INFORMATION PROCESSING DEVICE, IMAGING APPARATUS, DEVICE CONTROL SYSTEM, INFORMATION PROCESSING METHOD AND PROGRAM

• Main Author: MOTOHASHI NAOKI
• Format: Patent
• Language: English; Japanese
• Published: 31.05.2018
• Subjects: CALCULATING; COMPUTING; COUNTING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; GYROSCOPIC INSTRUMENTS; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; PICTORIAL COMMUNICATION, e.g. TELEVISION; SURVEYING; TESTING

PROBLEM TO BE SOLVED: To provide an information processing device, an imaging apparatus, a device control system, an information processing method and a program that can sufficiently secure detection accuracy of objects.SOLUTION: An information processing device of the present invention comprises an acquisition part, a generation part, a division part, an estimation part, and a rejection part. The acquisition part acquires a distance image including distance information of each picture element. The generation part generates, based on a plurality of the picture elements included in the distance image, mapping information in which a position in the longitudinal direction and a position in the depth direction are mapped each other. The estimation part estimates, for each plurality of segments in which the mapping information is divided, the shape of a referential object representing a referential height of the object. The rejection part rejects, for each segment, using a predetermined referential shape set on the basis of the estimated shape indicating the shape of the referential object that is estimated by the estimation part, rejects the estimated shape in the event when the distribution of the distance information of the voted picture elements coincide with the predetermined referential shape.SELECTED DRAWING: Figure 6 【課題】物体の検出精度を十分に確保可能な情報処理装置、撮像装置、機器制御システム、情報処理方法およびプログラムを提供する。【解決手段】本発明の情報処理装置は、取得部と生成部と分割部と推定部と棄却部とを備える。取得部は、画素毎に距離情報を有する距離画像を取得する。生成部は、距離画像に含まれる複数の画素に基づいて、縦方向の位置と、奥行方向の位置とが対応付けられた対応情報を生成する。推定部は、対応情報を分割した複数のセグメントごとに、オブジェクトの高さの基準となる基準オブジェクトの形状を推定する。棄却部は、セグメントごとに、推定部により推定された基準オブジェクトの形状を示す推定形状に基づいて設定された所定の形状を基準に、投票された画素の距離情報の分布が所定の基準に合致する場合は、推定形状を棄却する。【選択図】図６