Stereo image processing device and stereo image processing method
First Claim
1. A stereo image processing apparatus comprising:
- a stereo image acquiring section that acquires a target image and a reference image of a stereo image;
an image clipping section that clips partial images parallel to a baseline length direction of the stereo image from the target image and the reference image respectively and acquires one-dimensional pixel data sequences each indicating a distribution of pixel values of a corresponding one of the partial images in the baseline length direction;
a target pixel data phase shift section that applies a phase shift filter which shifts phases of some or all frequency components by 90 degrees with respect to the target pixel data and that calculates phase-shifted target pixel data;
a symmetry determination value calculating section that calculates symmetry determination values indicating symmetry of values for the phase-shifted target pixel data and the reference pixel data respectively;
a symmetry determination value comparison section that compares the symmetry determination value calculated from the phase-shifted target pixel data with the symmetry determination value calculated from the target pixel data and that determines whether or not the symmetry of the phase-shifted target pixel data is higher than the symmetry of the target pixel data;
a reference pixel data phase shift section that applies the phase shift filter to the reference pixel data and that calculates phase-shifted reference pixel data,a windowing section that performs windowing on phase-corrected target pixel data obtained by performing the phase correction process on the target pixel data and phase-corrected reference pixel data obtained by performing the phase correction process on the reference pixel data respectively;
a phase correlation section that calculates a phase correlation value indicating a degree of correlation between windowed target pixel data obtained by performing the windowing on the phase-corrected target pixel data and windowed reference pixel data obtained by performing the windowing on the phase-corrected reference pixel data; and
a peak position detecting section that calculates a disparity of a corresponding point in the reference image corresponding to a target point in the target image based on the phase correlation value, whereinthe windowing section handles, when the symmetry of the phase-shifted target pixel data is higher than the symmetry of the target pixel data, the phase-shifted target pixel data and the phase-shifted reference pixel data as the phase-corrected target pixel data and the phase-corrected reference pixel data respectively, and handles, when the symmetry of the phase-shifted target pixel data is not higher than the symmetry of the target pixel data, the target pixel data and the reference pixel data as the phase-corrected target pixel data and the phase-corrected reference pixel data respectively.
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Abstract
Device (100) comprises: a stereo image acquisition unit (101) for acquiring a standard image and a reference image for a stereo image; an image segmenting unit (102) for acquiring standard pixel data and reference pixel data from the stereo image; a phase correction unit (103) for carrying out for each of the pixel data a phase correction process making the values of the standard pixel data more symmetrical; a windowing unit (104) for applying a windowing function to each of the pixel data that have undergone phase correction; a phase correlation unit 105 for calculating a phase correlation value between the two pixel data that have undergone windowing; and a peak position detection unit (106) for calculating, on the basis of the phase correlation value, the parallax of a corresponding point of the reference image with respect to a standard point on the standard image.
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Citations
3 Claims
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1. A stereo image processing apparatus comprising:
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a stereo image acquiring section that acquires a target image and a reference image of a stereo image; an image clipping section that clips partial images parallel to a baseline length direction of the stereo image from the target image and the reference image respectively and acquires one-dimensional pixel data sequences each indicating a distribution of pixel values of a corresponding one of the partial images in the baseline length direction; a target pixel data phase shift section that applies a phase shift filter which shifts phases of some or all frequency components by 90 degrees with respect to the target pixel data and that calculates phase-shifted target pixel data; a symmetry determination value calculating section that calculates symmetry determination values indicating symmetry of values for the phase-shifted target pixel data and the reference pixel data respectively; a symmetry determination value comparison section that compares the symmetry determination value calculated from the phase-shifted target pixel data with the symmetry determination value calculated from the target pixel data and that determines whether or not the symmetry of the phase-shifted target pixel data is higher than the symmetry of the target pixel data; a reference pixel data phase shift section that applies the phase shift filter to the reference pixel data and that calculates phase-shifted reference pixel data, a windowing section that performs windowing on phase-corrected target pixel data obtained by performing the phase correction process on the target pixel data and phase-corrected reference pixel data obtained by performing the phase correction process on the reference pixel data respectively; a phase correlation section that calculates a phase correlation value indicating a degree of correlation between windowed target pixel data obtained by performing the windowing on the phase-corrected target pixel data and windowed reference pixel data obtained by performing the windowing on the phase-corrected reference pixel data; and a peak position detecting section that calculates a disparity of a corresponding point in the reference image corresponding to a target point in the target image based on the phase correlation value, wherein the windowing section handles, when the symmetry of the phase-shifted target pixel data is higher than the symmetry of the target pixel data, the phase-shifted target pixel data and the phase-shifted reference pixel data as the phase-corrected target pixel data and the phase-corrected reference pixel data respectively, and handles, when the symmetry of the phase-shifted target pixel data is not higher than the symmetry of the target pixel data, the target pixel data and the reference pixel data as the phase-corrected target pixel data and the phase-corrected reference pixel data respectively. - View Dependent Claims (2)
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3. A stereo image processing method comprising:
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acquiring a target image and a reference image of a stereo image; clipping partial images parallel to a baseline length direction of the stereo image from the target image and the reference image respectively and acquiring one-dimensional pixel data sequences each indicating a distribution of pixel values of a corresponding one of the partial images in the baseline length direction; applying a phase shift filter which shifts phases of some or all frequency components by 90 degrees with respect to the target pixel data and which calculates phase-shifted target pixel data; calculating symmetry determination values indicating symmetry of values for the phase-shifted target pixel data and the reference pixel data respectively; comparing the symmetry determination value calculated from the phase-shifted target pixel data with the symmetry determination value calculated from the target pixel data and determining whether or not the symmetry of the phase-shifted target pixel data is higher than the symmetry of the target pixel data; applying the phase shift filter to the reference pixel data and calculating phase-shifted reference pixel data, performing windowing on phase-corrected target pixel data obtained by performing the phase correction process on the target pixel data and phase-corrected reference pixel data obtained by performing the phase correction process on the reference pixel data respectively; calculating a phase correlation value indicating a degree of correlation between windowed target pixel data obtained by performing the windowing on the phase-corrected target pixel data and windowed reference pixel data obtained by performing the windowing on the phase-corrected reference pixel data; and calculating a disparity of a corresponding point in the reference image corresponding to a target point in the target image based on the phase correlation value, wherein the performing windowing handles, when the symmetry of the phase-shifted target pixel data is higher than the symmetry of the target pixel data, the phase-shifted target pixel data and the phase-shifted reference pixel data as the phase-corrected target pixel data and the phase- corrected reference pixel data respectively, and handles, when the symmetry of the phase-shifted target pixel data is not higher than the symmetry of the target pixel data, the target pixel data and the reference pixel data as the phase-corrected target pixel data and the phase-corrected reference pixel data respectively.
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Specification