Information processing device, optical apparatus, control method, program and storage medium
A LIDAR 1 includes: a scanner 55 that emits outgoing light Lo while changing the outgoing direction thereof; a reflection member 8 that is arranged in a first outgoing direction and reflects the outgoing light Lo; an absorption member 7 that is arranged in a second outgoing direction and absorbs the outgoing light Lo; an APD 41 that receives return light Lr; and a DSP 16 . The DSP 16 generates replica u representing a component reflected by the absorption member 7 on the basis of output signals of the APD 41 obtained at each time when the outgoing light Lo is emitted in the first outgoing direction and in the second outgoing direction.
1. An information processing device which processes an output signal of a light receiving unit of an optical apparatus,
the optical apparatus comprising:
an emitting unit to emit laser light, based on a first signal, while changing an outgoing direction of the laser light;
a reflection member arranged in a first outgoing direction, the reflection member reflecting the laser light;
an absorption member arranged in a second outgoing direction, the absorption member absorbing the laser light; and
the light receiving unit to receive return light of the laser light, the information processing device comprising:
an estimation unit to estimate, on a basis of the output signal generated at a time when the outgoing direction of the laser light is the first outgoing direction and the output signal generated at a time when the outgoing direction of the laser light is the second outgoing direction, a signal regarding the return light which is reflected by the absorption member,
wherein the estimation unit includes a noise estimation unit, the noise estimation unit estimating a noise signal generated due to the first signal.
2. The information processing device according to claim 1 ,
wherein the noise signal is generated due to the first signal by subtracting the signal estimated by the estimation unit from the output signal generated at the time when the outgoing direction of the laser light is the second outgoing direction.
3. The information processing device according to claim 1 , wherein the estimation unit estimates the signal regarding the return light which is reflected by the absorption member by estimating an amplitude of a component which correlates with the output signal generated at the time when the outgoing direction of the laser light is the first outgoing direction, the component being extracted from the output signal generated at the time when the outgoing direction of the laser light is the second outgoing direction.
4. The information processing device according to claim 3 , wherein the output signal is converted into a real vector with a common vector length with respect to each emitting angle of the laser light, and
wherein the estimation unit estimates the amplitude based on a scalar product of the output signal generated at the time when the outgoing direction of the laser light is the first outgoing direction and the output signal generated at the time when the outgoing direction of the laser light is the second outgoing direction.
5. The information processing device according to claim 3 , wherein the estimation unit calculates an estimate signal as the signal regarding the return light which is reflected by the absorption member, a peak position of the estimate signal coinciding with a peak position of the output signal generated at the time when the outgoing direction of the laser light is the second outgoing direction, the amplitude of the estimate signal at the peak position being equal to the estimated amplitude.
6. A control method executed by an optical apparatus,
the optical apparatus comprising:
an emitting unit to emit laser light, based on a first signal, while changing an outgoing direction of the laser light;
a reflection member arranged in a first outgoing direction, the reflection member reflecting the laser light;
an absorption member arranged in a second outgoing direction, the absorption member absorbing the laser light; and
a light receiving unit to receive return light of the laser light,
the control method comprising:
estimating, on a basis of an output signal generated at a time when the outgoing direction of the laser light is the first outgoing direction and the output signal generated at a time when the outgoing direction of the laser light is the second outgoing direction, a signal regarding the return light which is reflected by the absorption member,
wherein, in the estimating, a noise estimation unit estimates a noise signal generated due to the first signal.
7. A non-transitory computer readable medium including instructions executed by a computer which processes an output signal of a light receiving unit of an optical apparatus,
the optical apparatus comprising:
an emitting unit to emit laser light, based on a first signal, while changing an outgoing direction of the laser light;
a reflection member arranged in a first outgoing direction, the reflection member reflecting the laser light;
an absorption member arranged in a second outgoing direction, the absorption member absorbing the laser light; and
the light receiving unit to receive return light of the laser light,
the instructions comprising:
estimating, on a basis of the output signal generated at a time when the outgoing direction of the laser light is the first outgoing direction and the output signal generated at a time when the outgoing direction of the laser light is the second outgoing direction, a signal regarding the return light which is reflected by the absorption member,
wherein, in the estimating, a noise estimation unit estimates a noise signal generated due to the first signal.