Information processing apparatus, information processing method, and program

An information processing method comprising the steps of:

• estimating a road surface region in a first image captured of a predetermined imaging range;
• extracting a non-polarized region from a second image captured of the imaging range;
• estimating a low-confidence level region for an object with a low first confidence level obtained by a first sensor within a measurement range of the first sensor in the imaging range on the basis of information indicating the road surface region and the non-polarized region;
• calculating a weight on the first confidence level on the basis of the first confidence level, a second confidence level of the object obtained by a second sensor in the imaging range, and information indicating the low-confidence level region;
• and
• calculating presence likelihood of the object at different distances within the imaging range on the basis of the first confidence level, the second confidence level, and information indicating the weight.

A non-transitory computer readable storage medium having computer executable instructions stored thereon that, when executed by a processor, perform a process comprising the steps of:

• estimating a road surface region in a first image captured of a predetermined imaging range;
• extracting a non-polarized region from a second image captured of the imaging range;
• estimating a low-confidence level region for an object with a low first confidence level obtained by a first sensor within a measurement range of the first sensor in the imaging range on the basis of information indicating the road surface region and the non-polarized region;
• calculating a weight on the first confidence level on the basis of the first confidence level, a second confidence level of the object obtained by a second sensor in the imaging range, and information indicating the low-confidence level region;
• and
• calculating presence likelihood of the object at different distances within the imaging range on the basis of the first confidence level, the second confidence level, and information indicating the weight.