IMAGE PROCESSING APPARATUS, METHOD, PROGRAM, AND RECORDING MEDIUM
First Claim
1. An image processing apparatus comprising:
- a storage unit that stores bias amount information representing a bias amount, which corresponds to a parallax, along a first direction of an image corresponding to a horizontal direction between a first image captured by a first imaging apparatus and a second image captured by a second imaging apparatus which is located at a position different from that of the first imaging apparatus in the horizontal direction, with respect to each position in a second direction of the image corresponding to a vertical direction;
an acquisition unit that acquires the first image captured by the first imaging apparatus and the second image captured by the second imaging apparatus;
a processing unit that performs a parallax correction with respect to each pixel row along the first direction of the image, the parallax correction moving a position of the image in the first direction of a pixel row along the first direction of the image in accordance with the bias amount represented by the bias amount information corresponding to a position of the pixel row in the second direction of the image; and
a generation unit that generates differential information representing a difference between the first image and the second image that have been subjected to the parallax correction by the processing unit.
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Accused Products
Abstract
Extracting information corresponding to a three-dimensional object from an image captured by plural imaging apparatuses is implemented with a simple configuration and a simple processing.
Parallax information representing a parallax amount in the X direction of a pair of images captured by a pair of imaging apparatuses disposed at different horizontal positions is stored in a storage section 44, and a parallax correction control section 42 reads out a parallax amount corresponding to a Y coordinate value of image data for one line input from a pre-image processing unit 14 from the storage section 44 and outputs a selection signal to selectors 38 and 44 such that the output of one image data is delayed by the differential amount. A differential image generation unit 18 calculates an absolute value of the differential of the pair of input image data for each pixel and outputs the result as a differential image for detecting the three-dimensional object.
66 Citations
25 Claims
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1. An image processing apparatus comprising:
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a storage unit that stores bias amount information representing a bias amount, which corresponds to a parallax, along a first direction of an image corresponding to a horizontal direction between a first image captured by a first imaging apparatus and a second image captured by a second imaging apparatus which is located at a position different from that of the first imaging apparatus in the horizontal direction, with respect to each position in a second direction of the image corresponding to a vertical direction; an acquisition unit that acquires the first image captured by the first imaging apparatus and the second image captured by the second imaging apparatus; a processing unit that performs a parallax correction with respect to each pixel row along the first direction of the image, the parallax correction moving a position of the image in the first direction of a pixel row along the first direction of the image in accordance with the bias amount represented by the bias amount information corresponding to a position of the pixel row in the second direction of the image; and a generation unit that generates differential information representing a difference between the first image and the second image that have been subjected to the parallax correction by the processing unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. An image processing method comprising:
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a storage unit storing bias amount information representing a bias amount, which corresponds to a parallax, along a first direction of an image corresponding to a horizontal direction between a first image captured by a first imaging apparatus and a second image captured by a second imaging apparatus which is located at a position different from that of the first imaging apparatus in the horizontal direction, with respect to each position in a second direction of the image corresponding to a vertical direction; an acquisition unit acquiring the first image captured by the first imaging apparatus and the second image captured by the second imaging apparatus; a processing unit performing a parallax correction with respect to each pixel row along the first direction of the image, the parallax correction moving a position of the image in the first direction of a pixel row along the first direction of the image in accordance with the bias amount represented by the bias amount information corresponding to a position of the pixel row in the second direction of the image; and a generating unit generating differential information representing a difference between the first image and the second image that have been subjected to the parallax correction by the processing unit.
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24. (canceled)
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25. A computer readable non-transitory medium storing a program executable by a computer connected to a storage unit, which stores bias amount information representing a bias amount, which corresponds to a parallax, along a first direction of an image corresponding to a horizontal direction between a first image captured by a first imaging apparatus and a second image captured by a second imaging apparatus which is located at a position different from that of the first imaging apparatus in the horizontal direction, with respect to each position in a second direction of the image corresponding to a vertical direction, to function as:
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an acquisition unit acquiring the first image captured by the first imaging apparatus and the second image captured by the second imaging apparatus; a processing unit performing a parallax correction with respect to each pixel row along the first direction of the image, the parallax correction moving a position of the image in the first direction of a pixel row along the first direction of the image in accordance with the bias amount represented by the bias amount information corresponding to a position of the pixel row in the second direction of the image; and a generating unit generating differential information representing a difference between the first image and the second image that have been subjected to the parallax correction by the processing unit.
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Specification