Granted Patent B2

US 12,586,319 · App. 18/002,663 · Granted Mar 24, 2026

Inventor: Atsushi Izumihara (Tokyo, JP)

Assignee: Sony Group Corporation

G06T19/006G06T15/20G06T19/003G06T19/20G06T2200/24G06T2219/2016

Abstract

Claims (52)

1 . An information processing method for controlling a mobile object, which is executed by a computer system, comprising:

obtaining a three-dimensional map of a real space surrounding the mobile object;

detecting a candidate plane from the three-dimensional map;

setting, based on the detected candidate plane, a reference point at a position separated from the detected candidate plane by a predetermined distance, the reference point serving as a reference of an operable range;

setting the operable range around the reference point, the operable range being a range in which an operation relating to the real space can be executed by the user;

setting, by a user, a virtual viewpoint of the user with respect to the real space at any location in the three-dimensional map separated from the reference point;

and

generating, by the user, a path of the mobile object within the operable range.

2 . The information processing method according to claim 1 , wherein

setting the virtual viewpoint includes setting a first virtual viewpoint within the real space and setting a second virtual viewpoint different from the first virtual viewpoint within the operable range.

3 . The information processing method according to claim 1 , further comprising

changing a scale of the operable range.

4 . The information processing method according to claim 1 , further comprising

setting a position of the virtual viewpoint and a scale of the operable range on a basis of a size of the real space, and

changing the set position of the virtual viewpoint and the set scale of the operable range with the reference point as a reference.

5 . The information processing method according to claim 1 , wherein

detecting the candidate plane is based on a predetermined axis of the real space.

6 . The information processing method according to claim 1 ,

further comprising changing scale of the operable range on a basis of a position of the virtual viewpoint.

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

setting the virtual viewpoint includes setting a position of the virtual viewpoint on a basis of a scale of the operable range.

8 . The information processing method according to claim 1 , further comprising

presenting a graphical user interface (GUI) capable of controlling the virtual viewpoint and the operable range to the user.

9 . The information processing method according to claim 8 , wherein

presenting includes presenting a virtual viewpoint image obtained when the user views the real space from the virtual viewpoint, and

the GUI is capable of setting a first virtual viewpoint within the real space and setting a second virtual viewpoint different from the first virtual viewpoint within the operable range.

10 . The information processing method according to claim 8 , wherein

the GUI is capable of setting the candidate plane for setting the virtual viewpoint or the operable range from the real space within the operable range.

11 . The information processing method according to claim 1 , wherein

the three-dimensional map created by a sensor.

12 . The information processing method according to claim 11 , wherein

changing a scale of the operable range on a basis of the three-dimensional map created by the sensor.

13 . The information processing method according to claim 11 , wherein

the sensor is mounted on the mobile object.

14 . The information processing method according to claim 13 , further comprising:

presenting a graphical user interface (GUI) capable of generating a path, along which the mobile object moves, by an operation of the user.

15 . A non-transitory computer readable storage medium storing a program thereon, which, when run, causes a computer system to execute

obtaining a three-dimensional map of a real space surrounding the mobile object;

detecting a candidate plane from the three-dimensional map;

setting, based on the detected candidate plane, a reference point at a position separated from the detected candidate plane by a predetermined distance, the reference point serving as a reference of an operable range;

setting the operable range around the reference point, the operable range being a range in which an operation relating to the real space can be executed by the user:

setting, by a user, a virtual viewpoint of the user with respect to the real space at any location in the three-dimensional map separated from the reference point;

and

generating, by the user, a path of a mobile object within the operable range.

16 . An information processing system, comprising:

a mobile object that moves in a real space; and

an information processing apparatus including a control circuit configured to obtain a three-dimensional map of the real space;

detect a candidate plane from the three-dimensional map;

set, based on the detected candidate plane, a reference point at a position separated from the detected candidate plane by a predetermined distance, the reference point serving as a reference of an operable range;

set, by a user, a virtual viewpoint of the user with respect to the real space at any location in the three-dimensional map separated from the reference point,

and

generate, by a user, a path of the mobile object within the operable range.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (14)