Patent ID: 11906970
Assignee: SONY GROUP CORPORATION
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by an information processing device, cause the information processing device to execute operations, the operations comprising:
capturing, by an image sensor of the information processing device, an image of a landmark;
detecting, by a depth sensor of the information processing device, depth data associated with a terrain surrounding the information processing device;
executing, by circuitry of the information processing device, an image recognition process on the captured image;
acquiring, by the circuitry, an arrangement of the landmark based on the image recognition process on the captured image;
acquiring, by the circuitry, a landmark movement range of the landmark;
generating, by the circuitry, based on the detected depth data, a first terrain data map indicating surrounding terrain data of the terrain;
estimating, by the circuitry, based on the arrangement of the landmark acquired, the landmark movement range and a landmark map indicating the arrangement of the landmark, a range in which a self-position of the information processing device is located;
positioning, by the circuitry, on the first terrain data map, the estimated range in which the self-position is located;
generating, by the circuitry, a second terrain data map based on the position of the estimated range on the first terrain data map;
estimating, by the circuitry, based on the second terrain data map and the landmark movement range, the self-position from the range in which the self-position is located; and
controlling, by the circuitry, self-driving of the information processing device based on the estimated self-position.