Information processing apparatus, and information processing method

An information processing apparatus comprising:

• one or more processors;
• and
• memory storing instructions that, when executed by the one or more processors, cause the information processing apparatus to perform operations including:
• executing a first projection processing of causing a projection unit to project a coded pattern light, that includes light and dark portions, onto a plurality of objects,
• executing a first image capturing processing of causing an image capturing unit to capture an image of the plurality of objects while the coded pattern light is being projected by the first projection processing,
• obtaining a distance data based on a first code value of the projected coded pattern light in a captured image obtained by the first image capturing processing,
• executing, after the obtaining the distance data, a second projection processing of causing the projection unit to project the coded pattern light onto a plurality of objects,
• executing a second image capturing processing of causing the image capturing unit to capture an image of the objects while the coded pattern light is being projected by the second projection processing,
• obtaining a second code value of the projected coded pattern light in a captured image obtained by the second image capturing processing, and
• detecting, based on the first code value and the second code value, a region corresponding to a change between the captured image obtained by the first image capturing processing and the captured image obtained by the second image capturing processing.

An information processing method for an information processing apparatus, the information processing method comprising:

• executing a first projection processing of causing a projection unit to project a pattern light, that includes light and dark portions, onto a plurality of objects;
• executing a first image capturing processing of causing an image capturing unit to capture an image of the plurality of objects while the pattern light is being projected by the first projection processing;
• obtaining a distance data based on a first position of a boundary between the light and dark portions of the projected pattern light in a captured image obtained by the first image capturing processing;
• executing after the obtaining the distance data, a second projection processing of causing the projection unit to project the pattern light onto a plurality objects;
• executing a second image capturing processing of causing the image capturing unit to capture an image of the objects while the pattern light is being projected by the second projection processing;
• obtaining a second position of a boundary between the light and dark portions of the projected pattern light in a captured image obtained by the second image capturing processing;
• and
• detecting, based on a reference boundary position corresponding to the first position of the boundary and a target boundary position corresponding to the second position of the boundary, a region corresponding to a change between the captured image obtained by the first image capturing processing and the captured image obtained by the second image capturing processing.

An information processing method for an information processing apparatus, the information processing method comprising:

• executing a first projection processing of causing a projection unit to project a coded pattern light, that includes light and dark portions, onto a plurality of objects;
• executing a first image capturing processing of causing an image capturing unit to capture an image of the plurality of objects while the coded pattern light is being projected by the first projection processing;
• obtaining a distance data based on a first code value of the projected coded pattern light in a captured image obtained by the first image capturing processing;
• executing, after the obtaining the distance data, a second projection processing of causing the projection unit to project the coded pattern light onto a plurality of objects;
• executing a second image capturing processing of causing the image capturing unit to capture an image of the objects while the coded pattern light is being projected by the second projection processing;
• obtaining a second value of the projected coded pattern light in a captured image obtained by the second image capturing processing;
• and
• detecting, based on the first code value and the second code value, a region corresponding to a change between the captured image obtained by the first image capturing processing and the captured image obtained by the second image capturing processing.

A non-transitory storage medium storing a program to cause an information processing apparatus to perform an information processing method, the information processing method comprising:

• executing a first projection processing of causing a projection unit to project a pattern light, that includes light and dark portions, onto a plurality of objects;
• executing a first image capturing processing of causing an image capturing unit to capture an image of the plurality of objects while the pattern light is being projected by the first projection processing;
• obtaining a distance data based on a first position of a boundary between the light and dark portions of the projected pattern light in a captured image obtained by the first image capturing processing;
• executing after the obtaining the distance data, a second projection processing of causing the projection unit to a project the pattern light onto a plurality of objects;
• executing a second image capturing processing of causing the image capturing unit to capture an image of the objects while the pattern light is being projected by the second projection processing;
• obtaining a second position of a boundary between the light and dark portions of the projected pattern light in a captured image obtained by the second image capturing processing;
• and
• detecting, based on a reference boundary position corresponding to the first position of the boundary and a target boundary position corresponding to the second position of the boundary, a region corresponding to a change between the captured image obtained by the first image capturing processing and the captured image obtained by the second image capturing processing.

A non-transitory storage medium storing a program to cause an information processing apparatus to perform an information processing method, the information processing method comprising:

• executing a first projection processing of causing a projection unit to project a coded pattern light, that includes light and dark portions, onto a plurality of objects;
• executing a first image capturing processing of causing an image capturing unit to capture an image of the plurality of objects while the coded pattern light is being projected by the first projection processing;
• obtaining a distance data based on a first code value of the projected coded pattern light in a captured image obtained by the first image capturing processing;
• executing, after the obtaining the distance data, a second projection processing of causing the projection unit to project the coded pattern light onto a plurality of objects;
• executing a second image capturing processing of causing the image capturing unit to capture an image of the objects while the coded pattern light is being projected by the second projection processing;
• obtaining a second code value of the projected coded pattern light in a captured image obtained by the second image capturing processing;
• and
• detecting, based on the first code value and the second code value, a region corresponding to a change between the captured image obtained by the first image capturing processing and the captured image obtained by the second image capturing processing.