Abstract: A trace comprising location data about a computing device is received at a mapping server, where the trace stores the location data about the computing device in an ordered set of points. The origin and destination of the trace are obscured. Then, the trace is then separated into a set of subtraces by dividing the received points of location data into a set of subtraces, and removing the links between subtraces of the set of subtraces. For example, subtraces can be divided based on size, distance, elapsed time, or features of interest present in the location data.

Abstract: Systems and methods may be provided for masking data on public networks. At a publishing node, the system may monitor data input fields in a webpage, and intercept and encode content, such as text, images, and video input at the data input fields, prior to the content being posted online on a public service provider's website. A policy may be defined to control which users are permitted access to a key to decode the encoded content. The policy may defer to a third party policy node in determining key access. An account for a controlling entity, such as a guardian or employer, may be configured to control the encoding status of posts made by another. The controlling entity may control who has key access to decode posts made by the other account. The guardian account may be configured to have preemptive rights over posting decisions made by the minor.

Abstract: Technologies for managed code execution include a computing device having a processor with protection key support. The computing device sets a protection key register of the processor with permissions to disallow data access to any protection domain of the computing device and then executes a domain switch routine to switch to a managed applet. The managed applet is included in an applet protection domain, the domain switch routine is included in a switch protection domain, and a managed runtime environment is included in a normal protection domain. The domain switch routine sets the protection key register with permissions to disallow access to any protection domain other than the applet protection domain and then executes the managed applet. Other managed applets may be each be included in separate applet domains. Each managed applet may be a thread executed within a common process address space. Other embodiments are described and claimed.

Abstract: Systems and methods to safeguard data and hardware may include a memory configured to store a first image and sensitive data, and an optical sensor configured to capture a second image. A sensor signal comprising the captured second image may be generated. A controller having access to the memory may be configured to receive the sensor signal. The controller may be further configured to compare the stored first image to the captured second image, and based on the comparison, to determine whether the sensitive data is accessible.

Abstract: A method for determining an authenticity of a configurable electronic device includes configuring the configurable electronic device according to stimulus data, measuring one or more side-effects of operation of the configurable electronic device after configuration of the electronic device to generate representations of the one or more side-effects, processing the representations of the side-effects using a feature extraction module to determine one or more features characterizing the representations of the side-effects, and processing the one or more features characterizing the representations of the side-effects using an authentication module to determine a degree of authenticity of the configurable electronic device.

Abstract: A system includes programmable systolic cryptographic modules for security processing of packets from a data source. A first programmable input/output interface routes each incoming packet to one of the systolic cryptographic modules for encryption processing. A second programmable input/output interface routes the encrypted packets from the one systolic cryptographic module to a common data storage. In one embodiment, the first programmable input/output interface is coupled to an interchangeable physical interface that receives the incoming packets from the data source. In another embodiment, each cryptographic module includes a programmable systolic packet input engine, a programmable cryptographic engine, and a programmable systolic packet output engine, each configured as a systolic array (e.g., using FPGAs) for data processing.

Abstract: Methods are described herein for communications bus data transmission using relative ground shifting. A plurality of voltage lines of at least one electronic control unit (ECU) are monitored. The at least one ECU electrically coupled to a communications bus. A voltage differential across at least two of the plurality of voltage lines of the at least one ECU is measured. A pulse or data stream is injected into the communications bus via one or two voltage lines based on the measured voltage differential having an amplitude lower than a predetermined voltage threshold.

Abstract: A method provides and manages information linked to RFID data storage media in a network with data transmission between an RFID data storage medium and an RFID reading unit, integrated in a mobile radio device, for reading the data stored on the RFID data storage medium. A data link is set up to a network server in a network via a radio interface of the mobile radio device. A data memory area on the network server is associated with the RFID data storage medium.

Abstract: Systems and methods for decoding data transmitted by RFID tags are disclosed. One embodiment of the invention includes an analyzer and equalizer configured to filter an input signal, an estimation block configured to obtain a baseband representation of the modulated data signal by mixing the filtered input signal with the carrier wave, and a coherent detector configured to perform phase and timing recovery on the modulated data signal in the presence of noise and to determine a sequence of data symbols.

Abstract: Systems and methods for providing an estimate of a population of passive Radio Frequency Identification (RFID) sensors in a coverage area of an RFID reader system are disclosed. In accordance with embodiments of this invention, the contention resolutions or results of each slot in an interrogation receive frame are determined. The contention resolutions are then used to determine the probabilities of different population estimates. A population estimate is then selected as the population based on the probability of the estimate meeting predetermined criteria.

Abstract: An RFID tag board includes an insulating substrate with an upper surface and a lower surface with a recess, an upper surface conductor on the upper surface of the insulating substrate, a ground conductor on the lower surface of the insulating substrate, the ground conductor being electrically connected to the upper surface conductor by a short-circuit portion through conductor penetrating the insulating substrate in a thickness direction, a capacitance conductor in the insulating substrate, the capacitance conductor facing a portion of the upper surface conductor, a capacitance portion through conductor penetrating the insulating substrate in the thickness direction from the capacitance conductor to the ground conductor, and a first electrode and a second electrode in the recess, the first electrode electrically connected to the capacitance conductor or the ground conductor by a first connection conductor, the second electrode electrically connected to the upper surface conductor via a second connection condu

Abstract: An RFID data management device includes an RFID data acquisition unit acquiring RFID management data including identification information of an RFID, a relevant data acquisition unit acquiring RFID relevant data including a use start date of the RFID, and a remaining time calculation unit calculating a remaining data guarantee time of the RFID using a data guarantee period dependent on the identification information and the environmental temperature of the RFID, and the environmental temperature. The remaining time calculation unit calculates the remaining time using an environmental temperature in a first period from a manufacturing date of the RFID to a use start timing, a data guarantee period according to the environmental temperature in the first period, an environmental temperature in a second period from the use start timing to a timing of confirmation, and a data guarantee period according to the environmental temperature in the second period.

Abstract: There is described an indicia reading terminal that can be operative to capture a succession of frames of image data and that can be operative so that a certain frame of the succession of frames is subject to quality evaluation processing where a result of the quality evaluation processing is responsive to one or more of an incidence and sharpness of edge representations of the frame of image data.

Abstract: A printed code associated with a product is illuminated with light having a first lighting characteristic, and is readable in a default mode of an imaging reader. An electronic code displayed on a mobile communication device is readable in another mode of the reader, with a different second lighting characteristic that is designed to minimize specular reflection from a screen of the device. When the presence of the device in close proximity to the reader is detected, the reader is automatically configured to switch from the default mode to the other mode to enable the electronic code to be read.

Abstract: Systems, methods, and devices for conducting a secure ticketing transaction at a first location within a transit system. A media reader described herein may include a barcode reader, a barcode display, and processor(s). The processor(s) may be configured to perform operations including receiving a key for performing encryption or decryption of data, reading, from a display of a mobile communication device, an encrypted first barcode to obtain encrypted first barcode data, decrypting the encrypted first barcode data to obtain first barcode data, generating second barcode data indicating entry information, encrypting the second barcode data to obtain encrypted second barcode data, displaying an encrypted second barcode containing the encrypted second barcode data, and allowing the transit customer to enter the transit system at the first location.

Abstract: Embodiments are directed to methods and systems to increase flow and throughput of particular data through the use of a machine readable code with portion analysis. The machine readable code may be generated by a transaction processing network and correspond with one or more resource provider computers. When data is received by the transaction processing network that corresponds with one of the resource provider computers, a portion of the machine readable code that is proportional to a size or measurement of the data may be provided in exchange for the data. The recipient of the portion of the code and, once the recipient collects a predetermined number of machine readable code portions to complete the machine readable code, the complete machine readable code may be scanned and transmitted back to the transaction processing network to be exchanged for additional information or to initiate further processing.

Abstract: A robotic system is disclosed that include an articulated arm and a first perception system for inspecting an object, as well as a plurality of additional perception systems, each of which is arranged to be directed toward a common area in which an object may be positioned by the robotic arm such that a plurality of views within the common area may be obtained by the plurality of additional perception systems.

Abstract: Systems, methods, and computer program products are disclosed to localize and/or image a dense array of particles. In some embodiments, a plurality of particles may be imaged using an imaging device. A plurality of point spread function dictionary coefficients of the image may be estimated using a point spread function dictionary; where the point spread function dictionary can include a plurality of spread function responses corresponding to different particle positions. From the point spread function dictionary coefficients the number of particles in the image can be determined. Moreover location of each particle in the image can be determined from the point spread function dictionary coefficients.

Abstract: A method for fingerprint identification and a terminal are provided. The method includes the follows. Source fingerprint data for fingerprint identification is acquired. Fingerprint data to be processed, whose fingerprint data value in a preset threshold range, is extracted from the source fingerprint data. A feature amplifying process is performed on the fingerprint data to be processed and the fingerprint data amplified is repaired to obtain repaired target fingerprint data. A three-dimensional surface is generated according to capacitance values of pixels of the target fingerprint data, a fingerprint image is simulated via the three-dimensional surface, and the simulated fingerprint image is compared with pre-stored fingerprint verification data. The source fingerprint data is determined to be identified successfully, based on a determination that the simulated fingerprint image matches the pre-stored fingerprint verification data.

Abstract: Disclosed are methods, devices, apparatuses, and systems for ultrasonic fingerprint sensing with an acoustic shielding structure. One or more layers in an ultrasonic fingerprint sensing system may reflect back ultrasonic waves due to acoustic impedance mismatch that can distort a fingerprint image. An acoustic shielding structure may be configured to absorb, store, trap, or otherwise attenuate ultrasonic waves. The acoustic shielding structure may be positioned underlying an ultrasonic sensor layer. In some implementations, the acoustic shielding structure may include a plurality of periodically spaced apart geometric features or holes in a medium.

Abstract: A method and an apparatus for determining existence of a foreign material on a surface of a fingerprint sensor of a terminal are provided. The method includes the following. A current capacitance value of the fingerprint sensor of the terminal is obtained. A first difference between the current capacitance value and a preset capacitance reference value is calculated. Determine that the foreign material is present on the surface of the fingerprint sensor when the first difference is within a preset foreign-material threshold range. The preset capacitance reference value is a capacitance value tested with no foreign material on the surface of the fingerprint sensor before leaving the factory and is stored in a system in advance. The preset foreign-material threshold range is set in advance according to experimental data of capacitance-change tests performed on the fingerprint sensor when different conductive foreign materials are on the surface of the fingerprint sensor.

Abstract: An electronic device includes a cover glass having a display surface, a pixelated photoemitting element array, and a pixelated photodetecting element array. The pixelated photoemitting element array emits a light signal through the cover glass to the display surface. The pixelated photodetecting element array is positioned relative to the pixelated photoemitting element array and the cover glass to receive a reflected light signal. The reflected light signal includes a portion of the emitted light signal reflected by total internal reflection from a refractive boundary at the display surface. Operation of each pixel is switched between the one or more photodetecting elements and the one or more photoemitting elements by the pixel selector signal component received from the pixel selector signal bus. A sensing trigger is configured to trigger the imaging scan by the pixelated photoemitting element array and the pixelated photodetecting element array, responsive to detection of an initiating action.

Abstract: A fingerprint identification apparatus including a light-transmitting device, an image-capture device disposed opposite to the light-transmitting device, and a collimator disposed between the light-transmitting device and the image-capture device is provided. The collimator includes a plurality of light-shielding layers and a plurality of light-transmitting layers that are alternately stacked. Each of the light-shielding layers has a plurality of openings respectively corresponding to a plurality of pixel regions of the image-capture device. Openings of the plurality of light-shielding layers corresponding to one pixel region are arranged along an oblique direction. The oblique direction and a normal direction of a pressing surface of the light-transmitting device have an included angle ?, and 0°<?<90°.

Abstract: An apparatus and method for image normalization using a Gaussian residual of fit selection criteria. The method may include acquiring a two-dimensional image of a plurality of particles, where the plurality of particles comprises a plurality of calibration particles, and identifying a calibration particle by correlating a portion of the image corresponding to the calibration particle to a mathematical model (e.g. Gaussian fit). The measured intensity of the calibration particle may then be used to normalize the intensity of the image.

Abstract: The method includes: setting up a hierarchy structure, wherein the hierarchy structure includes more than 2 levels, each slice in a lowest level of the levels is a single fingerprint image generated by a fingerprint sensor, a slice in a second level of the levels includes at most M slices in a first level of the levels, the second level is one level higher than the first level, and M is a positive integer greater than 1; obtaining a new fingerprint image, adding the new fingerprint image into the lowest level, arid updating the hierarchy structure; and outputting an enroll fingerprint image according to a slice in a highest level.

Abstract: A non-contact friction ridge capture device is described. The device comprises a device housing, the device housing including an electronics compartment and an illumination shield, with an opening between the electronics compartment and the illumination shield into which a user can insert the user's hand. The device further comprising a camera disposed in the electronics compartment for capturing an image of at least one friction ridge surface on a user's hand. The device further comprises a light source disposed in the electronics compartment, the light source emitting light in the direction of the illumination shield, wherein the peak wavelength of emitted light is in the range of 440 to 570 nanometers (nm). The user's hand is not required to contact the device when the camera captures the image of at least one friction ridge surface on a user's hand.

Abstract: A biometric identification module including a light source, a cover plate, a display device, an image-capture device, and a first optical film layer is provided. The display device is disposed between the cover plate and the image-capture device. A first optical film layer is disposed on a first region of the cover plate and located between the first region and the light source, wherein the light beam emitted by the light source passes through the first optical film layer to be sequentially transmitted in the first region and a second region of the cover plate, and a finger disposed on the second region of the cover plate reflects the light beam from the second region of the cover plate. The light beam reflected by the finger sequentially passes through the second region of the cover plate and the display device to be received by the image-capture device.

Abstract: The present invention provides a Gabor cube feature selection-based classification method for hyperspectral remote sensing images, comprising the following steps: generating three-dimensional Gabor filters according to set frequency and direction parameter values; convoluting hyperspectral remote sensing images with the three-dimensional Gabor filters to obtain three-dimensional Gabor features; selecting three-dimensional Gabor features, classification contribution degrees to various classes of which meet preset requirements, from the three-dimensional Gabor features; and classifying the hyperspectral remote sensing images by a multi-task joint sparse representation-based classification means by using the selected three-dimensional Gabor features. The present invention is based on the three-dimensional Gabor features, and the used three-dimensional Gabor features contain rich local change information of a signal and are competent in feature characterizing.

Abstract: A fingerprint verification method and apparatus is disclosed. The fingerprint verification method may include obtaining an input fingerprint image, determining a matching region between the input fingerprint image and a registered fingerprint image, determining a similarity corresponding to the matching region, representing a determined indication of similarities between the input fingerprint image and the registered fingerprint image, relating the determined similarity to the matching region as represented in a matching region-based similarity, determining a result of a verification of the input fingerprint image based on the matching region-based similarity, and indicating the result of the verification.

Abstract: A method for fingerprint unlocking and a terminal are provided. The method includes the follows. Fingerprint information is acquired. A target group number of a group of fingerprint that is most similar to the fingerprint information is determined from among preset fingerprint matching data; where the preset fingerprint matching data corresponds to N groups of fingerprint, each group of fingerprint corresponds to multiple fingerprint templates and has one unique identification group number, and N is an integer greater than 1. The fingerprint information is compared with fingerprint templates corresponding to the target group number. A terminal is unlocked when a target matching value between a fingerprint template of the fingerprints corresponding to the target group number and the fingerprint information is determined, where the target matching value is greater than a first preset threshold.

Abstract: A method for controlling unlocking is provided. When a touch operation of a finger of a user on a fingerprint recognition module of a terminal device is detected, N first fingerprint images are received according to N capacity auto control (CAC) parameters corresponding to a wet finger, and M second fingerprint images are received according to M CAC parameters corresponding to fingerprint stabilization, where N is an integer greater than or equal to 1, and M is an integer greater than 1; a fingerprint image having the best clarity is selected from among the N first fingerprint images and the M second fingerprint images; the selected fingerprint image is compared; the terminal device is unlocked when the selected fingerprint image is matched.

Abstract: An image processing apparatus has a processing circuit. The processing circuit functions as a three-dimensional data generation unit, a two-dimensional data generation unit, and a recognition image generation unit. The three-dimensional data generation unit generates three-dimensional data of an object ton the basis of an image of the object on which object information represented by a character or a symbol is attached, and a distance image indicating a distance between a reference position and the object for each pixel. The two-dimensional data generation unit flattens the three-dimensional data generated by the three-dimensional data generation unit to generate two-dimensional data. The recognition image generation unit generates a recognition image which is used to recognize the object information, on the basis of the two-dimensional data generated by two-dimensional data generation unit.

Abstract: A video conference invite is accessed and names and/or account addresses in the invite are used to obtain information of people listed on the invite from a database. The information can include template photographs of the people and locations of the people. During a video conference that is subject of the invite, when it is determined that a video feed of the video conference indicates that plural participants are together in a single room, images of faces in the video feed are efficiently matched against only template photographs of people in the database indicated by the database as being associated with the room.

Abstract: A face recognition system is provided. The system includes a device configured to capture an input image of a subject. The system further includes a processor. The processor estimates, using a 3D Morphable Model (3DMM) conditioned Generative Adversarial Network, 3DMM coefficients for the subject of the input image. The subject varies from an ideal front pose. The processor produces, using an image generator, a synthetic frontal face image of the subject of the input image based on the input image and the 3DMM coefficients. An area spanning the frontal face of the subject is made larger in the synthetic image than in the input image. The processor provides, using a discriminator, a decision indicative of whether the subject of the synthetic image is an actual person. The processor provides, using a face recognition engine, an identity of the subject in the input image based on the synthetic and input images.

Abstract: A video surveillance system is provided. The system includes a device configured to capture an input image of a subject located in an area. The system further includes a processor. The processor estimates, using a three-dimensional Morphable Model (3DMM) conditioned Generative Adversarial Network, 3DMM coefficients for the subject of the input image. The subject varies from an ideal front pose. The processor produces, using an image generator, a synthetic frontal face image of the subject of the input image based on the input image and coefficients. An area spanning the frontal face of the subject is made larger in the synthetic than in the input image. The processor provides, using a discriminator, a decision of whether the subject of the synthetic image is an actual person. The processor provides, using a face recognition engine, an identity of the subject in the input image based on the synthetic and input images.

Abstract: A face recognition system is provided that includes a device configured to capture a video sequence formed from a set of unlabeled testing video frames. The system includes a processor configured to pre-train a face recognition engine formed from reference CNNs on a still image domain that includes labeled training still image frames of faces. The processor adapts the face recognition engine to a video domain to form an adapted engine, by applying non-reference CNNs to domains including the still image and video domains and a degraded image domain. The degraded image domain includes labeled synthetically degraded versions of the frames included in the still image domain. The video domain includes random unlabeled training video frames. The processor recognizes, using the adapted engine, identities of persons corresponding to at least one face in the video sequence to obtain a set of identities. A display device displays the set of identities.

Abstract: A system and method for capturing images and reconstructing full images based on the captured image for identification. An image captured by streamed video is used to identify an image of an individual based on facial recognition algorithms. Features of the individual's face image are identified and used for determining measurement and alignment of the individual face image. Based on the measurement and alignment of the individual face image, further facial images of the individual are extrapolated and reconstructed. The reconstructed facial images of the individuals are compared with facial data stored in a database and the identification of the individual is performed.

Abstract: A picture ranking method and a terminal comprises acquiring pictures stored in a terminal, detecting whether the pictures are first-type pictures, where a first-type picture refers to a picture including a human face, and when the pictures are first-type pictures, ranking the pictures according to a social relation model, or when the pictures are not first-type pictures, ranking the pictures according to a preset rule.

Abstract: As the use of facial biometrics expands in the commercial and government sectors, the need to ensure that human facial examiners use proper procedures to compare facial imagery will grow. Human examiners have examined fingerprint images for many years such that fingerprint examination processes and techniques have reached a point of general acceptance for both commercial and governmental use. The growing deployment and acceptance of facial recognition can be enhanced and solidified if new methods can be used to assist in ensuring and recording that proper examination processes were performed during the human examination of facial imagery.

Abstract: A method for automatic facial impression transformation includes extracting landmark points for elements of a target face whose facial impression is to be transformed as well as distance vectors respectively representing distances of the landmark points, comparing the distance vectors to select a learning data set similar to the target face from a database, extracting landmark points and distance vectors from the learning data set, transforming a local feature of the target face based on the landmark points of the learning data set and score data for a facial impression, and transforming a global feature of the target face based on the distance vectors of the learning data set and the score data for the facial impression. Accordingly, a facial impression may be transformed in various ways while keeping an identity of a corresponding person.

Abstract: Various embodiments herein each include at least one of systems, methods, and software for feature flow for video recognition. Such embodiments generally include a fast and accurate framework for video recognition. One example method includes receiving a first frame captured by an imaging device and designating the first frame as a key frame. The method may then generate at least one feature map to identify features in the key frame and subsequently receive a second frame. The method also includes designating the second frame as a current frame and applying a flow estimation algorithm to the key frame and current frame to generate a flow field representing a flow from the key frame to the current frame. The method then propagates each of the at least one feature maps based on the flow field to approximate current locations of features identified within each of the at least one feature maps.

Abstract: A vehicle display system includes a display device, an authentication device, and a display controller. The display device is mounted on a vehicle. The authentication device is configured to perform authentication of an intended person present outside the vehicle. The display controller is configured to control, on a basis of a result of the authentication, the display device to perform displaying that is directed to the intended person.

Abstract: A character input device includes an operation unit that accepts an input operation of handwritten characters and displays the handwritten characters, a stamp creation unit that performs image conversion on the handwritten characters to create a stamp, a character recognition unit that recognizes a reading of the handwritten characters, and a saving unit that saves the stamp and the reading of the handwritten characters. Also, an input character management unit associates the stamp and the reading of the handwritten characters with each other.

Abstract: A system for document processing including decomposing an image of a document into at least one data entry region sub-image, providing the data entry region sub-image to a data entry clerk available for processing the data entry region sub-image, receiving from the data entry clerk a data entry value associated with the data entry region sub-image, and validating the data entry value.

Abstract: An information processing apparatus includes: a first extracting unit that extracts a position of a character entry box in an input image; a recognizing unit that recognizes a character string written in the character entry box; a calculating unit that calculates recognition accuracy of each of characters of the character string recognized by the recognizing unit; a first detector that detects that a value based on the recognition accuracy is equal to or larger than a preset threshold value; a second extracting unit that extracts a position of a circumscribed rectangle for each character of the character string in the input image; a second detector that detects contact of the circumscribed rectangle with the character entry box; and a display that displays the character string to be corrected on the basis of a result of detection by the first detector and a result of detection by the second detector.

Abstract: Illustrative methods, processes, and software remotely prove the identity of individuals fully compliant with identity proofing policies. The embodiments receive a request to verify an identity from an applicant device. The request includes an identification for an application to which access is desired.

Abstract: New authentication features are proposed that are visible, can be authenticated with a mobile equipment and yet are challenging to counterfeit. In a possible embodiment, the surface of the authentication feature may have three-dimensional characteristics, which can be recognized by a handheld camera, such as a smartphone camera, while it cannot be easily reproduced by a simple scan and print procedure. In a further possible embodiment, at least two different viewpoints of the authentication feature may be acquired using a smartphone camera and the resulting images may be analyzed using the smartphone processor to identify the three-dimensional characteristics of the authentication feature. The manufacturing of the feature may be performed at a low cost by embossing the three dimensional structure on a surface. The authentication feature may be carried by a self-adhesive label or directly embedded on the product packaging.

Abstract: Exemplary embodiments for a biometric camera system for a mobile device, comprise: a near infrared (NIR) light source on the mobile device that flashes a user of the mobile device with near infrared light during image capture; a biometric camera located on the mobile device offset from the NIR light source, the biometric camera comprising: an extended depth of field (EDOF) imaging lens; a bandpass filter located adjacent to the EDOF imaging lens to reject ambient light during image capture; and an imaging sensor located adjacent the bandpass filter that converts an optical image of an object into an electronic signal for image processing; and a processor configured to receive video images of an iris of a user from the image sensor, and attempt to match the video images of the iris with previously registered images stored in an iris database, wherein if a match is found, the user is authenticated.

Abstract: A method of determining the identity of a subject while the subject is walking or being transported in an essentially straight direction is disclosed, the two dimensional profile of the subject walking or being transported along forming a three dimensional swept volume, without requiring the subject to change direction to avoid any part of the system, comprising acquiring data related to one or more biometrics of the subject with the camera(s), processing the acquired biometrics data, and determining if the acquired biometric data match corresponding biometric data stored in the system, positioning camera(s) and strobed or scanned infrared illuminator(s) above, next to, or below the swept volume. A system for carrying out the method is also disclosed.

Abstract: A failure diagnosis support system includes first image acquisition means mounted on a robot for acquiring an image of the robot; and control means for controlling position and orientation of the first image acquisition means. The control means controls the position and orientation of the first image acquisition means at a predetermined timing so that the first image acquisition means faces a predetermined part of the robot. The first image acquisition means acquires an image of the predetermined part at the position and orientation controlled by the control means.