Title:
視差値導出装置、移動体、ロボット、視差値導出方法、視差値生産方法及びプログラム
Document Type and Number:
Japanese Patent JP6561512
Kind Code:
B2
Abstract:
A disparity deriving apparatus (3) for deriving disparity of an object based on a reference image of the object captured at a first image capturing position and a comparison image of the object captured at a second image capturing position includes a calculator (310) to calculate costs between a first reference area in the reference image and each one of corresponding areas corresponding to the first reference area in a given region in the comparison image, and costs between a second reference area, surrounding the first reference area in the reference image, and each one of corresponding areas corresponding to the second reference area in a given region in the comparison image; a synthesizer (320) to synthesize the costs of the first reference area, and the costs of the second reference area as synthesis costs; a deriving unit (330)to derive a disparity value of the object captured in the first reference area based on the synthesis costs synthesized by the synthesizer; and a correction unit (340) to apply a spatial filter to a local region, composed of a plurality of areas, in the first reference image to correct a disparity value of the local region.
Inventors:
Relationship
Kiichiro Saito
Kiichiro Saito
Application Number:
JP2015051957A
Publication Date:
August 21, 2019
Filing Date:
March 16, 2015
Export Citation:
Assignee:
株式会社リコー
International Classes:
G01C3/06; G01B11/00; G06T1/00; H04N13/239
Domestic Patent References:
| JP2013164351A |
Foreign References:
| US20130083994 |
Other References:
Heiko Hirschmuller,Improvements in Real-Time Correlation-Based Stereo Vision,Proceedings of the IEEE Workshop on Stereo and Multi-Basedline Vision(SMBV'01),IEEE,2001年