Information processing device, information processing method, and program

Abstract

An information processing device according to one embodiment of the present technology comprises: an acquisition unit; a control unit; a comparison unit; and a calculation unit. The acquisition unit acquires captured images in which at least two capture regions have been captured. The control unit controls the timing at which the captured images are captured. The comparison unit compares the acquired captured images. The calculation unit calculates speed information of a moving body on the basis of the comparison results by the comparison unit. Due to this configuration, the location of damage can be accurately detected.

Description

Information processing device, information processing method, and program

[0001] The present technology relates to an information processing device, an information processing method, and a program that can be applied to identifying the location of damage to an object, a trajectory, or the like.

[0002] Patent Document 1 describes a track inspection device that can detect operating information, vehicle acceleration, and vehicle running position while a vehicle is running. This track inspection device calculates the location of track irregularities based on changes in acceleration and running position, estimates the possibility of track damage, and identifies the location of possible damage from the running position. This enables early detection of track irregularities and ensures high safety (see, for example, paragraphs

[0009] to

[0020] and Figures 1 and 2 of the specification of Patent Document 1).

[0003] JP 2015-227834 A

[0004] There is a demand for an information processing device, an information processing method, and a program that are capable of detecting the exact location of such damage.

[0005] In view of the above circumstances, an object of the present technology is to provide an information processing device, an information processing method, and a program that are capable of detecting the exact position of damage.

[0006] In order to achieve the above object, an information processing device according to an embodiment of the present technology includes an acquisition unit, a control unit, a comparison unit, and a calculation unit. The acquisition unit acquires captured images of at least two or more imaging areas. The control unit controls timing at which the captured images are captured. The comparison unit compares the acquired captured images. The calculation unit calculates speed information of a moving object based on a comparison result by the comparison unit.

[0007] This information processing device acquires images of at least two or more imaging areas, compares the images captured at controlled timing, and calculates the speed information of the moving object based on the comparison results, thereby making it possible to detect the exact location of damage.

[0008] The imaging area may be arranged parallel to the direction of travel of the moving object.

[0009] The control unit may output a first control signal that controls the timing at which a first imaging area arranged in the direction of travel is imaged, and may output a second control signal that controls the timing at which a second imaging area arranged in the opposite direction to the direction of travel is imaged.

[0010] The control unit may control the second control signal so that the second imaging region is imaged at a timing later than the timing of the first control signal.

[0011] The control unit may control the second control signal based on the speed of the moving object or the size of the imaging area.

[0012] The acquisition unit may acquire a first captured image obtained by capturing an image of the first imaging area and a second captured image obtained by capturing an image of the second imaging area, and in this case, the comparison unit may determine whether the first captured image and the second captured image match.

[0013] The comparison unit may determine whether or not feature information indicating a feature of the inspection object captured in the first captured image and the second captured image matches.

[0014] The feature information may include at least one of the feature points, size, shape, and color of the inspection object.

[0015] The comparison result may include the frame difference between the first captured image and the second captured image when they match, and the captured images of both the first captured image and the second captured image when they match.

[0016] The calculation unit may calculate speed information of the moving object based on the difference between the frames.

[0017] The calculation unit may calculate the velocity information based on the difference between the frames and a movement amount of the inspection object in both captured images.

[0018] When the first captured image and the second captured image do not match, the comparison section may increment a count each time a new image of the second imaging area is captured.

[0019] The comparison result may include a total count number added up until the first captured image and the second captured image match, in which case the calculation unit may calculate the speed information of the moving object based on the total count number.

[0020] The imaging regions may each have the same length in the traveling direction.

[0021] The mobile object may be equipped with the information processing device.

[0022] An information processing method according to an embodiment of the present technology is an information processing method executed by a computer system, and includes acquiring captured images of at least two or more imaging areas, controlling timing at which the captured images are captured, comparing the acquired captured images, and calculating speed information of a moving object based on a comparison result by the comparison unit.

[0023] A program according to an embodiment of the present technology causes a computer system to execute the following steps: acquiring captured images of at least two or more imaging regions; controlling timing at which the captured images are captured; comparing the acquired captured images; and calculating speed information of a moving object based on a comparison result by the comparison unit.

[0024] FIG. 1 is a diagram schematically showing an inspection system. FIG. 2 is a block diagram showing an example of the configuration of the inspection system. FIG. 3 is a diagram showing an example of imaging timing in each imaging area. FIG. 4 is a flowchart showing a comparison between a first captured image and a second captured image. FIG. 5 is a diagram schematically showing a match between a first captured image and a second captured image. FIG. 6 is a block diagram showing an example of the configuration of the inspection system. FIG. 7 is a block diagram showing another example of the configuration of an imaging device and an information processing device. FIG. 8 is a diagram schematically showing an imaging area in an EVS.

[0025] Hereinafter, embodiments of the present technology will be described with reference to the drawings.

[0026] First Embodiment Fig. 1 is a diagram schematically illustrating an inspection system 100 according to a first embodiment of the present technology. Fig. 1A is a diagram illustrating an example of the inspection system. Fig. 1B is a diagram schematically illustrating an imaging region.

[0027] 1, the inspection system 100 includes a mobile object 1, an imaging device 10 mounted on the mobile object 1, an information processing device 20, and an inspection device 30. The inspection system 100 uses the imaging device 10 to inspect an inspection object 5 for the presence or absence of a damaged portion.

[0028] Typically, the inspection target 5 includes various facilities and equipment related to infrastructure, such as tracks (railroad tracks), roads, tunnels, runways, bridges, houses, dams, sewers, utility poles, electric wires, signs, etc. The inspection target 5 also includes locations (candidates) in the above infrastructure where damage (cracks, corrosion, water leaks, etc.) may occur.

[0029] Note that the inspection target 5 may include objects other than infrastructure. For example, it may include objects that may obstruct or cause obstructions to infrastructure, such as trees or fallen trees in contact with infrastructure, bird droppings or nests, and falling rocks.

[0030] It is desirable that the mobile body 1 be able to move along the shape of the object that is the inspection target 5. For example, various mobile bodies may be used depending on the type of inspection target, such as a train when inspecting tracks, a car when inspecting roads or tunnels, or a drone when inspecting utility poles or bridges.

[0031] The imaging device 10 captures an image of the inspection object 5. In this embodiment, the imaging device 10 is mounted on a moving body 1 and is capable of capturing images of at least two or more imaging regions.

[0032] 1B, the imaging area is a region obtained by dividing the imaging area in the imaging device 10 (sensor) parallel to the traveling direction. Hereinafter, the region arranged in the traveling direction will be referred to as the first imaging area, and the region arranged in the opposite direction to the traveling direction will be referred to as the second imaging area.

[0033] For example, the left diagram in Fig. 1B is an image captured in the Nth frame, in which the inspection object X is captured in the first imaging region 6. The right diagram in Fig. 1B is an image captured in the N+Tth frame, in which the inspection object X is captured in the second imaging region 7.

[0034] In this case, the information processing device 20 estimates the speed of the moving object 1 based on the number of frames until the image captured in the first imaging area 6 matches the image captured in the second imaging area 7. The estimated speed information of the moving object 1 and image information including the inspection object X are supplied to the inspection device 30.

[0035] In this embodiment, the first imaging region 6 and the second imaging region 7 are set so that their lengths (imaging ranges) in the traveling direction are equal. For example, the first imaging region 6 and the second imaging region 7 are set so that they are equal by adjusting the mounting position of the imaging device 10 and the optical system, such as the lens, according to the region to be imaged. The size (number of pixels), shape, and number of the imaging regions are not limited.

[0036] The inspection device 30 inspects the presence or absence of damage to the inspection object 5. For example, the inspection device 30 includes a position detection unit that detects the movement position of the mobile object 1, a speed detection unit that detects speed information (including speed and acceleration) of the mobile object 1, a recording unit that records the type of damage and position information, and the like.

[0037] FIG. 2 is a block diagram showing an example of the configuration of the inspection system 100.

[0038] As shown in FIG. 2 , the moving object 1 includes an imaging device 10 , an information processing device 20 , and an inspection device 30 .

[0039] The imaging device 10 has a first pixel drive circuit 11, a second pixel drive circuit 12, and a timing control circuit 13. The first pixel drive circuit 11 captures an image of a first imaging region. The second pixel drive circuit 12 captures an image of a second imaging region. In this embodiment, the first pixel drive circuit 11 and the second pixel drive circuit 12 capture images of their respective imaging regions in accordance with control signals output from the timing control circuit 13.

[0040] The timing control circuit 13 outputs a control signal to each of the first pixel drive circuit 11 and the second pixel drive circuit 12. In this embodiment, the timing control circuit 13 outputs the control signal based on a synchronization signal output from a control unit 22 of the information processing device 20, which will be described later.

[0041] The information processing device 20 includes an acquisition unit 21, a control unit 22, a comparison unit 23, a calculation unit 24, and an output unit 25. For example, the information processing device 20 is a processor including an MPU (Micro Processing Unit), a CPU (Central Processing Unit), and the like.

[0042] The acquisition unit 21 acquires captured images of at least two or more imaging regions. In this embodiment, the acquisition unit 21 acquires a first captured image of a first imaging region captured by the first pixel drive circuit 11 and a second captured image of a second imaging region captured by the second pixel drive circuit 12.

[0043] The control unit 22 controls the timing at which the first captured image and the second captured image are captured. In this embodiment, the control unit 22 controls the timing at which the images are captured by outputting a synchronization signal to the timing control circuit 13. Typically, the control unit 22 controls the image so that the inspection object X (see FIG. 1 ) captured in the first imaging area is captured before passing through the second imaging area.

[0044] FIG. 3 is a diagram showing an example of imaging timing in each imaging region.

[0045] In this embodiment, since the moving object 1 is moving, the subject also appears to be moving. For this reason, it is desirable for the imaging device 10 to operate using a global shutter. Furthermore, the imaging time must be the same for the first imaging region and the second imaging region so that the image quality does not change. Therefore, in this embodiment, the first pixel driving circuit 11 and the second pixel driving circuit 12 are capable of operating using a global shutter individually.

[0046] 3A , the control unit 22 provides a delay time 35 to the timing of capturing an image of the second imaging area based on the expected speed range of the moving object 1 and the imaging range (the first imaging area, the second imaging area, or the area obtained by adding the first imaging area and the second imaging area). That is, the control unit 22 outputs a synchronization signal to be supplied to the second pixel driving circuit 12 so that the timing of capturing an image is delayed compared to the synchronization signal (control signal) supplied to the first pixel driving circuit 11.

[0047] In the global shutter operation, noise occurs between the power supply and ground because all pixels are driven at once. In this embodiment, the global shutter operation is performed for each imaging area, so it is desirable to divide the power supply and ground according to the imaging area, as shown in FIG. 3B.

[0048] The delay time may be set arbitrarily, may be simultaneous (delay time=0), or may be set appropriately based on the captured image or the moving speed of the moving object.

[0049] The comparison unit 23 compares the first captured image with the second captured image. In this embodiment, the comparison is performed to determine whether the position of the inspection object shown in the first captured image matches the position of the inspection object shown in the second captured image.

[0050] Here, a method for comparing the first captured image and the second captured image by the comparison unit will be illustrated with reference to FIGS. 4 and 5. FIG.

[0051] Fig. 4 is a flowchart showing a comparison between a first captured image and a second captured image. Fig. 5 is a diagram schematically showing a match between a first captured image and a second captured image. Fig. 5A is a diagram showing an example in which the moving object has a constant traveling direction. Fig. 5B is a diagram showing an example in which the moving object has a non-constant traveling direction.

[0052] 4, the acquisition unit 21 acquires and records a first captured image of the first imaging region (steps 101 and 102), and also acquires a second captured image of the second imaging region (step 103).

[0053] 5A, a first captured image 40 and a second captured image 45a are acquired in steps 101 and 102. In Fig. 5A, the first captured image 40 shows the inspection object A, while the second captured image 45a does not show the inspection object A.

[0054] In this case, the comparison unit 23 compares the first captured image 40 and the second captured image 45a (step 104), and since they do not match (NO in step 104), the total count and the mismatch count are incremented by one (step 105).

[0055] Next, when the total count and the mismatch count are 1, the second captured image 45b is captured (step 103). As shown in Fig. 5A, in this case too, the first captured image 40 and the second captured image 45b do not match (NO in step 104), so the total count and the mismatch count are incremented (step 105). That is, the total count and the mismatch count become 2.

[0056] 5A , when the total count and the mismatch count are 4, the first captured image 40 and the second captured image 45d match (YES in step 104). For example, the comparison unit 23 compares the coordinates of the inspection object A in the first captured image 40 with the coordinates of the inspection object A in the second captured image 45d and determines that they match if the difference is equal to or less than a predetermined threshold. In other words, the recorded first captured image 40 can also be considered a reference image for comparison with the second captured image. The second captured image is updated until it matches this reference first captured image 40.

[0057] In this case, the comparison unit 23 outputs the first captured image 40 and the second captured image 45d when they match, and the mismatch count (step 106). That is, the calculation unit 24 outputs the count number (3 counts in FIG. 5 ) until the captured images showing the inspection object A match, and the movement amount y, which is the amount by which the inspection object A moved until they match.

[0058] When the output of the captured image and the count number is completed, the mismatch count is reset (step 107).

[0059] Furthermore, suppose that after the comparison of inspection object A is completed, the first captured image 50 is acquired, in which inspection object B is moved (step 101). In this case, the first captured image 50 does not match the second captured image 55a (NO in step 104), so the total count and the mismatch count are added together, resulting in a total count of 5 and a mismatch count of 1, as shown in FIG. 5B.

[0060] 5A , when the traveling direction of the moving object 1 is constant, such as when the moving object moves along a track, the inspection object A moves in the same direction as the traveling direction. However, when attempting to identify the location of a damaged portion of a road or the like, the traveling direction of the moving object 1 is not necessarily constant.

[0061] For example, in FIG. 5B, the traveling direction of the moving body 1 is not constant, so the inspection object B also moves in a direction different from the traveling direction (see the dashed arrow).

[0062] In this case, the comparison unit 23 extracts a unique pattern when comparing the first captured image with the second captured image. The unique pattern is information indicating the characteristics of the inspection object 5. For example, the unique pattern includes the feature points, size, shape, color, etc. of the inspection object 5.

[0063] For example, if the degree of match between the peculiar pattern of the inspection target 5 shown in the first captured image and the peculiar pattern of the inspection target 5 shown in the second captured image exceeds a predetermined threshold, the comparison unit 23 determines that the first captured image and the second captured image match. Note that the comparison may also be performed using image recognition or information other than that of the inspection target shown in the captured image.

[0064] 5B, steps 103 to 105 are repeated until the total count reaches 7. That is, when the total count is 7 and the mismatch count is 3, the first captured image 50 and the second captured image 55c match (YES in step 104). Furthermore, when a unique pattern is extracted, the comparison unit outputs the count number and the differences in pixel positions of the inspection target in the X and Y directions to the calculation unit 24.

[0065] The flowchart of FIG. 4 is repeated (from step 107 to step 101) until the inspection is completed.

[0066] The calculation unit 24 calculates speed information of the moving object 1 based on the count number output by the comparison unit 23 and the first and second captured images. For example, the calculation unit 24 calculates time from the operating frame rate of the imaging device 10 and the count number. The calculation unit 24 also calculates the amount of movement of the moving object 1 from the start (the moment imaging began) based on the total count number. The calculation unit 24 also calculates the speed of the moving object 1 at that time based on the mismatch count number.

[0067] 5B , the amount of movement is the difference between the X and Y coordinates, assuming that the X and Y axes are set with the inspection object in the first captured image, which serves as the reference, as the origin. Specifically, the calculation unit sets a feature point in the inspection object in the first captured image as the origin, and calculates the amount of movement based on the difference in X and Y coordinates between that feature point and the corresponding feature point in the inspection object in the second captured image.

[0068] The output unit 25 outputs the output captured image and the calculated speed information of the moving object 1 to the inspection device 30. The inspection device 30 inspects the inspection object 5 for damage based on the captured image and the speed information.

[0069] As described above, the information processing device 20 according to this embodiment acquires captured images of at least two or more imaging regions, compares the captured images with controlled imaging timing, and calculates speed information of the moving object 1 based on the comparison result, thereby making it possible to detect the exact location of damage.

[0070] Conventionally, when inspecting track damage, a mobile vehicle equipped with an imaging device is equipped with a GPS antenna and an acceleration sensor to identify the moving speed of the mobile vehicle and the location of the damaged area. However, this requires a separate mechanism to collect GPS and acceleration data, making the device complicated.

[0071] With this technology, the moving object is not equipped with a GPS antenna or acceleration sensor, and damage location is identified by capturing images of at least two or more imaging areas parallel to the moving object's direction of travel. This eliminates the need for GPS or acceleration sensors, allowing for simplification of the device. Furthermore, by dividing the imaging area and estimating the speed at the time when each imaging pattern coincides, the accuracy of damage location identification can be improved.

[0072] Second Embodiment An information processing device according to a second embodiment of the present technology will be described. In the following description, descriptions of parts having the same configurations and functions as those of the information processing device 20 described in the above embodiment will be omitted or simplified.

[0073] In the above embodiment, the imaging area of ​​one imaging device is divided to capture two imaging areas. However, this is not limiting, and two imaging areas may be captured by using two imaging devices. In this case, it is desirable that the two imaging devices are arranged side by side parallel to the traveling direction.

[0074] Fig. 6 is a block diagram showing an example of the configuration of an inspection system according to the second embodiment. Note that Fig. 6 shows a simplified information processing device.

[0075] 6, a first imaging device 110a and a second imaging device 110b are mounted on the moving object 1. The moving object 1 also includes a first information processing device 120a and a second information processing device 120b, with the first imaging device 110a being controlled by the first information processing device 120a and the second imaging device 110b being controlled by the second information processing device 120b. The first information processing device 120a and the second information processing device 120b have the same configuration as the information processing device 20 in the first embodiment.

[0076] In the second embodiment, the first imaging device 110a captures an image of the first imaging region, and the second imaging device 110b captures an image of the second imaging region. That is, the pixel driving circuit 111a functions as the first pixel driving circuit 11, and the pixel driving circuit 111b functions as the second pixel driving circuit 12.

[0077] Furthermore, the timing control circuit 112a outputs a control signal to the pixel drive circuit 111a based on a synchronization signal S1a from the information processing device 120a.

[0078] In the second embodiment, a synchronization signal is exchanged between the first information processing device 120a and the second information processing device 120b. That is, the first information processing device 120a outputs a synchronization signal S1a, which controls the timing of capturing an image of the first imaging area, to the second information processing device 120b.

[0079] The second information processing device 120b outputs a synchronization signal S1b, which controls the timing of capturing an image of the second imaging region, to the timing control circuit 112b based on the synchronization signal S1a. Note that, similar to the first embodiment, the second information processing device 120b may set a delay time for the synchronization signal S1a.

[0080] In the second embodiment, the flowchart showing the comparison between the first captured image and the second captured image shown in Figure 4 may be performed by either the first information processing device 120a or the second information processing device 120b.

[0081] Alternatively, two image capture devices may be controlled by one information processing device, as shown in Fig. 7. In the case of Fig. 7, the information processing device 120 outputs a synchronization signal S1a to the first image capture device 110a and a synchronization signal S1b to the second image capture device 110b.

[0082] Other Embodiments The present technology is not limited to the above-described embodiments, and various other embodiments can be realized.

[0083] In the above embodiment, the synchronization signal is output from the information processing device. However, this is not limiting, and the imaging device may include a control unit that outputs the synchronization signal, as shown in Fig. 8. Fig. 8 is a block diagram showing another example of the configuration of the imaging device and the information processing device.

[0084] 8, the imaging device 10 includes a control unit 22 in addition to a first pixel drive circuit 11, a second pixel drive circuit 12, and a timing control circuit 13. In Fig. 8, the timing control circuit 13 outputs a control signal based on a synchronization signal output from the control unit 22. In this manner, the timing at which the first imaging region and the second imaging region are imaged may be controlled within the imaging device 10.

[0085] In the above embodiment, the delay time is set according to the expected speed range and imaging range of the moving object 1. However, the delay time is not limited to this, and may be set appropriately based on the total count, the mismatch count, the captured image output in step 106 (for example, the degree of match between the first captured image and the second captured image), etc.

[0086] In the above embodiment, a unique pattern is extracted when the traveling direction of the moving object 1 is not constant. However, the present invention is not limited to this, and various matching conditions for the inspection target may be set for various movements of the moving object 1, such as rotation, ascent, descent, etc., or various changes during inspection, such as a change in the orientation of the imaging device 10.

[0087] In the above embodiment, the total count is incremented when the first captured image and the second captured image do not match. However, this is not limiting, and the total count and mismatch count may not be incremented depending on the situation. For example, if the inspection object 5 is not captured in the first captured area, the total count may not be counted. That is, the total count may be incremented when part or all of the inspection object is captured in the first captured area. In the flowchart shown in FIG. 4 , even if the inspection object is not captured, the first captured image and the second captured image match, so the image and count are output in step 106. However, a step of determining whether the inspection object is captured may be inserted between step 104 (YES) and step 106. This allows for a reduction in the amount of data.

[0088] In the above embodiment, the information processing device 20 and the inspection device 30 are mounted on the moving body 1. However, the present invention is not limited to this, and the information processing device 20 and the inspection device 30 may be located outside the moving body 1. For example, image information from the imaging device 10 mounted on the moving body 1 may be transmitted to the information processing device 20 via a wired or wireless connection, thereby calculating speed information of the moving body 1.

[0089] In the above embodiment, the comparison is performed using two imaging regions. However, the number of imaging regions is not limited thereto, and the comparison may be performed by capturing images of at least two or more imaging regions. For example, the imaging device may be an EVS (Event-Based Vision Sensor).

[0090] An EVS is a sensor that asynchronously detects changes in pixel luminance and outputs event data, which includes the coordinates (X and Y coordinates) of the pixel where the luminance change occurred, the time when the change was detected, and the polarity of the luminance change.

[0091] FIG. 9 is a diagram schematically showing an imaging area in the EVS.

[0092] As shown in Fig. 9, the EVS can detect luminance changes in pixel units. By treating this pixel-unit area as an imaging area, it is possible to compare captured images that depict that imaging area.

[0093] 9, for example, the comparator 23 determines whether the nth captured image 140 consisting of the nth pixel matches the (n+1)th captured image 145 consisting of the n+1th pixel. In this case, the total count is counted in units of timestamps, not in units of sensor frames. Thus, using EVS allows detection in units of pixels, enabling high-speed, high-resolution detection.

[0094] The configurations of the control unit, comparison unit, calculation unit, etc., and comparison flowcharts, etc., described with reference to the drawings are merely one embodiment, and can be modified as desired without departing from the spirit of the present technology. In other words, any other configurations, algorithms, etc. for implementing the present technology may be adopted.

[0095] It should be noted that the effects described in this disclosure are merely examples and are not limiting, and other effects may also be present. The description of multiple effects above does not necessarily mean that these effects are exhibited simultaneously. It means that at least one of the effects described above can be obtained depending on the conditions, etc., and of course, effects not described in this disclosure may also be exhibited.

[0096] It is also possible to combine at least two of the characteristic features of each embodiment described above. In other words, the various characteristic features described in each embodiment may be combined in any manner without distinguishing between the embodiments.

[0097] Note that the present technology may also have the following configurations. (1) An information processing device comprising: an acquisition unit that acquires captured images of at least two or more imaging areas; a control unit that controls timing at which the captured images are captured; a comparison unit that compares the acquired captured images; and a calculation unit that calculates speed information of a moving object based on a comparison result by the comparison unit. (2) The information processing device described in (1), wherein the imaging areas are arranged parallel to a traveling direction of the moving object. (3) The information processing device described in (2), wherein the control unit outputs a first control signal that controls timing at which a first imaging area arranged in the traveling direction is imaged, and outputs a second control signal that controls timing at which a second imaging area arranged in a direction opposite to the traveling direction is imaged. (4) The information processing device described in (3), wherein the control unit controls the second control signal so that the second imaging area is imaged at a timing later than the first control signal. (5) The information processing device according to (4), wherein the control unit controls the second control signal based on the speed of the moving object or the size of the imaging area. (6) The information processing device according to (3), wherein the acquisition unit acquires a first captured image obtained by capturing an image of the first imaging area and a second captured image obtained by capturing an image of the second imaging area, and the comparison unit determines whether the first captured image and the second captured image match. (7) The information processing device according to (6), wherein the comparison unit determines whether feature information indicating features of the inspection object captured in the first captured image and the second captured image match. (8) The information processing device according to (7), wherein the feature information includes at least one of feature points, size, shape, and color of the inspection object. (9) The information processing device according to (6), wherein the comparison result includes a difference between frames when the first captured image and the second captured image are matched, and both captured images when the first captured image and the second captured image are matched.(10) The information processing device described in (9), wherein the calculation unit calculates speed information of the moving object based on the difference between the frames. (11) The information processing device described in (10), wherein the calculation unit calculates the speed information based on the difference between the frames and the amount of movement of the inspection object in both captured images. (12) The information processing device described in (6), wherein the comparison unit increments a count each time the second captured area is newly captured if the first captured image and the second captured image do not match. (13) The information processing device described in (12), wherein the comparison result includes a total count number that is added until the first captured image and the second captured image match, and the calculation unit calculates the speed information of the moving object based on the total count number. (14) The information processing device described in (2), wherein the image capturing areas have the same length in the traveling direction. (15) The information processing device according to (1), wherein the moving object is equipped with the information processing device. (16) An information processing method in which a computer system executes the following steps: acquiring captured images of at least two or more imaging areas, controlling the timing at which the captured images are captured, comparing the acquired captured images, and calculating speed information of the moving object based on the comparison result by the comparison unit. (17) A program that causes a computer system to execute the steps of: acquiring captured images of at least two or more imaging areas, controlling the timing at which the captured images are captured, comparing the acquired captured images, and calculating speed information of the moving object based on the comparison result by the comparison unit.

[0098] DESCRIPTION OF SYMBOLS 1 Mobile body 5 Inspection object 10 Mobile body 20 Information processing device 21 Acquisition unit 22 Control unit 23 Comparison unit 24 Calculation unit 30 Inspection device 100 Inspection system

Claims

1. An information processing device comprising: an acquisition unit that acquires an image capturing an image of at least two or more imaging areas; a control unit that controls the timing at which the captured image is captured; a comparison unit that compares the acquired captured images; and a calculation unit that calculates speed information of a moving object based on a comparison result by the comparison unit.

2. An information processing device according to claim 1, wherein the imaging area is arranged parallel to the direction of travel of the moving object.

3. An information processing device as described in claim 2, wherein the control unit outputs a first control signal that controls the timing at which a first imaging area arranged in the direction of travel is imaged, and outputs a second control signal that controls the timing at which a second imaging area arranged in the opposite direction to the direction of travel is imaged.

4. An information processing device according to claim 3, wherein the control unit controls the second control signal so that the second imaging area is imaged at a timing later than that of the first control signal.

5. An information processing device according to claim 4, wherein the control unit controls the second control signal based on the speed of the moving object or the size of the imaging area.

6. An information processing device according to claim 3, wherein the acquisition unit acquires a first captured image captured of the first imaging area and a second captured image captured of the second imaging area, and the comparison unit determines whether the first captured image and the second captured image match.

7. An information processing device according to claim 6, wherein the comparison unit determines whether or not feature information indicating features of the inspection object captured in the first captured image and the second captured image matches.

8. An information processing device according to claim 7, wherein the feature information includes at least one of the feature points, size, shape, and color of the inspection object.

9. An information processing device according to claim 6, wherein the comparison result includes a frame difference between the first captured image and the second captured image when they match, and both captured images when the first captured image and the second captured image match.

10. An information processing device according to claim 9, wherein the calculation unit calculates speed information of the moving object based on the difference between the frames.

11. An information processing device according to claim 10, wherein the calculation unit calculates the velocity information based on the difference between the frames and the amount of movement of the inspection object in both captured images.

12. An information processing device according to claim 6, wherein the comparison unit increments a count each time the second imaging area is newly imaged if the first captured image and the second captured image do not match.

13. An information processing device as described in claim 12, wherein the comparison result includes a total count number that is added up until the first captured image and the second captured image match, and the calculation unit calculates the speed information of the moving object based on the total count number.

14. An information processing device according to claim 2, wherein each of the imaging areas has the same length in the traveling direction.

15. An information processing device according to claim 1, wherein the mobile object is equipped with the information processing device.

16. An information processing method in which a computer system executes the following steps: acquiring captured images of at least two or more imaging areas; controlling the timing at which the captured images are captured; comparing the acquired captured images; and calculating speed information of a moving object based on the comparison result by the comparison unit.

17. A program that causes a computer system to execute the steps of: acquiring an image capturing at least two or more imaging areas; controlling the timing at which the image is captured; comparing the acquired images; and calculating speed information of a moving object based on a comparison result by the comparison unit.