Patent Publication Number: US-2018028861-A1

Title: Information processing device and information processing method

Description:
TECHNICAL FIELD 
     The present disclosure relates to an information processing device and an information processing method. 
     BACKGROUND ART 
     In recent years, attempts have been made to apply information processing technology in various fields. One example is the technique of visualizing the movement of the player&#39;s body in the field of sports. It is possible for the player to check whether the action corresponding to the sport is performed smoothly by measuring and recording the movement of his/her body using various sensor devices. This makes it possible for the player to improve easily his/her posture or the like with reference to the visualized body movement. 
     Techniques for visualizing the body&#39;s movement have various approaches including motion capture. In one example, Patent Literature 1 below discloses a technique of calculating coordinates in the three-dimensional space of a marker affixed to a target person to calculate a value indicating the attitude of the target person on the basis of a range image. This range image is obtained by calculating a distance depending on a time lag until the reflected wave of the light used to irradiate the target person is received. 
     CITATION LIST 
     Patent Literature 
     Patent Literature 1: JP 2012-120648A 
     DISCLOSURE OF INVENTION 
     Technical Problem 
     However, the technique disclosed in Patent Literature  1  is only able to calculate information indicating the attitude of the target person. It is considerable that sensor information detected by various sensor devices for the target person, in some cases, has different meanings depending on the attitude of the target person at the time when detection is performed. In view of this, the present disclosure provides a novel and improved information processing device and information processing method, capable of obtaining useful information in which the attitude of a target person is taken into consideration from sensor information. 
     Solution to Problem 
     According to the present disclosure, there is provided an information processing device including an acquisition unit configured to acquire information indicating a measurement result from a plurality of sensor devices configured to measure a pressure distribution of an attached part of a body of a user, an estimation unit configured to estimate arrangement of a plurality of parts to which the sensor devices are attached on the basis of a captured image including the plurality of parts, and a calculation unit configured to calculate information on the plurality of parts from the information indicating the measurement result acquired by the acquisition unit on the basis of the arrangement of the plurality of parts estimated by the estimation unit. 
     Furthermore, according to the present disclosure, there is provided an information processing method executed by a processor, the method including acquiring information indicating a measurement result from a plurality of sensor devices configured to measure a pressure distribution of an attached part of a body of a user, estimating arrangement of a plurality of parts to which the sensor devices are attached on the basis of a captured image including the plurality of parts, and calculating information on the plurality of parts from the acquired information indicating the measurement result on the basis of the estimated arrangement of the plurality of parts. 
     Advantageous Effects of Invention 
     According to the present disclosure as described above, it is possible to obtain useful information in which the attitude of the target person is taken into consideration from the sensor information. Note that the effects described above are not necessarily limitative. With or in the place of the above effects, there may be achieved any one of the effects described in this specification or other effects that may be grasped from this specification. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
         FIG. 1  is a diagram illustrated to describe an overview of ZMP. 
         FIG. 2  is a diagram illustrated to describe a method of calculating ZMP of one foot. 
         FIG. 3  is a diagram illustrated to describe a method of calculating ZMP of both feet. 
         FIG. 4  is a block diagram illustrating an example of a logical configuration of a sensing system according to the present embodiment. 
         FIG. 5  is a diagram illustrated to describe an arrangement estimation function using an AR marker according to the present embodiment. 
         FIG. 6  is a diagram illustrated to describe an arrangement estimation function using an AR marker according to the present embodiment. 
         FIG. 7  is a diagram illustrated to describe an arrangement estimation function using an AR marker according to the present embodiment. 
         FIG. 8  is a diagram illustrated to describe an arrangement estimation function using an AR marker according to the present embodiment. 
         FIG. 9  is a diagram illustrated to describe an arrangement estimation function using an AR marker according to the present embodiment. 
         FIG. 10  is a flowchart illustrating an example of the procedure of ZMP calculation processing of both feet executed in the sensing system according to the present embodiment. 
         FIG. 11  is a block diagram illustrating an example of a hardware configuration of an information processing device according to the present embodiment. 
     
    
    
     MODE(S) FOR CARRYING OUT THE INVENTION 
     Hereinafter, (a) preferred embodiment(s) of the present disclosure will be described in detail with reference to the appended drawings. In this specification and the appended drawings, structural elements that have substantially the same function and structure are denoted with the same reference numerals, and repeated description of these structural elements is omitted. 
     Further, there is a case in which elements having substantially the same function are discriminated by affixing different alphabets to the back of the same reference numeral in the present specification and drawings. In one example, elements having substantially the same functional configuration are discriminated as sensor devices  200 A,  200 B, and  200 C as necessary. However, when there is no need to discriminate particularly between a plurality of elements having substantially the same functional configuration, only the same reference numeral is affixed. In one example, when there is no need to discriminate particularly between the sensor devices  200 A,  200 B, and  200 C, these sensor devices are referred to collectively as a sensor device  200 . 
     Moreover, the description will be given in the following order.
     1. Overview   1.1. ZMP   1.2. Technical challenges   2. Configuration example   3. Function details   3.1. Arrangement estimation function   3.2. Update function   3.3. Information acquisition function   3.4. ZMP calculation function   4. Operation processing example   5. Hardware configuration example   6. Summary   

     1. OVERVIEW 
     &lt;1.1. ZMP&gt; 
     In one embodiment of the present disclosure, we will focus on zero moment point (ZMP) as an example of useful information obtained from sensor information. The ZMP is the center of pressure of the ground reaction force. The ZMP is described now in detail with reference to  FIGS. 1 to 3 . 
       FIG. 1  is a diagram illustrated to describe the overview of ZMP. In  FIG. 1 , reference sign  10  is a vector indicating the load of the body applied to the sole of the foot. As indicated by the reference sign  10 , the loads of the body having the same sign are applied to the entire surface of the sole of the foot contacting the ground. These loads can be grouped as an equivalent force vector R acting on one point existing inside the sole surface of the foot. The point of action through which this force vector R passes is the ZMP. 
       FIG. 2  is a diagram illustrated to describe a method of calculating ZMP of one foot. As illustrated in  FIG. 2 , the position vector at any position on the sole of the foot is set to (P jx , P jy ), and the Z component of the force applied from the ground surface at that position is set to f jz . The position vector (P x , P y ) of ZMP of one foot is calculated by the following formula. 
       [Math. 1] 
         P   x   =ΣP   jx   f   jz /Σf jz  
 
         P   y   =ΣP   jy   f   jz /Σf jz    Formula (1)
 
       FIG. 3  is a diagram illustrated to describe a method of calculating ZMP of both feet. As illustrated in  FIG. 3 , the position vector of ZMP of the right foot is set to (P Rx , P Ry ), and the Z component of the force applied from the ground surface at that position is set to f Rz . In addition, the position vector of ZMP of the left foot is set to (P Lx , P Ly ), and the Z component of the force applied from the ground surface at that position is set to f Lz . The position vector (P x , P y ) of ZMP of both feet is calculated by the following formula. 
       [Math. 2] 
         P   x =( P   Rx   f   Rz   +P   Lz   f   Lz )/( f   Rz   +F   Lz ) 
         P   y =( P   Ry   f   Rz   +P   Ly   f   Lz )/( f   Rz   +F   Lz )   Formula (2)
 
     &lt;1.2. Technical Challenges&gt; 
     In some cases, it is important for a player to recognize his/her weight shift to support game improvement in the field of sports. In one example, the player recognizes the timing of action and weight shift and the amount of shift in performing the weight shift in a particular action such as golf swing, thereby achieving faster improvement. 
     A force platform is one example of instruments capable of measuring such weight shift. The force platform has a flat plate on which a person can ride and measures the ground reaction force to an object placed on the flat plate. However, in some cases, the force platform has restrictions including a limited range of measurable target to an object within a limited range of the flat plate or to the action performed within the range, an installation location limited to indoors, or necessity of installing it horizontally. 
     An insole-type pressure distribution sensor is one example of another instrument. The insole-type pressure distribution sensor has one or more pressure sensors arranged on the insole and can measure the distribution of pressure applied to the sole of the user wearing the sensor. The insole-type pressure distribution sensor does not have the restrictions described above, and so it can be said that it has higher convenience than the force platform. However, the arrangement relationship (position vector) of both feet is unknown in measurement using the insole-type sensor, and so it is difficult to calculate the ZMP of both feet using Formula (2) described above. 
     Thus, in view of the above circumstances, a sensing system according to an embodiment of the present disclosure has been developed. It is possible for the sensing system according to the present embodiment to estimate the user&#39;s attitude and obtain useful information in which the user&#39;s attitude is taken into consideration from sensor information. Specifically, it is possible for the sensing system according to the present embodiment to estimate the attitude of both feet of the user and calculate the ZMP of both feet on the basis of the pressure distribution obtained from each of the insole-type sensors of both feet. 
     The overview of the sensing system according to the present embodiment is described above. The sensing system according to the present embodiment is described now in more detail with reference to  FIGS. 4 to 11 . 
     2. CONFIGURATION EXAMPLE 
       FIG. 4  is a block diagram illustrating an example of a logical configuration of a sensing system  1  according to the present embodiment. As illustrated in  FIG. 4 , the sensing system  1  according to the present embodiment is configured to include an information processing device  100 , a sensor device  200 , and a camera  300 . 
     The sensor device  200  has a function of measuring information on a target object. In one example, the sensor device  200  is implemented as a pressure distribution sensor that measures a pressure distribution of an attached part of the body of the user. In one example, the sensor device  200  may be implemented as the insole-type pressure distribution sensor described above, which is attached to the sole of both feet of the user. The ZMP of both feet is useful for, in one example, the swing motion in golf. In the case of using the insole-type pressure distribution sensor, the information processing device  100  can calculate the ZMP of both feet for games, such as golf and skiing, performing while wearing a tool such as shoes and skis. In addition, the sensor device  200  may be implemented as a globe-type pressure distribution sensor attached to both hands of the user. The ZMP of both hands is useful for, in one example, the handstand motion of a gymnast. Alternatively, the sensor device  200  may be implemented as an inertial sensor such as acceleration sensors and gyro sensors, a biological sensor such as myoelectric sensors, neural sensors, pulse sensors, and body temperature sensors, a vibration sensor, a geomagnetic sensor, or the like. The following description will be given on the assumption that the insole-type pressure distribution sensor is used as an example. 
     The camera  300  has a function of capturing an image (still image or moving image). The camera  300  is configured to include a lens system, a driving system, a solid-state image sensor array, or the like. The lens system is composed of an image capturing lens, a diaphragm, a zoom lens, a focus lens, or the like. The driving system causes the lens system to perform a focusing operation and a zooming operation. The solid-state image sensor array photoelectrically converts image-capturing light obtained by the lens system to generate an image-capturing signal. The solid-state image sensor array may be implemented as, in one example, a charge coupled device (CCD) sensor array or a complementary metal oxide semiconductor (CMOS) sensor array. The camera  300  outputs data of a captured image taken as a digital signal to the information processing device  100 . The camera  300  and the information processing device  100  may communicate with each other wirelessly or wired. 
     The information processing device  100  calculates useful information in which the user&#39;s attitude is taken into consideration from the sensor information obtained from the plurality of sensor devices  200 . As illustrated in  FIG. 4 , the information processing device  100  is configured to include a communication unit  110 , a storage unit  120 , and a control unit  130 . 
     The communication unit  110  is a communication module that transmits and receives data to and from an external device. In one example, the communication unit  110  transmits and receives data to and from the sensor device  200  and the camera  300 . The communication unit  110  directly communicates, or indirectly communicates via another communication node such as a network access point, with the sensor device  200  and the camera  300  using a communication scheme such as a wireless local area network (LAN), Wireless Fidelity (Wi-Fi, registered trademark), infrared communication, Bluetooth (registered trademark). The communication unit  110  may perform wired communication with an external device using a communication scheme such as a wired LAN. 
     The storage unit  120  is a unit that records data on and reproduces data from a predetermined recording medium. In one example, the storage unit  120  stores the sensor information received from the plurality of sensor devices  200 . 
     The control unit  130  functions as an arithmetic processing unit and a control unit, and controls the overall operation in the information processing device  100  in accordance with various programs. As illustrated in  FIG. 4 , the control unit  130  functions as an acquisition unit  131 , an estimation unit  133 , and a calculation unit  135 . 
     The acquisition unit  131  has a function of acquiring the sensor information from the plurality of sensor devices  200 . The estimation unit  133  has a function of estimating the arrangement of a plurality of parts to which the sensor devices  200  are attached. The calculation unit  135  has a function of calculating useful information in which an estimation result obtained by the estimation unit  133  is taken into consideration from the sensor information acquired by the acquisition unit  131 . 
     The configuration example of the sensing system  1  according to the present embodiment is described above. Subsequently, the functions of the sensing system  1  according to the present embodiment are described in detail with reference to  FIGS. 5 to 9 . 
     3. FUNCTION DETAILS 
     &lt;3.1. Arrangement Estimation Function&gt; 
     The information processing device  100  (e.g., the estimation unit  133 ) estimates the arrangement of the sensor device  200 . In the present embodiment, the estimation unit  133  estimates the arrangement of the plurality of sensor devices  200  that are spaced apart from each other and are able to dynamically change the arrangement relationship, like the insole-type sensor device  200 . 
     Specifically, first, the estimation unit  133  estimates the arrangement of the plurality of parts to which the sensor devices  200  are attached on the basis of the captured image including the plurality of parts. In one example, the estimation unit  133  estimates the arrangement of both feet on the basis of the captured image obtained by capturing the both feet to which the insole-type sensor device  200  is attached by the camera  300 . Then, the estimation unit  133  estimates the arrangement of the plurality of sensor devices  200  on the basis of the estimation result of the arrangement of the plurality of parts. In one example, the estimation unit  133  estimates a position vector of each of the pressure sensors provided on the insole by incorporating the relative arrangement relationship between the foot and the insole-type sensor device  200  into the angle and the distance between the estimated right foot and the estimated left foot. 
     Here, it is considerable that there are various arrangement estimation methods based on the captured image. 
     In one example, the estimation unit  133  may estimate the arrangement of the plurality of parts included in the captured image by performing image recognition on the plurality of parts. Specifically, the estimation unit  133  may estimate the arrangement of the both feet by previously acquiring design information such as the shape, pattern, size, and the like of the shoes and performing image recognition based on the design information with respect to the captured image in which the shoes of both feet are captured. The estimation unit  133  may acquire the design information from a server or the like, or may acquire the design information by performing image recognition on an information code such as QR code (registered trademark) provided in shoes. 
     In one example, the estimation unit  133  may estimate the arrangement of the plurality of parts included in the captured image by estimating the position and attitude of each of markers provided at the plurality of parts. Specifically, the estimation unit  133  may estimate the arrangement of both feet by estimating the position and attitude of an AR marker provided at each of the shoes of both feet on the basis of the captured image in which the augmented reality (AR) marker is photographed. In one example, the estimation unit  133  may previously acquire design information indicating the shape of the shoe, the shape of the AR marker, the position and angle at which the AR marker is attached, or the like. Then, the estimation unit  133  estimates the position and attitude of the AR marker, and calculates the arrangement of both feet from the estimation result using the design information. The estimation unit  133  may acquire the design information from a server or the like, or may acquire the design information by performing image recognition on an information code such as QR code or the like provided in a shoe. In addition, the estimation unit  133  may acquire information indicating a portion of the shoe in which the AR marker is provided from the server or the like. This reduces the load for recognition of the AR marker. 
     An example of an algorithm for estimating the position and attitude of the AR marker is disclosed in, for example, “ An Augmented Reality System and its Calibration based on Marker Tracking ” in TVRSJ, Vol. 4, No. 4, 1999, by Hirokazu Kato, Mark Billinghurst, Koichi Asano, and Keihachiro Tachibana. An example of the algorithm is described below with reference to FIGS. 5 to 9. 
     (Example of Algorithm) 
       FIGS. 5 to 9  are diagrams illustrated to describe an arrangement estimation function using the AR marker according to the present embodiment. 
       FIG. 5  illustrates an example of settings of the sensing system  1 . In the example illustrated in  FIG. 5 , the information processing device  100  is a smartphone, the sensor devices  200 A and  200 B are insole-type pressure distribution sensors, and the camera  300  captures the user&#39;s feet from the back of the user. As illustrated in  FIG. 5 , each of AR markers  20 A and  20 B is provided at the heel portion of the shoes worn by the user on both feet, and the camera  300  is capable of capturing the AR markers  20 A and  20 B. Moreover, in addition to the example illustrated in  FIG. 5 , in one example, a camera for photographing the tops of both feet from above may be provided, and an AR marker may be provided on the tops of the both feet. 
       FIG. 6  illustrates an example of a captured image captured by the camera  300 . As illustrated in  FIG. 6 , the captured image captured by the camera  300  includes the AR markers  20 A and  20 B. The estimation unit  133  estimates the position and attitude of each of the AR markers  20 A and  20 B from the captured image illustrated as an example in  FIG. 6  by using the algorithm described below. 
     In this algorithm, four coordinate systems, that is, a marker coordinate system (3D), a camera coordinate system (3D), an ideal screen coordinate system (2D), and an observation screen coordinate system (2D) are used. The marker coordinate system is a coordinate system used in representing a virtual object. The camera coordinate system is a coordinate system in which a focal position is the origin, the direction perpendicular to an image plane is Z axis, and the directions parallel to the x and y axes of the image are X and Y axes, respectively. Moreover, a point represented in the marker coordinate system can be converted into the camera coordinate system by rotation and translation. The ideal screen coordinate system is a coordinate system of a projected image plane. The observation screen coordinate system is a coordinate system of an actual camera image and is the coordinate system in which the distortion of a wide-angle lens is taken into consideration from the ideal screen coordinate system. The ideal screen coordinate system and the camera coordinate system can be interconverted using a perspective transformation model. The ideal screen coordinate system and the marker coordinate system can also be interconverted using the perspective transformation model. 
     In this algorithm, a matrix for coordinate transformation from the marker coordinate system (3D) to the camera coordinate system (3D) is obtained. This coordinate transformation matrix is composed of a rotational component and a translational component. 
     The estimation unit  133  previously obtains a parameter of the perspective transformation model of the ideal screen coordinate system and the camera coordinate system by calibration. 
     If a camera image is acquired, the estimation unit  133  corrects the distortion from the camera image (observation screen coordinate system) and obtains a vertex position of the marker on the ideal screen coordinate system. Specifically, the estimation unit  133  obtains the vertex position by converting the marker into a binary code (black and white image) and by detecting the outline of the marker. 
     Subsequently, the estimation unit  133  maps the vertex position of the marker on the ideal screen coordinate system to the camera coordinate system by using the previously calculated perspective transformation model. More specifically, as illustrated in  FIG. 7 , the estimation unit  133  extends the four sides of the marker projected onto the projection surface  31  in the projection direction of the camera  300  to create a plane  32 . Then, the estimation unit  133  creates four planes  33  by connecting these sides with the optical center of the camera using an internal parameter of the camera obtained by the camera calibration performed previously. 
     Then, the estimation unit  133  obtains an intersection vector of planes pacing each other. Specifically, as illustrated in  FIG. 8 , the estimation unit  133  obtains an intersection vector  34 A of planes  33 A and  33 B facing each other. In addition, as illustrated in  FIG. 9 , the estimation unit  133  obtains an intersection vector  34 B of planes  33 C and  3 3D facing each other. Furthermore, the estimation unit  133  calculates a cross product from the two intersection vectors. This allows the rotational component of the marker to be obtained. 
     Next, the estimation unit  133  obtains the position in the marker coordinate system from the position of the four vertices of the marker in the image coordinate system and the size of the marker. Then, the estimation unit  133  obtains information on the translational component of the marker from the position of the marker in the marker coordinate system, information on the rotational component, and information on the calibration. 
     The processing described above allows the estimation unit  133  to obtain the calibration information and the information on the rotational and translational components of the marker. The estimation unit  133  is capable of obtaining the position and attitude of the marker in the camera coordinate system from the positional information of the marker on the ideal screen coordinate system by using these pieces of information. 
     &lt;3.2. Update Function&gt; 
     The information processing device  100  (e.g., the estimation unit  133 ) may update the estimation result by sequentially estimating the arrangement of the plurality of parts to which the sensor devices  200  are attached. In one example, the estimation unit  133  may repeatedly estimate the arrangement depending on the action of a plurality of parts. In one example, the estimation unit  133  repeatedly estimates the arrangement of both feet of the running user from the images of the user continuously captured by the mechanism in which the camera  300  moves in parallel with the running user. 
     This makes it possible for the sensing system  1  to acquire the arrangement of both feet of the moving user in real time. In one example, the sensing system  1  can continuously calculate the ZMP of both feet for the user who moves around a wider range than the flat plate of the force platform. In addition, the sensing system  1  can calculate information on the length of stride or the like from the width of both feet of the running user that are landed. 
     &lt;3.3. Information Acquisition Function&gt; 
     (Information Acquisition Function) 
     The information processing device  100  (e.g., the acquisition unit  131 ) acquires the sensor information from the plurality of sensor devices  200 . 
     In one example, the acquisition unit  131  may acquire the sensor information transmitted from the sensor device  200 . In one example, the sensor device  200  has a communication interface and transmits the sensor information to the information processing device  100  using wireless or wired communication. Then, the information processing device  100  acquires the sensor information transmitted from the sensor device  200  via the communication unit  110 . 
     In one example, the acquisition unit  131  may acquire the sensor information from display contents displayed on a display device provided at the plurality of parts included in the captured image. In one example, a display device such as electronic paper for displaying an information code representing the sensor information is formed on the heel portion, instep portion, or the like of the shoe, and the insole-type sensor device  200  causes the sensor information to be displayed on the display device. Then, the acquisition unit  131  acquires the sensor information represented in the information code by performing image recognition on the captured image in which the display device is captured. In this case, the sensor device  200  may not necessarily include a communication interface, and the information processing device  100  may not necessarily include the communication unit  110 . 
     &lt;3.4. ZMP Calculation Function&gt; 
     The information processing device  100  (e.g., the calculation unit  135 ) calculates information on the plurality of parts from the sensor information acquired by the acquisition unit  131  on the basis of the arrangement of the plurality of parts estimated by the estimation unit  133 . In one example, the calculation unit  135  calculates information on all the plurality of parts to which the sensor devices  200  are attached from the plurality pieces of sensor information on the basis of the arrangement of the sensor device  200 . An example of such information includes ZMP. For the insole-type sensor device  200 , the calculation unit  135  calculates ZMP of both feet by substituting the position vector of the pressure sensor arranged on the insole estimated by the estimation unit  133  and the sensor information acquired by the acquisition unit  131  into the above Formulas (1) and (2). 
     The functions of the sensing system  1  according to the present embodiment are described in detail above. Next, an operation processing example of the sensing system  1  according to the present embodiment is described with reference to  FIG. 10 . 
     4. OPERATION PROCESSING EXAMPLE 
       FIG. 10  is a flowchart illustrating an example of the procedure of ZMP calculation processing of both feet executed in the sensing system  1  according to the present embodiment. 
     First, in step S 102 , the sensing system  1  performs initialization processing. In one example, the sensing system  1  starts settings of allowing the information processing device  100  to acquire a captured image from the camera  300 , settings of an internal parameter of the camera  300 , load of AR markers, and capturing an image by the camera  300 . 
     Next, in step S 104 , the sensing system  1  acquires sensor information. In one example, the information processing device  100  receives the pressure distribution from the insole-type sensor device  200  attached to both feet of the user. 
     Next, in step S 106 , the sensing system  1  acquires a captured image. In one example, the camera  300  provided in the back of the user captures an image including the AR markers provided at the heel portions of the shoes worn by the user on both feet, and transmits it to the information processing device  100 . 
     Next, in step S 108 , the sensing system  1  estimates the position and attitude of the AR marker. In one example, the information processing device  100  estimates the position and attitude of each of the AR markers provided at the heel portions of both feet using the algorithm described above. 
     Next, in step S 110 , the sensing system  1  estimates the arrangement of the sensor device  200 . In one example, the information processing device  100  estimates the position vector of each of the pressure sensors provided on the insole on the basis of the position and attitude of the AR marker. 
     Then, in step S 112 , the sensing system  1  calculates the ZMP of both feet. In one example, the information processing device  100  calculates the ZMP of both feet by substituting the estimated position vector of the pressure sensor and the acquired sensor information into the Formulas (1) and (2). 
     The steps S 104  to S 112  are repeated until termination is made (NO in step S 114 ). If the termination is made (YES in step S 114 ), the sensing system  1  performs termination processing in step S 116 . In one example, the sensing system  1  performs photographing end processing, cleanup processing, and the like of the camera  300 . 
     5. HARDWARE CONFIGURATION EXAMPLE 
     Finally, a hardware configuration of an information processing device according to the present embodiment will be described with reference to  FIG. 11 .  FIG. 11  is a block diagram illustrating an example of the hardware configuration of the information processing device according to the present embodiment. Moreover, the information processing device  900  illustrated in  FIG. 11  may be implemented, in one example, as the information processing device  100  illustrated in  FIG. 4 . The information processing performed by the information processing device  100  according to the present embodiment is achieved by cooperation of software and hardware described below. 
     As illustrated in  FIG. 8 , the information processing device  900  is configured to include a central processing unit (CPU)  901 , a read only memory (ROM)  902 , a random access memory (RAM)  903 , and a host bus  904   a.  In addition, the information processing device  900  is configured to include a bridge  904 , an external bus  904   b,  an interface  905 , an input device  906 , an output device  907 , a storage device  908 , a drive  909 , a connection port  911 , and a communication device  913 . The information processing device  900  may be configured to include a processing circuit such as a DSP or an ASIC instead of or in addition to the CPU  901 . 
     The CPU  901  functions as an arithmetic processing unit and a control unit and controls the overall operation in the information processing device  900  in accordance with various programs. Further, the CPU  901  may be a microprocessor. The ROM  902  stores, for example, an operation parameter and a program used by the CPU  901 . The RAM  903  temporarily stores, for example, a program used during execution of the CPU  901  and a parameter appropriately changed in the execution. The CPU  901  may be configured as, in one example, the control unit  130  illustrated in  FIG. 4 . 
     The CPU  901 , the ROM  902 , and the RAM  903  are connected to each other through the host bus  904   a  including a CPU bus and the like. The host bus  904   a  is connected, via the bridge  904 , to the external bus  904   b,  an example of which being a peripheral component interconnect/interface (PCI) bus. Moreover, the host bus  904   a,  the bridge  904 , and the external bus  904   b  are not necessarily configured as a separate component, but their functions may be incorporated into in a single bus. 
     The input device  906  is implemented as a device allowing the user to input information, such as a mouse, a keyboard, a touch panel, a button, a microphone, a switch, and a lever. In addition, the input device  906  may be a remote controller using infrared ray or other electric waves, or may be externally connected equipment, such as a cellular phone or a PDA, operable in response to the user operation of the information processing device  900 . Furthermore, the input device  906  may include an input control circuit or the like which is configured to generate an input signal on the basis of information input by the user using the aforementioned input means and to output the generated input signal to the CPU  901 . The user of the information processing device  900  may input various types of data to the information processing device  900 , or may instruct the information processing device  900  to perform a processing operation, by the user operation of the input device  906 . 
     The output device  907  is configured as a device capable of performing visual or auditory notification of the acquired information to the user. An example of such device includes a display device such as CRT display devices, liquid crystal display devices, plasma display devices, EL display devices, and lamps, a sound output device such as loudspeakers and headphones, and a printer device. The output device  907  outputs, for example, results acquired by various processes performed by the information processing device  900 . Specifically, the display device visually displays results acquired by various processes performed by the information processing device  900  in various formats such as text, images, tables, and graphs. On the other hand, the sound output device converts audio signals composed of reproduced sound data, audio data, and the like into analog signals and audibly outputs the analog signals. 
     The storage device  908  is a device for data storage configured as an example of a storage unit of the information processing device  900 . In one example, the storage device  908  is implemented as a magnetic storage device such as an HDD, a semiconductor storage device, an optical storage device, a magneto-optical storage device, or the like. The storage device  908  may include a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, a deletion device for deleting data recorded on the storage medium, and the like. The storage device  908  stores programs and various types of data executed by the CPU  901 , various types of data acquired from the outside, and the like. The storage device  908  may be configured as, for example, the storage unit  120  illustrated in  FIG. 4 . 
     The drive  909  is a reader-writer for storage media and is included in or externally attached to the information processing device  900 . The drive  909  reads the information recorded on a removable storage medium such as a magnetic disc, an optical disc, a magneto-optical disc, or a semiconductor memory mounted thereon and outputs the information to the RAM  903 . In addition, the drive  909  can write information on the removable storage medium. 
     The connection port  911  is an interface connected with external equipment and, for example, is a connection port with the external equipment that can transmit data through a universal serial bus (USB) and the like. According to the embodiment, the connection port  911  may be connected with the camera  300  illustrated in  FIG. 4 , for example. 
     The communication device  913  is, for example, a communication interface configured as a communication device or the like for connection with a network  920 . The communication device  913  is, for example, a communication card or the like for a wired or wireless local area network (LAN), long term evolution (LTE), Bluetooth (registered trademark), or wireless USB (WUSB). In addition, the communication device  913  may be a router for optical communication, a router for asymmetric digital subscriber line (ADSL), various communication modems, or the like. In one example, the communication device  913  is capable of transmitting and receiving signals and the like to and from the Internet or other communication equipment, for example, in accordance with a predetermined protocol of TCP/IP or the like. The communication device  913  may be configured as, for example, the communication unit  110  illustrated in  FIG. 4 . 
     Moreover, the network  920  is a wired or wireless transmission path of information transmitted from a device connected to the network  920 . In one example, the network  920  may include a public circuit network such as the Internet, a telephone circuit network, and a satellite communication network, various local area networks (LANs) including Ethernet (registered trademark), a wide area network (WAN), and the like. In addition, the network  920  may include a dedicated circuit network such as an internet protocol-virtual private network (IP-VPN). 
     An example of the hardware configuration capable of implementing the functions of the information processing device  900  according to the present embodiment is illustrated above. The respective components described above may be implemented using universal members, or may be implemented by hardware that is specific to the functions of the respective components. Accordingly, it is possible to change a hardware configuration to be used appropriately depending on the technical level at each time of carrying out the embodiments. 
     Moreover, a computer program for implementing each of the functions of the information processing device  900  according to the present embodiment may be created, and may be mounted in a PC or the like. Furthermore, a computer-readable recording medium on which such a computer program is stored may be provided. The recording medium is, for example, a magnetic disc, an optical disc, a magneto-optical disc, a flash memory, or the like. The computer program may be distributed, for example, through a network without using the recording medium. 
     6. SUMMARY 
     One embodiment of the present disclosure is described in detail above with reference to  FIGS. 1 to 11 . As described above, the information processing device  100  acquires the sensor information from the plurality of sensor devices  200  that measure the pressure distribution of the attached part of the body of the user, and estimates the arrangement of the plurality of parts to which the sensor devices  200  are attached on the basis of the captured image including the plurality of parts. Then, the information processing device  100  calculates information on the plurality of parts from the acquired sensor information on the basis of the estimated arrangement of the plurality of parts. This makes it possible for the information processing device  100  to obtain useful information such as ZMP of both feet in which the attitude of the target person is taken into consideration from the sensor information. 
     In one example, the sensor device  200  may be an insole type. In this case, the information processing device  100  can calculate the ZMP of both feet without use of the force platform. In addition, for the action in which the foot moves away from the ground like swing motion of golf, the information processing device  100  can obtain information other than the pressure distribution, such as the attitude of both feet. 
     The preferred embodiment(s) of the present disclosure has/have been described above with reference to the accompanying drawings, whilst the present disclosure is not limited to the above examples. A person skilled in the art may find various alterations and modifications within the scope of the appended claims, and it should be understood that they will naturally come under the technical scope of the present disclosure. 
     In one example, an example in which the information processing device  100  is implemented as a smartphone is described in the above embodiment, but the present technology is not limited to this example. In one example, the information processing device  100  may be implemented as any device such as a tablet terminal, a PC, or a server on a network. 
     Furthermore, the information processing device  100  may be implemented as a single device, or may be partially or entirely implemented as a separate device. In one example, in the function configuration example of the information processing device  100  illustrated in  FIG. 4 , the storage unit  120  and the control unit  130  may be not necessarily included in a server or the like connected to the communication unit  110  via a network or the like. In addition, the information processing device  100  may be integrally formed with the sensor device  200  or the camera  300 . 
     Further, the effects described in this specification are merely illustrative or exemplified effects, and are not limitative. That is, with or in the place of the above effects, the technology according to the present disclosure may achieve other effects that are clear to those skilled in the art from the description of this specification. 
     Additionally, the present technology may also be configured as below. 
     (1) 
     An information processing device including: 
     an acquisition unit configured to acquire information indicating a measurement result from a plurality of sensor devices configured to measure a pressure distribution of an attached part of a body of a user; 
     an estimation unit configured to estimate arrangement of a plurality of parts to which the sensor devices are attached on the basis of a captured image including the plurality of parts; and 
     a calculation unit configured to calculate information on the plurality of parts from the information indicating the measurement result acquired by the acquisition unit on the basis of the arrangement of the plurality of parts estimated by the estimation unit. 
     (2) 
     The information processing device according to (1), 
     in which the estimation unit estimates arrangement of the plurality of sensor devices on the basis of an estimation result of the arrangement of the plurality of parts. 
     (3) 
     The information processing device according to (1) or (2), 
     in which the calculation unit calculates zero moment point (ZMP) in all the plurality of parts. 
     (4) 
     The information processing device according to any one of (1) to (3), 
     in which the plurality of parts are both feet of the user. 
     (5) 
     The information processing device according to(4), 
     in which the sensor device is an insole type sensor. 
     (6) 
     The information processing device according to any one of (1) to (3), 
     in which the plurality of parts are both hands of the user. 
     (7) 
     The information processing device according to any one of (1) to (6), 
     in which the estimation unit estimates the arrangement of the plurality of parts by estimating a position and an attitude of each of markers provided at the plurality of parts included in the captured image. 
     (8) 
     The information processing device according to any one of (1) to (7), 
     in which the estimation unit estimates the arrangement of the plurality of parts by performing image recognition on the plurality of parts included in the captured image. 
     (9) 
     The information processing device according to any one of (1) to (8), 
     in which the estimation unit repeatedly estimates depending on actions of the plurality of parts. 
     (10) 
     The information processing device according to any one of (1) to (9), 
     in which the acquisition unit acquires the information indicating the measurement result transmitted from the sensor device. 
     (11) 
     The information processing device according to any one of (1) to (9), 
     in which the acquisition unit acquires the information indicating the measurement result from display contents displayed on display devices provided at the plurality of parts included in the captured image. 
     (12) 
     An information processing method executed by a processor, the information processing method including: 
     acquiring information indicating a measurement result from a plurality of sensor devices configured to measure a pressure distribution of an attached part of a body of a user; 
     estimating arrangement of a plurality of parts to which the sensor devices are attached on the basis of a captured image including the plurality of parts; and 
     calculating information on the plurality of parts from the acquired information indicating the measurement result on the basis of the estimated arrangement of the plurality of parts. 
     REFERENCE SIGNS LIST 
     
         
           1  sensing system 
           100  information processing device 
           110  communication unit 
           120  storage unit 
           130  control unit 
           131  acquisition unit 
           133  estimation unit 
           135  calculation unit 
           200  sensor device 
           300  camera