STEREO IMAGE PROCESSING DEVICE AND STEREO IMAGE PROCESSING METHOD
First Claim
1. A stereo image processing apparatus comprising:
- an image matching section that performs image matching on a target image and a reference image so as to obtain a corresponding point in the reference image corresponding to a target point in the target image;
an image clipping section that extracts, from the target image, first two-dimensional pixel data having a plurality of pixel rows and a plurality of pixel columns and including the target point, and extracts, from the reference image, second two-dimensional pixel data having a plurality of pixel rows and a plurality of pixel columns and including the corresponding point;
an image reconstructing section that reconstructs, based on a predetermined reconstruction rule, the first two-dimensional pixel data and the second two-dimensional pixel data to first one-dimensional pixel data and second one-dimensional pixel data, respectively; and
a peak position detecting section that calculates a disparity based on a correlation between the first one-dimensional pixel data and the second one-dimensional pixel data.
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Accused Products
Abstract
Provided is a stereo image processing device, with which it is possible to compute disparity with high precision even for an object of a small image region size in a baseline length direction. With this device, an image matching unit (102) acquires a correspondence point of a reference image for a target point of a target image. An image cropping unit (201) extracts first two-dimensional pixel data including the target point from the target image, and extracts second two-dimensional pixel data including the correspondence point from the reference image. An image reconfiguration unit (202) reconfigures the respective first two-dimensional pixel data and second two-dimensional pixel data into first one-dimensional pixel data and second one-dimensional pixel data. A peak position detection unit (104) computes disparity based on the correlation between the first one-dimensional pixel data and the second one-dimensional pixel data.
23 Citations
12 Claims
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1. A stereo image processing apparatus comprising:
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an image matching section that performs image matching on a target image and a reference image so as to obtain a corresponding point in the reference image corresponding to a target point in the target image; an image clipping section that extracts, from the target image, first two-dimensional pixel data having a plurality of pixel rows and a plurality of pixel columns and including the target point, and extracts, from the reference image, second two-dimensional pixel data having a plurality of pixel rows and a plurality of pixel columns and including the corresponding point; an image reconstructing section that reconstructs, based on a predetermined reconstruction rule, the first two-dimensional pixel data and the second two-dimensional pixel data to first one-dimensional pixel data and second one-dimensional pixel data, respectively; and a peak position detecting section that calculates a disparity based on a correlation between the first one-dimensional pixel data and the second one-dimensional pixel data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A stereo image processing method comprising:
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performing image matching on a target image and a reference image so as to obtain a corresponding point in the reference image corresponding to a target point in the target image; extracting, from the target image, first two-dimensional pixel data having a plurality of pixel rows and a plurality of pixel columns and including the target point, and extracting, from the reference image, second two-dimensional pixel data having a plurality of pixel rows and a plurality of pixel columns and including the corresponding point; reconstructing, based on a predetermined reconstruction rule, the first two-dimensional pixel data and the second two-dimensional pixel data to first one-dimensional pixel data and second one-dimensional pixel data, respectively; and calculating a disparity based on a correlation between the first one-dimensional pixel data and the second one-dimensional pixel data.
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Specification