Information processing device, information processing system, method, and program
A tracking target position estimation unit and a tracking target search unit that searches for a tracking target are included. The tracking target search unit calculates one or more search routes connecting a current position of the mobile device and a position where the tracking target can exist, generates a search route list in which the calculated one or more search routes are arranged from the top in order of proximity to a tracking target estimated position, and selects a search route in order from the top of the generated search route list, and moves the mobile device according to the selected search route to search for the tracking target. It is determined whether or not the tracking target has been detected based on an image captured by a camera mounted on the mobile device, and in a case where the tracking target has been detected, tracking processing is resumed.
1 . An information processing device comprising:
processing circuitry configured to:
calculate a tracking target estimated position that is an estimated position of a tracking target to be tracked by a mobile device; and
search for the tracking target, including:
calculating a plurality of search routes connecting a current position of the mobile device and a position where the tracking target can exist, generating a search route list in which the calculated plurality of search routes are arranged from a top in order of proximity to the tracking target estimated position,
selecting a search route in order sequentially from the top of the generated search route list, moving the mobile device according to the selected search route to search for the tracking target, and
in response to not detecting the tracking target along the selected search route,
selecting a next search route in the order from the search route list, and
moving the mobile device according to the next selected search route to search for the tracking target.
2 . The information processing device according to claim 1 , wherein
when moving the mobile device according to the selected search route to search for the tracking target, the processing circuitry is configured to determine whether or not the tracking target has been detected by inputting an image captured by a camera mounted on the mobile device.
3 . The information processing device according to claim 1 , wherein the processing circuitry is configured to calculate the tracking target estimated position by inputting a captured image that is a past image captured by a camera mounted on the mobile device and in which the tracking target is captured.
4 . The information processing device according to claim 1 , wherein the processing circuitry is configured to calculate the tracking target estimated position by applying a motion model corresponding to a type of the tracking target.
5 . The information processing device according to claim 1 , wherein the current position of the mobile device is estimated by the mobile device.
6 . The information processing device according to claim 5 , wherein the processing circuitry is configured to calculate the current position of the mobile device by simultaneous localization and mapping (SLAM) processing.
7 . The information processing device according to claim 1 , wherein
the mobile device includes a sensor configured to detect the tracking target, and
the processing circuitry is configured to execute the search for the tracking target in a case where the tracking target is not detected by the sensor.
8 . The information processing device according to claim 7 , wherein the sensor includes a camera.
9 . The information processing device according to claim 1 , wherein
the information processing device includes a sensor configured to detect the tracking target,
in a first state in which the tracking target is detected by the sensor, tracking processing of the tracking target is executed according to detection information of the sensor, and
in a second state in which a period during which the tracking target is not detected by the sensor has occurred for a first prescribed time or in a third state in which the second state has continuously occurred for a second prescribed time, the processing circuitry is configured to execute the search for the tracking target.
10 . The information processing device according to claim 1 , wherein the processing circuitry is configured to calculate the one or more search routes connecting the current position of the mobile device and the position where the tracking target can exist with reference to map information.
11 . The information processing device according to claim 1 , wherein the information processing device is provided in the mobile device.
12 . The information processing device according to claim 1 , wherein the information processing device is capable of communicating with the mobile device.
13 . An information processing system comprising:
a mobile device; and
an information processing device capable of communicating with the mobile device, wherein
the information processing device includes processing circuitry configured to:
calculate a tracking target estimated position that is an estimated position of a tracking target to be tracked by the mobile device, and search for the tracking target, including:
calculating a plurality of search routes connecting a current position of the mobile device and a position where the tracking target can exist,
generating a search route list in which the calculated plurality of search routes are arranged from a top in order of proximity to the tracking target estimated position, and
selecting a search route in order sequentially from the top of the generated search route list, the mobile device is configured to move according to the search route selected by the information processing device to search for the tracking target, and
in response to not detecting the tracking target along the selected search route, the processing circuitry selects a next search route in the order from the search route list, and
the mobile device moves according to the next selected search route to search for the tracking target.
14 . The information processing system according to claim 13 , wherein
when moving according to the search route selected by the information processing device to search for the tracking target:
the mobile device is configured to input an image captured by a camera mounted on the mobile device and transmit the captured image to the information processing device, and
the processing circuitry is configured to determine whether or not the tracking target has been detected on a basis of the captured image received from the mobile device.
15 . An information processing method executed in an information processing device, the method comprising: calculating a tracking target estimated position that is an estimated position of a tracking target to be tracked by a mobile device; and
searching for the tracking target, including: calculating a plurality of search routes connecting a current position of the mobile device and a position where the tracking target can exist, generating a search route list in which the calculated plurality of search routes are arranged from a top in order of proximity to the tracking target estimated position,
selecting a search route in order sequentially from the top of the generated search route list, moving the mobile device according to the selected search route to search for the tracking target, and
in response to not detecting the tracking target along the selected search route,
selecting a next search route in the order from the search route list, and
moving the mobile device according to the next selected search route to search for the tracking target.
16 . An information processing method executed in an information processing system including a mobile device and an information processing device capable of communicating with the mobile device, the method comprising:
by the information processing device:
calculating a tracking target estimated position that is an estimated position of a tracking target to be tracked by the mobile device,
calculating a plurality of search routes connecting a current position of the mobile device and a position where the tracking target can exist,
generating a search route list in which the calculated plurality of search routes are arranged from a top in order of proximity to the tracking target estimated position, and
selecting a search route in order sequentially from the top of the generated search route list;
by the mobile device, moving according to the search route selected by the information processing device to search for the tracking target: and
in response to not detecting the tracking target along the selected search route
by the information processing device, selecting a next search route in the order from the search route list, and
by the mobile device, moving according to the next selected search route to search for the tracking target.
17 . A non-transitory computer readable mediums medium storing a program for causing an information processing device to execute an information processing method, the method comprising:
calculating a tracking target estimated position that is an estimated position of a tracking target to be tracked by a mobile device,
calculating a plurality of search routes connecting a current position of the mobile device and a position where the tracking target can exist,
generating a search route list in which the calculated plurality of search routes are arranged from a top in order of proximity to the tracking target estimated position,
selecting a search route in order sequentially from the top of the generated search route list, moving the mobile device according to the selected search route to search for the tracking target, and
in response to not detecting the tracking target along the selected search route,
selecting a next search route in the order from the search route list, and
moving the mobile device according to the next selected search route to search for the tracking target.