PARALLAX VALUE COMPUTATION DEVICE, OBJECT RECOGNITION DEVICE, MOBILE INSTRUMENT CONTROL SYSTEM AND PARALLAX COMPUTATION PROGRAM

Japanese Patent JP2016173248

A

PROBLEM TO BE SOLVED: To provide a parallax value computation device that makes a correction by implementing appropriate processing corresponding to a cause of a parallax value error on a parallax value in a unit image area of a correction object, and further to provide an object recognition device, a mobile instrument control system and a parallax computation program.SOLUTION: A parallax image creation unit 132 includes: a parallax value calculation section 132C that calculates a parallax value among a plurality of acquired image data imaged by a plurality of imaging units for imaging the imaging areas for each unit image area; and a reliability determination section 132D. The parallax image creation unit 132 comprises: a reliability determination value change section 132E; a periphery complement processing section 132F; and an interframe complement processing section 132H, as parallax value correction means that corrects the parallax value of the unit image area satisfying at least one parallax value error condition among a plurality of mutually different parallax value error conditions, using correction processing corresponding to the at least one parallax value error condition among a plurality of different correction processing for each of the plurality of parallax value error conditions.SELECTED DRAWING: Figure 1

TAKAHASHI YUJI
KUROMIZU REIKO
INOUE TAKAYUKI
SEKIGUCHI HIROYOSHI
WATANABE GIICHI
WATANABE EITA
FUJIMOTO HIDEOMI

JP2015052169A

September 29, 2016

March 16, 2015

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RICOH CO LTD

G01C3/06; G01B11/245; G06T1/00; G08G1/16

Toshi Kuroda

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