Signal processing apparatus, signal processing method, program, and moving body

A signal processing method comprising:

• projecting light at at least one predetermined wavelength not visible to a human eye;
• capturing an image of an object with a reflectance higher than a predetermined reflectance by receiving reflected light of the light projected in the projecting and reflected by the object;
• and
• generating a first orientation estimate for an orientation of a body based at least in part on the image.

At least one non-transitory computer-readable storage medium having encoded thereon executable instructions that, when executed by at least one processor, cause the at least one processor to carry out a method comprising:

• projecting light at at least one predetermined wavelength not visible to a human eye;
• capturing an image of an object with a reflectance higher than a predetermined reflectance by receiving reflected light of the light projected in the projecting and reflected by the object;
• and
• generating a first orientation estimate for an orientation of a body based at least in part on the image.

A vehicle comprising:

• a signal processing apparatus comprising:
• at least one processor;
• and
• at least one storage medium having encoded thereon executable instructions that, when executed by the at least one processor, cause the at least one processor to carry out a method comprising:
• projecting light at at least one predetermined wavelength not visible to a human eye;
• capturing an image of an object with a reflectance higher than a predetermined reflectance by receiving reflected light of the light projected in the projecting and reflected by the object;
• generating a first orientation estimate for an orientation of the vehicle based at least in part on the image;
• analyzing a situation on the basis of the orientation;
• generating an action plan on the basis of a result of the analyzing;
• and
• controlling a motion on the basis of the action plan.