CPC G06T 7/55 (2017.01) [H04N 7/18 (2013.01)] | 17 Claims |
1. An information processing device comprising:
one or more memories storing instructions; and
one or more processors executing the instructions to:
sequentially set a region occupied by an object as an object region in a captured image, and sequentially set an identification number of the object region detected in the captured image;
sequentially acquire a distance map including distance information corresponding to a pixel included in the object region;
sequentially determine object distance information indicating a distance to an object included in the object region, based on the distance information corresponding to the pixel included in the object region;
generate, from a history of the object distance information with a same identification number as the identification number, the object distance information using a history of the distance information in a predetermined time range; and
determine the object distance information by calculating a weighted average of object distance information based on a size of the object region having the same identification number.
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