Information processing device and information processing system

Abstract

In an information processing device 20, a generation unit 24 generates data of a three-dimensional image using Gaussian splatting and data of two-dimensional images that an imaging device 1007 has captured from a plurality of viewpoints at different positions. A detection unit 25 detects a moving object that is included in a space subject to image capture. When a moving body has been detected, a processing unit 26 performs a predetermined process. Processes to be performed by the processing unit include: a process for stopping the imaging device 1007 from capturing a two-dimensional image; a process for causing the imaging device 1007 to stand by for capturing a two-dimensional image until no moving object is detected; a process for notifying a user of the presence of a moving object; a process for changing a movement route of the imaging device 1007 so that no moving object is detected; and the like.

Description

Information Processing Apparatus and Information Processing System 【0001】 The present invention relates to a technique for imaging an image by an imaging device. 【0002】 As a technique for generating three-dimensional image data using two-dimensional image data captured from a plurality of viewpoints with different positions, Gaussian sputtering is known. For example, in Patent Document 1, when a self-propelled inspection robot stops at an inspection target imaging location and the camera is directed at the inspection target, among the three-dimensional point groups within the imaging angle, a mechanism for evaluating the imaging difficulty based on the amount of the three-dimensional point group in front of the inspection target is disclosed. 【0003】 Japanese Unexamined Patent Application Publication No. 2023-72514 【0004】 When generating three-dimensional image data from two-dimensional image data using Gaussian sputtering, if a moving object is included in the two-dimensional image, common feature points between the images captured from a plurality of viewpoints cannot be matched, resulting in a decrease in the accuracy of the three-dimensional image data. 【0005】 Therefore, an object of the present invention is to improve the accuracy when generating a three-dimensional image using a two-dimensional image showing an image captured by an imaging device. 【0006】 To solve the above problems, the present invention provides an information processing apparatus comprising: a generation unit that generates a three-dimensional image using two-dimensional images captured from a plurality of viewpoints with different positions by an imaging device; a detection unit that detects a moving object in an imaging target space that is the target to be imaged by the imaging device; and a processing unit that performs determined processing when the moving object is detected. 【0007】 Further, the present invention provides an information processing method comprising: a generation step of generating a three-dimensional image using two-dimensional images captured from a plurality of viewpoints with different positions by an imaging device; a detection step of detecting a moving object in an imaging target space that is the target to be imaged by the imaging device; and a processing step of performing determined processing when the moving object is detected. 【0008】According to the present invention, it is possible to improve the accuracy when generating a three-dimensional image using a two-dimensional image representing an image captured by an imaging device. 【0009】 This is a block diagram showing an example of the configuration of an information processing system 1 according to one embodiment of the present invention. This is a diagram showing an example of the appearance of a robot 10 according to one embodiment of the present invention. This is a block diagram showing an example of the electrical configuration of the robot 10 according to the same embodiment. This is a block diagram showing an example of the electrical configuration of an information processing device 20 according to the same embodiment. This is a block diagram showing an example of the functional configuration of an information processing device 20 according to the same embodiment. This is a flowchart illustrating the operation of the information processing device 20 in this embodiment. 【0010】 [Configuration] Figure 1 shows an example of an information processing system 1 according to this embodiment. The information processing system 1 comprises a plurality of robots 10, an information processing device 20 that functions as an example of an information processing device according to the present invention, and a network 2 including a wireless communication network and a wired communication network. The wireless communication network included in the network 2 is, for example, a wireless LAN (Local Area Network) or a wireless communication network compliant with LTE (Long Term Evolution). 【0011】 Robot 10 is a mobile object that moves along a road surface R while imaging its surroundings. This allows for the acquisition of 2D image data of each object around Robot 10, captured from multiple viewpoints at different positions. Using this 2D image data, 3D image data (3D Gaussian) is generated by Gaussian splatting. Using this 3D image data, it is possible to reconstruct an image as seen from any viewpoint. 【0012】 As shown in Figure 2, the robot 10 comprises a main body 110, a plurality of wheels 120, an imaging device 1007, an animal detection device 1008, and a support member 140 that supports the imaging device 1007 and the animal detection device 1008 relative to the main body 110. As the robot 10 moves along the road surface R, the imaging device 1007 can capture images of each object around the robot 10 from different viewpoints. 【0013】Figure 3 shows an example of the electrical configuration of robot 10. Physically, robot 10 is configured as a computer device including a processor 1001, memory 1002, storage 1003, communication device 1004, user interface device 1005, wheel control mechanism 1006, imaging device 1007, animal detection device 1008, and a bus connecting these. In the following description, the word "device" can be read as circuit, device, unit, etc. The electrical configuration of robot 10 may include one or more of the devices shown in the figure, or it may be configured without some of the devices. 【0014】 Each function in the robot 10 is realized by loading predetermined software (programs) onto hardware such as the processor 1001 and memory 1002, which allows the processor 1001 to perform calculations, control communication by the communication device 1004, and control at least one of the reading and writing of data in the memory 1002 and storage 1003. 【0015】 The processor 1001 controls the entire computer, for example, by running an operating system. The processor 1001 may consist of a central processing unit (CPU) that includes interfaces with peripheral devices, control units, arithmetic units, registers, and so on. 【0016】The processor 1001 reads programs (program code), software modules, data, etc., from at least one of the storage 1003 and the communication device 1004 into the memory 1002 and executes various processes accordingly. The program used is one that causes a computer to execute at least a part of the operations described later. Functional blocks of the robot 10 may be stored in the memory 1002 and implemented by control programs that run on the processor 1001. Various processes may be executed by one processor 1001, but may also be executed simultaneously or sequentially by two or more processors 1001. The processor 1001 may be implemented by one or more chips. The program may also be transmitted to the robot 10 via a telecommunications line. 【0017】 The memory 1002 is a computer-readable recording medium and may consist of at least one of the following: ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), RAM (Random Access Memory), etc. The memory 1002 may also be called a register, cache, main memory, etc. The memory 1002 can store executable programs (program code), software modules, etc., for carrying out the method according to this embodiment. 【0018】 The storage 1003 is a computer-readable recording medium and may consist of at least one of the following: an optical disc such as a CD-ROM (Compact Disc ROM), a hard disk drive, a flexible disk, a magneto-optical disk (e.g., a compact disc, a digital multipurpose disc, a Blu-ray® disc), a smart card, flash memory (e.g., a card, a stick, a key drive), a floppy® disk, a magnetic strip, etc. The storage 1003 may also be called an auxiliary storage device. 【0019】The communication device 1004 is hardware (transmitting / receiving device) for communicating between computers via a communication network, and is also called a network device, network controller, network card, or communication module. The communication device 1004 communicates data with the information processing device 200 via the network 2. 【0020】 Each device, such as the processor 1001 and the memory 1002, is connected by a bus for communicating information. The bus may be configured using a single bus, or different buses may be used for each device. 【0021】 The user interface device 1005 includes an input device (e.g., keys, microphone, switch, button, etc.) that receives input from the user and an output device (e.g., display, speaker, LED lamp, etc.) that provides output to the user. The input device and the output device may be configured as an integrated unit (e.g., a touchscreen). 【0022】 The wheel control mechanism 1006 is a mechanism for controlling the wheel 120 and includes a motor mechanism for rotating the wheel 120 and a steering mechanism for changing the orientation of the wheel 120's axle. 【0023】 The imaging device 1007 is a device that generates data representing the captured two-dimensional image, and is, for example, a 180-degree camera or a 360-degree camera. 【0024】 The animal detection device 1008 is a device that detects animal bodies included in the target space being imaged by the imaging device 1007, and is, for example, an event-based camera. Here, "animal body" includes not only objects that move over time, but also objects whose shape, color, pattern, and other appearance changes over time. The event-based camera detects the temporal change in brightness of each pixel in the image captured by the image sensor and outputs the coordinates and time information of pixels whose brightness has changed by more than a threshold. By analyzing the output results of the event-based camera, only pixels corresponding to animal bodies can be extracted as pixels with higher brightness than areas other than the animal body (stationary objects or background). 【0025】The robot 10 may also be composed of hardware such as a microprocessor, a digital signal processor (DSP), an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), and an FPGA (Field Programmable Gate Array), and some or all of each functional block may be realized by this hardware. For example, the processor 1001 may be implemented using at least one of these hardware components. 【0026】 The information processing device 200 generates three-dimensional image data using a technique called Gaussian splatting, based on two-dimensional image data captured from multiple viewpoints at different positions by the robot's imaging device 1007. Furthermore, the information processing device 200 attempts to detect an animal using the coordinates and time information of each pixel whose brightness has changed by more than a threshold, output by the robot's animal detection device 1008. If any animal is detected, it performs predetermined processing. 【0027】 As shown in Figure 4, the information processing device 20 is physically configured as a computer device including a processor 2001, memory 2002, storage 2003, communication device 2004, and a bus connecting them. Each function of the information processing device 20 is realized by loading predetermined software (programs) onto hardware such as the processor 2001 and memory 2002, which causes the processor 2001 to perform calculations, control communication by the communication device 2004, and control at least one of reading and writing data to the memory 2002 and storage 2003. The processor 2001, memory 2002, storage 2003, communication device 2004, and the bus connecting them are hardware similar to the processor 1001, memory 1002, storage 1003, communication device 1004, and the bus connecting them described for the robot 10. 【0028】Figure 5 is a block diagram showing an example of the functional configuration of the information processing device 20. In the information processing device 20, the hardware components shown in Figure 4 work together to realize the functions of the acquisition unit 21, the storage unit 22, the robot control unit 23, the generation unit 24, the detection unit 25, and the processing unit 26. 【0029】 The acquisition unit 21 acquires the output results from the robot 10's imaging device 1007 (data showing two-dimensional images captured from multiple viewpoints at different positions) and the output results from the robot 10's animal detection device 1008 (the coordinates of each pixel whose brightness has changed by more than a threshold and its time information). The acquired data is stored in the storage unit 22. 【0030】 The robot control unit 23 controls the robot 10's movements and imaging operations. The path the robot 10 takes as it moves while imaging in the imaging target space is predetermined, and path data indicating this path is stored in the storage unit 22. The robot control unit 23 refers to this path data and controls the wheels 120 so that the robot 10 moves along that path, and also controls the robot 10 to image its surroundings, for example, each time the robot 10 moves a predetermined distance or after a predetermined amount of time has elapsed. The robot control unit 23 also stops the robot 10 at least at the timing when the imaging device 1007 takes an image while it is controlling the robot 10's movement. This is because stopping the robot 10 to image an object results in less image blur compared to when the robot 10 images an object while it is moving. 【0031】The generation unit 24 generates 3D image data using the output results from the robot 10's imaging device 1007 (data of 2D images captured by the imaging device 1007 from multiple viewpoints at different positions) and the Gaussian splatting technique. More specifically, the generation unit 24 generates a model for rendering an image viewed from an arbitrary viewpoint in 3D space (called a 3D image model) using the output results from the robot 10's imaging device 1007 (data of 2D images captured by the imaging device 1007 from multiple viewpoints at different positions) and the Gaussian splatting technique, and then uses this 3D image model to generate image data showing an image viewed from a specified arbitrary viewpoint. In other words, generating 3D image data means generating image data showing an image viewed from an arbitrary viewpoint using a 3D image model. 【0032】 The detection unit 25 uses the output results from the robot 10's animal detection device 1008 (the coordinates and time information of each pixel whose brightness has changed by more than a threshold) to detect an animal body included in the imaging target space of the imaging device 1007. 【0033】 When an animal is detected, the processing unit 26 performs a predetermined process. This predetermined process is to notify the user, who manages or monitors the imaging by the imaging device 1007, that an animal is present in the imaging target space. When notifying the user of the presence of an animal, the processing unit 26 instructs the robot control unit 23 to output an image, light, sound, vibration, etc., from the robot 10's user interface device 1005 to inform the user that an animal is present in the imaging target space. In response to this instruction, the robot control unit 23 controls the robot 10 to output the above from the user interface device 1005. 【0034】 [Operation] Next, the operation of the information processing device 20 will be described. The procedures for each process shown in Figure 6 are described in the program stored in the information processing device 20. 【0035】First, prior to imaging by the imaging device 1007, the robot 10 moves along the path indicated by the path data under the control of the robot control unit 23 of the information processing device 20, and simultaneously detects an animal in the imaging target space using the animal detection device 1008. The output result of the animal detection device 1008 is transmitted to the information processing device 20 via the network 2. 【0036】 In Figure 8, when the acquisition unit 21 of the information processing device 20 acquires the output result of the animal body detection device 1008 (coordinates of pixels whose brightness has changed by more than a threshold and their time information) (step S11; YES), the detection unit 25 performs animal body detection processing according to whether or not the output result includes the coordinates of pixels whose brightness has changed by more than a threshold and their time information (step S12). 【0037】 If the output results include the coordinates and time information of pixels whose brightness has changed by more than a threshold, that is, if an animal body is detected in the imaging target space (step S13; YES), the processing unit 26 performs the predetermined processing as described above (step S14). As a result, the user interface device 1005 of the robot 10 outputs that an animal body is present, so the user can take necessary actions such as inspecting the imaging target space and removing the animal body, postponing the imaging time, or reconsidering the appropriateness of the imaging target space. 【0038】 If the output results do not include the coordinates and time information of pixels whose brightness has changed by more than a threshold, that is, if no animal body is detected in the imaging target space (step S13; NO), the robot control unit 23 controls the wheels 120 so that the robot 10 moves along the path indicated by the path data, and also controls the robot 10 to image its surroundings, for example, each time the robot 10 moves a predetermined distance or each time a predetermined amount of time has elapsed (step S15). Then, when the imaging by the robot 10's imaging device 1007 is completed (step S16; YES), the generation unit 24 generates 3D image data using the output results from the robot 10's imaging device 1007 (data of 2D images captured from multiple viewpoints at different positions by the imaging device 1007) and the Gaussian splatting technique (step S17). 【0039】 According to the embodiments described above, when generating 3D image data using 2D image data with Gaussian splatting, it is possible to improve the accuracy of generating 3D image data even in cases where an animal body is included in the imaging target space. 【0040】 [Modifications] The present invention is not limited to the embodiments described above. The embodiments described above may be modified as follows. Furthermore, two or more of the following modifications may be combined and implemented. 【0041】 [Modification 1] The predetermined processing performed by the processing unit 26 is not limited to the example of the above embodiment. The processing performed by the processing unit 26 may include processing to stop the imaging device 1007 from capturing a two-dimensional image, processing to have the imaging device 1007 wait to capture a two-dimensional image until no animal bodies are detected in the imaging target space, or processing to change the movement path of the imaging device 1007 so that no animal bodies are included in the imaging target space. 【0042】 When stopping the acquisition of a two-dimensional image by the imaging device 1007, as in the above embodiment, it is not necessary to detect the animal body prior to imaging by the imaging device 1007, and the animal body can be detected simultaneously with imaging by the imaging device 1007. In this case, the processing unit 26 instructs the robot control unit 23 to perform animal body detection by the animal body detection device 1008 simultaneously with imaging by the imaging device 1007, and when an animal body is detected, to stop the acquisition of a two-dimensional image by the imaging device 1007. 【0043】Also, when the imaging device 1007 waits for imaging of a two-dimensional image until no moving object is detected from the imaging target space, it is not necessary to detect the moving object prior to the imaging by the imaging device 1007, and the moving object can be detected simultaneously with the imaging by the imaging device 1007. In this case, the processing unit 26 causes the robot control unit 23 to detect the moving object by the moving object detection device 1008 simultaneously with the imaging by the imaging device 1007, and when a moving object is detected, instructs the imaging device 1007 to wait for imaging of a two-dimensional image. Then, when no moving object is detected, the processing unit 26 resumes the imaging of a two-dimensional image by the imaging device 1007. 【0044】 Also, when changing the movement path of the imaging device 1007 so that no moving object is included in the imaging target space, it is possible to detect the moving object prior to the imaging by the imaging device 1007 as in the above embodiment, or to detect the moving object simultaneously with the imaging by the imaging device 1007. In this case, the processing unit 26 updates the path data stored in the storage unit 22 to path data that passes through a position where no moving object is included in the imaging target space. 【0045】 [Modification 2] The processing unit 26 may perform determined processing when the moving object detected by the detection unit 25 has a size equal to or greater than a threshold value. This is because when the moving object is very small, it is considered that there is no significant impact on the quality or accuracy of the three-dimensional image. 【0046】 [Other Modifications] The block diagrams used in the description of the above embodiment show functional unit blocks. These functional blocks (components) are realized by an arbitrary combination of at least one of hardware and software. Also, the method of realizing each functional block is not particularly limited. That is, each functional block may be realized using one physically or logically combined device, or two or more physically or logically separated devices may be directly or indirectly connected (for example, using wired, wireless, etc.), and realized using these multiple devices. The functional block may be realized by combining software with the above one device or the above multiple devices. 【0047】The present invention may be an information processing method characterized by including a generation step of generating a three-dimensional image using two-dimensional images captured from a plurality of viewpoints having different positions by an imaging device, a detection step of detecting a moving object included in the two-dimensional image when the two-dimensional image is captured, and a processing step of performing a determined process when the moving object is detected. The processing procedures, sequences, flowcharts, etc. of each aspect / embodiment described in the present disclosure may be rearranged as long as there is no contradiction. For example, regarding the method described in the present disclosure, the elements of various steps are presented using an exemplary order and are not limited to the presented specific order. 【0048】 Functions include, but are not limited to, judgment, decision, determination, calculation, computation, processing, derivation, investigation, search, confirmation, reception, transmission, output, access, solution, selection, selection determination, establishment, comparison, assumption, expectation, regarded as, notification (broadcasting), notification (notifying), communication (communicating), forwarding, configuration (configuring), reconfiguration (reconfiguring), allocation (allocating, mapping), assignment (assigning), etc. For example, a functional block (component) that enables transmission is referred to as a transmission unit (transmitting unit) or a transmitter. As described above, the implementation method is not particularly limited. 【0049】The notification of information is not limited to the embodiments described herein and may be carried out by other means. For example, the notification of information may be carried out by physical layer signaling (e.g., DCI (Downlink Control Information), UCI (Uplink Control Information)), upper layer signaling (e.g., RRC (Radio Resource Control) signaling, MAC (Medium Access Control) signaling, broadcast information (MIB (Master Information Block), SIB (System Information Block))), other signals, or combinations thereof. RRC signaling may also be called RRC messages, and may be, for example, RRC Connection Setup messages, RRC Connection Reconfiguration messages, etc. 【0050】Each aspect / embodiment described in this disclosure may be applied to at least one of the following: LTE (Long Term Evolution), LTE-A (LTE-Advanced), SUPER 3G, IMT-Advanced, 4G (4th generation mobile communication system), 5G (5th generation mobile communication system), FRA (Future Radio Access), NR (new Radio), W-CDMA®, GSM®, CDMA2000, UMB (Ultra Mobile Broadband), IEEE 802.11 (Wi-Fi®), IEEE 802.16 (WiMAX®), IEEE 802.20, UWB (Ultra-Wide Band), Bluetooth®, and other appropriate systems, as well as next-generation systems extended based thereon. Furthermore, multiple systems may be applied in combination (for example, a combination of at least one of LTE and LTE-A with 5G). 【0051】 Information can be output from a higher layer (or lower layer) to a lower layer (or higher layer). Input and output may also occur via multiple network nodes. 【0052】 Input and output information may be stored in a specific location (e.g., memory) or managed using a management table. Input and output information may be overwritten, updated, or appended to. Output information may be deleted. Input information may be transmitted to other devices. 【0053】 The determination may be made by a value represented by one bit (0 or 1), by a boolean value (true or false), or by a numerical comparison (for example, by comparing with a predetermined value). 【0054】Each aspect / embodiment described in this disclosure may be used individually, in combination, or switched between as needed during implementation. Furthermore, notification of specific information (e.g., notification that "X is") is not limited to explicit notification, but may also be implicit (e.g., by not providing such notification). 【0055】 Although the present disclosure has been described in detail above, it will be clear to those skilled in the art that the present disclosure is not limited to the embodiments described herein. The present disclosure can be implemented in modified and altered forms without departing from the intent and scope of the present disclosure as defined by the claims. Therefore, the descriptions in the present disclosure are illustrative and not intended to be restrictive in any way. 【0056】 Software should be broadly interpreted to mean instructions, instruction sets, code, code segments, program code, programs, subprograms, software modules, applications, software applications, software packages, routines, subroutines, objects, executable files, execution threads, procedures, functions, etc., whether they are called software, firmware, middleware, microcode, hardware description languages, or by any other name. Furthermore, software, instructions, information, etc., may be transmitted and received via a transmission medium. For example, if software is transmitted from a website, server, or other remote source using at least one of wired technologies (such as coaxial cable, fiber optic cable, twisted pair, or digital subscriber line (DSL)) and wireless technologies (such as infrared or microwave), at least one of these wired and wireless technologies is included in the definition of a transmission medium. 【0057】The information, signals, etc., described in this disclosure may be represented using any of the various different technologies. For example, data, instructions, commands, information, signals, bits, symbols, chips, etc., which may be referred to throughout the above description, may be represented by voltage, current, electromagnetic waves, magnetic fields or magnetic particles, optical fields or photons, or any combination thereof. Terms used in this disclosure and terms necessary for understanding this disclosure may be replaced with terms having the same or similar meanings. For example, at least one of a channel and a symbol may be a signal (signaling). A signal may also be a message. Furthermore, a component carrier (CC) may also be called a carrier frequency, cell, frequency carrier, etc. 【0058】 The terms “system” and “network” as used in this disclosure are interchangeable. 【0059】 Furthermore, the information, parameters, etc., described in this disclosure may be expressed using absolute values, relative values ​​from a given value, or other corresponding information. For example, radio resources may be indicated by an index. The names used for the parameters described above are not limiting in any way. Moreover, the formulas, etc., that use these parameters may differ from those expressly disclosed in this disclosure. Various channels (e.g., PUCCH, PDCCH, etc.) and information elements can be identified by any suitable name, and therefore, the various names assigned to these various channels and information elements are not limiting in any way. 【0060】In this disclosure, terms such as “Mobile Station (MS),” “user terminal,” “User Equipment (UE),” and “terminal” may be used interchangeably. A mobile station may also be referred to by those skilled in the art as a subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, pedestrian agent, mobile client, client, or several other appropriate terms. 【0061】 The robot 10 may also be called a transmitter, receiver, communication device, etc. 【0062】The terms "determining" and "decision" can encompass a wide variety of actions. "Determining" and "decision" can include, for example, judging, calculating, computing, processing, deriving, investigating, looking up, searching, inquiry (e.g., searching in tables, databases, or other data structures), and ascertaining. Furthermore, "determining" and "decision" can also include receiving (e.g., receiving information), transmitting (e.g., sending information), input, output, and accessing (e.g., accessing data in memory). Furthermore, "judgment" and "decision" can include considering something as having been "judged" or "decided" after resolving, selecting, choosing, establishing, comparing, etc. In other words, "judgment" and "decision" can include considering something as having been "judged" or "decided" after some action. Also, "judgment (decision)" can be reinterpreted as "assuming," "expecting," or "considering." 【0063】The terms “connected,” “coupled,” or any variation thereof, mean any direct or indirect connection or coupling between two or more elements, and may include the presence of one or more intermediate elements between two elements that are “connected” or “coupled” with each other. The coupling or connection between elements may be physical, logical, or a combination thereof. For example, “connection” may be read as “access.” As used in this disclosure, two elements may be considered to be “connected” or “coupled” with each other using at least one of one or more wires, cables, and printed electrical connections, and, in some non-limiting and non-exclusive examples, electromagnetic energy having wavelengths in the radio frequency domain, microwave domain, and optical (both visible and invisible) domain. 【0064】 In this disclosure, the phrase "based on" does not mean "based solely on" unless otherwise specified. In other words, the phrase "based on" means both "based solely on" and "based at least on." 【0065】 In the configuration of each of the above devices, "means" may be replaced with "part," "circuit," "device," etc. 【0066】 Where the terms “include,” “including,” and variations thereof are used in this disclosure, these terms are intended to be inclusive, as is the term “comprising.” Furthermore, the term “or” as used in this disclosure is not intended to mean exclusive OR. 【0067】 In this disclosure, if articles are added through translation, such as a, an, and the in English, this disclosure may include the fact that the noun following these articles is plural. 【0068】In this disclosure, the term "A and B are different" may mean "A and B are different from each other." The term may also mean "A and B are each different from C." Terms such as "separate" and "combine" may be interpreted similarly to "different." 【0069】 10...Robot, 1001...Processor, 1002...Memory, 1003...Storage, 1004...Communication device, 1005...User interface device, 1006...Wheel control mechanism, 1007...Imaging device, 1008...Animal body detection device, 110...Main body, 120...Wheels, 140...Support member, 20...Information processing device, 2001...Processor, 2002...Memory, 2003...Storage, 2004...Communication device, 21...Acquisition unit, 22...Storage unit, 23...Robot control unit, 24...Generation unit, 25...Detection unit, 26...Processing unit, R...Road surface.

Claims

1. An information processing device comprising: a generation unit that generates a three-dimensional image using two-dimensional images captured from multiple viewpoints at different positions by an imaging device; a detection unit that detects an animal body in the imaging target space that the imaging device is imaging; and a processing unit that performs predetermined processing when an animal body is detected.

2. The information processing apparatus according to claim 1, characterized in that the processing performed by the processing unit includes the processing of stopping the imaging of the two-dimensional image in the imaging device.

3. The information processing apparatus according to claim 1, characterized in that the processing performed by the processing unit includes the process of causing the imaging device to wait to capture the two-dimensional image until the animal body is no longer detected in the imaging target space.

4. The information processing apparatus according to claim 1, characterized in that the processing performed by the processing unit includes processing to notify the user that the animal body is present.

5. The information processing apparatus according to claim 1, characterized in that the processing performed by the processing unit includes processing to change the movement path of the imaging device so that the animal body is not included in the imaging target space.

6. The information processing apparatus according to claim 1, characterized in that the processing unit performs the processing when the detected animal body is larger than or equal to a threshold.

7. The information processing apparatus according to claim 1, characterized in that the generation unit generates the three-dimensional image using Gaussian splatting.

8. The information processing apparatus according to claim 1, characterized in that the detection unit detects the animal body using the output result from the event-based camera.

9. An information processing method characterized by comprising: a generation step of generating a three-dimensional image using two-dimensional images captured from multiple viewpoints at different positions by an imaging device; a detection step of detecting an animal body in the imaging target space that the imaging device is imaging; and a processing step of performing predetermined processing when an animal body is detected.

Images