Patent Publication Number: US-2023144800-A1

Title: Information processing apparatus, information processing system, and information processing method

Description:
TECHNICAL FIELD 
     The present disclosure relates to an information processing apparatus, an information processing system, and an information processing method. 
     BACKGROUND ART 
     In a case where a human remotely controls a mobile body such as a robot or a drone, the human operates the mobile body while watching an image captured by the mobile body. For smooth remote control, a low-latency high-definition image is desired. For example, PTL 1 discloses that a transmission data amount is reduced by replacing a less important part included in image data with computer graphics (CG) image data. 
     CITATION LIST 
     Patent Literature 
     PTL Japanese Unexamined Patent Application Publication No. 2007-323481 
     SUMMARY OF THE INVENTION 
     However, in the invention described in PTL 1, for example, in some cases such as a case where a proportion of humans in an image is large, a part replaced with CG image data is reduced, resulting in difficulty in reducing the transmission data amount. As described above, it has not been easy to perform smooth remote control. It is therefore desirable to provide an information processing apparatus, an information processing system, and an information processing method that make it possible to perform smooth remote control. 
     An information processing apparatus according to a first aspect of the present disclosure include a real image signal generator, a CG signal generator, and a transmission section. The real image signal generator modulates real image data by a first modulation scheme to thereby generate a real image signal. The real image data is obtained by imaging of a surrounding environment. The CG signal generator modulates CG data by a second modulation scheme to thereby generate a CG signal. The CG data is obtained on the basis of data obtained by sensing of the surrounding environment. The transmission section transmits the real image signal and the CG signal to an external device by wireless communication. 
     An information processing system according to a second aspect of the present disclosure includes an information processing apparatus and a remote control device that are configured to be communicable with each other by wireless communication. The information processing apparatus includes a real image signal generator, a CG signal generator, and a transmission section. The real image signal generator modulates real image data by a first modulation scheme to thereby generate a real image signal. The real image data is obtained by imaging of a surrounding environment. The CG signal generator modulates CG data by a second modulation scheme to thereby generate a CG signal. The CG data is obtained on the basis of data obtained by sensing of the surrounding environment. The transmission section transmits the real image signal and the CG signal to the remote control device by wireless communication. The remote control device includes a reception section and a display section. The reception section receives the real image signal and the CG signal transmitted from the information processing apparatus by the wireless communication. The display section displays an image on the basis of at least one of the real image signal or the CCI signal received by the reception section. 
     An information processing method according to a third aspect of the present disclosure includes the following three.
         (A) modulating real image data by a first modulation scheme to thereby generate a real image signal, the real image data being obtained by imaging of a surrounding environment;   (B) modulating CG data by a second modulation scheme to thereby generate a CG signal, the CG data being obtained on the basis of data obtained by sensing of the surrounding environment; and   (C) transmitting the real image signal and the CG signal to an external device by wireless communication.       

     In the information processing apparatus according to the first aspect of the present disclosure, the information processing system according to the second aspect of the present disclosure, and the information processing method according to the third aspect of the present disclosure, the real image data obtained by imaging of the surrounding environment is modulated by the first modulation scheme to thereby generate the real image signal. The CG data obtained on the basis of the data obtained by sensing of the surrounding environment is modulated by the second modulation scheme to thereby generate the CG signal. The real image data and the CG data are then transmitted to the external device (remote control device). Accordingly, it is possible to modulate two types of data (the real image data and the CG data) having data amounts different from each other by modulation schemes corresponding to the data amounts. As a result, for example, even in a case where image quality is degraded or image display is interrupted due to radio wave interference when performing image display based on the real image data, it is possible to continue image display by switching to image display based on the CG data. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG.  1    is a diagram illustrating a schematic configuration example of an information processing system according to a first embodiment of the present disclosure. 
         FIG.  2    is a diagram illustrating a schematic configuration example of a sensor section and a surrounding environment data extracting section in  FIG.  1   . 
         FIG.  3    is a diagram illustrating an example of a surrounding environment. 
         FIG.  4    is a diagram illustrating an example of a CG image. 
         FIG.  5    is a diagram illustrating a schematic configuration example of an information processing system according to a second embodiment of the present disclosure. 
         FIG.  6    is a diagram illustrating a schematic configuration example of an information processing system according to a third embodiment of the present disclosure. 
         FIG.  7    is a diagram illustrating a modification example of a schematic configuration of the information processing system in  FIG.  6   . 
         FIG.  8    is a diagram illustrating a schematic configuration example of an information processing system according to a fourth embodiment of the present disclosure. 
     
    
    
     MODES FOR CARRYING OUT THE INVENTION 
     Hereinafter, description is given in detail of embodiments of the present disclosure with reference to the drawings. It is to be noted that, in the present specification and drawings, repeated description is omitted for components substantially having the same functional configuration by assigning the same reference signs. 
     &lt;1. Background&gt; 
     In a case where a human remotely controls a mobile body such as a robot or a drone, the human operates the mobile body while watching an image captured by the mobile body. For smooth remote control, a low-latency high-definition image is desired. However, a poor communication state for transmission of image data may cause trouble in operation of the mobile body, such as delay in mage display, difficulty in watching an image due to occurrence of an error in image data, or freezing of image display. Specifically, in wireless communication, communication quality degradation due to radio wave interference or space loss of radio waves is an issue. In Peer to Peer wireless communication, reception electric power becomes weaker with increasing distance between the mobile body and a remote control device, eventually resulting in an image not being updated and making the mobile body uncontrollable. 
     It is possible to cope with an issue concerning a transmission data amount to some extent by compressing image data with use of, for example. AVC (Advanced Video Coding), HEVC (High Efficiency Video Coding), or the like to reduce the transmission data amount. It is to be noted that AVC is a video coding standard standardized by ITU (international Telecommunication Union). HEVC is a video coding standard proposed by JCT-VC (Joint Collaborative Team on Video Coding) that is a group of video coding experts from MPEG of ISO/IEC and VCEG of ITU-T, and is a standard officially called H.265. However, to maintain image quality at a level not to impair operability of the remote control device, the transmission data amount has to be large to some extent. 
     To cope with the large transmission data amount, for example, high-order modulation of image data is conceivable. However, in a case where high-order modulation of the image data is performed, a CN (Carrier to Noise Ratio) is increased; therefore, interference of radio waves is more apt to occur with a wider frequency band, and a distance at which an image is normally transmittable is decreased. 
     In the invention described in PTL 1 described above, image data from a photographing device is separated into a target region and a non-target region for CG (computer graphics), and data obtained by converting image data of the target region into CG image data is transmitted by a communication line, and a CG image is generated from the received CG image data, and a combination of the generated CG image of the target region and an image of the non-target region is displayed. Thus, it is possible to reduce the transmission data amount by converting a less important part included in the image data into CG image data. However, in the invention described in PTL 1 described above, a region where a moving object or a human is displayed is a non-target region for conversion into CG; therefore, for example, in some cases such as a case where a proportion of humans in an image is large, a part replaced with CG image data is reduced, resulting in difficulty in reducing the transmission data amount. 
     In addition, the invention described in Japanese Unexamined Patent Application Publication No. 2000-125194, a terminal device has moving image source data, and combines the moving image source data on the basis of moving image control data received via a communication line, and reproduces a moving image by controlling motion of the moving image source data. This makes it possible to reduce the transmission data amount. However, in this invention, it is not possible to express an unknown region or an obstacle that is not included in the moving image source data in the moving image; therefore, the invention is not suitable for highly versatile remote control with less restrictions on places and uses. 
     Accordingly, the present disclosure proposes a new technique that allows for highly versatile remote control with less restrictions on places and uses while reducing a transmission data amount. 
     &lt;2. First Embodiment&gt; 
     [Configuration] 
     Description is given of an information processing system according to a first embodiment of the present disclosure.  FIG.  1    illustrates a schematic configuration example of the information processing system. The information processing system includes a mobile body  100  and a remote control device  200  that are configured to be communicable with each other by Peer to Peer wireless communication. 
     The mobile body  100  obtains real image data Da having a relatively large data amount by imaging of a surrounding environment, and obtains CG data. Db having a relatively small data amount by sensing of the surrounding environment. The mobile body  100  performs predetermined processing on the obtained real image data Da and the obtained CG data Db to generate transmission data Dt, and transmits the transmission data Dt to the remote control device  200  by wireless communication. 
     The mobile body  100  includes, for example, an imaging device  110 , an image capturing section  120 , an image encoder  130 , and a modulator  140 . The imaging device  110  obtains imaging data by imaging of the surrounding environment. The image capturing section  120  captures the imaging data obtained by the imaging device  110  as a moving image (real image data Da). The imaging device  110  and the image capturing section  120  are configured by a camera capable of photographing a moving image. The image encoder  130  encodes (encodes and compresses) the real image data Da to obtain encoded data di. The modulator  140  generates a real image signal S 1  by performing, baseband processing such as error correction encoding or interleaving on the encoded data di and modulating the encoded data d 1 . The modulator  140  uses, for example, a high-order modulation scheme such as 16QAM (Quadrature Amplitude Modulation) as a modulation scheme. The modulator  140  outputs the generated real image signal S 1  to a transmission processor  180  to be described later. 
     The mobile body  100  further includes a sensor section  150 , a surrounding environment data extracting section  160 , a modulator  170 , the transmission processor  180 , and an antenna  190 . The sensor section  150  obtains three-dimensional point group data by sensing of the surrounding environment. The sensor section  150  includes, for example, image sensors  151  and  152 , as illustrated in  FIG.  2   . The image sensors  151  and  152  are so-called stereo cameras, and generate one set of image data having parallax relative to each other by imaging of, for example, a region in front of the mobile body  100 . The image sensor  151  and the image sensor  152  are disposed apart from each other in a horizontal direction by a predetermined distance. The image sensor  151  is disposed on the left of the image sensor  152 , and generates left image data, The image sensor  152  is disposed on the right of the image sensor  151 , and generates right image data. The image sensors  151  and  152  perform an imaging operation at a predetermined frame rate in synchronization with each other. 
     The surrounding environment data extracting section  160  generates map data (CG data Db) by generating three-dimensional point group data on the basis of image data obtained from the sensor section  150 , dividing a point group included in the generated three-dimensional point group data, and performing clustering of the divided point group. If necessary, the surrounding environment data extracting section  160  may generate encoded data d 2  by encoding (encoding and compressing) the CG data Db. If necessary, the surrounding environment data extracting section  160  may add, for example, color data to the map data (CG data Db) to make appearance of an object such as an obstacle clear. 
     As illustrated in  FIG.  2   , the surrounding environment data extracting section  160  includes, for example, a depth estimating section  161 , a plane estimating section  162 , and a CG data generator  163 . 
     The depth estimating section  161  estimates a depth (distance) to each of image points corresponding to each other in the left image data obtained from the image sensor  151  and the right image data obtained from the image sensor  152  on the basis of the left image data and the right image data. Thus, the depth estimating section  161  generates a depth map. The depth estimating section  161  converts coordinates of each of the image points into, for example, coordinates in a three-dimensional coordinate system on the basis of the depth map obtained by estimation. Thus, the depth estimating section  161  generates three-dimensional point group data. 
     The plane estimating section  162  generates a microplane group by dividing the point group included in the three-dimensional point group data on the basis of the three-dimensional point group data and performing clustering of the divided point group. Each cluster corresponds to one of a plurality of microplanes configuring a surface of an object around the mobile body  100 . The plane estimating section  162  generates cluster data including a plurality of clusters generated in such a manner. 
     The plane estimating section  162  includes a division determining section  162   a,  a division processor  162   b,  a clustering determining section  162   c,  and a clustering processor  162   d.    
     The division determining section  162   a  determines whether or not to divide the point group included in the three-dimensional point group data, on the basis of a division condition. The division condition is a condition for determining whether or not to divide the point group, and in a case where the point group satisfies the division condition, the point group is divided. In a case where division determining section  162   a  determines that the point group satisfies the division condition, the division processor  162   b  divides the point group until not satisfying the division condition. 
     In a case where the division determining section  162   a  determines that the point group does not satisfy the division condition, the clustering determining section  162   c  determines whether or not to perform clustering of the point group on the basis of a clustering condition. The clustering condition is a condition for determining whether or not to perform clustering of the point group, and in a case where the point group satisfies the clustering condition, clustering of the point group is performed. In a case where the clustering determining section  162   c  determines that the point group satisfies the clustering condition, the clustering processor  162   d  performs clustering of the point group. 
     The CG data generator  163  extracts coordinates or sizes of the plurality of clusters obtained by clustering to generate map data (CG data Db) for conversion into a CG image. In a case where the surrounding environment around the mobile body  100  is as illustrated in  FIG.  3    for example, a CG image generated from the CG data Db is as illustrated in  FIG.  4   , for example. It is to be noted that the CG data generator  163  may recognize an object by grouping the plurality of clusters obtained by clustering. The object corresponds to each of objects around the mobile body  100 , and is specifically a human, a wall, a floor, or the like around the mobile body  100 . The CG data generator  163  may then generate map data (CG data Db) expressed by the plurality of clusters on the basis of the recognized object. 
     In a case where the mobile body  100  is a traveling robot that travels on a plane, it is possible to convert the CG data Db into two-dimensional data. In a case where the mobile body  100  is a drone that flies in space, it is possible to convert the CG data Db into three-dimensional data. In the CG data Db, each of the clusters is expressed with use of, for example, center coordinates and a probability distribution shape. This makes it possible to reduce a data size of CG data Db and enhance accuracy of the CG data Db as compared with a case where map data is configured with use of a so-called grid map, for example. 
     The modulator  170  generates a CG signal S 2  by performing baseband processing such as error correction encoding or interleaving on the CG data Db (or the encoded data d 2 ) and modulating the CG data Db (or the encoded data d 2 ). The modulator  170  uses, for example, a low-order modulation scheme such as QPSK (Quadrature Phase Shift Keying) as a modulation scheme. The modulator  170  outputs the generated CG signal S 2  to the transmission processor  180 . 
     The transmission processor  180  generates the transmission data Dt by performing predetermined processing on the real image signal Si and the CG signal S 2 , and transmits the generated transmission data Dt to the remote control device  200  via the antenna  190 . The transmission processor  180  transmits the real image signal S 1  and the CG signal S 2  to the remote control device  200  by frequency division or time division, for example. The transmission processor  180  may transmit the real image signal S 1 , for example, in a predetermined range of a frequency band in a 2-GHz band, and transmit the CG signal S 2  in another frequency band in the 2-GHz band. The transmission processor  180  may transmit the real image signal S 2 , for example, in a frequency band having a relatively wide bandwidth, and transmit the CG signal S 2  in a frequency band having a relatively narrow bandwidth. The transmission processor  180  may alternately transmit the real image signal S 1  and the CG signal S 2 , for example, in predetermined time cycles. 
     The transmission processor  180  transmits the real image signal S 1  and the CG signal S 2  with use of, for example, OFDM (Orthogonal Frequency Division Multiplexing). At this time, the transmission processor  180  generates an OFDM frame, for example, by hierarchically combining the real image signal S 1  and the CG signal S 2  and performing time interleaving or frequency interleaving, and performs IFFT operation on the generated OFDM frame. Thus, the transmission processor  180  converts, for example, the real image signal S 1  and the CG signal S 2  into an OFDM signal. At this time, the transmission processor  180  may divide, for example, a transmission frequency band into some segments, and allocate a relatively large number of segments to the real image signal S 1  and allocate a relatively small number of segments to the CG signal S 2 . Thus, it is possible to decrease a modulation rate of the real image data Da and perform transmission to a farther place, and it is possible to improve a CN of the CG data Db avoiding radio wave interference or increasing electric power density within a range of standards or laws and regulations. As a result, longer-distance transmission is possible. The transmission processor  180  further generates an RF signal (transmission data Dt) by adding a GI (guard interval) to the OFDM signal obtained by conversion and performing up-conversion or the like, and transmits the generated RF signal (transmission data Dt) to the remote control device  200 . 
     It is to be noted that signal processing used in the transmission processor  180  is not limited to OFDM. The transmission processor  180  may add a time stamp signal to each of the real image signal S 1  and the CG signal S 2 . This makes it possible to perform smooth switching without time deviation in the remote control device  200  upon switching from a real image to a CG image or switching from a CG image to a real image. 
     The remote control device  200  includes, for example, an antenna  210 , a demodulator  220 , a separation processor  230 , an image decoder  240 , a rendering processor  250 , an image processor  260 , and a display section  270 . The remote control device  200  receives, for example, the real image signal S 1  and the CG signal S 2  transmitted by frequency division or time division via the antenna  210 . The demodulator  220  demodulates each of the real image signal S 1  and the CG signal S 2 , and outputs the real image signal S 1  and the CG signal S 2  to the separation processor  230 . In a case where the remote control device  200  receives the OFDM signal from the mobile body  100 , the demodulator  220  performs, for example, processing such as deinterleaving, descrambling, or error detection/correction processing on the OFDM signal, and outputs a thus-obtained stream including the encoded data d 1  and the CG data Db (or the encoded data d 2 ) to the separation processor  230 . The separation processor  230  outputs the encoded data d 1  to the image decoder  240 , and outputs the CG data Db (or the encoded data d 2 ) to the rendering processor  250 . 
     It is to be noted that the demodulator  220  may be provided in a stage subsequent to the separation processor  230 . In this case, the separation processor  230  separates the received real image signal S 1  and the received CG signal S 2 , and outputs the real image signal S 1  and the CG signal S 2  to the demodulator  220 . 
     The image decoder  240  decodes the encoded data d 1  to generate the real image data Da, and outputs the real image data Da to the image processor  260 . The rendering processor  250  decodes the encoded data d 2  if necessary to generate CG data Db. The rendering processor  250  generates CG image data Dc on the basis of the CG data Db, and outputs the CG image data Dc to the image processor  260 . The image processor  260  generates image data. Dd for displaying on the display section  270  by selecting one of the real image data Da and the CG image data Dc or combining the real image data Da and the CG image data Dc each other. The image processor  260  generates an image signal based on the generated image data Dd, and outputs the image signal to the display section  270 . The display section  270  displays an image (moving image) on the basis of the inputted image signal. The display section  270  may be omitted if necessary. In this case, the image processor  260  outputs the image signal to an external device including the display section  270 , and the external device displays an image (moving image) based on the image signal. 
     [Effects] 
     Next, description is given of effects of the information processing system according to the embodiment. 
     In the present embodiment, the real image data Da obtained by imaging of the surrounding environment is modulated by a relatively high-order modulation scheme to thereby generate the real image signal S 1 , and map data (CG data Db) obtained on the basis of data obtained by sensing of the surrounding environment is modulated by a relatively low-order modulation scheme to thereby generate the CG signal S 2 . The real image data Da and the CG data Db are then transmitted to the remote control device  200 . Accordingly, two types of data (the real image data Da and the CG data Db) having data amounts different from each other are modulated by modulation schemes corresponding to the data amounts. Thus, even in a case where image quality is degraded or image display is interrupted due to radio wave interference when performing image display based on the real image data Da, it is possible to continue image display by switching to image display based on the CG data Db. As a result, a user is able to remotely control the mobile body  100  smoothly while switching the type of a displayed image in accordance with the state of radio wave interference. 
     In the present embodiment, the real image signal is modulated with use of a relatively high-order modulation scheme, and the CG signal is modulated with use of a relatively low-order modulation scheme. This allows the CG signal S 2  to be transmitted to a farther place than the real image signal S 1 , which makes it possible to smoothly perform long-distance remote control. 
     In the present embodiment, the real image signal S 1  is transmitted in a frequency band having a relatively wide bandwidth, and the CG signal S 2  is transmitted in a frequency band having a relatively narrow bandwidth. Accordingly, for example, even in a case where image quality is degraded or image display is interrupted due to radio wave interference when performing image display based on the real image data Da, it is possible to continue image display by switching to image display based on the CG data Db. In addition, the CG signal S 2  is allowed to be transmitted to a farther place than the real image signal S 1 , which makes it possible to smoothly perform long-distance remote control. 
     &lt;3. Second Embodiment&gt; 
     Next, description is given of an information processing system according to a second embodiment of the present disclosure.  FIG.  5    illustrates a schematic configuration example of the information processing system according to the present embodiment. The information processing system according to the present embodiment includes the mobile body  100  and the remote control device  200 . 
     In the present embodiment, the mobile body  100  further includes, for example, an operating section  310 , an antenna  320 , a communication section  330 , and a controller  340  in addition to components from the imaging device  110  to the antenna  190 , 
     The operating section  310  includes, for example, an actuator and a moving mechanism. The actuator generates, for example, power in accordance with control by the controller  340 , and drives the moving mechanism on the basis of the power. The moving mechanism moves the mobile body  100  on the basis of the power generated by the actuator. Thus, the mobile body  100  moves in accordance with control by the controller  340 . Here, in a case where the mobile body  100  is a traveling robot that travels on a plane, the moving mechanism includes, for example, one or a plurality of wheels. In a case where the mobile body  100  is a drone, the moving mechanism includes, for example, one or a plurality of propellers. 
     The communication section  330  performs communication with the remote control device  200  via the antenna  320 . Communication with the remote control device  200  via the antenna  320  is, for example, wireless communication different from the wireless communication via the antennas  190  and  210 . Communication with the remote control device  200  via the antenna  320  is, for example, Peer to Peer wireless communication, it is to be noted that all communications between the mobile body  100  and the remote control device  200  may be performed by one wireless communication. 
     The controller  340  controls an operation of the operating section  310  on the basis of operation data Do inputted from the remote control device  200  via the antenna  320 . The operation data Do is data generated in a remote controller  450  to be described later. The controller  340  controls real image range specification processing in the image capturing section  120  on the basis of at least real image range specification data Dr of the real image range specification data Dr and reception electric power data Dp inputted from the remote control device  200  via the antenna  320 . The real image range specification data Dr is data generated in a real image range specifying section  460  to be described later. The real image range specification processing is described in detail later. 
     In the present embodiment, the remote control device  200  further includes, for example, a reception electric power measuring section  410 , a controller  420 , a communication section  430 , an antenna  440 , the remote controller  450 , and the real image range specifying section  460  in addition to components from the antenna  210  to the display section  270 . 
     The remote controller  450  receives input of the operation data Do from the user, and outputs the received operation data Do to the communication section  430 . The communication section  430  transmits the operation data Do inputted from the remote controller  450  to the mobile body  100  via the antenna  440 . The remote controller  450  is, for example, an input interface that is capable of receiving input of the operation data Do from the user, and includes, for example, a touch panel, a keyboard, a mouse, and the like. 
     The real image range specifying section  460  receives input of the real image range specification data Dr from the user, and outputs the received real image range specification data Dr to the communication section  430 . The reception electric power measuring section  410  measures electric power of a signal received by the antenna  210 , and outputs a value (reception electric power data Dp) obtained by such measurement to the controller  420  and the communication section  430 . It is to be noted that the reception electric power measuring section  410  may measure electric power of a signal outputted from the demodulator  220 , and output a value (reception electric power data Dp) obtained by such measurement to the controller  420  and the communication section  430 . The communication section  430  transmits the inputted real image range specification data Dr and the inputted reception electric power data. Dp to the mobile body  100  via the antenna.  440 . The remote controller  450  is, for example, an input interface that is capable of receiving input of the real image range specification data Dr from the user, and includes, for example, a touch panel, a keyboard, a mouse, and the like. 
     If necessary, the controller  420  may determine which one of the read image data. Da and the CG image data Dc is to be selected on the basis of the reception electric power data Dp inputted from the reception electric power measuring section  410 , and output a result of such determination to the image processor  260 . In this case, the image processor  260  selects one of the real image data. Da and the CG image data Dc in accordance with the result of determination inputted from the controller  420  to generate the image data Dd. 
     The controller  420  may further generate a control signal for stopping the operation of the image encoder  240  when selecting the CG image data Dc and output the control signal to the image decoder  240 . This stops the operation of the image decoder  240  while selecting the CG image data Dc to reduce electric power consumption by the image decoder  240 . The controller  420  may further generate a control signal for stopping the operations of the imaging device  110 , the image capturing section  120 , the image encoder  130 , and the modulator  140  of the mobile body  100  when selecting the CG image data Dc, and output the control signal to the communication section  430 . In this case, the communication section  430  transmits the control signal inputted from the controller  420  to the mobile body  100  via the antenna  440 . Upon receiving the control signal from the remote control device  200  via the antenna  320 , the communication section  330  outputs the thus-received control signal to the controller  340 . The controller  340  stops the operations of the imaging device  110 , the image capturing section  120 , the image encoder  130 , and the modulator  140  on the basis of the control signal inputted from the remote control device  200 . Thus, electric power consumption by the imaging device  110 , the image capturing section  120 , the image encoder  130 , and the modulator  140  is reduced. 
     The controller  420  may output the reception electric power data Dp to the communication section  430 , if necessary. In this case, the communication section  430  transmits the reception electric power data Dp inputted from the controller  420  to the mobile body  100  via, the antenna  440 . Upon receiving the reception electric power data Dp from the remote control device  200  via the antenna  440 . the communication section  330  outputs the thus-received reception electric power data Dp to the controller  340 . Upon obtaining the reception electric power data Dp from the remote control device  200 , the controller  340  determines a compression rate on the basis of the obtained reception electric power data Dp, and outputs setting data for setting to the determined compression rate to the image encoder  130 . The image encoder  130  compresses the real image data Da at a compression rate corresponding to the setting data inputted from the controller  340 . That is, the controller  340  and the image encoder  130  adjust the compression rate of the real image data Da on the basis of the reception electric power data Dp. 
     Upon obtaining the reception electric power data Dp from the remote control device  200 , the controller  340  may determine image resolution on the basis of the obtained reception electric power data. Dp, and output setting data for setting to the determined image resolution to the image capturing section  120 . At this time, the image capturing section  120  adjusts the resolution of the real image data Da on the basis of the setting data inputted from the controller  340 . The image capturing section  120  changes, for example, the resolution of the real image data Da to image resolution corresponding to the setting data inputted from the controller  340 , and outputs the real image data Da having changed image resolution to the image encoder  130 . That is, the controller  340  and the image capturing section  120  adjust the resolution of the real image data Da on the basis of the reception electric power data Dp. 
     Upon obtaining the reception electric power data Dp from the remote control device  200 , the controller  340  may determine a division size of a cluster on the basis of the obtained reception electric power data Dp, and output setting data for setting to the determined division size to the surrounding environment data extracting section  160 . At this time, the surrounding environment data extracting section  160  performs clustering of the point group with a division size corresponding to the setting data inputted from the controller  340 . 
     (Real Image Range Specification Processing) 
     Next, description is given of the real image range specification processing. The controller  340  outputs, for example, the real image range specification data Dr to the image capturing section  120 , the image encoder  130 , and the modulator  140 . The image capturing section  120  processes the real image data Da on the basis of the inputted real image range specification data Dr to thereby generate real image data Da′ in which a real image range is limited, and outputs the generated real image data Da′ to the image encoder  130 . The image capturing section  120  cuts out, for example, data (in-range data Dx) within a range (specified range) specified by the real image range specification data Dr from the real image data Da, replaces data (out-range data Dy) within a range other than the specified range of the real image data Da with single-color background data, and outputs thus-obtained real image data Da′ to the image encoder  130 . It is to be noted that the specified range is not limited to one part and may include a plurality of parts. 
     The image encoder  130  encodes and compresses the real image data Da′ to obtain encoded data d 1 ′. At this time, the data amount of the encoded data d 1 ′ is decreased with an increase in the specified range. Accordingly, the image encoder  130  may change the compression rate in accordance with the real image range specification data. Dr (the size of the specified range). The modulator  140  may change a modulation scheme to be performed on the encoded data d 1 ′ in accordance with the real image range specification data Dr (the size of the specified range). In a case where the data amount of the encoded data d 1 ′ is smaller than a predetermined amount, the modulator  140  may modulate the encoded data d 1 ′ with use of a low-order modulation scheme such as QPSK (Quadrature Phase Shift Keying). The modulator  140  modulates the encoded data dr to thereby generate a real image signal S 1 , and outputs the real image signal S 1 ′ to the transmission processor  180 . The transmission processor  180  transmits the real image signal S 1 ′ in place of the real image signal S 1  to the remote control device  200  via the antenna  190 . 
     The remote control device  200  receives, for example, the real image signal S 1 ′ and the CG signal S 2  via the antenna  210 , The demodulator  220  demodulates each of the real image signal S 1 ′ and the CG signal S 2 , and outputs the real image signal S 1 ′ and the CG signal S 2  to the separation processor  230 . The separation processor  230  outputs the encoded data d 1 ′ obtained by demodulation of the real image signal S 1 ′ to the image decoder  240 , and outputs the CG data Db (or the encoded data d 2 ) to the rendering processor  250 . The image decoder  240  generates the real image data Da′ by decoding the encoded data d 1 ′, and outputs the real image data Da′ to the image processor  260 . If necessary, the rendering processor  250  generates the CG data Db by decoding the encoded data d 2 . The rendering processor  250  generates the CG image data Dc on the basis of the CG data Db. and outputs the CG image data. Dc to the image processor  260 . 
     The image processor  260  separates the data (in-range data Dx) within the range specified by the real image range specification data Dr from the real image data Da′, and writes the in-range data Dx obtained by such separation over the CG image data Dc, thereby generating image data Dd′ for displaying on the display section  270 . The image processor  260  generates an image signal based on the generated image data Dd′, and outputs the image signal to the display section  270 . The display section  270  displays an image (a moving image) on the basis of the inputted image signal. 
     It is to be noted that the controller  340  may output, for example, the real image range specification data Dr and the reception electric power data Dp to the image encoder  130 . In this case, the image encoder  130  may determine the compression rate on the basis of the inputted real image range specification data Dr and the inputted reception electric power data Dp, and compress the real image data Da′ at the determined compression rate. For example, in a case where the reception electric power is low and the specified range is side, the image encoder  130  may compress the real image data Da′ at a high compression rate. For example, in a case where the reception electric power is low and the specified range is narrow, the image encoder  130  may compress the real image data Da′ at a lowest possible compression rate within a communicable range. That is, the controller  340  and the image encoder  130  adjust the compression rate of the real image data Da! on the basis of the real image range specification data Dr and the reception electric power data Dp. This makes it possible to perform image display with high quality in the remote control device  200 . 
     It is to be noted that the real image range specification data Dr may be determined by an operation by the user in the real image range specifying section  460  as described above, or may be automatically specified without depending on the operation by the user. For example, it is assumed that the image capturing section  120  has a function of recognizing an obstacle or an operation-target object included in the real image data Da. At this time, in a case where the image capturing section  120  has already obtained an object that is desired to be recognized by setting, learning, or the like, the target object included in the real image data Da is recognized, and it is determined difficult or impossible to transmit the entire real image data Da due to low reception electric power, a range including the target object may be automatically specified as a real image range, and the specified real image range may be set as the real image range specification data Dr. 
     [Effects] 
     Next, description is given of effects of the information processing system according to the embodiment. 
     In the present embodiment, the real image data Da is processed on the basis of the real image range specification data Dr to thereby generate limited real image data (real image data Da′) in which the real image range is limited, and the generated real image data Da′ is modulated by the same modulation scheme as the modulation scheme of the real image data Da or a lower-order modulation scheme than the modulation scheme of the real image data Da. This makes it possible to easily perform remote control of a delicate operation or movement that is not easy to control with use of a CG image. 
     In the present embodiment, the resolution or the compression rate of the real image data Da is adjusted on the basis of the reception electric power data Dp. This makes it possible to reduce the data amount of the real image signal S 1 , thereby achieving image display with highest possible definition. As a result, it is possible to perform smooth remote control. 
     &lt;4. Third Embodiment&gt; 
     Next, description is given of an information processing system according to a third embodiment of the present disclosure.  FIG.  6    illustrates a schematic configuration example of the information processing system according to the present embodiment. The information processing system according to the present embodiment includes the mobile body  100  and the remote control device  200 . 
     In the present embodiment, the mobile body  100  differs from the mobile body  100  according to the first embodiment described above in that a high-resolution image encoder  360  is included in place of the image encoder  130 , and a low-resolution image encoder  370  and a modulator  380  are newly included. In the present embodiment, the image capturing section  120  generates real image data (low-resolution image data De) having lower resolution than the real image data Da on the basis of the real image data Da. The image capturing section  120  generates the low-resolution image data De, for example, by sampling the real image data Da. 
     Similarly to the image encoder  130 , the high-resolution image encoder  360  obtains the encoded data d 1  by encoding and compressing the real image data Da. In contrast, the low-resolution image encoder  370  obtains encoded data d 3 , for example, by encoding and compressing the generated low-resolution image data De. The modulator  380  generates a real image signal S 3  by performing baseband processing such as error correction encoding or interleaving on the encoded data d 3  and modulating the encoded data d 3  by a predetermined modulation scheme. 
     The data amounts of the real image data Da, the low-resolution image data De, and the CG data Db are as follows, The modulators  140 ,  380 , and  170  may set a modulation rate in accordance with the data amounts.
         Da_s&gt;De_s&gt;Db_s   Da_s: Data amount of real image data Da   De_s: Data amount of low-resolution image data De   Db_s: Data amount of CG data Db       

     The transmission processor  180  transmits the real image signal S 1  having relatively high resolution, the real image signal S 3  having relatively low resolution, and the CG signal S 2  to the remote control device  200  via the antenna  190 . The transmission processor  180  transmits the real image signal S 1 , the real image signal S 3 , and the CG signal S 2  to the remote control device  200  by frequency division or time division. The transmission processor  180  performs transmission of the real image signal S 1 , the real image signal S 3 , and the CG signal S 2  with use of, for example, OFDM. 
     In the present embodiment, the remote control device  200  differs from the remote control device  200  according to the first embodiment described above in that, for example, a high-resolution image decoder  480  is included in place of the image decoder  240 . In the present embodiment, the remote control device  200  further includes, for example, an error region detector  470 , a low-resolution image decoder  490 , a reception electric power measuring section  410 , and a controller  420 . 
     The remote control device  200  receives the real image signal S 1 , the real image signal S 3 , and the CG signal S 2 , for example, via the antenna  210 . The demodulator  220  demodulates each of the real image signal S 1 , the real image signal S 3 , and the CG signal S 2 , and outputs the real image signal S 1 , the real image signal S 3 , and the CG signal S 2  to the separation processor  230 , In a case where the remote control device  200  receives an OFDM signal from the mobile body  100 , the demodulator  220  performs, for example, processing such as deinterleaving, descrambling, or error detection/correction processing on the OFDM signal, and outputs a thus-obtained stream including the encoded data d 1  and d 3  and the CG data Db (or the encoded data d 2 ) to the separation processor  230 . The separation processor  230  outputs the encoded data d 1  to the error region detector  470 , outputs the encoded data d 3  to the low-resolution image decoder  490 . and outputs the CG data Db (or the encoded data d 2 ) to the rendering processor  250 . 
     The error region detector  470  determines whether or not an image error is included in the encoded data di, and in a case where the image error is included, the error region detector  470  outputs data (error region data d 4 ) about a region where an error point is present to the image processor  260 . The high-resolution image decoder  480  generates the real image data Da by decoding the encoded data d 1 , and outputs the real image data Da to the image processor  260 . The low-resolution image decoder  490  generates the low-resolution image data De by decoding the encoded data d 3 , and outputs the low-resolution image data De to the image processor  260 . If necessary, the rendering processor  250  generates the CG data Db by decoding the encoded data d 2 . The rendering processor  250  generates the CG image data Dc on the basis of the CG data Db, and outputs the CG image data Dc to the image processor  260 . 
     The image processor  260  generates image data Dd for displaying on the display section  270  by selecting one of the real image data Da, the low-resolution image data De, and the CG image data Dc or combining one of the real image data Da and the low-resolution image data De, and the CG image data Dc with each other. At this time, in a case where the image processor  260  receives the error region data d 4  from the error region detector  470 , the image processor  260  extracts image data (partial image data Df) of the region where the error point is present in the real image data Da from the low-resolution image data De on the basis of the error region data d 4 , and writes the extracted partial image data Df over the real image data Da to thereby generate image data Dd″ for displaying on the display section  270 . It is to be noted that the image processor  260  may generate the image data Dd″ by cutting out a region Re where the error point is present from the real image data Da on the basis of the error region data d 4  and inserting the partial image data Df into the region Re for combination. The image processor  260  generates an image signal based on the generated image data Dd″, and outputs the image signal to the display section  270 . The display section  270  displays an image (moving image) on the basis of the inputted image signal. 
     In a case where the region Re where the error point is present in the real image data Da is increased and exceeds a predetermined threshold, the image processor  260  may generate the image data Dd without using the real image data Da. In a case where the region Re exceeds the predetermined threshold, the image processor  260  may generate the image data Dd, for example, by selecting the low-resolution image data De as the image data Dd or combining the low-resolution image data De and the CG image data Dc with each other. It is to be noted that in a case where the region Re is present in the real image data Da (e.g., in a case where the error region data d 4  is inputted), the image processor  260  may generate the image data Dd without using the real image data Da by a method similar to the above-described method. 
     If necessary, the controller  420  may determine which one of the read image data Da and the CG image data Dc is to be selected on the basis of the reception electric power data Dp inputted from the reception electric power measuring section  410 , and output a result of such determination to the image processor  260 . in this case, the image processor  260  selects one of the real image data Da and the CG image data Dc in accordance with the result of determination inputted from the controller  420  to generate the image data Dd. 
     The controller  420  may further generate a control signal for stopping the operations of the error region detector  470 , the high-resolution image decoder  480 , and the low-resolution image decoder  490  when selecting the CG image data Dc, and output the control signal to the high-resolution image decoder  480  and the low-resolution image decoder  490 . Accordingly, the operations of the high-resolution image decoder  480  and the low-resolution image decoder  490  while selecting the CG image data De are stopped to reduce electric power consumption by the high-resolution image decoder  480  and the low resolution image decoder  490 . 
     It is to be noted that the information processing system according to the present embodiment may have, for example, wireless communication via the antennas  320  and  430  in addition to wireless communication via the antennas  190  and  210 , as illustrated in  FIG.  7   . 
     in this case, the controller  420  may generate a control signal for stopping the operations of the imaging device  110 , the image capturing section  120 , the high-resolution image encoder  360 , the low-resolution image encoder  370 , the modulator  140 , and the modulator  380  of the mobile body  100  when selecting the CG image data Dc, and output the control signal to the communication section  430 . The communication section  430  transmits the control signal inputted from the controller  420  to the mobile body  100  via the antenna  440 . Upon receiving the control signal from the remote control device  200  via the antenna  320 , the communication section  330  outputs the received control signal to the controller  340 . The controller  340  stops the operations of the imaging device  110 , the image capturing section  120 , the image encoder  130 , and the modulator  140  on the basis of the control signal inputted from the remote control device  200 . Thus, electric power consumption by the imaging device  110 , the image capturing section  120 , the image encoder  130 , and the modulator  140  is reduced. 
     [Effects] 
     Next, description is given of effects of the information processing system according to the embodiment. 
     In the present embodiment, the low-resolution real image data De that is generated on the basis of the real image data Da and has lower resolution than the real image data Da is modulated by a predetermined modulation scheme to thereby generate the real image signal S 3  having low resolution. Accordingly, for example, even in a case where image quality is degraded or image display is interrupted due to radio wave interference when performing image display based on the real image data Da, it is possible to switch to image display based on the low-resolution real image data De having relatively high definition without suddenly switching to image display based on the CG data Db of a coarse image. As a result, it is possible to increase time in which a real image is displayable, which makes it possible to smoothly perform remote control of the mobile body  100 . 
     it is to be noted that in the information. processing system according to the present embodiment, one piece of low-resolution image data (low-resolution image data De) is generated from the real image data Da. However, in the information processing system according to the present embodiment, two or more pieces of low-resolution image data may be generated from the real image data Da. 
     In addition, in the information processing system according to the present embodiment, one piece of CG data Db is generated from output of the sensor section  150 . However, in the information processing system according to the present embodiment, two or more pieces of CG data may be generated from output of the sensor section  150 . 
     &lt;5. Fourth Embodiment&gt; 
     Next, description is given of an information processing system according to a fourth embodiment of the present disclosure.  FIG.  8    illustrates a schematic configuration example of the information processing system according to the present embodiment. The information processing system according to the present embodiment includes the mobile body  100  and the remote control device  200 . 
     In the present embodiment, the mobile body  100  differs from the mobile body  100  according to the third embodiment described above in that the transmission processor  180  is omitted, and antennas  510  and  520  are newly included. In the present embodiment, the remote control device  200  differs from the remote control device  200  according to the third embodiment described above in that the separation processor  230  is omitted, and antennas  610  and  630  and demodulators  620  and  640  are newly included. 
     The modulator  140  transmits the real image signal S 1 , for example, in a relatively highest frequency band (e.g., 5-GHz hand) to the antenna  210  of the remote control device  200  via the antenna  190 . The modulator  170  transmits the CG signal S 2 , for example, in a relatively lowest frequency band (e.g., 900-MHz band) to the antenna  630  of the remote control device  200  via the antenna  520 . The modulator  380  transmits the real image signal S 3 , for example, in a frequency band (e.g., 2-GHz band) between transmission frequency bands of the real image signal S 1  and the CG signal S 2  to the antenna  610  of the remote control device  200  via the antenna  510 . 
     The demodulator  220  receives the real image signal S 1  transmitted, for example, in the relatively highest frequency band (e.g., 5-GHz band) via the antenna  210 . The demodulator  640  receives the CG signal S 2  transmitted, for example, in the relatively lowest frequency band (e.g., 900-MHz) via the antenna  630 . The demodulator  640  demodulates the CG signal S 2 , and outputs the CG signal S 2  to the rendering processor  250 . The demodulator  620  receives the real image signal S 3  transmitted, for example, in the frequency band (e.g., 2-GHz band) between the transmission frequency bands of the real image signal S 1  and the CG signal S 2  via the antenna  610 . The demodulator  620  demodulates the real image signal S 3 , and outputs the real image signal S 3  to the low-resolution image decoder  490 . 
     As a frequency increases, straightness of radio waves becomes higher, and propagation loss in space becomes larger. Conversely, as the frequency decreases, sneak of radio waves due to diffraction more easily occurs, and the propagation loss is decreased, which makes it easier for radio waves to reach. In contrast, data capacity is easily increased at a high frequency that easily has a wide frequency bandwidth, and is decreased at a low frequency of which the frequency bandwidth tends to be narrow. Transmitting high-resolution image data (real image signal S 1 ) at a high frequency makes it possible to perform high-definition image display by high data capacity. Transmitting low-resolution image data (real image signal S 3 ) at a low frequency makes it possible to perform minimum image display necessary for control. Long-distance transmission is implemented by transmitting CG data (CG signal S 2 ) at the lowest frequency, and at least CG data (CG signal S 2 ) is transmitted with highest reliability. Accordingly, even if a real image is not able to be displayed, a distance allowing for control is increased. 
     [Effects] 
     Next, description is given of effects of the information processing system according to the embodiment. 
     In the present embodiment, the real image signal S 1  and the real image signal S 3  are transmitted in a relatively high frequency band, and the CG signal S 2  is transmitted in a relatively low frequency band. This makes it possible to transmit at least the CG signal S 2  with highest reliability; therefore, even in a case where a real image is not able to be displayed, it is possible to increase a distance or time in which the mobile body  100  is remotely controllable. 
     In the present embodiment, the real image signal S 1  is transmitted in the relatively highest frequency band, the CG signal S 2  is transmitted in the relatively lowest frequency band, and the real image signal S 3  is transmitted in the frequency band between the transmission frequency bands of the real image signal S 1  and the CG signal S 2 . This makes it possible to transmit at least the CG signal S 2  with highest reliability, and further makes it possible to transmit the real image signal S 3  having higher definition than the CG signal S 2  in a case where a communication state is not so poor. Accordingly, even in a case where a real image haying extremely high definition based on the real image signal S 1  is not able to be displayed, it is possible to increase a distance or time in which the mobile body  100  is remotely controllable without impairing operability as much as possible. 
     It is to be noted that in the present embodiment, data transmission by wireless communication using three sets of antennas may be replaced with data transmission by wireless communication using one set of antennas corresponding to multiple hands. In such a case, it is sufficient if output terminals of three modulators  140 ,  380 , and  170  are coupled to a triplexer or the like, one antenna is provided at an output terminal of the triplexer, input terminals of three demodulators  220 ,  620 , and  640  are coupled to a triplexer or the like, and one antenna is provided at an input terminal of the triplexer. 
     In addition, in the present embodiment, data transmission is performed by wireless communication using three sets of antennas; however, for example, in the present embodiment, data transmission by wireless communication using four or more sets of antennas may be performed. 
     It is to be noted that in the embodiments described above and modification examples thereof, the mobile body  100  may include a sound sensor section that senses sounds of the surrounding environment, a force sensor section that senses a force sense supplied from the surrounding environment. In this case, the modulator  170  may generate a sound signal or a force sense signal by performing baseband processing such as error correction encoding and interleaving on sound data obtained from the sound sensor section or force sense data obtained from the force sensor section and modulating the sound data and the force sense data, and transmit the sound signal or the force sense signal to the remote control device  200 . 
     In addition, for example, the present disclosure may have the following configurations. 
     (1) 
     An information processing apparatus including:
         a real image signal generator that modulates real image data by a first modulation scheme to thereby generate a real image signal, the real image data being obtained by imaging of a surrounding environment;   a CG signal generator that modulates CG (computer graphics) data by a second modulation scheme to thereby generate a CG signal, the CG data being obtained on the basis of data obtained by sensing of the surrounding environment; and a transmission section that transmits the real image signal and the CG signal to an external device by wireless communication.
 
(2)
       

     The information processing apparatus according to (1), in which the transmission section modulates the real image signal with use of a relatively high-order modulation scheme as the first modulation scheme, and modulates the CG signal with a relatively low-order modulation scheme as the second modulation scheme. 
     (3) 
     The information processing apparatus according to (1) or (2), in which the transmission section transmits the real image signal in a frequency band having a relatively wide bandwidth, and transmits the CG signal in a frequency band having a relatively narrow bandwidth. 
     (4) 
     The information processing apparatus according to any one of (1) to (3), further including a reception section that receives real image range specification data that specifies a predetermined range in a real image generated on the basis of the real image signal, in which
         the real image signal generator processes the real image data on the basis of the real image range specification data to thereby generate limited real image data in which a range of the real image is limited, and modulates the generated limited real image data by the first modulation scheme or a lower-order modulation scheme than the first modulation scheme.
 
(5)
       

     The information processing apparatus according to any one of (1) to (4), further including a reception section that receives reception electric power data from the external device, in which
         the real image signal generator adjusts resolution or a compression rate of the real image data on the basis of the reception electric power data.
 
(6)
       

     The information processing apparatus according to any one of (1) to (5), in which the real image signal generator modulates low-resolution real image data having lower resolution than the real image data by a third modulation scheme to thereby generate a low-resolution real image signal, the low-resolution real image data being generated on the basis of the real image data, and
         the transmission section transmits the real image signal, the low-resolution real image signal, and the CG signal to the external device by the wireless communication.
 
(7)
       

     The information processing apparatus according to any one of (1) to (5), in which the transmission section transmits the real image signal in a relatively high frequency band, and transmits the CG signal in a relatively low frequency band. 
     (8) 
     The information processing apparatus according to (6), in which the transmission section transmits the real image signal in a relatively highest frequency hand, transmits the CG signal in a relatively lowest frequency band, and transmits the low-resolution real image signal in a frequency band between transmission frequency bands of the real image signal and the CG signal. 
     (9) 
     An information processing system including:
         an information processing apparatus and a remote control device that are configured to be communicable with each other by wireless communication,   the information processing apparatus including:   a first generator that modulates real image data by a first modulation scheme to thereby generate a real image signal, the real image data being obtained by imaging of a surrounding environment,   a second generator that modulates CG (computer graphics) data by a second modulation scheme to thereby generate a CG signal, the CG data being obtained on the basis of data obtained by sensing of the surrounding environment, and   a first transmission section that transmits the real image signal and the CG signal to the remote control device by wireless communication, and   the remote control device including:   a first reception section that receives the real image signal and the CG signal transmitted from the information processing apparatus by the wireless communication, and   a display section that displays an image on the basis of at least one of the real image signal or the CG signal received by the reception section.
 
(10)
       

     The information processing system according to (9), in which
         the remote control device further includes   a third generator that generates real image range specification data that specifies a predetermined range in a real image to be displayed on the display section on the basis of the real image signal, and   a second transmission section that transmits the real image range specification data generated by the third generator to the remote control device by wireless communication,   the information processing apparatus further includes a second reception section that receives the real image range specification data from the remote control device, and the real image signal generator processes the real image data on the basis of the real image range specification data received by the second reception section to thereby generate limited real image data in which a range of the real image is limited, and modulates the generated limited real image data by the first modulation scheme or a lower-order modulation scheme than the first modulation scheme.
 
(11)
       

     The information processing system according to (9) or (10), in which
         the remote control device further includes:   a reception electric power measuring section that measures electric power of a signal transmitted from the information processing apparatus or a signal obtained by performing predetermined processing on the signal transmitted from the information processing apparatus to thereby obtain electric power data, and   a third transmission section that transmits the electric power data obtained by the reception electric power measuring section to the remote control device by wireless communication,   the information processing apparatus further includes a third reception section that receives the electric power data from the remote control device by wireless communication, and   the real image signal generator adjusts resolution of e real image data on the basis of the reception electric power data.
 
(12)
       

     An information processing method including:
         modulating real image data by a first modulation scheme to thereby generate a real image signal, the real image data being obtained by imaging of a surrounding environment;   modulating CG (computer graphics) data by a second modulation scheme to thereby generate a CG signal, the CG data being obtained on the basis of data obtained by sensing of the surrounding environment; and   transmitting the real image signal and the CG signal to an external device by wireless communication.       

     In an information processing apparatus according to a first aspect of the present disclosure, an information processing system according to a second aspect of the present disclosure, and an information processing method according to a third aspect of the present disclosure, real image data obtained by imaging of a surrounding environment is modulated by a first modulation scheme to thereby generate a real image signal. CG data obtained on the basis of data obtained by sensing of the surrounding environment is modulated by a second modulation scheme to thereby generate a CG signal. The real image data and the CG data are then transmitted to an external device (remote control device). Accordingly, it is possible to modulate two types of data (the real image data and the CG data) having data amounts different from each other by modulation schemes corresponding to the data amounts. As a result, for example, even in a case where image quality is degraded or image display is interrupted due to radio wave interference when 
     performing image display based on the real image data, it is possible to continue image display by switching to image display based on the CG data. Thus, a user is able to remotely control a mobile body smoothly while switching the type of a displayed image in accordance with the state of radio wave interference. 
     This application claims the benefit of Japanese Priority Patent Application JP2020-088489 filed with Japan Patent Office on May 20, 2020, the entire contents of which are incorporated herein by reference. 
     It should be understood by those skilled in the art that various modifications, combinations, sub-combinations, and alterations may occur depending on design requirements and other factors insofar as they are within the scope of the appended claims or the equivalents thereof.