Abstract: It is possible to provide a movement target specification system including: a holding unit that holds a movement target; a height acquisition unit that acquires a height of an image capturing apparatus; a recognition unit that recognizes positions of corners present on a front surface of the movement target; a search unit that searches for similar data similar to the image of the movement target in accordance with the acquired height of the image capturing apparatus and the recognized positions of the corners present on the front surface of the movement target; an estimation unit that estimates positions of corners present on a rear surface of the movement target; and a target specification unit that specifies a state of the movement target.

Abstract: An object is to provide a vehicle control apparatus that can accurately control autonomous driving of a vehicle using images. A vehicle control apparatus (10) according to the present disclosure includes a camera image acquisition unit (11) configured to acquire an image from a camera included in a forklift; an image recognition unit (12) configured to recognize a pallet and an insertion opening provided in the pallet from the acquired image; and a movement control unit (13) configured to determine a direction in which the forklift is present with respect to the insertion opening according to a relative size of the insertion opening relative to a size of the pallet in the image and control movement of the forklift so as to move a fork of the forklift to a position where the fork of the forklift can be inserted into the insertion opening.

Abstract: An information processing apparatus (10) includes: a detection unit (11) configured to detect, using an image and forks for supporting the transport pallet are captured, a shape of fork insertion slots into which the forks are inserted and a shape of the forks; an acquisition unit (12) configured to acquire a depth image showing depth information of the fork insertion slots and depth information of the forks in the image; a correction unit (13) configured to correct, using the shape of the fork insertion slots and the shape of the forks that are detected, the depth information so that the shape of the fork insertion slots and the shape of the forks can be recognized in the depth image; and a position estimation unit (14) configured to estimate three-dimensional positions of the fork insertion slots and three-dimensional positions of the forks based on the depth information.

Abstract: A positioning device includes an acquisition unit that acquires an environmental map of a target area being generated by using an image processing technique for estimating a three-dimensional shape of a target included in a two-dimensional image, and a plurality of captured images being used for generating the environmental map, an image retrieval unit that extracts, from a plurality of the captured images, a similar image having a feature vector similar to a feature vector determined based on a feature amount included in an input image, and an estimation unit that estimates a position and an attitude of an imaging device that has captured the input image by using a first feature point group of the input image and a third feature point group in the environmental map associated to a second feature point group of the similar image being matched with the first feature point group.

Abstract: A self-position estimation apparatus comprises a camera part; an environmental data storage part that stores information that changes according to the position of a mobile object on a travel route in association with the position information thereof; a first estimation part that estimates the position of mobile object from sensor data containing information that changes according to the position of mobile object and the information in the environmental data storage part; a second estimation part that estimates the self-position of mobile object from a known object included in an image inputted from the camera part; a weighting determination part that determines weighting to the position estimation results by the first estimation part and the second estimation part; and a self-position calculation part that calculates a self-position by linearly combining the self-positions estimated by the first estimation part and the second estimation part using the result from the weighting determination part.

Abstract: In order to make it possible to control, according to a content of action of a moving body, an information amount of depth information so that the information amount of the depth information becomes appropriate, this invention includes: an obtaining section (11) that obtains a content of action of a moving body; and a control section (12) that controls, according to the content of the action of the moving body, an information amount of depth information obtained from a sensor.

Abstract: An object is to provide a vehicle control apparatus that can accurately control autonomous driving of a vehicle using images. A vehicle control apparatus (10) according to the present disclosure includes a camera image acquisition unit (11) configured to acquire an image from a camera included in a forklift; an image recognition unit (12) configured to recognize a pallet and an insertion opening provided in the pallet from the acquired image; and a movement control unit (13) configured to determine a direction in which the forklift is present with respect to the insertion opening according to a relative size of the insertion opening relative to a size of the pallet in the image and control movement of the forklift so as to move a fork of the forklift to a position where the fork of the forklift can be inserted into the insertion opening.

Abstract: To provide an image pick-up apparatus, an image pick-up method, and a program each of which adapted to perform photometric calibration at a low cost in the application thereof for picking-up images for performing localization. An image pick-up apparatus (500) includes at least one memory (503) configured to store an instruction, and at least one processor (502) configured to execute the instruction, the processor being further configured to: pick-up an image; determine whether the picked-up image data is an image suitable for a computer vision application; and adjust camera parameters based on the determination.

Abstract: An information processing apparatus (10) includes: a detection unit (11) configured to detect, using an image and forks for supporting the transport pallet are captured, a shape of fork insertion slots into which the forks are inserted and a shape of the forks; an acquisition unit (12) configured to acquire a depth image showing depth information of the fork insertion slots and depth information of the forks in the image; a correction unit (13) configured to correct, using the shape of the fork insertion slots and the shape of the forks that are detected, the depth information so that the shape of the fork insertion slots and the shape of the forks can be recognized in the depth image; and a position estimation unit (14) configured to estimate three-dimensional positions of the fork insertion slots and three-dimensional positions of the forks based on the depth information.

Abstract: A positioning device includes an acquisition unit that acquires an environmental map of a target area being generated by using an image processing technique for estimating a three-dimensional shape of a target included in a two-dimensional image, and a plurality of captured images being used for generating the environmental map, an image retrieval unit that extracts, from a plurality of the captured images, a similar image having a feature vector similar to a feature vector determined based on a feature amount included in an input image, and an estimation unit that estimates a position and an attitude of an imaging device that has captured the input image by using a first feature point group of the input image and a third feature point group in the environmental map associated to a second feature point group of the similar image being matched with the first feature point group.

Abstract: A self-position estimation apparatus comprises a camera part; an environmental data storage part that stores information that changes according to the position of a mobile object on a travel route in association with the position information thereof; a first estimation part that estimates the position of mobile object from sensor data containing information that changes according to the position of mobile object and the information in the environmental data storage part; a second estimation part that estimates the self-position of mobile object from a known object included in an image inputted from the camera part; a weighting determination part that determines weighting to the position estimation results by the first estimation part and the second estimation part; and a self-position calculation part that calculates a self-position by linearly combining the self-positions estimated by the first estimation part and the second estimation part using the result from the weighting determination part.

Abstract: To provide an image pick-up apparatus, an image pick-up method, and a program each of which adapted to perform photometric calibration at a low cost in the application thereof for picking-up images for performing localization. An image pick-up apparatus (500) includes at least one memory (503) configured to store an instruction, and at least one processor (502) configured to execute the instruction, the processor being further configured to: pick-up an image; determine whether the picked-up image data is an image suitable for a computer vision application; and adjust camera parameters based on the determination.

Abstract: To provide a reception device capable of precisely estimating throughput on the basis of a breakpoint between video frames in a communication system where video-frame-based transmission is intermittently performed. A reception device is configured to be provided with a reception means, a breakpoint position estimation means, and a transmission means. The reception means receives packets obtained by dividing a video frame. The breakpoint position estimation means estimates a packet which is a breakpoint between video frames on the basis of packet information about the packets received by the reception means. The transmission means transmits, to a transmission device of the packets, information about the reception time of the video frame and information about the data size thereof on the basis of the estimation result of the breakpoint.

Abstract: In order to enable to measure a throughput with high accuracy in an application layer, a throughput measuring method according to an exemplary aspect of the invention includes: transmitting data to a receiving device, receiving a feedback indicating a receiving completion of the data, from the receiving device, calculating a boundary value of a range of values allowable for a throughput, based on the feedback and a transmitted data amount of the data, measuring a theoretical value of the throughput, and outputting the boundary value when the theoretical value falls outside the range, and outputting the theoretical value when the theoretical value falls within the range.

Abstract: A transmission terminal 20 is provided with: a storage unit 21 that stores transmission information including a packet loss rate in transmission processing executed in the past, the reliability of the packet loss rate, and performance data indicating the performance of the transmission processing on a transmission-processing-by-transmission-processing basis; a selection unit 22 that selects, from among the stored pieces of transmission information, transmission information having the maximum ratio of the reliability to a difference between data indicating the performance of measured transmission processing and the performance data; and a determination unit 23 that determines a redundancy to be attached to data to be transmitted in transmission processing the performance of which has been measured using the packet loss rate included in the selected transmission information.

Abstract: In order to enable to measure a throughput with high accuracy in an application layer, a throughput measuring method according to an exemplary aspect of the invention includes: transmitting data to a receiving device, receiving a feedback indicating a receiving completion of the data, from the receiving device, calculating a boundary value of a range of values allowable for a throughput, based on the feedback and a transmitted data amount of the data, measuring a theoretical value of the throughput, and outputting the boundary value when the theoretical value falls outside the range, and outputting the theoretical value when the theoretical value falls within the range.