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,wherein the processing unit excludes a pixel row, a position of which on the image along the first direction is in a range corresponding to an upper side in the vertical direction as compared with a position corresponding to a predetermined horizontal line, from an object to be subjected to the parallax correction.
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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 simple configuration and 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, and a parallax correction control section reads out a parallax amount corresponding to a Y coordinate value of image data for one line input from a pre-image processing unit from the storage section and outputs a selection signal to selectors such that the output of one image data is delayed by the differential amount. A differential image generation unit 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.
42 Citations
19 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, wherein the processing unit excludes a pixel row, a position of which on the image along the first direction is in a range corresponding to an upper side in the vertical direction as compared with a position corresponding to a predetermined horizontal line, from an object to be subjected to the parallax correction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. 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, wherein the generation unit generates a differential image which represents a differential between the first image and the second image subjected to the parallax correction using the processing unit for each pixel, the differential image generated by the generation unit is formed as a differential image which represents a differential between the first image and the second image in a state in which a geometric parallax is corrected by the parallax correction using the processing unit and the images are relatively shifted in the first direction by a predetermined shift amount, the bias amount represented by the bias amount information stored in the storage unit is set as a bias amount corresponding to the geometric parallax, and directions of the first imaging apparatus and the second imaging apparatus are set such that a distance between imaging optical axes of the first imaging apparatus and the second imaging apparatus becomes larger further away from the first and second imaging apparatuses, and the directions are adjusted such that the first image and the second image are relatively shifted in the first direction by the predetermined shift amount. - View Dependent Claims (16, 17, 18, 19)
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Specification