IMAGE PROCESSING DEVICE AND METHOD, AND PROGRAM

A pull-down pattern detection portion detects a pull-down pattern in an input image on which pull-down has been performed. Based on the pull-down pattern and on a first frame frequency that is a frame frequency of the input image, a frame frequency calculation portion calculates a second frame frequency that is a frame frequency of an original image before the pull-down has been performed on the input image. The present technology can be applied to an image processing device that performs frame rate conversion of the input image on which pull-down processing has been performed using a predetermined pull-down pattern. 1. An image processing device comprising:a pull-down pattern detection portion that detects a pull-down pattern in an input image on which pull-down has been performed; anda frame frequency calculation portion that calculates, based on the pull-down pattern and on a first frame frequency that is a frame frequency of the input image, a second frame frequency that is a frame frequency of an original image before the pull-down has been performed on the input image.2. The image processing device according to claim 1 ,wherein the pull-down pattern detection portion detects, based on a pattern of existence and non-existence of motion between frames of the input image, a pull-down cycle that is a frame cycle in which the pull-down pattern is repeated, and counts a number of the frames that represents a number of motions between the frames in the pull-down cycle, andwherein the frame frequency calculation portion calculates the second frame frequency based on the pull-down cycle, the number of motion frames and the first frame frequency.3. The image processing device according to claim 1 , further comprising:a motion vector detection portion that detects a motion vector between frames of the original image; anda motion compensation portion that performs motion compensation based on the motion vector, the second frame frequency and a third frame frequency that ...

SIGNAL PROCESSING APPARATUS AND SIGNAL PROCESSING METHOD

This technology relates to a signal processing apparatus and a signal processing method for obtaining the relative positional relations between sensors with higher accuracy. A positional relation estimating part of the signal processing apparatus estimates positional relations between a first coordinate system and a second coordinate system, on the basis of corresponding relations between multiple planes in the first coordinate system obtained by a first sensor on the one hand and multiple planes in the second coordinate system obtained by a second sensor on the other hand. This technology may be applied, for example, to the signal processing apparatus that estimates the positional relations between the first and the second sensors having significantly different levels of spatial resolution. 1. A signal processing apparatus comprising:a positional relation estimating part configured to estimate positional relations between a first coordinate system and a second coordinate system, on a basis of corresponding relations between a plurality of planes in the first coordinate system obtained by a first sensor on the one hand and a plurality of planes in the second coordinate system obtained by a second sensor on the other hand.2. The signal processing apparatus according to claim 1 , further comprising:a plane correspondence detecting part configured to detect the corresponding relations between the plurality of planes in the first coordinate system obtained by the first sensor on the one hand and the plurality of planes in the second coordinate system obtained by the second sensor on the other hand.3. The signal processing apparatus according to claim 2 , wherein the plane correspondence detecting part detects the corresponding relations between the plurality of planes in the first coordinate system on the one hand and the plurality of planes in the second coordinate system on the other hand claim 2 , by use of preliminary arrangement information constituting preliminary ...

Control apparatus, control method, and program

A control apparatus ( 100 ) includes an acquisition unit ( 121 ) that acquires captured data in which an object around a moving object is captured by an imaging unit, where the moving object is one of a moving object that is irradiated with spontaneous emission light and a mobbing object that moves with a predetermined pattern, and a determination unit ( 122 ) that determines that the object is an obstacle if the captured data acquired by the acquisition unit ( 121 ) includes a specific pattern.

SIGNAL PROCESSING DEVICE AND SIGNAL PROCESSING METHOD, PROGRAM, AND MOBILE BODY

On the basis of semantic labeling information in an image captured by a camera an area in which a boundary of a movable area of a mobile body exists in the image is estimated as an image movable area boundary, on the basis of a distance image detected by a depth sensor an area in which the boundary of the movable area of the mobile body exists in the distance image is estimated as a distance image movable area boundary, the boundary of the movable area is determined on the basis of the image movable area boundary and of the distance image movable area boundary, and an environment map is generated on the basis of the determined boundary of the movable area. The present disclosure can be applied to an in-vehicle system. 1. A signal processing device comprising:a labeling boundary estimation unit that estimates as a labeling information boundary, on a basis of labeling information according to a type of a subject in a captured image, an area in which a boundary of a movable area of a mobile body exists in the image;a distance image boundary estimation unit that estimates as a distance image boundary, on a basis of a distance image, an area in which the boundary of the movable area exists in the distance image; anda movable area boundary determination unit that determines the boundary of the movable area on a basis of the labeling information boundary and of the distance image boundary.2. The signal processing device according to claim 1 , whereinthe labeling boundary estimation unit estimates, as the labeling information boundary, an area in which a boundary of an area labeled as a subject of a type corresponding to the movable area exists on a basis of the labeling information.3. The signal processing device according to claim 1 , whereinthe labeling boundary estimation unit estimates the labeling information boundary on a basis of the labeling information and of the distance image.4. The signal processing device according to claim 3 , whereinthe labeling boundary ...

Controller, control method, and control program

A controller ( 100 ) includes: an acquisition unit ( 121 ) that acquires image data captured by an imaging device ( 10 ) for photographing disposed in a moving body; and a calculation unit ( 127 ) that calculates a relative position of a position of a subject, which is detected by a plurality of distance-measuring imaging devices ( 20 - 1, 20 - 2, 20 - 3, and 20 - 4 ) provided in the moving body, based on the subject included in the image data.

Signal processing apparatus, signal processing method, and program

A signal processing apparatus including a first position calculation unit that calculates a three-dimensional position of a target on a first coordinate system from a stereo image captured by a stereo camera, a second position calculation unit that calculates a three-dimensional position of the target on a second coordinate system from a sensor signal of a sensor capable of obtaining position information of at least one of a lateral direction and a longitudinal direction and position information of a depth direction, a correspondence detection unit that detects a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system, and a positional relationship information estimating unit that estimates positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

Information processing device, information processing method, and information processing program

An information processing device includes a map creating unit that creates a map of a travel range, which is a range over which a mobile body having an image-capturing device performs photography while travelling, a shape extracting unit that extracts a shape present in the map, a composition setting unit that sets a composition of an image to be photographed by the image-capturing device, and a route deciding unit that decides a travel route in the travel range of the mobile body on the basis of the shape and the composition.

SIGNAL PROCESSING APPARATUS, SIGNAL PROCESSING METHOD, PROGRAM, AND MOBILE OBJECT

According to some embodiments, there is provided a method comprising labeling each of a plurality of subjects in an image with a label, the label for each subject indicating a kind of the subject, wherein the labeling comprises analyzing the image and/or distance measurement points for an area depicted in the image, and determining additional distance information not included in the distance measurement points, wherein determining the additional distance information comprises interpolating and/or generating a distance to a point based at least in part on at least some of the distance measurement points, wherein the at least some of the distance measurement points are selected based at least in part on labels assigned to one or more of the plurality of subjects. 1. A method comprising:labeling each of a plurality of subjects in an image with a label, the label for each subject indicating a kind of the subject, wherein the labeling comprises analyzing the image and/or distance measurement points for an area depicted in the image; anddetermining additional distance information not included in the distance measurement points, wherein determining the additional distance information comprises interpolating and/or generating a distance to a point based at least in part on at least some of the distance measurement points, wherein the at least some of the distance measurement points are selected based at least in part on labels assigned to one or more of the plurality of subjects.2. The method of claim 1 , wherein interpolating and/or generating the distance to the point based at least in part on at least some of the distance measurement points comprises:in response to determining that one or more of the distance measurement points are associated with a same subject, of the plurality of subjects, as the point and are within a range of the point,interpolating the distance to the point based on the one or more points of the distance measurement points.3. The method of claim 2 ...

Signal processing apparatus, signal processing method, program, mobile object, and signal processing system

The present disclosure relates to a signal processing apparatus and system. In calibration, a sensor section is used to acquire a time of day when a stereo camera image capturing a target is acquired and a time of day when a radar image capturing the target is acquired. The target has a radar reflector and a marker. The image acquisition times of day are acquired while at the same time changing a distance between the sensor section and the target so as to find an amount of time-of-day discrepancy, a difference in time of day between the stereo camera image and the radar image at the same distance. At the time of object detection, the radar image acquired first is buffered and then output together with the stereo camera image acquired by the time-of-day discrepancy later, thus combining the stereo camera image and the radar image.

MOBILE OBJECT AND METHOD FOR CONTROLLING MOBILE OBJECT

The present technology relates to a mobile object and a method for controlling the mobile object that can improve the distance measurement accuracy. A cooperative sensing section obtains sensing information by performing sensing in cooperation with another mobile object. A control section controls movement according to a cooperative distance measurement using the sensing information. The cooperative distance measurement is a distance measurement performed in cooperation with the another mobile object. The present technology can be applied to a package delivery system. 1. A mobile object comprising:a cooperative sensing section configured to obtain sensing information by performing sensing in cooperation with another mobile object; anda control section configured to control movement according to a cooperative distance measurement using the sensing information, the cooperative distance measurement being a distance measurement performed in cooperation with the another mobile object.2. The mobile object according to claim 1 ,wherein the sensing information includes distance information based on image information and cooperative distance information based on the image information obtained from each of at least two of the mobile objects, andthe control section controls the movement on a basis of the distance information and the cooperative distance information.3. The mobile object according to claim 2 ,wherein the sensing information includes the sensing information of the another mobile object and the sensing information of the mobile object itself, andthe control section controls the movement on a basis of the sensing information of the another mobile object and the sensing information of the mobile object itself.4. The mobile object according to claim 2 , wherein the cooperative sensing section obtains the image information by capturing an image in synchronization with the another mobile object.5. The mobile object according to claim 2 , wherein the cooperative sensing ...

SUBTITLE DETECTION FOR STEREOSCOPIC VIDEO CONTENTS

A right image and a left image is provided. Then a disparity estimation map relating to both images is provided and a left subtitle detection map for the left image and a right subtitle detection map for the right image are generated. Each map indicates subtitle areas within an image. For said subtitle areas and based on said disparity estimation map a subtitle disparity value for X and Y directions common for all subtitle areas is determined. Said left and right subtitle maps and said subtitle X and Y disparity values are used in an image interpolation process. 1. Method comprising:providing a right image and a left image,providing a disparity estimation map relating to both images,generating a left subtitle detection map for the left image and a right subtitle detection map for the right image, each map indicating subtitle areas within an image,for said subtitle areas and based on said disparity estimation map determining a subtitle disparity value for X and Y directions common for all subtitle areas,using said left and right subtitle maps and said subtitle X and Y disparity values in an image interpolation process.2. Method of claim 1 , wherein generating a subtitle detection map comprises:applying a text edge detection on said image for providing a binary text edges map indicating text specific edges, andapplying a motion detection on said image and a previous image for providing a still area map indicating areas with motion and without motion.3. Method of claim 2 , wherein said binary text edges map and said still area map are AND gated to provide a binary final edge map.4. Method of claim 2 , wherein said text edge detection comprises detecting up-down edge pairs in said image indicating up-down changes of luminance level.5. Method of claim 4 , wherein said detecting comprises applying a gradient filter claim 4 , preferably a sobel filter.6. Method of claim 5 , comprising classifying said luminance level changes.7. Method of claim 3 , comprisingapplying a ...

CONTROL APPARATUS, CONTROL METHOD, PROGRAM, AND MOVING BODY

A laser range finder projects light while changing a direction in a horizontal direction at a predetermined angle with respect to a vertical direction to also receive reflected light of the light, and detects a direction and a distance in which the light is reflected from an obstacle or the like, according to a difference time between a time of light projection and a time of light reception. A normal direction of a flat plane forming a road surface is detected on the basis of a polarized image. The laser range finder projects light such that the light has a predetermined angle with respect to the vertical direction so as to be orthogonal to the normal direction of the flat plane forming the road surface. The laser range finder can be applied to in-vehicle systems. 1. A control apparatus comprising:an object detection unit that projects light while changing a direction along a same plane to also receive reflected light of the light, and detects a direction and a distance in which the light is reflected, according to a difference time between a time of light projection and a time of light reception; anda movable region normal detection unit that detects a normal direction of a flat plane in a three-dimensional space forming a movable region of a moving body, whereinthe object detection unit controls a light projection direction of light so as to change a direction along a plane orthogonal to the normal direction.2. The control apparatus according to claim 1 , further comprisinga polarization camera that captures a polarized image, whereinthe movable region normal detection unit detects a normal direction of a flat plane forming a movable region of a moving body, from the polarized image.3. The control apparatus according to claim 2 , further comprising:a normal direction detection unit that detects a normal direction of a surface of a subject in the polarized image in units of pixels;a reconfiguration unit that reconfigures a non-polarized image from a plurality of ...

Information processing device, information processing method, information processing program, and moving body

An information processing device ( 10 ) includes: an acquisition unit ( 181 ) that acquires an image captured by an imaging unit ( 13 ); a recognition unit ( 182 ) that recognizes attributes of an object shown in the image captured by the imaging unit ( 13 ); and a generation unit ( 183 ) that generates a bird's-eye view map showing the attributes of the object on the basis of the image captured by the imaging unit ( 13 ) and information on the attributes of the object recognized by the recognition unit.

INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD

The present technology relates to an information processing apparatus and an information processing method that enable enhancement of the accuracy in the recognition of locations of a moving body. The information processing apparatus is arranged on a moving body and includes an own-location recognition block configured to recognize, on the basis of an image taken from the moving body, a first own location that is an absolute location of the moving body; a moving body recognition block configured to recognize a relative location relative to the moving body of another moving body in the image taken from the moving body; a communication block configured to execute communication with the another moving body so as to obtain the absolute location of the another moving body; and an own location computation block configured to compute, on the basis of the absolute location of the another moving body and the relative location of the another moving body, a second own location that is an absolute location of the moving body. The present technology is applicable to systems for recognizing vehicle locations, for example. 1. An information processing apparatus arranged on a moving body , the information processing apparatus comprising:an own-location recognition block configured to recognize, on the basis of an image taken from the moving body, a first own location that is an absolute location of the moving body;a moving body recognition block configured to recognize a relative location relative to the moving body of another moving body in the image taken from the moving body;a communication block configured to execute communication with the another moving body so as to obtain the absolute location of the another moving body; andan own location computation block configured to compute, on the basis of the absolute location of the another moving body and the relative location of the another moving body, a second own location that is an absolute location of the moving body.2. The ...

SIGNAL PROCESSING APPARATUS, SIGNAL PROCESSING METHOD, PROGRAM, AND OBJECT DETECTION SYSTEM

The present disclosure relates to a signal processing apparatus, a signal processing method, a program, and an object detection system that enable an object detection to be accurately performed. A stereo camera performs imaging by a right camera and a left camera to thereby acquire a stereo image and a millimeter wave radar acquires a radar image in which a position of an object is detected in a radiation range of millimeter waves by using millimeter waves that are radio waves of a millimeter wave band. Then, by communication via a communication apparatus with a target in which positional information is known, it is determined whether or not the target is reliable, and in a case where it is determined that the target is reliable, calibration processing is performed for eliminating a deviation in coordinate systems generated in the stereo image and the radar image in which the target is detected. For example, the present technology can be applied to an on-vehicle sensor mounted on a vehicle in which automatic driving control is performed. 1. A signal processing apparatus comprising:a reliability determination unit configured to determine, by communication with a target of which positional information is known, whether or not the target is reliable; anda calibration processing unit configured to perform calibration processing for eliminating a deviation in coordinate systems generated in a stereo image and a radar image in which the target is detected in a case where it is determined by the reliability determination unit that the target is reliable.2. The signal processing apparatus according to claim 1 , further comprising:a vehicle position specification unit configured to specify a current position of a vehicle on which the signal processing apparatus is mounted; anda target location area determination unit configured to refer to map data on which arrangement positions of a plurality of the targets are registered and, in a case where the current position of the ...

SIGNAL PROCESSING APPARATUS, SIGNAL PROCESSING METHOD, AND PROGRAM

The present technology relates to a signal processing apparatus, a signal processing method, and a program that enable calibration with high precision. 1. A signal processing apparatus comprising:a first position calculation unit that calculates a three-dimensional position of a target on a first coordinate system from a stereo image captured by a stereo camera;a second position calculation unit that calculates a three-dimensional position of the target on a second coordinate system from a sensor signal of a sensor capable of obtaining position information of at least one of a lateral direction and a longitudinal direction and position information of a depth direction;a correspondence detection unit that detects a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system; anda positional relationship information estimating unit that estimates positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.2. The signal processing apparatus according to claim 1 ,wherein the correspondence detection unit detects the correspondence relationship after collating individual targets on the first coordinate system and the second coordinate system with prior arrangement information of the target and identifying the target.3. The signal processing apparatus according to claim 1 ,wherein the correspondence detection unit detects the correspondence relationship by superimposing the three-dimensional position of the target on the first coordinate system and the three-dimensional position of the target on the second coordinate system over each other and making the targets arranged closest to each other correspond to each other.4. The signal processing apparatus according to claim 1 ,wherein the first position calculation unit calculates the three-dimensional position of the target whose motion is detected, andthe second ...

SIGNAL PROCESSING APPARATUS, SIGNAL PROCESSING METHOD, PROGRAM, AND OBJECT DETECTION SYSTEM

The present disclosure relates to a signal processing apparatus, a signal processing method, and an object detection system. A stereo camera performs imaging by a right camera and a left camera to acquire a stereo image and a millimeter wave radar acquires a radar image in which a position of an object is detected in a radiation range of millimeter waves by using millimeter waves. Then, by communication via a communication apparatus with a target in which positional information is known, it is determined whether or not the target is reliable, and in a case where it is determined that the target is reliable, calibration processing is performed for eliminating a deviation in coordinate systems generated in the stereo image and the radar image in which the target is detected. 1. A signal processing apparatus , comprising: receive a digital signature from a target;', 'determine a reliability of the target based on the digital signature; and', 'eliminate, based on data of the target having the determined reliability, a deviation in coordinate systems of camera image data and non-camera sensor data in which the target is detected., 'a processor configured to2. The signal processing apparatus according to claim 1 , wherein the camera image data comprises stereo camera data.3. The signal processing apparatus according to claim 1 , wherein the non-camera sensor data comprises radar image data.4. The signal processing apparatus according to claim 1 , whereinthe target is an object detected in both of a system that uses a camera image data and a system that uses the non-camera sensor data, andthe target sends the digital signature.5. The signal processing apparatus according to claim 1 , wherein the processor is further configured to receive information indicating a position of the target.6. The signal processing apparatus according to claim 1 , wherein the processor is further configured to:specify a current position of a vehicle on which the signal processing apparatus is ...

APPARATUS AND METHOD FOR MEASUREMENT, AND PROGRAM

The present technique relates to an apparatus and a method for measurement, and a program each of which enables distance estimation to be more simply carried out with higher accuracy. 1. A measurement apparatus , comprising:a rotation control portion controlling rotation of a photographing portion by a rotation mechanism in such a way that the photographing portion is rotated with a center of rotation as an axis in a state in which a distance from the center of rotation of the rotation mechanism to a focal point position of the photographing portion is a constant distance; anda distance calculating portion calculating a distance to an object on a space on the basis of a plurality of photographed images obtained through photographing in positions different from one another by the photographing portion in a state in which the photographing portion is rotated.2. The measurement apparatus according to claim 1 ,wherein the distance calculating portion calculates the distance to the object on the basis of a geometric relationship among corresponding points in the plurality of photographed images.3. The measurement apparatus according to claim 2 ,wherein the distance calculating portion extracts line images constituted by pixel lines containing the corresponding points from the photographed images, and calculates the distance to the object on the basis of a synthetic image which is obtained by arranging side by side and synthesizing the plurality of line images obtained from the plurality of photographed images.4. The measurement apparatus according to claim 3 ,wherein the distance calculating portion calculates the distance to the object on the basis of amplitude of a locus of the corresponding point in the synthetic image.5. The measurement apparatus according to claim 1 , further comprising a rectification portion rectifying the photographed images claim 1 ,wherein the distance calculating portion calculates the distance to the object on the basis of a rectified image ...

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, PROGRAM, AND MOBILE OBJECT

The present disclosure relates to an information processing apparatus capable of detecting a plane constituting a movement-enabling region, as well as to an information processing method, a program, and a mobile object. 1. An information processing apparatus comprising:a movement-enabling region normal line detection section configured to detect a normal direction of a plane constituting a movement-enabling region for a mobile object;a position identification section configured to identify a position of a point on the plane constituting the movement-enabling region; anda plane identification section configured to identify the plane constituting the movement-enabling region on a basis of the normal direction of the movement-enabling region and the position of the point in the movement-enabling region.2. The information processing apparatus according to claim 1 , further comprising:a polarization camera configured to acquire polarized images in a plurality of polarizing directions, whereinthe movement-enabling region normal line detection section detects, on a basis of the polarized images, the normal direction of the plane constituting the movement-enabling region for the mobile object.3. The information processing apparatus according to claim 2 , further comprising:a normal direction detection section configured to detect, in units of pixels, a normal direction of a surface of a subject in the polarized images before outputting the detected normal direction as a normal vector map;a reconstruction section configured to reconstruct an unpolarized image from the polarized images; andan attribute setting section configured to set an attribute of the subject to each of the pixels in the unpolarized image, whereinthe movement-enabling region normal line detection section detects a dominant normal direction on the normal vector map corresponding to a region having those pixels in the unpolarized image of which the attribute is set to the movement-enabling region by the ...

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD AND PROGRAM

The present technology relates to an information processing apparatus, an information processing method and a program that make it possible to determine a distance to an object with high accuracy. 1. An information processing apparatus , comprising:a likelihood calculation unit configured to calculate, from information obtained by each of a plurality of distance measurement methods, distance likelihoods with regard to which the distance to an object is each of a plurality of distances; andan integration unit configured to integrate the distance likelihoods according to the plurality of distance measurement methods to determine integration likelihoods each of the plurality of distances.2. The information processing apparatus according to claim 1 , further comprising:a distance calculation unit configured to determine the distance to the object using the integration likelihoods.3. The information processing apparatus according to claim 2 , further comprising:a generation unit configured to generate obstacle information regarding an obstacle using the distance to the object.4. The information processing apparatus according to claim 3 , whereinthe integration unit integrates the distance likelihoods according to the plurality of distance measurement methods using the distances or the obstacle information obtained in a preceding operation cycle.5. The information processing apparatus according to claim 1 , further comprising:a synchronization unit configured to synchronize sensor data outputted from the plurality of sensors and to be used for distance measurement by the plurality of distance measurement methods.6. The information processing apparatus according to claim 1 , whereinsensors used for distance measurement by the plurality of distance measurement methods are two or more sensors from among a stereo camera, a radar, a ToF sensor and a LIDAR.7. An information processing method claim 1 , comprising:calculating, from information obtained by each of a plurality of ...

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD AND PROGRAM

The present technology relates to an information processing apparatus, an information processing method and a program that make it possible to determine a movement amount of an object with high accuracy. 1. An information processing apparatus , comprising:a likelihood calculation unit configured to calculate, from information obtained by each of movement detection methods including a movement detection method for detecting a movement amount of an object using an image and one or more different movement detection methods, movement amount likelihoods with regard to which the movement amount of an object is each of a plurality of movement amounts; andan integration unit configured to integrate the movement amount likelihoods according to the plurality of movement detection methods to determine integration likelihoods individually of the plurality of movement amounts.2. The information processing apparatus according to claim 1 , further comprising:a movement amount calculation unit configured to determine the movement amount of the object using the integration likelihoods.3. The information processing apparatus according to claim 2 , further comprising:a generation unit configured to generate obstacle information regarding an obstacle using the movement amount of the object.4. The information processing apparatus according to claim 3 , whereinthe integration unit integrates the movement amount likelihoods according to the plurality of movement detection methods using the movement amounts or the obstacle information obtained in a preceding operation cycle.5. The information processing apparatus according to claim 1 , further comprising:a synchronization unit configured to synchronize sensor data outputted from a camera that is a sensor for picking up the image and the one or more sensors used for detection of movement amounts by one or more movement detection methods.6. The information processing apparatus according to claim 1 , whereina sensor used for detection of a ...

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM

The present technology relates to an information processing apparatus, an information processing method, and a program for suppressing the occurrence of false recognition. 1. An information processing apparatus comprising:a road surface region estimating section configured to estimate a road surface region in a first image captured of a predetermined imaging range;a non-polarized region extracting section configured to extract a non-polarized region from a second image captured of the imaging range;a low-confidence level region estimating section configured to estimate a low-confidence level region for an object with a low first confidence level obtained by a first sensor within a measurement range of the first sensor in the imaging range on the basis of information indicating the road surface region and the non-polarized region;a weight calculating section configured to calculate a weight on the first confidence level on the basis of the first confidence level, a second confidence level of the object obtained by a second sensor in the imaging range, and information indicating the low-confidence level region; anda presence likelihood calculating section configured to calculate presence likelihood of the object at different distances within the imaging range on the basis of the first confidence level, the second confidence level, and information indicating the weight.2. The information processing apparatus according to claim 1 , wherein the weight calculating section calculates the weight by lowering the first confidence level corresponding to the low-confidence level region.3. The information processing apparatus according to claim 2 , further comprising:a distance information extracting section configured to extract distance information about regions excluding a region regarded as a road surface with respect to the object obtained by the second sensor; anda confidence level generating section configured to generate information indicating the second confidence level ...

INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD

An object detection section detects an object that is present in surroundings. A transmission section broadcasts a request signal requesting information regarding an object that has not been detected by the object detection section. A reception section receives a response signal in response to transmission of the request signal, the response signal including the information regarding the object that has not been detected by the object detection section. For example, a display control section controls display of a surrounding environment on the basis of information regarding positions and attributes of a predetermined number of objects detected by the object detection section and controls update of the display of the surrounding environment on the basis of information regarding a position and an attribute of the object that is included in the response signal and that has not been detected by the object detection section. 1. An information processing apparatus comprising:an object detection section configured to detect an object that is present in surroundings;a transmission section configured to broadcast a request signal requesting information regarding an object that has not been detected by the object detection section; anda reception section configured to receive a response signal in response to transmission of the request signal, the response signal including the information regarding the object that has not been detected by the object detection section.2. The information processing apparatus according to claim 1 , wherein the transmission section broadcasts the request signal in a driving caution area.3. The information processing apparatus according to claim 1 , wherein the transmission section broadcasts the request signal in a place with poor visibility.4. The information processing apparatus according to claim 1 , wherein the transmission section broadcasts the request signal in a case where there is a possibility that an object enters in a traveling ...

Action control device and action control method, and program

The present disclosure relates to action control device and an action control method and a program that enable more appropriate action control to be achieved.An EKF processing unit selects a self-position estimation unit used to estimate a position of a drone from a plurality of the self-position estimation units which is different in estimation accuracy on the basis of waypoints that are indexes when the drone acts, and obtains a state of the drone. Then, a navigator controls an action of the drone according to an action plan created in advance on the basis of the state of the drone. The present technology can be applied to, for example, a mission flight control device that controls a mission flight of a drone.

Generating an environment map around a mobile object with high accuracy

According to some embodiments, there is provided a method comprising labeling each of a plurality of subjects in an image with a label, the label for each subject indicating a kind of the subject, wherein the labeling comprises analyzing the image and/or distance measurement points for an area depicted in the image, and determining additional distance information not included in the distance measurement points, wherein determining the additional distance information comprises interpolating and/or generating a distance to a point based at least in part on at least some of the distance measurement points, wherein the at least some of the distance measurement points are selected based at least in part on labels assigned to one or more of the plurality of subjects.

Signal processing device, signal processing method, program, moving body, and signal processing system

Image processing apparatus, image processing method, and program

A recognition processing section performs subject recognition in a processing area of an image obtained by an imaging section. The recognition processing section determines an image characteristic of the processing area on the basis of a characteristic map indicating an image characteristic of the image obtained by the imaging section and uses a recognizer corresponding to the image characteristic of the processing area. The characteristic map includes a map based on an optical characteristic of an imaging lens used in the imaging section and is stored in a characteristic information storage section. An imaging lens has a winder angle of view in all directions or in a predetermined direction than a standard lens, and the optical characteristic thereof differs depending on a position on the lens. The recognition processing section performs the subject recognition using a recognizer corresponding to resolution or skewness of the processing area, for example.

Signal processing device, signal processing method, program, and object detection system

Information processing apparatus, information processing method, program, and mobile object

An information processing apparatus capable of detecting a plane constituting a movement-enabling region. A normal direction of a plane constituting a road surface is detected on the basis of polarized images in multiple polarizing directions acquired by a polarization camera. A laser ranging sensor measures a distance to a point on the road surface so as to measure a position of the point. The plane constituting the road surface is identified on the basis of information regarding the normal direction of the plane constituting the road surface and information regarding the position of the point on the road surface.

Signal processing apparatus and signal processing method

Diese Technologie bezieht sich auf eine Signalverarbeitungsvorrichtung und auf ein Signalverarbeitungsverfahren zum Erhalten der relativen Positionsbeziehungen zwischen Sensoren mit höherer Genauigkeit.Ein Positionsbeziehungs-Schätzteil der Signalverarbeitungsvorrichtung schätzt auf der Grundlage entsprechender Beziehungen zwischen mehreren Ebenen in dem ersten Koordinatensystem, die durch einen ersten Sensor erhalten werden, einerseits und mehreren Ebenen in dem zweiten Koordinatensystem, die durch einen zweiten Sensor erhalten werden, andererseits Positionsbeziehungen zwischen einem ersten Koordinatensystem und einem zweiten Koordinatensystem. Diese Technologie kann z. B. auf eine Signalverarbeitungsvorrichtung angewendet werden, die die Positionsbeziehungen zwischen dem ersten und dem zweiten Sensor mit erheblich verschiedenen Niveaus der räumlichen Auflösung schätzt. This technology relates to a signal processing apparatus and a signal processing method for obtaining the relative positional relationships between sensors with higher accuracy. A positional relationship estimation part of the signal processing apparatus estimates on the basis of corresponding relationships between multiple levels in the first coordinate system obtained by a first sensor; on the one hand, and a plurality of planes in the second coordinate system obtained by a second sensor, on the other hand, positional relationships between a first coordinate system and a second coordinate system. This technology can, for. B. be applied to a signal processing device that estimates the positional relationships between the first and the second sensor with significantly different levels of spatial resolution.

Information processing apparatus, information processing method, program, and flight object

To enable high-speed autonomous flight of a flight object. A three-dimensional real-time observation result is generated on the basis of self-position estimation information and three-dimensional distance measurement information. A prior map corresponding to a three-dimensional real-time observation result is acquired. The three-dimensional real-time observation result and the prior map are aligned. After the alignment, the three-dimensional real-time observation result is expanded on the basis of the prior map. A flight route is set on the basis of the three-dimensional real-time observation result having been expanded. In the flight object such as a drone, a somewhat long flight route can be accurately calculated at a time in a global behavior plan, which enables high-speed autonomous flight of the flight object.

Information processing apparatus, information processing method, program, and flight object

To enable high-speed autonomous flight of a flight object. A three-dimensional real-time observation result is generated on the basis of self-position estimation information and three-dimensional distance measurement information. A prior map corresponding to a three-dimensional real-time observation result is acquired. The three-dimensional real-time observation result and the prior map are aligned. After the alignment, the three-dimensional real-time observation result is expanded on the basis of the prior map. A flight route is set on the basis of the three-dimensional real-time observation result having been expanded. In the flight object such as a drone, a somewhat long flight route can be accurately calculated at a time in a global behavior plan, which enables high-speed autonomous flight of the flight object.

Signal processing device and signal processing method, program, and mobile body

On the basis of semantic labeling information in an image captured by a camera an area in which a boundary of a movable area of a mobile body exists in the image is estimated as an image movable area boundary, on the basis of a distance image detected by a depth sensor an area in which the boundary of the movable area of the mobile body exists in the distance image is estimated as a distance image movable area boundary, the boundary of the movable area is determined on the basis of the image movable area boundary and of the distance image movable area boundary, and an environment map is generated on the basis of the determined boundary of the movable area. The present disclosure can be applied to an in-vehicle system.

移動体および移動体の制御方法

【課題】測距精度を向上させることができる移動体の制御方法を提供する。【解決手段】協調センシング部は、他の移動体と協調して画像情報等のセンシングを行い、センシング情報を得る。制御部は、前記センシング情報を用いて、他の移動体と協調した測距である協調測距に応じて、移動を制御する。また、本技術は、荷物配送システムに適用することができる。【選択図】図６

Control apparatus and control method for specular object detection based on an unmanned aerial vehicle's reflection

A control apparatus includes an acquisition unit that acquires captured data in which an object around a moving object is captured by an imaging unit, where the moving object is one of a moving object that is irradiated with spontaneous emission light and a moving object that moves with a predetermined pattern, and a determination unit that determines that the object is an obstacle if the captured data acquired by the acquisition unit includes a specific pattern.

Information processing device, information processing method, and moving body

Provided is an information processing device that includes an acquisition unit that acquires an image captured by an imaging unit, a recognition unit that recognizes attributes of an object shown in the image captured by the imaging unit, and a generation unit that generates a bird's-eye view map showing the attributes of the object on the basis of the image captured by the imaging unit and information on the attributes of the object recognized by the recognition unit.

情報処理装置、情報処理方法および情報処理プログラム

【課題】物体を高精度に検出することができる情報処理装置、情報処理方法および情報処理プログラムを提案する。【解決手段】情報処理装置は、各々の基線長の方向が交差するように配置された複数のステレオカメラと、複数のステレオカメラによって撮像された撮像画像から、撮像画像に含まれる物体のデプスを推定するデプス推定部と、デプス推定部で推定したデプスと、複数のステレオカメラの基線長の方向に対する物体の縁線の方向の角度に応じて決定されるデプスの信頼度とに基づいて、物体を検出する物体検出部と、を備える。【選択図】図６

Information processing device, information processing method, program, and flying body

To enable high-speed autonomous flight of a flight object.A three-dimensional real-time observation result is generated on the basis of self-position estimation information and three-dimensional distance measurement information. A prior map corresponding to a three-dimensional real-time observation result is acquired. The three-dimensional real-time observation result and the prior map are aligned. After the alignment, the three-dimensional real-time observation result is expanded on the basis of the prior map. A flight route is set on the basis of the three-dimensional real-time observation result having been expanded. In the flight object such as a drone, a somewhat long flight route can be accurately calculated at a time in a global behavior plan, which enables high-speed autonomous flight of the flight object.

情報処理方法、情報処理装置及びコンピュータプログラム

【課題】障害物との衝突を回避する情報処理方法、情報処理装置及びコンピュータプログラムを提供する。【解決手段】本開示の情報処理方法は、空間における第１領域のデプス値を含むデプス画像と、前記第１領域と一部が重なる第２領域の輝度値を含む輝度画像とに基づいて、前記第２領域のうち前記第１領域に含まれない領域の少なくとも一部である第３領域のデプス値を推定する。【選択図】図１

Mobile body, information processing method, and program

A mobile body (1) includes an image slide unit (11), a parallax histogram aggregation unit (13), and a miscalibration detection unit (14). The image slide unit (11) generates a slide image (SLI) obtained by sliding a first viewpoint image (VPI1) in a parallax direction. The parallax histogram aggregation unit (13) generates a parallax histogram (HG) from the slide image (SLI) and a second viewpoint image (VPI2). The miscalibration detection unit (14) determines that the miscalibration has occurred when a lower boundary value of the parallax on the histogram (HG) is smaller than the slide amount of the first viewpoint image (VPI1).

画像処理装置及び画像処理方法

【課題】高精細度テレビジョン放送の映像信号の入力に対してもドット妨害位置を検出し、検出位置に対して改善処理を行うことによって全体的な解像度を劣化させずより良い映像を得ることが可能な、新規かつ改良された画像処理装置及び画像処理方法を提供すること。 【解決手段】映像信号を２以上の成分信号に分離することによって生じたノイズを含む高精細度テレビジョン放送の映像信号についてノイズに対応するパターンの発生位置を検出する検出部１１０、２１０と、高精細度テレビジョン放送の映像信号のうち検出部で検出されたパターンの発生位置についてノイズを減少させる改善処理部１２０、３２０とを備えることを特徴とする。 【選択図】図２

Controller and control method

A controller includes an acquisition unit that acquires image data captured by an imaging device for photographing disposed in a moving body, and a calculation unit that calculates a relative position of a position of a subject, which is detected by a plurality of distance-measuring imaging devices provided in the moving body, based on the subject included in the image data.

Moving body, movement control method, and program

The present disclosure relates to a moving body, a movement control method, and a program capable of suppressing erroneous determination in obstacle detection.A normal vector estimation unit estimates a normal vector on the basis of sensor data obtained by sensing an object in a traveling direction of the own device, and a control information estimation unit generates control information for controlling movement of the own device on the basis of the normal vector. Technology according to the present disclosure can be applied to, for example, a moving body such as a drone.

画像投影システムおよび画像投影方法

【課題】複数人による鑑賞時の視認精度を向上させることを課題とする。【解決手段】画像投影システムは、発生装置と、複数のプロジェクタ装置と、制御装置とを有する。発生装置は、霧状に拡散される粒子群を発生させる。そして、複数のプロジェクタ装置それぞれは、発生装置により発生される霧状に拡散された粒子群に対して、別方向から画像を投影する。そして、制御装置は、複数のプロジェクタ装置それぞれが投影する各画像を制御する。【選択図】図２

Aerial vehicle, control method, and program

An aerial vehicle according to an embodiment of the present technology includes a recording unit, a detection unit, and a reproduction unit. The recording unit records a flight parameter during flight in a state in which no sensor abnormality is detected. The detection unit detects the sensor abnormality. The reproduction unit reproduces the flight parameter on the basis of the sensor abnormality detected by the detection unit.

Information processing method, information processing apparatus, and information processing system, and program

A configuration is described that is capable of determining a target landing position of a drone according to a sentence indicating a landing position generated by a user. Aspects including identifying an object type of an object contained in a captured image of a camera mounted on a mobile body; sentence analysis processing analyzes a sentence indicating a designated arrival position; word-corresponding subject selection processing collates results of the sentence analysis processing with the object identification processing and selecting a subject corresponding to a word included in the sentence indicating the designated arrival position from the captured image; and target arrival position determination processing extracts an area corresponding to the designated arrival position indicated by the sentence indicating the designated arrival position from the captured image on the basis of a result of word-corresponding subject selection processing, and area determination is made as target arrival position of mobile body.

Aerial vehicle, control method, and program

An aerial vehicle according to an embodiment of the present technology includes a recording unit, a detection unit, and a reproduction unit. The recording unit records a flight parameter during flight in a state in which no sensor abnormality is detected. The detection unit detects the sensor abnormality. The reproduction unit reproduces the flight parameter on the basis of the sensor abnormality detected by the detection unit.

Mobile object evacuation path planning apparatus, method, and medium

There is provided an apparatus and a method that allows appropriate pulling over of a mobile object to a safe road shoulder when an emergency occurs during automated driving. A travelable region available for a vehicle to travel is set like an occupancy map based on distance information from a depth sensor. Image attribute information is generated from an image by semantic segmentation. An evacuation space is set in the travelable region based on the image attribute information that represents the situation of the road surface of the travelable region, and thus an evacuation space map is created.

Action control device and action control method, and program

The present disclosure relates to action control device and an action control method and a program that enable more appropriate action control to be achieved.An EKF processing unit selects a self-position estimation unit used to estimate a position of a drone from a plurality of the self-position estimation units which is different in estimation accuracy on the basis of waypoints that are indexes when the drone acts, and obtains a state of the drone. Then, a navigator controls an action of the drone according to an action plan created in advance on the basis of the state of the drone. The present technology can be applied to, for example, a mission flight control device that controls a mission flight of a drone.

Subtitle detection for stereoscopic video contents

A right image and a left image is provided. Then a disparity estimation map relating to both images is provided and a left subtitle detection map for the left image and a right subtitle detection map for the right image are generated. Each map indicates subtitle areas within an image. For said subtitle areas and based on said disparity estimation map a subtitle disparity value for X and Y directions common for all subtitle areas is determined. Said left and right subtitle maps and said subtitle X and Y disparity values are used in an image interpolation process.