LEARNING DEVICE, LEARNING METHOD, AND LEARNING PROGRAM
An acquisition unit of a learning device acquires point information for each pixel from a plurality of learning images observed in different wavelength ranges, the point information having a 5-dimensional array obtained by combining 3-dimensional coordinates of points located on a line of sight and a vector indicating a direction of the line of sight. A learning unit of the learning device learns a density estimation multilayer perceptron that estimates a density estimation value which is an estimation value of a probability that there is a substance generating a signal at a point by using the plurality of learning images and the point information acquired by the acquisition unit from the plurality of learning images.
1 . A learning device comprising:
an acquisition unit configured to acquire point information for each pixel from a plurality of learning images observed in different wavelength ranges, the point information having a 5-dimensional array obtained by combining 3-dimensional coordinates of points located on a line of sight and a vector indicating a direction of the line of sight; and
a learning unit configured to learn a density estimation multilayer perceptron that estimates a density estimation value which is an estimation value of a probability that there is a substance generating a signal at a point by using the plurality of learning images and the point information acquired by the acquisition unit from the plurality of learning images.
2 . The learning device according to claim 1 , wherein the learning unit estimates a color estimation value of the point in a specific wavelength range and learns a color estimation multilayer perceptron independent of the density estimation multilayer perceptron by using the point information acquired by the acquisition unit from the learning image observed in the specific wavelength range and the learning image observed in the specific wavelength range.
3 . The learning device according to claim 2 , wherein the learning unit learns the color estimation multilayer perceptron for every plurality of wavelength ranges in a changeable order.
4 . The learning device according to claim 1 , wherein the plurality of learning images are a learning image observed in a wavelength range of visible light and a learning image observed in a wavelength range from near infrared light to thermal infrared light.
5 . The learning device according to claim 2 ,
wherein the acquisition unit acquires the point information for each pixel from captured images captured by a plurality of sensors that have different observable wavelength ranges, and
wherein the learning device further comprises:
an estimation unit configured to estimate the density estimation value by inputting the point information acquired from the captured image by the acquisition unit to the density estimation multilayer perceptron and to estimate the color estimation value in the specific wavelength range by inputting the point information acquired from the captured image captured by a sensor capable of observing the specific wavelength range to the color estimation multilayer perceptron related to the specific wavelength range; and
a generation unit configured to generate an image observed in the specific wavelength range based on the density estimation value estimated by the estimation unit and the color estimation value in the specific wavelength range.
6 . A learning method comprising:
acquiring, by an acquisition unit, point information for each pixel from a plurality of learning images observed in different wavelength ranges, the point information having a 5-dimensional array obtained by combining 3-dimensional coordinates of points located on a line of sight and a vector indicating a direction of the line of sight; and
learning, by a learning unit, a density estimation multilayer perceptron that estimates a density estimation value which is an estimation value of a probability that there is a substance generating a signal at a point by using the plurality of learning images and the point information acquired by the acquisition unit from the plurality of learning images.
7 . A learning program causing a computer to function as each unit included in the learning device according to any one of claims 1 to 5 .