ROBOT DEVICE, METHOD OF CONTROLLING ROBOT DEVICE, COMPUTER PROGRAM, AND PROGRAM STORAGE MEDIUM
First Claim
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, anddetermine 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.
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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.
2 Citations
13 Claims
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1. An information processing device, comprising:
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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, 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, 4, 5, 6, 10, 11)
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7. An information processing method, comprising:
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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 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. - View Dependent Claims (8, 9, 12)
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13. 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:
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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 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.
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Specification