: G06T7/73 ,  G01C21/00 ,  G06T7/246 ,  G06V10/762 ,  G06V20/50

CPC classification number: G06T7/73 ,  G01C21/005 ,  G01C21/3804 ,  G06T7/246 ,  G06V10/762 ,  G06V20/50 ,  G06T2207/10028

Abstract: An information processor according to the present disclosure includes: a detection processor that detects, on the basis of output data from a first sensor, a first region within an object detection region detected by the first sensor, the first region being unsuitable for self-location estimation and environment map creation; and a data processor that performs the self-location estimation and the environment map creation on the basis of the output data corresponding to a second region excluding the first region within the object detection region.

公开(公告)号：US20220309698A1

公开(公告)日：2022-09-29

申请号：US17597160

申请日：2020-07-01

Applicant: SONY GROUP CORPORATION

Inventor： YUSUKE TAKAHASHI ,  DAI KOBAYASHI ,  RYO WATANABE ,  MASATAKA TOYOURA

IPC: G06T7/70 ,  B64C39/02

Abstract: Provided is a self-position estimation mechanism that can absorb the influence of resetting of a position estimator.
A difference between a position for each epoch and a position of a previous epoch estimated by a first estimation unit using a camera image and IMU information and a velocity and an acceleration for each epoch estimated by a second estimation unit using the camera image and the IMU information are acquired. Whether the difference acquired for each epoch is an outlier is tested on the basis of a threshold and whether the velocity and acceleration acquired for each epoch is an outlier is tested on the basis of a threshold. A self-position is estimated using the difference for each epoch and the velocity and acceleration for each epoch after the outlier is removed.

公开(公告)号：US20220095786A1

公开(公告)日：2022-03-31

申请号：US17310502

申请日：2020-01-31

Applicant: SONY GROUP CORPORATION

Inventor： KOHEI KOJIMA ,  MIKIO NAKAI ,  KUNIAKI TORII ,  TAICHI YUKI ,  KAZUNORI YAMAMOTO ,  TAKAMORI YAMAGUCHI ,  CHAO WANG ,  MASATAKA TOYOURA ,  YOSHIHITO OHKI

IPC: A47B9/00 ,  G06V40/20 ,  G06V20/50 ,  G05B15/02

Abstract: The present technology relates to a moving body and a control method capable of improving affinity of the moving body for a person and a space. A moving body according to one aspect of the present technology includes a top plate that serves as a desk at which a person performs work, a support arm that supports the top plate and that can extend and contract, and a moving unit that holds the support arm and performs movement for causing the work to be performed. Furthermore, the moving body controls a posture state including a state of the support arm and a movement state of the moving unit in accordance with a relationship with an environment state as a state of a surrounding environment and a person state as a state of the person located around, sensed by a sensor. The present technology can be applied to a movable robot.