Information processing apparatus, movable body control system, and information processing method
An information processing apparatus acquires a first parallax image and a second parallax image, which are parallax images that are a group of images having parallax with each other and captured by an imaging unit with different exposure conditions, acquires reliability, which is an accuracy of a parallax amount of the parallax images, for the first parallax image and the second parallax image, and selects the parallax images for generating information about a distance from a plurality of the parallax images including the first parallax image and the second parallax image, based on the reliability.
1 . An information processing apparatus comprising:
a memory storing instructions; and
a processor configured to execute the instructions to:
acquire a first pair of parallax images and a second pair of parallax images, each pair being a group of images having parallax with each other and captured by an imaging unit under different exposure conditions, wherein the first pair of parallax images is captured under a first exposure condition and the second pair of parallax images is captured under a second exposure condition that is different from the first exposure condition,
acquire reliability, which indicates an accuracy of a parallax amount, for each of the first pair of parallax images and the second pair of parallax images, wherein the reliability is obtained by combining at least: reliability regarding a luminance saturation, reliability regarding a motion blur, and reliability regarding a contrast,
select one pair of parallax images from among the first pair of parallax images and the second pair of parallax images, based on the reliability, so as to generate information about a distance, without combining the partial blocks from different pairs of images, and
calculate the parallax amount from only the selected pair of parallax images and generate the information about the distance based on the parallax amount.
2 . The information processing apparatus according to claim 1 , wherein the processor is configured to control an exposure condition of the imaging unit.
3 . The information processing apparatus according to claim 1 , wherein the processor is configured to select one of the first pair of parallax images, the second pair of parallax images, and a combined image obtained by combining the first pair of parallax images and the second pair of parallax images as a third pair of parallax images that are used to generate the information about the distance.
4 . The information processing apparatus according to claim 1 , wherein the processor is configured to select the third pair of parallax images that are used to generate the information about the distance based on a reliability obtained by combining the reliability about the contrast, the reliability regarding the luminance saturation, and the reliability about the motion blur.
5 . The information processing apparatus according to claim 1 , wherein the processor is configured to select the third pair of parallax images that are used to generate the information about the distance, using the reliability about the luminance saturation, the reliability about the motion blur, and the reliability about the contrast in this order.
6 . The information processing apparatus according to claim 1 , wherein the processor is configured to select the third pair of parallax images that are used to generate the information about the distance, using the reliability about the luminance saturation and the reliability abound the contrast in this order.
7 . The information processing apparatus according to claim 1 , wherein in a case where a difference in the reliability about the contrast between the first pair of parallax images and the second pair of parallax images is smaller than a predetermined value, the processor is configured to select a combined pair of parallax images as the third pair of parallax images that are used for generating the information about the distance.
8 . The information processing apparatus according to claim 1 , wherein the processor is configured to acquire the first pair of parallax images and the second pair of parallax images by changing an exposure time of an image sensor in the imaging unit.
9 . The information processing apparatus according to claim 1 , wherein the processor is configured to acquire the first pair of parallax images and the second pair of parallax images by exposing, with same exposure times, first pixels and second pixels having different exposure sensitivities provided in an image sensor in the imaging unit.
10 . The information processing apparatus according to claim 1 , wherein the imaging unit includes two imaging units spaced by a base line length and each having an imaging optical system and an image sensor.
11 . The information processing apparatus according to claim 1 , wherein the imaging unit has a single imaging optical system and a single image sensor having a pair of photoelectric converters for each pixel.
12 . A movable body control system comprising:
the information processing apparatus according to claim 1 , mounted on a movable body; and
a control unit configured to control movement of the movable body based on the information about the distance.
13 . The movable body control system according to claim 12 , wherein the control unit determines a likelihood of collision between the movable body and an object based on the information about the distance.
14 . The movable body control system according to claim 13 , wherein the control unit is configured to control a brake or steering wheel of the movable body in a case where the control unit determines that there is the likelihood of collision between the movable body and the object.
15 . The movable body control system according to claim 13 , wherein the control unit is configured to warn a driver of the movable body in a case where the control unit determines that there is the likelihood of collision between the movable body and the object.
16 . The movable body control system according to claim 13 , further comprising a notification unit configured to notify outside of information about the collision between the movable body and the object.
17 . The movable body control system according to claim 12 ,
wherein the movable body is configured to hold the information processing apparatus and the control unit and is movable with the information processing apparatus and the control unit.