US 11,908,148 B2
Information processing device to determine object distance
Kazuya Nobayashi, Tokyo (JP); Shin Tanaka, Kanagawa (JP); Makoto Oigawa, Kanagawa (JP); Shigeo Kodama, Tokyo (JP); and Tomoyuki Kawamoto, Kanagawa (JP)
Assigned to CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Mar. 21, 2022, as Appl. No. 17/700,268.
Claims priority of application No. 2021-055880 (JP), filed on Mar. 29, 2021.
Prior Publication US 2022/0309694 A1, Sep. 29, 2022
Int. Cl. G06T 7/55 (2017.01); H04N 7/18 (2006.01)
CPC G06T 7/55 (2017.01) [H04N 7/18 (2013.01)] 17 Claims
OG exemplary drawing
 
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.