Information processing method and information processor
There is provided an information processing method of the present disclosure includes performing processing to receive, on a predetermined coordinate system, input information including multiple scheduled points of shooting by a camera provided in a mobile body and information on respective camera attitudes at the multiple scheduled shooting points. The information processing method further includes performing processing to create a prior trajectory of the mobile body on a basis of the received input information.
1. An information processing method, comprising:
receiving, on a specific coordinate system, input information including:
a first information corresponding to multiple scheduled points of shooting by a camera in a mobile body, and
a second information corresponding to respective camera attitudes at the multiple scheduled points of shooting;
creating a prior trajectory of the mobile body based on the received input information, wherein the creation of the prior trajectory includes creation of a partial trajectory based on
a first camera attitude at a first scheduled point of shooting of the multiple scheduled points of shooting, and
a second camera attitude at a second scheduled point of shooting of the multiple scheduled points of shooting;
evaluating that the created partial trajectory is passable by the mobile body, wherein
the evaluation includes a determination that a moving direction, based on a movement through the partial trajectory, is passable by a kinetic capability of the mobile body; and
controlling a drive mechanism of the mobile body based on the evaluation.
2. The information processing method according to claim 1 , further comprising: creating the partial trajectory based on a determination that the partial trajectory is evaluated as unpassable.
3. The information processing method according to claim 1 , further comprising: receiving the input information based on a determination that the partial trajectory is evaluated as unpassable.
4. The information processing method according to claim 1 , wherein the evaluation includes processing to evaluate that at least one of a speed, acceleration, or jerk upon movement through the partial trajectory is passable by the kinetic capability of the mobile body.
5. The information processing method according to claim 1 , wherein the creation of the partial trajectory includes creation of multiple trajectory candidates between a plurality of attitudes of the first camera attitude and the second camera attitude, based on the kinetic capability of the mobile body.
6. The information processing method according to claim 1 , wherein the specific coordinate system includes a map coordinate system.
7. The information processing method according to claim 1 , wherein the specific coordinate system includes a self-position coordinate system.
8. An information processing device, comprising:
a memory; and
a central processing unit (CPU) configured to;
receive, on a specific coordinate system, input information including:
a first information corresponding to multiple scheduled points of shooting by a camera in a mobile body, and
a second information corresponding to respective camera attitudes at the multiple scheduled points of shooting;
create a prior trajectory of the mobile body based on the received input information, wherein the creation of the prior trajectory includes creation of a partial trajectory based on
a first camera attitude at a first scheduled point of shooting of the multiple scheduled points of shooting, and
a second camera attitude at a second scheduled point of shooting of the multiple scheduled points of shooting;
evaluate that the created partial trajectory is passable by the mobile body, wherein
the evaluation includes a determination that a moving direction, based on a movement through the partial trajectory, is passable by a kinetic capability of the mobile body; and
control a drive mechanism of the mobile body based on the evaluation.
9. A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a computer, cause the computer to execute operations, the operations comprising:
receiving, on a specific coordinate system, input information including:
a first information corresponding to multiple scheduled points of shooting by a camera in a mobile body, and
a second information corresponding to respective camera attitudes at the multiple scheduled points of shooting;
creating a prior trajectory of the mobile body based on the received input information, wherein the creation of the prior trajectory includes creation of a partial trajectory based on
a first camera attitude at a first scheduled point of shooting of the multiple scheduled points of shooting, and
a second camera attitude at a second scheduled shooting point of shooting of the multiple scheduled points of shooting;
evaluating that the created partial trajectory is passable by the mobile body, wherein
the evaluation includes a determination that a moving direction, based on a movement through the partial trajectory, is passable by a kinetic capability of the mobile body; and
controlling a drive mechanism of the mobile body based on the evaluation.