Information processor, information processing method, and program

1. An information processor comprising:

circuit configured to:

control a motion of an autonomous mobile body acting on a basis of recognition processing,

in a case where a target sound that is a target voice for voice recognition processing is detected, move the autonomous mobile body to a position, around an approach target, where an input level of a non-target sound that is not the target voice becomes lower, the approach target being determined on a basis of the target sound;

control the motion of the autonomous mobile body on a basis of a noise map of a region surrounding the autonomous mobile body, the region including at least a subregion that includes an indication of a presence of the non-target sound and the indication includes information of a noise source that emits the non-target sound; and

control the motion of the autonomous mobile body on a basis of an avoidance priority of the noise source.

2. The information processor according to claim 1 , wherein in a response to the target sound detected, the circuitry is further configured to set the position where an input level of the target sound becomes higher and the input level of the non-target sound becomes lower.

3. The information processor according to claim 1 , wherein in response to the target sound detected, the circuitry is further configured to set the position farther away from the noise source that emits the non-target sound and closer to the approach target.

4. The information processor according to claim 1 , wherein in response to the target sound detected, the circuitry is further configured to move the autonomous mobile body to a side opposite to the noise source that emits the non-target sound with respect to the approach target as a center.

5. The information processor according to claim 1 , wherein

the target sound includes an uttered voice of a user, and

the approach target includes an uttering user that emits the uttered voice.

6. The information processor according to claim 1 , wherein the approach target includes a moving body, a fixed object, or a position identified by the voice recognition processing on a basis of an uttered voice of a user.

7. The information processor according to claim 1 , wherein the avoidance priority of the noise source is determined on a basis of a type of the noise source.

8. The information processor according to claim 1 , wherein the avoidance priority of the noise source is determined on a basis of an influence degree of the non-target sound emitted by the noise source on the voice recognition processing.

9. The information processor according to claim 8 , wherein the influence degree is calculated on a basis of at least one of an index indicating a degree of sound likelihood of the non-target sound or an index indicating a degree of stationarity.

10. The information processor according to claim 1 , wherein in a case where the target sound is not detected, the circuitry is further configured to control the motion of the autonomous mobile body to avoid input of the non-target sound on a basis of the noise map.

11. The information processor according to claim 1 , wherein in a case where the target sound is not detected, the circuitry is further configured to limit a movement range of the autonomous mobile body within a region where the input level of the non-target sound is equal to or lower than a threshold value, on the basis of the noise map.

12. An information processor comprising:

circuitry configured to:

collect sounds of a region surrounding an autonomous mobile body;

create a noise map on a basis of non-target sounds collected from the region, the region including at least a subregion that includes an indication of a presence of at least one non-target sound and the indication includes information of a noise source that emits the at least one non-target sound;

dynamically update the noise map on a basis of the non-target sounds collected from the region;

control the motion of the autonomous mobile body on a basis of the noise map and on a basis of an avoidance priority of the noise source;

control a motion of an autonomous mobile body acting on a basis of recognition processing; and

in a case where a target sound that is a target voice for voice recognition processing is detected, move the autonomous mobile body to a position, around an approach target, where an input level of the at least one non-target sound becomes lower, the approach target being determined on a basis of the target sound.

13. The information processor according to claim 12 , wherein the noise map is created on a basis of direction estimation of the noise source that emits the at least one non-target sound, or sound pressure measurement.

14. The information processor according to claim 12 , wherein the noise map is dynamically updated on a basis of change in number, position, or sound pressure of the noise source that emits the at least one non-target sound.

15. The information processor according to claim 12 , wherein the circuitry creates or updates the noise map on a basis of the at least one non-target sound collected during a time period in which a user exists in a surrounding environment.

16. A non-transitory computer readable medium, which when executed on a computer, causes the computer to

control a motion of an autonomous mobile body acting on a basis of recognition processing;

in a case where a target sound that is a target voice for voice recognition processing is detected, move the autonomous mobile body to a position, around an approach target, where an input level of a non-target sound that is not the target voice becomes lower, the approach target being determined on a basis of the target sound;

control the motion of the autonomous mobile body on a basis of a noise map of a region surrounding the autonomous mobile body, the region including at least a subregion that includes an indication of a presence of the non-target sound and the indication includes information of a noise source that emits the non-target sound; and

control the motion of the autonomous mobile body on a basis of an avoidance priority of the noise source.