CN-122029799-A - Information processing apparatus, information processing system, and information processing method

Abstract

An information processing apparatus, an exposure period control unit that performs image sensor control for synchronizing exposure periods of a plurality of image sensors that output luminance information corresponding to a received light amount, and ranging sensor control for distinguishing exposure periods of a plurality of ranging sensors that are sensors that output distance information by receiving reflected light from an object and are respectively provided in correspondence with the image sensors.

Inventors

• WAKAZONO MASAFUMI

Assignees

• 索尼集团公司

Dates

Publication Date

20260512

Application Date

20240930

Priority Date

20231017

Claims (20)

1. 1. An information processing apparatus comprising: An exposure period control unit that performs image sensor control for synchronizing exposure periods of a plurality of image sensors that output luminance information corresponding to received light amounts, and ranging sensor control for making exposure periods of a plurality of ranging sensors different, wherein the plurality of ranging sensors are sensors that output distance information by receiving reflected light from a subject and are respectively provided corresponding to the image sensors.
2. 2. The information processing apparatus according to claim 1, wherein, In the distance measuring sensor, the exposure periods for obtaining the distance information are each a unit exposure period, and When the length of the frame period of the image sensor is longer than that obtained by adding the unit exposure periods of each of the plurality of ranging sensors, the exposure period control unit performs ranging sensor control such that the unit exposure periods of the plurality of ranging sensors are included one by one into the frame period.
3. 3. The information processing apparatus according to claim 2, wherein, When the length of the frame period is shorter than the length obtained by adding the unit exposure periods of each of the plurality of ranging sensors, the exposure period control unit performs ranging sensor control using a plurality of frame periods each including the unit exposure period of the plurality of ranging sensors one by one as a reference.
4. 4. The information processing apparatus according to claim 2, wherein, The difference between the start timing of the frame period and the start timing of the unit exposure period is an offset, and The exposure period control unit performs ranging sensor control such that the offset amount of each frame period becomes the same for each of the plurality of ranging sensors.
5. 5. The information processing apparatus according to claim 1, wherein, In the distance measuring sensor, the exposure periods for obtaining the distance information are each a unit exposure period, and The information processing device includes: an interpolation processing unit performs interpolation processing for obtaining distance information corresponding to an exposure period of the image sensor using pieces of distance information obtained during a unit exposure period.
6. 6. The information processing apparatus according to claim 5, wherein, The interpolation processing unit obtains distance information corresponding to the center of the exposure period of the image sensor as distance information corresponding to the exposure period of the image sensor.
7. 7. The information processing apparatus according to claim 6, wherein, The interpolation processing unit performs linear interpolation using distance information obtained immediately before the center of the exposure period of the image sensor and distance information obtained immediately after the center of the exposure period of the image sensor in the interpolation processing.
8. 8. The information processing apparatus according to claim 5, wherein, In a frame image obtained from an image sensor, an interpolation processing unit makes interpolation processing for a boundary region, which is a region near the boundary of an object, different from interpolation processing for a non-boundary region, which is a region other than the boundary region.
9. 9. The information processing apparatus according to claim 6, wherein, The exposure period control unit performs ranging sensor control such that a center of an exposure period of at least some of the plurality of ranging sensors matches a center of an exposure period of the image sensor.
10. 10. The information processing apparatus according to claim 1, wherein, The exposure period control unit performs readjustment of the exposure periods of the plurality of ranging sensors in the ranging sensor control.
11. 11. The information processing apparatus according to claim 10, wherein, The exposure period control unit performs readjustment of the exposure period when the number of ranging sensors performing ranging increases/decreases during the frame period of the image sensor.
12. 12. The information processing apparatus according to claim 10, wherein, In the distance measuring sensor, the exposure periods for obtaining the distance information are each a unit exposure period, and In the readjusting, the exposure period control unit adjusts the lengths of the unit exposure periods of the plurality of ranging sensors so that the unit exposure periods are contained one by one into the frame period.
13. 13. The information processing apparatus according to claim 10, wherein, The exposure period control unit shortens the exposure period of the ranging sensor that has satisfied the predetermined condition in readjustment of the exposure period.
14. 14. The information processing apparatus according to claim 10, wherein, The exposure period control unit sets a ranging operation of a ranging sensor corresponding to an image sensor that is outputting an image being distributed among the plurality of image sensors to be off.
15. 15. The information processing apparatus according to claim 10, wherein, The exposure period control unit waits for the application of the readjusted exposure period until the exposure period for ranging can be changed among the ranging sensors in all operations among the plurality of ranging sensors.
16. 16. The information processing apparatus according to claim 1, wherein, The exposure period control unit allows exposure periods of ranging sensors of the plurality of ranging sensors that do not have the same subject area within their view angles to overlap at least partially.
17. 17. The information processing apparatus according to claim 1, wherein, The plurality of image sensors and the plurality of ranging sensors are sensors for virtual fabrication.
18. 18. An information processing system, comprising: a plurality of image sensors outputting luminance information corresponding to the received light quantity; A plurality of distance measuring sensors which are sensors that output distance information by receiving reflected light from an object and are provided in correspondence with the image sensors, respectively, and A control device that performs image sensor control for synchronizing exposure periods of the plurality of image sensors and ranging sensor control for making exposure periods of the plurality of ranging sensors different.
19. 19. The information handling system of claim 18, comprising: Display apparatus for displaying images, wherein The plurality of image sensors capture a subject using an image displayed on a display device as a background.
20. 20. An information processing method, comprising: The control for synchronizing the exposure periods of a plurality of image sensors outputting luminance information corresponding to the received light amounts and the control for making the exposure periods of a plurality of ranging sensors, which are sensors outputting distance information by receiving reflected light from a subject and are respectively provided corresponding to the image sensors, are performed by an information processing apparatus.

Description

Information processing apparatus, information processing system, and information processing method Technical Field The present technology relates to an information processing apparatus, an information processing system, and an information processing method related to active ranging. Background Active ranging systems are known as ranging systems for measuring distances between objects. For example, there is a ToF (time of flight) system as an active ranging system (see patent document 1). In ToF ranging, the distance is measured based on the light-reciprocation time required for light irradiated onto and reflected by an object to be observed. Accordingly, the ranging apparatus employing the ToF system is provided with a pair of light emitting units and light receiving units. List of references Patent literature Patent document 1 Japanese patent application laid-open No.2023-122396 Disclosure of Invention Technical problem In ranging using the ToF system, light emission from a light emitting unit paired with a light receiving unit becomes a reference point for time measurement, and thus if any other light is received, an erroneous ranging result will be obtained. In particular, since the light emitting operation of the light emitting units other than the paired light emitting units is performed in the case of using a plurality of ToF apparatuses, it becomes easy to receive erroneous reflected light and erroneous ranging occurs. In this regard, the present disclosure proposes a technique of suppressing erroneous ranging when a plurality of ranging apparatuses are used. Solution to the problem An information processing apparatus according to the present technology includes an exposure period control unit that performs image sensor control to synchronize exposure periods of a plurality of image sensors that output luminance information corresponding to received light amounts, and that performs ranging sensor control to make exposure periods of a plurality of ranging sensors different, the plurality of ranging sensors being sensors that output distance information by receiving reflected light from a subject and being provided corresponding to the image sensors, respectively. Thus, during the exposure period of the ranging sensor provided in a certain ranging apparatus, reflected light based on light irradiated from the light emitting unit provided in another ranging apparatus is prevented from being received. An information processing method according to the present technology includes performing control by an information processing apparatus to synchronize exposure periods of a plurality of image sensors that output luminance information corresponding to received light amounts, and performing control to make different the exposure periods of a plurality of ranging sensors that are sensors that output distance information by receiving reflected light from an object and that are respectively provided corresponding to the image sensors. An information processing system according to the present technology includes a plurality of image sensors that output luminance information corresponding to a received light amount, a plurality of ranging sensors that are sensors that output distance information by receiving reflected light from a subject and are respectively provided in correspondence with the image sensors, and a control device that performs image sensor control to synchronize exposure periods of the plurality of image sensors and performs ranging sensor control to make the exposure periods of the plurality of ranging sensors different. In such an information processing method and information processing system, reflected light based on light irradiated from a light emitting unit provided in another distance measuring device is also prevented from being received. Drawings Fig. 1 is an explanatory view of a photographing system according to an embodiment of the present technology. Fig. 2 is an explanatory diagram of a background video corresponding to a camera position in the photographing system according to the embodiment. Fig. 3 is an explanatory diagram of a background video corresponding to another camera position in the photographing system according to the embodiment. Fig. 4 is an explanatory view of a background video in an example in which a photographing system according to an embodiment includes a plurality of cameras. Fig. 5 is a block diagram of a photographing system according to an embodiment. Fig. 6 is a more detailed block diagram of certain devices of the photographing system according to an embodiment. Fig. 7 is an explanatory diagram of an example of a relationship between exposure periods based on offsets of a plurality of range cameras according to an embodiment. Fig. 8 is a diagram showing a general overview of a light emitting operation and a light receiving operation repeated during a unit exposure period of each of dTof range cameras and iTof range cameras. Fig. 9 is a diagram showing an e