Information processing apparatus, information processing method, and program

1. An information processing apparatus, comprising:

an object recognition processing unit configured to recognize an operation body and a target object included in an acquired image; and

a contact determination unit configured to determine contact of the operation body with the target object on the basis of a change from a non-contact state in at least one normal line vector indicating deformation of a surface of the target object in an area around the operation body,

wherein an operation input is determined according to a position of the determined contact of the operation body with the surface of the target object,

wherein the target object is an operation target of the operation body, and

wherein the object recognition processing unit and the contact determination unit are each implemented via at least one processor.

2. The information processing apparatus according to claim 1 ,

wherein the contact determination unit determines contact of the operation body with the target object depending on an inclination of the normal line vector in a direction of the operation body.

3. The information processing apparatus according to claim 1 ,

wherein the contact determination unit determines contact of the operation body with the target object depending on disturbance of an inclination of the normal line vector.

4. The information processing apparatus according to claim 1 , further comprising

an input control unit configured to control the operation input on the basis of a determination result of the contact determination unit,

wherein the input control unit is implemented via at least one processor.

5. The information processing apparatus according to claim 4 ,

wherein the input control unit controls the operation input on the basis of a shape of the operation body recognized by the object recognition processing unit and a determination result of the contact determination unit.

6. The information processing apparatus according to claim 4 , further comprising

an image output unit configured to generate an operation target image superimposed on the target object,

wherein the input control unit controls the operation input on the basis of a positional relationship between the operation body and the target object in the operation target image, and

wherein the image output unit is implemented via at least one processor.

7. The information processing apparatus according to claim 1 ,

wherein the contact determination unit determines that the operation body is in contact with the target object when an inclination of the normal line vector exceeds a threshold value.

8. The information processing apparatus according to claim 7 ,

wherein the contact determination unit determines the threshold value depending on a kind of the target object.

9. The information processing apparatus according to claim 8 ,

wherein the contact determination unit further determines the threshold value depending on the position of the determined contact of the operation body with the surface of the target object.

10. The information processing apparatus according to claim 7 ,

wherein the contact determination unit is further configured to calculate a degree of contact of the operation body with the target object depending on a magnitude of the inclination of the normal line vector when the inclination of the normal line vector is larger than the threshold value.

11. The information processing apparatus according to claim 1 ,

wherein the contact determination unit determines contact of the operation body with the target object on the basis of a change in a color of the acquired image when the target object is a rigid body, and determines contact of the operation body with the target object on the basis of the change in the normal line vector when the target object is not a rigid body.

12. The information processing apparatus according to claim 1 ,

wherein the contact determination unit determines contact of the operation body with the target object on the basis of the change in the normal line vector when a distance between the target object and the operation body is equal to or less than a predetermined value.

13. The information processing apparatus according to claim 1 ,

wherein the contact determination unit is further configured to detect the normal line vector from the acquired image, and

wherein the acquired image is picked up by polarization imaging.

14. A non-transitory computer-readable medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method, the method comprising:

recognizing an operation body and a target object included in an acquired image; and

determining contact of the operation body with the target object on the basis of a change from a non-contact state in at least one normal line vector indicating deformation of a surface of the target object in an area around the operation body,

wherein an operation input is determined according to a position of the determined contact of the operation body with the surface of the target object, and

wherein the target object is an operation target of the operation body.

15. An information processing method, implemented via at least one processor, the method comprising:

recognizing an operation body and a target object included in an acquired image; and

determining contact of the operation body with the target object on the basis of a change from a non-contact state in at least one normal line vector indicating deformation of a surface of the target object in an area around the operation body,

wherein an operation input is determined according to a position of the determined contact of the operation body with the surface of the target object, and

wherein the target object is an operation target of the operation body.

16. The information processing apparatus according to claim 1 ,

wherein the target object comprises a palm.

17. The information processing apparatus according to claim 1 ,

wherein the operation body comprises at least one of a finger or a stylus.

18. The information processing apparatus according to claim 1 ,

wherein the contact determination unit determines contact of the operation body with the target object on the basis of a change in a plurality of normal line vectors.