Apparatus and method for stereoscopic image processing
First Claim
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1. A stereoscopic image processing apparatus comprising:
- a search unit for searching a corresponding small region in a comparative image corresponding to a small region in a reference image, the comparative image and the reference image being photographed with a stereo camera apparatus;
a parallax calculating unit for obtaining a parallax data of the small regions; and
a parallax correcting unit for correcting the parallax data based on ratios of view angles, the ratio of view angles being a ratio of a small actual view angle of each predetermined region in the comparative image to an ideal view angle of the each predetermined region when optical position of the stereo camera apparatus is in an ideal state.
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Abstract
After processing images photographed by a stereo camera apparatus, parallaxes are detected by stereo matching. Influence of a difference in the focal lengths of lenses and distortion of the lenses, and of relative variations in shooting directions of two cameras constituting the stereo camera apparatus is excluded to achieve an improvement in the accuracy of distance by correcting parallax data using a view angle correction ratio table 29 produced by previously measuring data on a small actual view angle of each specific region in a comparative image.
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Citations
14 Claims
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1. A stereoscopic image processing apparatus comprising:
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a search unit for searching a corresponding small region in a comparative image corresponding to a small region in a reference image, the comparative image and the reference image being photographed with a stereo camera apparatus;
a parallax calculating unit for obtaining a parallax data of the small regions; and
a parallax correcting unit for correcting the parallax data based on ratios of view angles, the ratio of view angles being a ratio of a small actual view angle of each predetermined region in the comparative image to an ideal view angle of the each predetermined region when optical position of the stereo camera apparatus is in an ideal state. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A stereoscopic image processing method comprising:
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searching a corresponding small region in a comparative image corresponding to a small region in a reference image, the comparative image and the reference image being photographed with a stereo camera apparatus;
obtaining a parallax data of the small regions; and
correcting the parallax data based on a ratio of view angles, the ratio of view angles being a ratio of a small actual view angle of each predetermined region in the comparative image to an ideal view angle of the each predetermined region when optical position of the stereo camera apparatus is in an ideal state. - View Dependent Claims (9, 10, 11, 12, 13, 14)
preparing a correction data table based on the ratio of view angles; and
correcting the parallax based on correction data of the correction data table.
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11. The stereoscopic image processing method as recited in claim 10, wherein said step of preparing correction data table prepares a first table to be referenced at matching points in the comparative image where the corresponding small regions match with the small regions in the reference image and a second table to be referenced at infinite distance corresponding points.
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12. The stereoscopic image processing method as recited in claim 8, wherein said step of correction the parallax corrects the parallax data based on integrated values obtained by integrating the ratio of the view angles from an side edge of the comparative image.
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13. The stereoscopic image processing method as recited in claim 10, wherein said step of correction the parallax prepares the correction data table based on integrated values obtained by integrating the ratio of the view angles from an side edge of the comparative image.
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14. The stereoscopic image processing method as recited in claim 11, wherein said step of correction the parallax prepares the first table and the second table based on integrated values obtained by integrating the ratio of the view angles from an side edge of the comparative image.
Specification