To provide an image processing apparatus capable of suitably compensating the influence of noises included in respective picked-up images and the influence of variation of pixel values between two picked-up images by suitably applying preprocessing to the picked-up images obtained from two imaging apparatuses and capable of accurately detecting a parallax.
For one of picked-up images obtained from two imaging apparatuses arranged side by side in a prescribed direction, the maximum value dmax of a value d in which the stochastic distribution of a difference value between the pixel value I(p) of a pixel and the pixel value I(p+d) of a pixel having the distance of the number d of pixels in the prescribed direction can be approximated by normal distribution is determined on the basis of the sample data of the pickup image. By using the maximum value dmax, preprocessing for determining the value of a difference between the pixel value I(p+dmax) of a pixel and the pixel value I(p-dmax) of a pixel having the distance dmax from the pixel value of each pixel of each picked-up image as the pixel value of the pixel concerned is applied for each pixel of each pickup image. A parallax is detected by using preprocessed image data.
COPYRIGHT: (C)2008,JPO&INPIT
| JP4264207A |
Susumu Hori
Takeshi Sagi
Kenichi Homma
Tsuyoshi Kagaya