公开(公告)号：US20220253058A1

公开(公告)日：2022-08-11

申请号：US17625266

申请日：2020-06-12

Applicant: SONY GROUP CORPORATION

Inventor： RYO WATANABE ,  NOZOMU IKEDA ,  MIKIO NAKAI

IPC: G05D1/02

Abstract: A mobile object control device (1) includes a first detection unit (21), a second detection unit (22), and a stillness determination unit (24). On the basis of a sensor mounted on a mobile object (100) that moves autonomously, the first detection unit (21) detects a movement state of the mobile object (100). The second detection unit (22) detects at least one of cartographic information at a current location of the mobile object (100), object information present in a periphery of the mobile object (100), and operation information of a movable portion included in the mobile object (100). The stillness determination unit (24) determines whether the mobile object (100) is in a static state on the basis of the movement state detected by the first detection unit (21) and the information detected by the second detection unit (22).

公开(公告)号：US20220317293A1

公开(公告)日：2022-10-06

申请号：US17629540

申请日：2020-07-08

Applicant: SONY GROUP CORPORATION

Inventor： MIKIO NAKAI ,  RYO WATANABE

IPC: G01S15/86 ,  G01S17/87 ,  G01S15/93 ,  G01S17/89 ,  G01S17/93

Abstract: An information processing apparatus according to the present disclosure includes: a preliminary map generation unit that creates a preliminary map based on ranging information obtained by an optical ranging sensor; an acquisition unit that acquires measurement information obtained by an ultrasonic sensor; and a difference extraction unit that extracts difference information between the preliminary map and the measurement information.

公开(公告)号：US20220207883A1

公开(公告)日：2022-06-30

申请号：US17607057

申请日：2020-04-27

Applicant: SONY GROUP CORPORATION

Inventor： RYO WATANABE ,  MIKIO NAKAI

IPC: G06V20/58 ,  G06V10/764

Abstract: An information processing apparatus according to an embodiment of the present technology includes a classification unit and a generation unit. The classification unit classifies an object detected in a space on a basis of a predetermined criterion. The generation unit sets a priority for the object on a basis of a classification result by the classification unit, and generates position-related information regarding a position in the space on a basis of the set priority. Use of the position-related information makes it possible to improve the accuracy of autonomous movement control. This makes it possible to improve the accuracy of autonomous movement control.

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：US20220282987A1

公开(公告)日：2022-09-08

申请号：US17630247

申请日：2020-07-06

Applicant: SONY GROUP CORPORATION

Inventor： MIKIO NAKAI ,  RYO WATANABE ,  KAZUNORI YAMAMOTO ,  MARI IKENAGA

IPC: G01C21/00 ,  G01C21/30 ,  G05D1/02

Abstract: An information processing system according to the present disclosure includes a mobile body that creates an advance map corresponding to a travel environment based on a distance measurement result by a distance measurement sensor to perform self-position estimation based on the advance map and an information processing device that arranges nodes in the advance map. The information processing device includes a receiving unit that receives a self-position estimation result of a mobile body in an advance map and a node arrangement unit that arranges nodes in the advance map based on the self-position estimation result.

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.