Information processing apparatus, information processing method, and program

An information processing method executed by a computer, the information processing method comprising:

• estimating a distance between a prescribed visual point and a physical body in a real space on a basis of result of detection of light that is sent from a prescribed light sending unit toward the physical body and is reflected by the physical body;
• estimating at least either one of a position or an attitude in the real space of a prescribed visual point on a basis of result of estimation of the distance;
• and
• controlling the light sent from the light sending unit in accordance with a situation regarding estimation of at least either one of the position or the attitude,
• wherein the situation regarding the estimation of the at least either one of the position or the attitude includes information corresponding to at least one feature point,
• wherein the at least either one of the position or the attitude in the real space of the prescribed visual point is estimated on a basis of an image captured by an imaging unit held to the prescribed visual point and the result of estimation of the distance,
• wherein the at least one feature point is extracted from the image, and the at least either one of the position or the attitude is estimated on a basis of a result of extraction of the at least one feature point,
• wherein the light sent from the light sending unit is controlled in accordance with the result of extraction of the at least one feature point,
• wherein the method further comprises
• generating or updating a three-dimensional space model in which an environment around the prescribed visual point is three-dimensionally reconstructed on a basis of the result of extraction of the at least one feature point, and
• estimating at least either one of the position or the attitude on a basis of the at least one feature point newly extracted from the image and the three-dimensional space model generated or updated in the past,
• wherein the light sent from the light sending unit is further controlled on a basis of the at least one feature point newly extracted from the image and the three-dimensional space model generated or updated in the past, and
• wherein the control causes the light to be sent from the light sending unit in a case where the information corresponding to the at least one feature point extracted from a newly captured image is not included in the three-dimensional space model generated or updated in the past.

A non-transitory computer-readable storage medium having embodied thereon a program, which when executed by a computer causes the computer to execute a method, the method comprising:

• estimating a distance between a prescribed visual point and a physical body in a real space on a basis of result of detection of light that is sent from a prescribed light sending unit toward the physical body and is reflected by the physical body;
• estimating at least either one of a position or an attitude in the real space of a prescribed visual point on a basis of result of estimation of the distance;
• and
• controlling the light sent from the light sending unit in accordance with a situation regarding estimation of at least either one of the position or the attitude,
• wherein the situation regarding the estimation of the at least either one of the position or the attitude includes information corresponding to at least one feature point,
• wherein the at least either one of the position or the attitude in the real space of the prescribed visual point is estimated on a basis of an image captured by an imaging unit held to the prescribed visual point and the result of estimation of the distance,
• wherein the at least one feature point is extracted from the image, and the at least either one of the position or the attitude is estimated on a basis of a result of extraction of the at least one feature point,
• wherein the light sent from the light sending unit is controlled in accordance with the result of extraction of the at least one feature point,
• wherein the method further comprises
• generating or updating a three-dimensional space model in which an environment around the prescribed visual point is three-dimensionally reconstructed on a basis of the result of extraction of the at least one feature point, and
• estimating at least either one of the position or the attitude on a basis of the at least one feature point newly extracted from the image and the three-dimensional space model generated or updated in the past,
• wherein the light sent from the light sending unit is further controlled on a basis of the at least one feature point newly extracted from the image and the three-dimensional space model generated or updated in the past, and
• wherein the control causes the light to be sent from the light sending unit in a case where the information corresponding to the at least one feature point extracted from a newly captured image is not included in the three-dimensional space model generated or updated in the past.