Element data management apparatus, element data management method, program, and data structure of element data
The present invention provides an element data management apparatus, an element data management method, a program, and a data structure of element data for improving the utility value of environmental maps. An element data storage section ( 40 ) stores at least one piece of element data including environment data generated on the basis of sensing data acquired by a tracker and including sensing time point data associated with a time range in which an element represented by the environment data is estimated to be present in real space on the basis of a time point at which the element was sensed. According to environment data generated on the basis of new sensing data, an element data updating section ( 48 ) identifies the element data associated with additional environment data constituting a portion or all of the environment data. The element data updating section ( 48 ) associates the element data including the additional environment data with the identified element data.
1. An element data management apparatus, comprising:
processing circuitry configured to:
store, in a memory, at least one piece of element data that includes environment data generated on a basis of sensing data acquired by a tracker and that includes sensing time point data associated with a time range in which an element represented by the environment data is estimated to be present in real space on a basis of a time point at which the element was sensed, wherein the element data includes a link to other element data;
identify, according to environment data generated on a basis of new sensing data, the element data associated with additional environment data constituting a portion or all of the generated environment data;
associate the element data including the additional environment data with the identified element data; and
delete marginal element data, wherein marginal element data corresponds to element data of which the number of links to the element data is a predetermined number or less and for which a time period ranging from a time point indicated by appearance time point data to a time point indicated by disappearance time point data is shorter than a predetermined time period.
2. The element data management apparatus according to claim 1 , wherein the processing circuitry is further configured to:
receive designation of a reproduction time point as a time point at which an environmental map is to be reproduced;
identify, from a plurality of pieces of the element data stored in the memory, a plurality of pieces of reproduced element data including the sensing time point data associated with a time range including the reproduction time point; and
generate an environmental map at the reproduction time point by combining the environment data included in each of the identified plurality of pieces of the reproduced element data.
3. The element data management apparatus according to claim 2 , wherein
the processing circuitry is further configured to:
recursively execute a process of identifying, from among the other element data referenced by the link included in the element data, the element data including the sensing time point data associated with the time range including the reproduction time point, starting from the element data constituted by a given root element; and
generate the environmental map at the reproduction time point by combining the environment data included in each of the plurality of pieces of the reproduced element data identified by the recursive execution of the process.
4. The element data management apparatus according to claim 3 , wherein the time range associated with the sensing time point data included in the element data includes a time range associated with the sensing time point data included in the element data referenced by the link included in the element data.
5. The element data management apparatus according to claim 2 , wherein a plurality of pieces of element data stored in the memory constitute a network structure such that the longer a time range of any one of the plurality of pieces of element data associated with the sensing time point data included in the element data, the closer that piece of element data is arranged to a root side and that the shorter the time range of a given piece of element data, the closer that piece of element data is arranged to a leaf side.
6. The element data management apparatus according to claim 1 , wherein the processing circuitry is further configured to
generate a four-dimensional environmental map dimensionally including a three-dimensional space and time based on the stored element data.
7. An element data management method, comprising:
given at least one piece of element data including environment data generated on a basis of sensing data acquired by a tracker and including sensing time point data associated with a time range in which an element represented by the environment data is estimated to be present in real space on a basis of a time point at which the element was sensed, wherein the element data includes a link to other element data, the at least one piece of the element data being stored in a memory, identifying the element data associated with additional environment data constituting a portion or all of environment data generated on a basis of new sensing data;
associating the element data including the additional environment data with the identified element data; and
deleting marginal element data, wherein marginal element data corresponds to element data of which the number of links to the element data is a predetermined number or less and for which a time period ranging from a time point indicated by appearance time point data to a time point indicated by disappearance time point data is shorter than a predetermined time period.
8. A non-transitory computer-readable medium including a program, which when executed by an information processing system, causes the information processing system to:
given at least one piece of element data including environment data generated on a basis of sensing data acquired by a tracker and including sensing time point data associated with a time range in which an element represented by the environment data is estimated to be present in real space on a basis of a time point at which the element was sensed, wherein the element data includes a link to other element data, the at least one piece of the element data being stored in a memory, identify the element data associated with additional environment data constituting a portion or all of environment data generated on a basis of new sensing data;
associate the element data including the additional environment data with the identified element data; and
delete marginal element data, wherein marginal element data corresponds to element data of which the number of links to the element data is a predetermined number or less and for which a time period ranging from a time point indicated by appearance time point data to a time point indicated by disappearance time point data is shorter than a predetermined time period.
9. An information processing system, comprising:
circuitry configured to:
store at least one piece of element data that includes environment data generated on a basis of sensing data acquired by a tracker and that includes sensing time point data associated with a time range in which an element represented by the environment data is estimated to be present in real space on a basis of a time point at which the element was sensed, wherein the element data includes a link to other element data;
identify, according to environment data generated on a basis of new sensing data, the element data associated with additional environment data constituting a portion or all of the generated environment data;
associate the element data including the additional environment data with the identified element data, and
delete marginal element data, wherein marginal element data corresponds to element data of which the number of links to the element data is a predetermined number or less and for which a time period ranging from a time point indicated by appearance time point data to a time point indicated by disappearance time point data is shorter than a predetermined time period.
10. The information processing system of claim 9 , wherein the circuitry is configured to:
receive designation of a reproduction time point as a time point at which an environmental map is to be reproduced; and
identify, from a plurality of pieces of the element data stored in the element data storage section, a plurality of pieces of reproduced element data including the sensing time point data associated with a time range including the reproduction time point.
11. The information processing system of claim 10 , wherein
the circuitry is configured to generate an environmental map at the reproduction time point by combining the environment data included in each of the identified plurality of pieces of the reproduced element data.
12. The information processing system of claim 11 , wherein
the circuitry is configured to recursively execute a process of identifying, from among the other element data referenced by the link included in the element data, the element data including the sensing time point data associated with the time range including the reproduction time point, starting from the element data constituted by a given root element.
13. The information processing system of claim 12 , wherein
the circuitry is configured to generate the environmental map at the reproduction time point by combining the environment data included in each of the plurality of pieces of the reproduced element data identified by the recursive execution of the process.
14. The information processing system of claim 12 , wherein
the time range associated with the sensing time point data included in the element data includes a time range associated with the sensing time point data included in the element data referenced by the link included in the element data.
15. The information processing system of claim 11 , wherein
a plurality of pieces of element data stored constitute a network structure such that the longer a time range of any one of the plurality of pieces of element data associated with the sensing time point data included in the element data, the closer that piece of element data is arranged to a root side and that the shorter the time range of a given piece of element data, the closer that piece of element data is arranged to a leaf side.