Information processing device, information processing method, and storage medium
Based on expected position information on a vehicle obtained based on input information input from a sensor when the vehicle makes a predetermined movement with a position/orientation of the sensor maintained relative to the vehicle, and position information on the vehicle estimated based on input information input from the sensor after the vehicle makes the predetermined movement, information related to a change of the position/orientation of the sensor relative to the vehicle after the vehicle makes the predetermined movement, from a held position/orientation, is output.
1. A device comprising: at least one processor; and
a memory coupled to the at least one processor, the memory having instructions that, when executed by the processor, causes the at least one processor to function as:
an estimation unit configured to estimate, when a vehicle provided with a sensor makes a predetermined movement, first position information indicating positions of the vehicle based on input information of the sensor and an orientation of the sensor relative to the vehicle; and
an acquisition unit configured to acquire second position information indicating expected positions of the vehicle corresponding to the predetermined movement while maintaining an original orientation of the sensor relative to the vehicle held by a holding unit;
an output unit configured to output an amount of change between the orientation of the sensor relative to the vehicle when the vehicle has performed the predetermined movement and the original orientation, based on the first position information and the second position information,
wherein a control is performed to cause the orientation of the sensor to change by the amount of change.
2. The device according to claim 1 , wherein the output unit outputs output information indicating a difference in the position of the vehicle based on the first position information and the second position information.
3. The device according to claim 1 , wherein the output unit outputs output information indicating that the orientation of the sensor relative to the vehicle is the predetermined orientation of the sensor relative to the vehicle, when a difference in the position of the vehicle based on the first position information and the second position information is smaller than a predetermined threshold.
4. The device according to claim 1 , wherein the output unit outputs output information indicating that the orientation of the sensor relative to the vehicle is not the predetermined orientation of the sensor relative to the vehicle, when a difference in the position of the vehicle based on the first position information and the second position information is equal to or greater than a predetermined threshold.
5. The device according to claim 1 , wherein the output unit outputs, to a display device, output information indicating that the orientation of the sensor relative to the vehicle is not the predetermined orientation of the sensor relative to the vehicle, when a difference in the position of the vehicle based on the first position information and the second position information is equal to or greater than a predetermined threshold.
6. The device according to claim 1 , wherein the output unit outputs output information to make a display device display the position of the vehicle indicated by the first or the second position information, when a difference in the position of the vehicle based on the first position information and the second position information is equal to or greater than a predetermined threshold.
7. The device according to claim 1 , wherein the output unit outputs, to an audio output device, output information indicating that the orientation of the sensor relative to the vehicle is not the predetermined orientation of the sensor relative to the vehicle, when a difference in the position of the vehicle based on the first position information and the second position information is equal to or greater than a predetermined threshold.
8. The device according to claim 1 , wherein the output unit outputs, to a projection device or a display device, output information indicating the orientation of the sensor corresponding to the predetermined orientation of the sensor relative to the vehicle, when a difference in the position of the vehicle based on the first position information and the second position information is larger than a predetermined value.
9. The device according to claim 1 , wherein the output unit outputs output information differing depending on a magnitude of a difference in the position of the vehicle based on the first position information and the second position information based on a plurality of thresholds.
10. The device according to claim 8 , wherein the output unit outputs output information to a first output device when the difference in the position of the vehicle based on the first position information and the second position information is larger than a first threshold, and outputs the output information to a second output device when the difference in the position of the vehicle between the first position information and the second position information is larger than a second threshold that is smaller than the first threshold.
11. The device according to claim 1 ,
wherein the predetermined movement is a movement of the vehicle moving straight by a predetermined distance, and
wherein the output unit outputs output information indicating a change in an orientation of the sensor based on a difference in the position of the vehicle based on the first position information and the second position information.
12. The device according to claim 1 ,
wherein the predetermined movement is a movement of the vehicle turning by a predetermined angle, and
wherein the output unit outputs output information indicating a change in a position of the sensor based on a difference in the position of the vehicle based on the first position information and the second position information.
13. The device according to claim 1 , wherein the at least one processor further functions as an update unit configured to update the orientation of the sensor relative to the vehicle based on output information, when a difference in the position of the vehicle based on the first position information and the second position information is larger than a predetermined threshold.
14. The device according to claim 1 ,
wherein the at least one processor further functions as a measurement unit configured to measure a position of the sensor from the input information, based on map information obtained by measuring a movement route of the vehicle in advance, and
wherein the estimation unit estimates the position of the vehicle by converting the measured position or orientation of the sensor, based on the predetermined orientation of the sensor relative to the vehicle.
15. The device according to claim 1 , wherein the sensor is an image capturing device that captures an image of an object in an environment.
16. The device according to claim 1 , wherein the sensor is a range sensor that measures a distance between an object in an environment and the sensor.
17. A method comprising:
estimating, when a vehicle provided with a sensor makes a predetermined movement, first position information indicating positions of the vehicle based on input information of the sensor and an orientation of the sensor relative to the vehicle; and
acquiring second position information indicating expected positions of the vehicle corresponding to the predetermined movement while maintaining an original orientation of the sensor relative to the vehicle held by a holding unit;
outputting an amount of change in a between the orientation of the sensor relative to the vehicle when the vehicle has performed the predetermined movement and the original orientation, based on the first position information and the second position information,
wherein a control is performed to cause the sensor to change by the amount of change.
18. A-non-transitory computer-readable storage medium storing a computer executable program for causing a computer to perform a method, the method comprising:
estimating, when a vehicle provided with a sensor makes a predetermined movement, first position information indicating positions of the vehicle based on input information of the sensor and an orientation of the sensor relative to the vehicle; and
acquiring second position information indicating expected positions of the vehicle corresponding to the predetermined movement while maintaining an original orientation of the sensor relative to the vehicle held by a holding unit;
outputting an amount of change between the orientation of the sensor relative to the vehicle when the vehicle has performed the predetermined movement and the original orientation, based on the first position information and the second position information,
wherein a control is performed to cause the sensor to change by the amount of change.
19. The device according to claim 1 ,
wherein the at least one processor further functions as an acquisition unit configure to acquire the second position information indicating a trail of the vehicle corresponding to the predetermined movement, and
wherein the output unit outputs the vehicle based on the second position information acquired by the acquisition unit.
20. The device according to claim 1 , wherein the first position information indicates a trail of the amount of change from the predetermined orientation of the sensor based on the sensor information.