A disparity calculation apparatus for a stereo camera implements ranging of an object that includes consecutive similar patterns. In stereo matching, if a plurality of corresponding point candidates are present in a sum of absolute differences or similar evaluation value distribution for a target point, an evaluation value map is generated by superimposing an evaluation value distribution of a target point, for which a plurality of corresponding points are determined to be present, and an evaluation value distribution of each other target point present in a peripheral area of that target point. The shape of an object is represented in real space around a target point for which a plurality of corresponding points are determined to be present. The true distance of a railing that extends in a straight line is determined by extracting a line segment with the strongest linearity in the evaluation value map.


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    Title :

    Parallax calculation method and parallax calculation device


    Contributors:

    Publication date :

    2016-05-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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