Patent ID: 11926038
Assignee: SONY GROUP CORPORATION
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 14:
15. A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by an information processing apparatus, cause the information processing apparatus to execute operations, the operations comprising:
periodically sensing, by a first sensor unit, internal world information associated with an autonomous mobile object to output a plurality of first sensing results;
sensing, by a second sensor unit, external world information associated with the autonomous mobile object to output a second sensing result;
storing, in a storage, a plurality of key frames obtained by previously capturing images at multiple locations in a real space;
storing, in the storage, positional information of the multiple locations in association with the plurality of key frames;
determining, by a processor, a state of the autonomous mobile object is one of a stopped state or a moving state;
determining, by the processor, that a first estimation method is to be used by the autonomous mobile object for an estimation of a self-position of the autonomous mobile object, wherein the determination that the first estimation method is to be used by the autonomous mobile object is based on the determination that the state of the autonomous mobile object is the moving state;
determining, by the processor, that a second estimation method is to be used by the autonomous mobile object for the estimation of the self-position of the autonomous mobile object, wherein the determination that the second estimation method is to be used by the autonomous mobile object is based on the determination that the state of the autonomous mobile object is the stopped state;
periodically estimating, by the processor, the self-position by the first estimation method by periodically integrating the plurality of first sensing results that corresponds to a plurality of timings until a current time;
estimating, by the processor, the self-position by the second estimation method based on the second sensing result, and the positional information of the multiple locations in association with the plurality of key frames;
successively specifying, at a first timing of the plurality of timings when the first sensor unit acquires a first sensing result of the plurality of first sensing results while the state of the autonomous mobile object is the moving state, a condition of a ground on which the autonomous mobile object is moving based on the first sensing result acquired at the first timing;
changing, at the first timing, a length of a given distance based on the specified condition of the ground; and
planning a stop condition such that the state of the autonomous mobile object is sequentially changed from the moving state to the stopped state,
wherein the stop condition is planned based on a continuous movement of the autonomous mobile object by the given distance.