Information processing device to determine object distance

A method comprising:

• sequentially setting a region occupied by an object as an object region in a captured image and sequentially setting an identification number of the object region detected in the captured image;
• sequentially acquiring a distance map including distance information corresponding to a pixel included in the object region;
• sequentially determining object distance information indicating a distance to an object included in the object region, based on the distance information corresponding to the pixel included in the object region;
• generating, from a history of the object distance information with a same identification number as the identification number, the object distance information using a history of the distance information in a predetermined time range;
• and
• determining the object distance information by calculating a weighted average of object distance information based on a size of the object region having the same identification number.

A non-transitory storage medium that stores a program causing a computer to execute a method, the method comprising:

• sequentially setting a region occupied by an object as an object region in a captured image and sequentially setting an identification number of the object region detected in the captured image;
• sequentially acquiring a distance map including distance information corresponding to a pixel included in the object region;
• sequentially determining object distance information indicating a distance to an object included in the object region, based on the distance information corresponding to the pixel included in the object region;
• generating, from a history of the object distance information with a same identification number as the identification number, the object distance information using a history of the distance information in a predetermined time range;
• and
• determining the object distance information by calculating a weighted average of object distance information based on a size of the object region having the same identification number.