Title:
IMAGE PROCESSING DEVICE, STEREO CAMERA DEVICE, MOVING OBJECT, PARALLAX CALCULATION METHOD, AND IMAGE PROCESSING METHOD
Document Type and Number:
WIPO Patent Application WO/2022/024793
Kind Code:
A1
Abstract:
This image processing device 20 comprises a communication unit 21 and a control unit 22 (processor). The communication unit 21 acquires a standard image and a reference image captured by a stereo camera 10. The control unit 22 calculates a parallax on the basis of the standard image and the reference image. The control unit 22 calculates, for each pixel position, a cost value indicating the degree of difference for each pixel position between the standard image and each of a plurality of images obtained by shifting the reference image by a plurality of different deviation amounts in a direction corresponding to the baseline length direction of the stereo camera 10. The processor aggregates the cost values by using dynamic programming and calculates the parallax for each pixel position, on the basis of the aggregated cost values for the plurality of different deviation amounts. The plurality of different deviation amounts are discrete values at unequal intervals.
Inventors:
SHIBUSAWA EIJIRO (JP)
SOTODATE HIROMICHI (JP)
SOTODATE HIROMICHI (JP)
Application Number:
PCT/JP2021/026692
Publication Date:
February 03, 2022
Filing Date:
July 15, 2021
Export Citation:
Assignee:
KYOCERA CORP (JP)
International Classes:
G01C3/06; G06T7/593
Domestic Patent References:
| WO2004063991A1 | 2004-07-29 |
Foreign References:
| JP2020042661A | 2020-03-19 | |||
| JP2015179066A | 2015-10-08 | |||
| JP2020021126A | 2020-02-06 | |||
| JP2019066308A | 2019-04-25 | |||
| JP2000207695A | 2000-07-28 | |||
| JP2000283753A | 2000-10-13 |
Other References:
H. HIRSCHMULLER: "Stereo Processing by Semiglobal Matching and Mutual Information", IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE, vol. 30, no. 2, February 2008 (2008-02-01), pages 328 - 341, XP011195575, DOI: 10.1109/TPAMI.2007.1166
Attorney, Agent or Firm:
SUGIMURA Kenji (JP)
Download PDF: