Information processing apparatus, information processing method, program, and flight object

1 . An information processing apparatus comprising:

circuitry configured to

generate a three-dimensional real-time observation result based on self-position estimation information and three-dimensional distance measurement information obtained from a sensor,

acquire a prior map corresponding to the three-dimensional real-time observation result,

align the three-dimensional real-time observation result with the prior map,

expand the three-dimensional real-time observation result based on the prior map, and

determine a flight route based on the three-dimensional real-time observation result having been expanded,

wherein the prior map includes information related to recognized environmental structure including at least one of a topography, a wall, or a building,

wherein the circuitry is further configured to expand the three-dimensional real-time observation result corresponding to semantic segmentation of the recognized environmental structure so that an expanded area of the three-dimensional real-time result is continuous for same semantics within and outside a detection range of the sensor, and

wherein the circuitry is further configured to

perform the semantic segmentation on the three-dimensional real-time observation result to determine whether continuity is present in semantics at a connection portion with respect to previously performed semantic segmentation of the prior map in relation to the recognized environmental structure, and

expand, with a result of the semantic segmentation, a plane at the connection portion.

2 . The information processing apparatus according to claim 1 ,

wherein the circuitry is configured to expand the three-dimensional real-time observation result in an unobservable area.

3 . The information processing apparatus according to claim 1 ,

wherein the circuitry is further configured to

perform plane detection on the three-dimensional real-time observation result, and

expand, with a result of the plane detection, the plane based on information regarding the prior map.

4 . The information processing apparatus according to claim 1 ,

wherein the three-dimensional real-time observation result corresponds to a three-dimensional occupancy grid map.

5 . The information processing apparatus according to claim 1 ,

wherein the circuitry is configured to acquire the prior map from a different information processing apparatus through communication.

6 . The information processing apparatus according to claim 5 ,

wherein the prior map corresponds to a map based on the three-dimensional real-time observation result generated by the different information processing apparatus.

7 . The information processing apparatus according to claim 1 ,

wherein the prior map corresponds to a map obtained by processing of cutting the three-dimensional real-time observation result at a certain height and converting the cut three-dimensional real-time observation result into a bird's-eye view.

8 . The information processing apparatus according to claim 5 ,

wherein the prior map corresponds to a map obtained by processing of reducing resolution of the three-dimensional real-time observation result to an extent enabling the communication.

9 . An information processing method comprising:

generating a three-dimensional real-time observation result based on self-position estimation information and three-dimensional distance measurement information obtained from a sensor;

acquiring a prior map corresponding to the three-dimensional real-time observation result;

aligning the three-dimensional real-time observation result with the prior map; and

expanding the three-dimensional real-time observation result based on the prior map; and

determining a flight route based on the three-dimensional real-time observation result having been expanded, and

wherein the prior map includes information related to recognized environmental structure including at least one of a topography, a wall, or a building,

wherein the expanding of the three-dimensional real-time observation result corresponds to semantic segmentation of the recognized environmental structure so that an expanded area of the three-dimensional real-time result is continuous for same semantics within and outside a detection range of the sensor, and

wherein the method further comprises:

performing the semantic segmentation on the three-dimensional real-time observation result to determine whether continuity is present in semantics at a connection portion with respect to previously performed semantic segmentation of the prior map in relation to the recognized environmental structure; and

expanding, with a result of the semantic segmentation, a plane at the connection portion.

10 . A flight object comprising:

circuitry configured to

generate a three-dimensional real-time observation result based on self-position estimation information and three-dimensional distance measurement information obtained from a sensor,

acquire a prior map corresponding to the three-dimensional real-time observation result,

align the three-dimensional real-time observation result with the prior map,

expand the three-dimensional real-time observation result based on the prior map, and

determine a flight route based on the three-dimensional real-time observation result having been expanded,

wherein the prior map includes information related to recognized environmental structure including at least one of a topography, a wall, or a building,

wherein the expanding of the three-dimensional real-time observation result corresponds to semantic segmentation of the recognized environmental structure so that an expanded area of the three-dimensional real-time result is continuous for same semantics within and outside a detection range of the sensor, and

wherein the circuitry is further configured to

perform the semantic segmentation on the three-dimensional real-time observation result to determine whether continuity is present in semantics at a connection portion with respect to previously performed semantic segmentation of the prior map in relation to the recognized environmental structure, and

expand, with a result of the semantic segmentation, a plane at the connection portion.

11 . The flight object according to claim 10 ,

wherein the circuitry is configured to acquire the prior map from a different flight object from the flight object through communication.

12 . The flight object according to claim 11 ,

wherein the prior map corresponds to a map based on the three-dimensional real-time observation result generated by the different flight object.

13 . The flight object according to claim 10 ,

wherein the prior map corresponds to a map obtained by processing of cutting the three-dimensional real-time observation result at a certain height and converting the cut three-dimensional real-time observation result into a bird's-eye view.

14 . The flight object according to claim 10 ,

wherein the prior map corresponds to a map obtained by processing of reducing resolution of the three-dimensional real-time observation result to an extent enabling the communication.

15 . The flight object according to claim 10 ,

wherein the circuitry is further configured to

perform plane detection on the three-dimensional real-time observation result, and

expand, with a result of the plane detection, the plane based on information regarding the prior map.