Patent Document ID: 10132613
Application ID: 14666824
Patent Status: 1

Claim One:
1. An information processing apparatus comprising: an image acquisition unit configured to acquire a captured image of a target object onto which a pattern is projected; a distance acquisition unit configured to acquire, based on the image, a plurality of distance values, each indicating a distance to the target object; a determination unit configured to determine whether each of the acquired distance values is noise generated by multiple reflection of the pattern; a first processing unit configured to perform first processing, using distance values obtained by removing a distance value that is determined to be the noise from the plurality of distance values; and a second processing unit configured to perform second processing that is different from (a) processing of the determination unit and (b) the first processing, using the plurality of distance values that are acquired by the distance acquisition unit and from which the distance value determined to be the noise has not been removed, wherein the determination unit determines, based on a measured distance value at a first measurement point and a measured distance value at a second measurement point that is adjacent to the first measurement point, whether the measured distance value at the first measurement point is noise generated by the multiple reflection, wherein, if an inclination of a vector connecting the measured distance value at the first measurement point and the measured distance value at the second measurement point is larger than a threshold, the determination unit determines that the measured distance value at the first measurement point is noise generated by the multiple reflection, and wherein at least one processor and a memory are used to implement units comprising the determination unit, the first processing unit, and the second processing unit.