Information processing apparatus, control method of information processing apparatus, and storage medium
The information processing apparatus is provided with a measurement unit configured to perform position and orientation measurement of at least one of a position and an orientation of a moving body based on a first sensor data and a second sensor data stored in a moving body, a control content determination unit configured to determine control content of the moving body based on at least one of the position and orientation measured by the measurement unit, a dependency degree acquisition unit configured to acquire a dependency degree of the second sensor data with respect to the first sensor data, and a reliability degree calculation unit configured to calculate a reliability degree that represents a smallness of an accumulation value of the dependency degree, wherein the control content determination unit is configured to determine a control content of the moving body based on the reliability degree.
1. An information processing apparatus comprising:
at least one processor and memory holding a program which makes the processor function as:
a measurement unit configured to carry out position and orientation measurement of at least one of a position and an orientation of the moving body based on first sensor data and second sensor data stored in a moving body,
a control content determination unit configured to determine a control content of the moving body based on at least one of a position and an orientation measured by the measurement unit,
a dependency degree acquisition unit configured to acquire a dependency degree of the second sensor data with respect to the first sensor data in a measurement by the measurement unit, and
a reliability degree calculation unit configured to calculate a reliability degree that represents a smallness of an accumulation value of the dependency degree,
wherein the control content determination unit is configured to determine a control content of the moving body based on the reliability degree that has been calculated by the reliability degree calculation unit.
2. The information processing apparatus according to claim 1 , wherein the control content determination unit is configured to determine the control content so that the reliability degree that has been calculated by the reliability degree calculation unit becomes higher.
3. The information processing apparatus according to claim 1 , wherein the reliability degree calculation unit is configured to calculate the reliability degree so that the larger the accumulated value of the dependency degree becomes, the lower the reliability degree becomes.
4. The information processing apparatus according to claim 1 , wherein the reliability degree calculation unit is configured to calculate the reliability degree so that as the time in a state in which the dependency degree exceeds a predetermined value continues becomes greater, the lower the reliability degree becomes.
5. The information processing apparatus according to claim 1 , wherein the reliability degree calculation unit is configured to calculate the reliability degree so that as the distance traveled in a state in which the dependency degree exceeds a predetermined value continues becomes greater, the lower the reliability degree becomes.
6. The information processing apparatus according to claim 1 , further configured to include a notification unit that is configured to notify a user that the reliability degree of a measurement by the measurement unit has decreased.
7. The information processing apparatus according to claim 1 , wherein, based on the reliability degree, the control content determination unit is further configured to determine at least one of the progression of the moving body, the speed of the moving body, the orientation of the moving body, and the route of the moving body.
8. The information processing apparatus according to claim 1 , wherein, based on the reliability degree, the control content determination unit is further configured to determine a reliability distribution capable of identifying a magnitude of the reliability degree.
9. The information processing apparatus according to claim 8 , configured to further include
a reliability degree distribution holding unit that is configured to hold the reliability degree distribution that associates the reliability degree calculated by the reliability degree calculation unit with at least one of the position and orientation measured by the measurement unit,
wherein the control content determination unit is configured to determine the control content so as to improve the accuracy of a position and orientation measurement by the first sensor data based on a relationship between the reliability degree of the reliability degree distribution held by the reliability degree distribution holding unit and at least one of the position and the orientation.
10. The information processing apparatus according to claim 9 , wherein the control content determination unit is further configured to determine a control content so as to change a route of the moving body to a route that improves the accuracy of a position and orientation measurement with respect to the first sensor data based on the distribution of the reliability degree held by the reliability degree distribution holding unit.
11. The information processing apparatus according to claim 9 , wherein the control content determination unit is further configured to determine the control content so as to display the distribution of the reliability degree held by the reliability degree distribution holding unit.
12. The information processing apparatus according to claim 1 , wherein the dependency degree acquisition unit is configured to acquire a dependency degree that is calculated based on the accuracy of a position and orientation measurement by using the first sensor data.
13. The information processing apparatus according to claim 12 , wherein the first sensor data is image data that has been captured by an image capturing apparatus that is mounted on the moving body, and
wherein the measurement unit is configured to perform measurement of at least one of a position and an orientation based on the number of feature points in the image data, and to determine the accuracy of a position and orientation measurement by the first sensor data based on the number of feature points in the image data.
14. The information processing apparatus according to claim 13 , wherein the second sensor data is inertial measurement data measured by an inertial measurement device that is mounted on the moving body.
15. The information processing apparatus according to claim 1 , wherein based on the reliability degree, the control content determination unit is further configured to determine at least one of the progression of the moving body, the speed of the moving body, the orientation of the moving body, and the route of the moving body.
16. A control method of an information processing apparatus, the method comprising:
a measurement step of measuring at least one of a position and an orientation of a moving body based on a first sensor data and a second sensor data stored in the moving body,
a control content determination step of determining a control content of the moving body based on at least one of a position and an orientation measured by the measurement step,
a dependency degree acquisition step of acquiring a dependency degree of the second sensor data with respect to the first sensor data in the measurement by the measurement step, and
a reliability degree calculation step of calculating a reliability degree that represents a smallness of an accumulated value of the dependency degree,
wherein the control content determination step determines a control content of the moving body based on the reliability degree calculated by the reliability degree calculation step.
17. A non-transitory computer-readable storage medium configured to store a computer program for an image processing apparatus to execute the following steps:
a measurement step of measuring at least one of a position and an orientation of a moving body based on a first sensor data and a second sensor data stored in the moving body,
a control content determination step of determining a control content of the moving body based on at least one of a position and an orientation measured by the measurement step,
a dependence degree acquiring step that acquires the dependency degree of the first sensor data and the second sensor data in the measurement by the measurement step, and
a reliability degree calculation step of calculating a reliability degree that represents a smallness of an accumulated value of the dependency degree,
wherein the control content determination step determines a control content of the moving body based on the reliability degree calculated by the reliability degree calculation step.