Information processing device and information processing method

1. An information processing device, comprising:

an image sensor configured to capture an image of a landmark;

a depth sensor configured to detect depth data associated with a terrain surrounding the information processing device; and

circuitry configured to:

execute an image recognition process on the captured image;

acquire an arrangement of the landmark based on the image recognition process on the captured image;

acquire a landmark movement range of the landmark;

generate, based on the detected depth data, a first terrain data map indicating surrounding terrain data of the terrain;

estimate, based on the arrangement of the landmark acquired, the landmark movement range and a landmark map indicating the arrangement of the landmark, a range in which a self-position of the information processing device is located;

position, on the first terrain data map, the estimated range in which the self-position is located;

generate a second terrain data map based on the position of the estimated range on the first terrain data map;

estimate, based on the second terrain data map and the landmark movement range, the self-position from the range in which the self-position is located; and

control self-driving of the information processing device based on the estimated self-position.

2. The information processing device according to claim 1 , wherein the circuitry is further configured to:

acquire movement ranges of a plurality of landmarks together with an arrangement of the plurality of landmarks, wherein the plurality of landmarks includes the landmark;

estimate the range in which the self-position is located, based on the arrangement of the plurality of landmarks and the movement ranges of the plurality of landmarks; and

estimate the self-position from the range in which the self-position is located, based on the second terrain data map and the movement ranges of the plurality of landmarks.

3. The information processing device according to claim 2 , wherein the circuitry is further configured to:

estimate a plurality of candidates for the self-position based on a movement range of each landmark of the plurality of landmarks; and

estimate the self-position from the range in which the self-position is located based on the plurality of candidates for the self-position.

4. The information processing device according to claim 1 , wherein the landmark movement range is a movement range that is set in advance for each category of the landmark.

5. The information processing device according to claim 1 , wherein the circuitry is further configured to:

acquire control data that controls an operation of the information processing device; and

estimate the self-position from the range in which the self-position is located, based on the second terrain data map, the landmark movement range and the control data.

6. The information processing device according to claim 1 , wherein the landmark includes personal belongings including at least one of a stationery or a tableware that can be carried by a person.

7. The information processing device according to claim 1 , wherein

the image sensor is a red green blue (RGB) camera, and

the depth sensor is configured to detect the depth data using a light detection and ranging, or laser imaging detection and ranging (LiDAR) method.

8. An information processing method, comprising:

capturing, by an image sensor of an information processing device, an image of a landmark;

detecting, by a depth sensor of the information processing device, depth data associated with a terrain surrounding the information processing device;

executing, by circuitry of the information processing device, an image recognition process on the captured image;

acquiring, by the circuitry, an arrangement of the landmark based on the image recognition process on the captured image;

acquiring, by the circuitry, a landmark movement range of the landmark;

generating, by the circuitry, based on the detected depth data, a first terrain data map indicating surrounding terrain data of the terrain;

estimating, by the circuitry, based on the arrangement of the landmark acquired, the landmark movement range and a landmark map indicating the arrangement of the landmark, a range in which a self-position of the information processing device is located;

positioning, by the circuitry, on the first terrain data map, the estimated range in which the self-position is located;

generating, by the circuitry, a second terrain data map based on the position of the estimated range on the first terrain data map;

estimating, by the circuitry, based on the second terrain data map and the landmark movement range, the self-position in the range in which the self-position is located; and

controlling, by the circuitry, self-driving of the information processing device based on the estimated self-position.

9. A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by an information processing device, cause the information processing device to execute operations, the operations comprising:

capturing, by an image sensor of the information processing device, an image of a landmark;

detecting, by a depth sensor of the information processing device, depth data associated with a terrain surrounding the information processing device;

executing, by circuitry of the information processing device, an image recognition process on the captured image;

acquiring, by the circuitry, an arrangement of the landmark based on the image recognition process on the captured image;

acquiring, by the circuitry, a landmark movement range of the landmark;

generating, by the circuitry, based on the detected depth data, a first terrain data map indicating surrounding terrain data of the terrain;

estimating, by the circuitry, based on the arrangement of the landmark acquired, the landmark movement range and a landmark map indicating the arrangement of the landmark, a range in which a self-position of the information processing device is located;

positioning, by the circuitry, on the first terrain data map, the estimated range in which the self-position is located;

generating, by the circuitry, a second terrain data map based on the position of the estimated range on the first terrain data map;

estimating, by the circuitry, based on the second terrain data map and the landmark movement range, the self-position from the range in which the self-position is located; and

controlling, by the circuitry, self-driving of the information processing device based on the estimated self-position.