Information processing apparatus and information processing method

1. An information processing apparatus, comprising:

circuitry configured to:

acquire first information and second information, wherein

the first information is associated with a result of estimation of a shape of an object on a real space,

the second information includes a result of estimation of a boundary of adjacent outer surfaces of a plurality of outer surfaces of the object,

the boundary is estimated based on a normal map, and

the normal map corresponds to a distribution of normal vectors of the plurality of outer surfaces;

project a plurality of endpoints of the boundary to specify a set of sides of a plurality of sides of the object, wherein

the set of sides of the plurality of sides of the object connects a set of vertices of a plurality of vertices of the object,

the set of vertices corresponds to the plurality of endpoints of the boundary, and

the plurality of endpoints of the boundary is projected based on the second information;

project a center of gravity, of at least one outer surface of the plurality of outer surfaces of the object, on the normal map,

wherein the at least one outer surface includes at least one side of the specified set of sides of the object;

estimate a normal vector of the at least one outer surface of the plurality of outer surfaces based on a projection point, of the projected center of gravity, on the normal map; and

correct a position of a vertex, on the specified set of sides of the object, based on a result of estimation of the normal vector of the at least one outer surface.

2. The information processing apparatus according to claim 1 , wherein the circuitry is further configured to:

detect a polarization direction of each of a plurality of polarizations, wherein the polarization direction of each the plurality of polarizations is different; and

generate the normal map based on a polarization image of the object, wherein the polarization image of the object is associated with a result of the detection of the polarization direction of each of the plurality of polarizations.

3. The information processing apparatus according to claim 1 , wherein the first information includes information associated with a result of estimation of a set of outer surfaces of the plurality of outer surfaces.

4. The information processing apparatus according to claim 3 , wherein

the first information further includes mesh data that indicates the plurality of sides and the at least one outer surface of the plurality of outer surfaces,

the at least one outer surface is associated with the plurality of vertices, and

the plurality of sides connects the plurality of vertices.

5. The information processing apparatus according to claim 4 , wherein the circuitry is further configured to:

correct positions of the set of vertices of the plurality of vertices, and

correct the first information based on the second information and the correction of the positions of the set of vertices.

6. The information processing apparatus according to claim 5 , wherein the circuitry is further configured to:

estimate an approximate plane based on the second information;

project the approximate plane on the first information; and

correct the positions of the set of vertices of the plurality of vertices based on a result of the projection of the approximate plane.

7. An information processing method, comprising:

acquiring first information and second information, wherein

the first information is associated with a result of estimation of a shape of an object on a real space,

the second information includes a result of estimation of a boundary of adjacent outer surfaces of a plurality of outer surfaces of the object,

the boundary is estimated based on a normal map, and

the normal map corresponds to a distribution of normal vectors of the plurality of outer surfaces; and

projecting a plurality of endpoints of the boundary to specify a set of sides of a plurality of sides of the object, wherein

the set of sides of the plurality of sides of the object connects a set of vertices of a plurality of vertices of the object,

the set of vertices corresponds to the plurality of endpoints of the boundary, and

the plurality of endpoints of the boundary is projected based on the second information;

projecting a center of gravity, of at least one outer surface of the plurality of outer surfaces of the object, on the normal map,

wherein the at least one outer surface includes at least one side of the specified set of sides of the object;

estimating a normal vector of the at least one outer surface of the plurality of outer surfaces based on a projection point, of the projected center of gravity, on the normal map; and

correcting a position of a vertex, on the specified set of sides of the object, based on a result of estimation of the normal vector of the at least one outer surface.

8. A non-transitory computer-readable medium having stored thereon computer-executable instructions which, when executed by a computer, cause the computer to execute operations, the operations comprising:

acquiring first information and second information, wherein

the first information is associated with a result of estimation of a shape of an object on a real space, and

second information includes a result of estimation of a boundary of adjacent outer surfaces of a plurality of outer surfaces of the object,

the boundary is estimated based on a normal map, and

the normal map corresponds to a distribution of normal vectors of the plurality of outer surfaces;

projecting a plurality of endpoints of the boundary to specify a set of sides of a plurality of sides of the object, wherein

the set of sides of the plurality of sides of the object connects a set of vertices of a plurality of vertices of the object,

the set of vertices corresponds to the plurality of endpoints of the boundary, and

the plurality of endpoints of the boundary is projected based on the second information;

projecting a center of gravity, of at least one outer surface of the plurality of outer surfaces of the object, on the normal map,

wherein the at least one outer surface includes at least one side of the specified set of sides of the object;

estimating a normal vector of the at least one outer surface of the plurality of outer surfaces based on a projection point, of the projected center of gravity, on the normal map; and

correcting a position of a vertex, on the specified set of sides of the object, based on a result of estimation of the normal vector of the at least one outer surface.

9. An information processing apparatus, comprising:

circuitry configured to:

acquire first information and second information, wherein

the first information is associated with a result of estimation of a shape of an object on a real space,

the second information includes a result of estimation of a boundary of adjacent outer surfaces of a plurality of outer surfaces of the object,

the boundary is estimated based on a normal map, and

the normal map corresponds to a distribution of normal vectors of the plurality of outer surfaces;

project a result of estimation of an endpoint of the boundary on the first information based on the second information;

specify a vertex of a plurality of vertices, wherein the vertex corresponds to a projection point of the result of estimation of the endpoint;

project a center of gravity of at least one outer surface of the plurality of outer surfaces to the normal map, wherein the at least one outer surface includes the specified vertex;

estimate a normal vector of the at least one outer surface of the plurality of outer surfaces based on a projection point of the center of gravity on the normal map;

correct positions of a set of vertices of the plurality of vertices based on a result of the estimation of the normal vector; and

correct the first information based on the second information and the corrected positions of the set of vertices.