Abstract: There is provided a signal processing device and a signal processing method capable of accurately acquiring distance information in a case where a transparent subject is present. The signal processing device includes an acquisition unit that acquires histogram data of a flight time of irradiation light to a subject, a transparent subject determination unit that determines whether or not the subject is a transparent subject on the basis of peak information indicated by the histogram data and three-dimensional coordinates of the subject calculated on the basis of the histogram data, and an output unit that outputs the three-dimensional coordinates of the subject in which color information or three-dimensional coordinates of the subject is corrected on the basis of a transparent subject determination result of the transparent subject determination unit.

Abstract: There is provided a signal processing apparatus and a signal processing method enabling correction of a deviation of position information of a dToF sensor.

Abstract: An information generation unit 30 acquires, from a polarization imaging unit 20, observation values in which polarization directions are at least three or more directions (m?3). A noise amount calculation unit 35-1 calculates an amount of noise on the basis of an observation value in a first polarization direction. Similarly, noise amount calculation units 35-2 to 35-m calculate amounts of noise on the basis of observation values in second to m-th polarization directions. A polarization model estimation unit 36 estimates a polarization model by using the observation values for the respective polarization directions and the amounts of noise calculated by the noise amount calculation units 35-1 to 35-m. Thus, it is possible to calculate a polarization model that is robust against noise.

Abstract: The present technology relates to a control device, a control method, and a program that enable the action of a movable body to be planned in accordance with the value of a peripheral object. The control device according to an embodiment of the present technology estimates a value of an object at the periphery of a movable body on the basis of sensor data detected by the movable body, and plans an action of the movable body on the basis of the value of the object estimated. The present technology is applicable to robots capable of acting autonomously.

Abstract: A polarized image acquisition section 11a acquires a polarized image of a target object having one or more polarization directions. A polarization parameter acquisition section 12-1 calculates the average brightness ? of a polarization model on the basis of a non-polarized image subjected to sensitivity correction. Further, the polarization parameter acquisition section 12-1 calculates the amplitude ? of the polarization model on the basis of the calculated average brightness ?, pre-stored information regarding the zenith angle ? of the normal line of the target object, a refractive index r, and reflectance property information indicative of whether a subject is diffuse reflection or specular reflection.

Abstract: There is provided an image processing apparatus and method capable of suppressing an increase in a processing time for image clustering. Sparse pixels included in an image are clustered, sparse information obtained by this clustering is interpolated by image filtering that uses an image signal as a guide, and thereby a dense clustering result is derived. For example, the sparse information is model coefficients or a clustering result obtained by the clustering. The present disclosure can be applied to, for example, an image processing apparatus, an image processing method, and the like.

Abstract: The present technology relates to a signal processing device, a signal processing method, and a distance measurement device capable of preventing erroneous detection of the number of cycles N in a method of resolving ambiguity of the number of cycles N on the basis of a result of distance measurement using two frequencies.

Abstract: There is provided a signal processing device, a signal processing method, and a ranging module that enable appropriate exposure control. A parameter determination unit of the ranging module determines an exposure control parameter on the basis of an evaluation index using distance information and luminance information calculated from a detection signal of a light reception unit. The present technology may be applied to, for example, a ranging module that performs ranging by an indirect ToF method and the like.

Abstract: The present technology relates to a light receiving device capable of expanding a measurement range, and a method of driving the light receiving device. The light receiving device includes a pixel having a photoelectric conversion unit that photoelectrically converts incident light to generate charges, a first charge accumulation unit that accumulates first charges generated in the photoelectric conversion unit for a first charge accumulation time, and a second charge accumulation unit that accumulates second charges generated in the photoelectric conversion unit for a second accumulation time different from the first accumulation time. The present technology can be applied to, for example, a ranging module that performs ranging using the indirect ToF method.

Abstract: There is provided a signal processing device, a signal processing method, and a distance-measuring module that allow improvement in distance measurement accuracy. The signal processing device includes an estimation unit that estimates, in a pixel including a first tap that detects a charge photoelectrically converted by a photoelectric conversion unit and a second tap that detects the charge photoelectrically converted by the photoelectric conversion unit, a sensitivity difference between taps of the first tap and the second tap by using first to fourth detection signals obtained by detecting reflected light generated by emission light reflected by an object in first to fourth phases with respect to the emission light. The present technology can be applied to, for example, a distance-measuring module that performs distance measurement by the indirect ToF method, and the like.

Abstract: The present technology relates to a control device, a control method, and a program that allow notification of an abnormality occurring in a robot to be given to a user in an easy-to-check manner. A control device according to one aspect of the present technology includes: an abnormality detection unit that detects an abnormality that has occurred in a predetermined part of a robot; and an attitude control unit that controls an attitude of the robot so that the predetermined part in which the abnormality has occurred is within the angle of view of a camera. The present technology can be applied to a robot capable of making autonomous motions.

Abstract: An information generation unit 30 acquires, from a polarization imaging unit 20, observation values in which polarization directions are at least three or more directions (m?3). A noise amount calculation unit 35-1 calculates an amount of noise on the basis of an observation value in a first polarization direction. Similarly, noise amount calculation units 35-2 to 35-m calculate amounts of noise on the basis of observation values in second to m-th polarization directions. A polarization model estimation unit 36 estimates a polarization model by using the observation values for the respective polarization directions and the amounts of noise calculated by the noise amount calculation units 35-1 to 35-m. Thus, it is possible to calculate a polarization model that is robust against noise.

Abstract: A polarized image acquisition section 11a acquires a polarized image of a target object having one or more polarization directions. A polarization parameter acquisition section 12-1 calculates the average brightness ? of a polarization model on the basis of a non-polarized image subjected to sensitivity correction. Further, the polarization parameter acquisition section 12-1 calculates the amplitude ? of the polarization model on the basis of the calculated average brightness ?, pre-stored information regarding the zenith angle ? of the normal line of the target object, a refractive index r, and reflectance property information indicative of whether a subject is diffuse reflection or specular reflection.

Abstract: The present technology relates to a control device, a control method, and a program that enable the action of a movable body to be planned in accordance with the value of a peripheral object. The control device according to an embodiment of the present technology estimates a value of an object at the periphery of a movable body on the basis of sensor data detected by the movable body, and plans an action of the movable body on the basis of the value of the object estimated. The present technology is applicable to robots capable of acting autonomously.

Abstract: An image processing device and a method that enable removal of reflection component light from images captured from various directions are provided.

Abstract: An image processing device and a method that enable removal of reflection component light from images captured from various directions are provided.