Robot device, method of controlling robot device, computer program, and program storage medium
First Claim
Patent Images
1. An information processing device, comprising:
- circuitry configured todetect whether there is a foreign object on either an image capturing device or a subject by comparing a reference image with a first image,determine which of the image capturing device and the subject has the foreign object thereon by comparing the first image with a second image on a condition that the foreign object is detected on the image capturing device or on the subject, andcontrol performance of clean work on the image capturing device or the subject after the determining which of the image capturing device and the subject has the foreign object thereon, whereinthe reference image is an image of a specific site of a subject captured by the image capturing device,the first image is the image of the specific site of the subject, in a same posture as that taken when the reference image is obtained, captured by the image capturing device, andthe second image is the image of the specific site of the subject, in a different posture as that taken when the first image is obtained, captured by the image capturing device.
0 Assignments
0 Petitions
Accused Products
Abstract
Provided is an excellent robot device capable of preferably detecting difference between dirt and a scratch on a lens of a camera and difference between dirt and a scratch on a hand. A robot device detects a site in which there is the dirt or the scratch using an image of the hand taken by a camera as a reference image. Further, this determines whether the detected dirt or scratch is due to the lens of the camera or the hand by moving the hand. The robot device performs cleaning work assuming that the dirt is detected, and then this detects the difference between the dirt and the scratch depending on whether the dirt is removed.
47 Citations
11 Claims
-
1. An information processing device, comprising:
-
circuitry configured to detect whether there is a foreign object on either an image capturing device or a subject by comparing a reference image with a first image, determine which of the image capturing device and the subject has the foreign object thereon by comparing the first image with a second image on a condition that the foreign object is detected on the image capturing device or on the subject, and control performance of clean work on the image capturing device or the subject after the determining which of the image capturing device and the subject has the foreign object thereon, wherein the reference image is an image of a specific site of a subject captured by the image capturing device, the first image is the image of the specific site of the subject, in a same posture as that taken when the reference image is obtained, captured by the image capturing device, and the second image is the image of the specific site of the subject, in a different posture as that taken when the first image is obtained, captured by the image capturing device. - View Dependent Claims (2, 3, 5)
-
-
4. An information processing device, comprising:
-
circuitry configured to detect whether there is a foreign object on either an image capturing device or a subject by comparing a reference image with a first image, and determine which of the image capturing device and the subject has the foreign object thereon by comparing the first image with a second image on a condition that the foreign object is detected on the image capturing device or on the subject, wherein the reference image is an image of a specific site of a subject captured by the image capturing device, the first image is the image of the specific site of the subject, in a same posture as that taken when the reference image is obtained, captured by the image capturing device, the second image is the image of the specific site of the subject, in a different posture as that taken when the first image is obtained, captured by the image capturing device, the circuitry is further configured to detect that there is no foreign object on the image capturing device and the subject when a correlation between the first image and the reference image is higher than a predetermined value for an entirety of the first image and the reference image, and detect that there is the foreign object on either the image capturing device or the subject when it is determined that a site exists in which the correlation is lower than the predetermined value, and the circuitry is further configured to, when the circuitry detects that there is the foreign object on either of the image capturing device or the subject, determine that there is the foreign object on the image capturing device when the correlation between the first image and the second image in the site, in which the correlation between the first image and the reference image is lower, is higher than the predetermined value, and determine that there is the foreign object on the subject when the correlation between the first image and the second image in the site, in which the correlation between the first image and the reference image is lower, is lower than the predetermined value.
-
-
6. An information processing method, comprising:
-
detecting whether there is a foreign object on either an image capturing device or a subject by comparing a reference image with a first image; determining, using circuitry, which of the image capturing device and the subject has the foreign object thereon by comparing the first image with a second image on a condition that the foreign object is detected on the image capturing device or on the subject; and controlling performance of clean work on the image capturing device or the subject after the determining which of the image capturing device and the subject has the foreign object thereon, wherein the reference image is an image of a specific site of a subject captured by the image capturing device, the first image is the image of the specific site of the subject, in a same posture as that taken when the reference image is obtained, captured by the image capturing device, and the second image is the image of the specific site of the subject, in a different posture as that taken when the first image is obtained, captured by the image capturing device. - View Dependent Claims (7, 8, 9)
-
-
10. An information processing method, comprising:
-
detecting whether there is a foreign object on either an image capturing device or a subject by comparing a reference image with a first image; and determining, using circuitry, which of the image capturing device and the subject has the foreign object thereon by comparing the first image with a second image on a condition that the foreign object is detected on the image capturing device or on the subject, wherein the reference image is an image of a specific site of a subject captured by the image capturing device, the first image is the image of the specific site of the subject, in a same posture as that taken when the reference image is obtained, captured by the image capturing device, and the second image is the image of the specific site of the subject, in a different posture as that taken when the first image is obtained, captured by the image capturing device, wherein the detecting further comprises; detecting that there is no foreign object on the image capturing device and the subject when a correlation between the first image and the reference image is higher than a predetermined value for an entirety of the first image and the reference image; and detecting that there is the foreign object on either the image capturing device or the subject when it is determined that a site exists in which the correlation is lower than the predetermined value, and when the detecting detects that there is the foreign object on either of the image capturing device or the subject, the determining further comprises; determining that there is the foreign object on the image capturing device when the correlation between the first image and the second image in the site, in which the correlation between the first image and the reference image is lower, is higher than the predetermined value; and determining that there is the foreign object on the subject when the correlation between the first image and the second image in the site, in which the correlation between the first image and the reference image is lower, is lower than the predetermined value.
-
-
11. A non-transitory computer readable medium having stored thereon a program that when executed by processing circuitry causes the processing circuitry to implement an information processing method, comprising:
-
detecting whether there is a foreign object on either an image capturing device or a subject by comparing a reference image with a first image; determining which of the image capturing device and the subject has the foreign object thereon by comparing the first image with a second image on a condition that the foreign object is detected on the image capturing device or on the subject; and controlling performance of clean work on the image capturing device or the subject after the determining which of the image capturing device and the subject has the foreign object thereon, wherein the reference image is an image of a specific site of a subject captured by the image capturing device, the first image is the image of the specific site of the subject, in a same posture as that taken when the reference image is obtained, captured by the image capturing device, and the second image is the image of the specific site of the subject, in a different posture as that taken when the first image is obtained, captured by the image capturing device.
-
Specification