Information processing device and information processing method

1. An information processing device; comprising:

a downward imaging section on a bottom of a moving object, wherein

the moving object is movable on a road surface; and

the downward imaging section is configured to capture a plurality of images of the road surface at different time points;

a movement estimation section configured to estimate movement of the moving object based on the plurality of images;

a road surface estimation section configured to estimate a distance from the downward imaging section to the road surface;

a first self-position estimation section configured to estimate a first self-position of the moving object based on the estimated movement of the moving object;

an outward imaging section on the moving object,

wherein the outward imaging section is configured to capture an image of surroundings of the moving object;

a second self-position estimation section configured to estimate a second self-position of the moving object based on the image of the surroundings of the moving object; and

a correction section configured to correct the first self-position based on the second self-position.

2. The information processing device according to claim 1 , wherein

the downward imaging section includes stereo cameras configured to capture a pair of images of the road surface at a same time point, and

the road surface estimation section is further configured to estimate the distance to the road surface based on the pair of images of the road surface.

3. The information processing device according to claim 1 , wherein the road surface estimation section includes a time of flight (ToF) sensor.

4. The information processing device according to claim 1 , further comprising a light projection section configured to project a texture pattern onto the road surface, wherein

the downward imaging section is further configured to capture an image of the texture pattern, and

the road surface estimation section is further configured to estimate the distance to the road surface based on the image of the texture pattern.

5. The information processing device according to claim 4 , wherein illumination of an imaging range of the downward imaging section is based on the projection of the texture pattern.

6. The information processing device according to claim 1 , further comprising an illumination section configured to illuminate an imaging range of the downward imaging section.

7. The information processing device according to claim 1 , wherein the correction section is further configured to compute weighted average of the first self-position and the second self-position.

8. The information processing device according to claim 1 , wherein the correction section is further configured to adopt, based on a vehicle speed of the moving object, the second self-position instead of the first self-position.

9. The information processing device according to claim 1 , wherein the correction section is further configured to adopt, based on a number of landmarks derived from the plurality of images of the road surface, the second self-position instead of the first self-position.

10. An information processing method, comprising:

in an information processing device that includes a downward imaging section, a road surface estimation section, a first self-position estimation section, an outward imaging section, a second self-position estimation section, a correction section, and a movement estimation section;

capturing, by the downward imaging section on a bottom of a moving object a plurality of images of a road surface at different time points,

wherein the moving object is movable on the road surface;

estimating, by the movement estimation section, movement of the moving object based on the plurality of images;

estimating, by the road surface estimation section, a distance from the downward imaging section to the road surface;

estimating, by the first self-position estimation section, a first self-position of the moving object based on the estimated movement of the moving object;

capturing, by the outward imaging section on the moving object, an image of surroundings of the moving object;

estimating, by the second self-position estimation section, a second self-position of the moving object based on the image of the surroundings of the moving object; and

correcting, by the correction section, the first self-position based on the second self-position.

11. A non-transitory computer-readable medium having stored thereon, computer-executable instructions, which when executed by an information processing device, cause the information processing device to execute operations, the operations comprising:

capturing, by a downward imaging section of the information processing device, a plurality of images of a road surface at different time points, wherein

the downward imaging section is on a bottom of a moving object, and

the moving object is movable on the road surface;

estimating, by a movement estimation section of the information processing device, movement of the moving object based on the plurality of images;

estimating, by a road surface estimation section of the information processing device, a distance from the downward imaging section to the road surface;

estimating, by a first self-position estimation section of the information processing device, a first self-position of the moving object based on the estimated movement of the moving object;

capturing, by an outward imaging section of the information processing device, an image of surroundings of the moving object,

wherein the outward imaging section is on the moving object;

estimating, by a second self-position estimation section of the information processing device, a second self-position of the moving object based on the image of the surroundings of the moving object; and

correcting, by a correction section of the information processing device, the first self-position based on the second self-position.