Information processing apparatus, distance measuring apparatus, and information processing method

A distance measuring apparatus comprising:

• a light receiver configured to repeatedly receive light reflected on an object;
• and
• the information processing apparatus comprising processing circuitry configured to:
• generate a histogram indicating a relationship between a light reception time and a light reception frequency based on a plurality of received signals including reflected light from an object;
• detect a peak of the light reception frequency of the histogram;
• judge whether there is a light propagation interference factor including at least one of fog, mist, haze, rain, and snow based on the histogram and the light reception time of the peak;
• judge whether there is the light propagation interference factor based on the light reception time of the peak and a degree of change in the light reception frequency of the histogram between before and after the light reception time of the peak;
• perform deletion of light reception frequency relating to the light propagation interference factor from the histogram and extract light reception frequency after the deletion when it is judged that there is the light propagation interference factor;
• detect a peak of the light reception frequency after the deletion;
• and
• measure a distance to the object based on the peak detected by the second peak detector.

An information processing method comprising:

• generating a histogram indicating a relationship between a light reception time and a light reception frequency based on a plurality of received signals including reflected light from an object;
• detecting a peak of the light reception frequency of the histogram;
• judging whether there is a light propagation interference factor including at least one of fog, mist, haze, rain, and snow based on the histogram and the light reception time of the peak;
• and
• judging whether there is the light propagation interference factor based on the light reception time and a degree of change in the light reception frequency of the histogram between before and after the light reception time of the peak.