INFORMATION PROCESSING DEVICE, IMAGING DEVICE, APPARATUS CONTROL SYSTEM, INFORMATION PROCESSING METHOD, AND COMPUTER PROGRAM PRODUCT
First Claim
1. An information processing device comprising:
- an acquiring unit configured to acquire distance image data indicating a distance image including distance information;
a first generating unit configured to generate frequency information indicating a frequency of the distance information for each of coordinates in the distance image by voting the distance information at a position corresponding to a coordinate of each of pixels of the distance image based on the distance image data;
an estimating unit configured to estimate a road surface shape based on the frequency information;
a second generating unit configured to generate height information indicating a relationship between the distance information and a height of a road surface based on the estimated road surface shape; and
a correcting unit configured to correct, based on rolling information on rolling of a distance information acquiring unit that acquires the distance information, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.
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Accused Products
Abstract
An information processing device includes a disparity information input unit configured to acquire disparity image data indicating a disparity image including a disparity; a V map generating unit configured to generate a V map indicating a frequency of the disparity for each of coordinates of the disparity image by voting the disparity at a position corresponding to the coordinate of each of pixels of the disparity image based on the disparity image data; a shape estimating unit configured to estimate a road surface shape based on the V map; a height table generating unit configured to generate a height table indicating a relationship between the disparity and a height of a road surface based on the estimated road surface shape; and a correcting unit configured to correct, based on rolling information on rolling of a stereo camera that acquires the disparity, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.
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Citations
12 Claims
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1. An information processing device comprising:
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an acquiring unit configured to acquire distance image data indicating a distance image including distance information; a first generating unit configured to generate frequency information indicating a frequency of the distance information for each of coordinates in the distance image by voting the distance information at a position corresponding to a coordinate of each of pixels of the distance image based on the distance image data; an estimating unit configured to estimate a road surface shape based on the frequency information; a second generating unit configured to generate height information indicating a relationship between the distance information and a height of a road surface based on the estimated road surface shape; and a correcting unit configured to correct, based on rolling information on rolling of a distance information acquiring unit that acquires the distance information, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An information processing method comprising:
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acquiring distance image data indicating a distance image including distance information; generating frequency information indicating a frequency of the distance information for each of coordinates in the distance image by voting the distance information at a position corresponding to a coordinate of each of pixels of the distance image based on the distance image data; estimating a road surface shape based on the frequency information; generating height information indicating a relationship between the distance information and a height of a road surface based on the estimated road surface shape; and correcting, based on rolling information on rolling of a distance information acquiring unit that acquires the distance information, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.
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12. A computer program product comprising a non-transitory computer-readable recording medium having stored therein a program that causes a computer to execute:
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acquiring distance image data indicating a distance image including distance information; generating frequency information indicating a frequency of the distance information for each of coordinates in the distance image by voting the distance information at a position corresponding to a coordinate of each of pixels of the distance image based on the distance image data; estimating a road surface shape based on the frequency information; generating height information indicating a relationship between the distance information and a height of a road surface based on the estimated road surface shape; and correcting, based on rolling information on rolling of a distance information acquiring unit that acquires the distance information, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.
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Specification