INFORMATION PROCESSING DEVICE, CONTROL METHOD, PROGRAM, AND STORAGE MEDIUM

The controller of the in-vehicle device acquires point cloud data outputted by a lidar . Then, the controller generates processed point cloud data obtained by down-sampling the point cloud data. The controller matches the processed point cloud data with voxel data VD which represents a position of an object with respect to each voxel that is a unit area and thereby associates a measurement point of the processed point cloud data with the each voxel. Then, the controller changes the size of the subsequent down-sampling based on the associated measurement points number Nc which is the number of measurement points associated with the each voxel among the measurement points of the processed point cloud data.