PARALLAX CALCULATION APPARATUS, STEREO CAMERA APPARATUS, VEHICLE, AND PARALLAX CALCULATION METHOD
First Claim
Patent Images
1. A parallax calculation apparatus comprising:
- an input interface configured to acquire a stereo image including a first image and a second image; and
a controller configured to calculate parallax by performing sequential matching of a block that is a portion of the second image with the first image while sequentially shifting the block from an initial position in a baseline length direction, whereinthe controller varies a pitch at which the block is shifted next in accordance with a shift amount of the block from the initial position.
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Abstract
A parallax calculation apparatus (12) includes an input interface (15) configured to acquire a stereo image including a first image and a second image and a controller (16) configured to calculate parallax by performing sequential matching of a block that is a portion of the second image with the first image while sequentially shifting the block from an initial position in a baseline length direction. The controller (16) varies the pitch at which the block is shifted next in accordance with the shift amount of the block from the initial position.
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Citations
8 Claims
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1. A parallax calculation apparatus comprising:
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an input interface configured to acquire a stereo image including a first image and a second image; and a controller configured to calculate parallax by performing sequential matching of a block that is a portion of the second image with the first image while sequentially shifting the block from an initial position in a baseline length direction, wherein the controller varies a pitch at which the block is shifted next in accordance with a shift amount of the block from the initial position. - View Dependent Claims (2, 3, 4, 5)
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6. A stereo camera apparatus comprising:
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a stereo camera; and a parallax calculation apparatus comprising an input interface configured to acquire a stereo image including a first image and a second image captured by the stereo camera, and a controller configured to calculate parallax by performing sequential matching of a block that is a portion of the second image with the first image while sequentially shifting the block from an initial position in a baseline length direction, wherein the controller varies a pitch at which the block is shifted next in accordance with a shift amount of the block from the initial position.
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7. A vehicle comprising:
a stereo camera apparatus comprising a stereo camera and a parallax calculation apparatus, wherein the parallax calculation apparatus comprises an input interface configured to acquire a stereo image including a first image and a second image captured by the stereo camera and a controller configured to calculate parallax by performing sequential matching of a block that is a portion of the second image with the first image while sequentially shifting the block from an initial position in a baseline length direction, wherein the controller varies a pitch at which the block is shifted next in accordance with a shift amount of the block from the initial position.
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8. A parallax calculation method comprising:
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acquiring a stereo image including a first image and a second image captured by a stereo camera; and calculating parallax by performing sequential matching of a block that is a portion of the second image with the first image while sequentially shifting the block from an initial position in a baseline length direction, wherein a pitch at which the block is shifted next is varied in accordance with a shift amount of the block from the initial position.
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Specification