Information processing device, imaging device, apparatus control system, information processing method, and computer program product

An information processing method comprising:

• acquiring distance image data indicating a distance image including distance information;
• generating frequency information indicating a frequency of the distance information for each of coordinates in the distance image by voting the distance information at a position corresponding to a coordinate of each of pixels of the distance image based on the distance image data;
• estimating a road surface shape based on the frequency information;
• generating height information indicating a relationship between the distance information and a height of a road surface based on the estimated road surface shape;
• and
• correcting, based on rolling information on rolling of a distance information acquiring device that acquires the distance information, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling,
• wherein the method includes correcting the height information based on the rolling information, and
• adding or subtracting a rolling correction amount, which is calculated so as to cancel out a deviation that occurs between the estimated road surface shape and an actual road surface caused by the rolling, to or from the height included in the height information.

A computer program product comprising a non-transitory computer-readable recording medium having stored therein a program that causes a computer to execute a method comprising:

• acquiring distance image data indicating a distance image including distance information;
• generating frequency information indicating a frequency of the distance information for each of coordinates in the distance image by voting the distance information at a position corresponding to a coordinate of each of pixels of the distance image based on the distance image data;
• estimating a road surface shape based on the frequency information;
• generating height information indicating a relationship between the distance information and a height of a road surface based on the estimated road surface shape;
• and
• correcting, based on rolling information on rolling of a distance information acquiring device that acquires the distance information, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling,
• wherein the method includes correcting the height information based on the rolling information, and
• adding or subtracting a rolling correction amount, which is calculated so as to cancel out a deviation that occurs between the estimated road surface shape and an actual road surface caused by the rolling, to or from the height included in the height information.