Control device, control method, information processing device, generation method, and program

A control method, wherein

• a control device
• generates Depth information indicating a distance to each position of a subject appearing in a captured image on a basis of output of a first estimation model when the captured image is input, and
• generates reliability information indicating reliability of the Depth information on a basis of output of a second estimation model when intermediate data generated in the first estimation model is input at the time of estimation of the Depth information.

A program causing a computer to execute pieces of processing of:

• generating Depth information indicating a distance to each position of a subject appearing in a captured image on a basis of output of a first estimation model when the captured image is input, and
• generating reliability information indicating reliability of the Depth information on a basis of output of a second estimation model when intermediate data generated in the first estimation model is input at the time of estimation of the Depth information.

An information processing device comprising:

• a first learning unit that performs learning using an image for learning and correct answer Depth information indicating a correct answer distance to each position of a subject appearing in the image for learning, and generates a first estimation model having a captured image as input and having, as output, Depth information indicating a distance to each position of the subject appearing in the captured image;
• and
• a second learning unit that performs learning using reliability of a correct answer of an estimation result of the first estimation model indicated by a comparison result between the correct answer Depth information and the Depth information and the image for learning used as input of the first estimation model, and generates a second estimation model having, as input, intermediate data generated in the first estimation model at the time of estimation of the Depth information and having the reliability as output.

A program causing a computer to execute pieces of processing of:

• learning using an image for learning and correct answer Depth information indicating a correct answer distance to each position of a subject appearing in the image for learning, and generating a first estimation model having a captured image as input and having, as output, Depth information indicating a distance to each position of the subject appearing in the captured image;
• and
• learning using reliability of a correct answer of an estimation result of the first estimation model indicated by a comparison result between the correct answer Depth information and the Depth information and the image for learning used as input of the first estimation model, and generating a second estimation model having, as input, intermediate data generated in the first estimation model at the time of estimation of the Depth information and having the reliability as output.