A device derives a disparity value for an object and includes an acquisition unit configure to calculate respective degrees of matching of candidate regions for a corresponding region in a comparison image corresponding to a first reference region in a reference image, based on a luminance value of the first reference region and luminance values of the candidate regions specified by shifting positions by predetermined shift amounts from a region corresponding to a position of the first reference region; and a synthesizer configured to calculate a synthesized degree of matching of each candidate region by aggregating a value obtained by adding a penalty associated with a corresponding one of the shift amounts to the degree of matching in the comparison image for a second reference region in the neighborhood of the first reference region, with the degree of matching of the candidate region, based on the shift amount.
Disparity value deriving device, equipment control system, movable apparatus, robot, disparity value deriving method, and computer-readable storage medium
Disparitätswertableitungsvorrichtung, Ausrüstungssteuerungssystem, bewegliche Vorrichtung, Roboter, Disparitätswertableitungsverfahren und computerlesbares Speichermedium
Dispositif de dérivation d'une valeur de disparité, système de commande d'équipement, appareil mobile, robot, procédé de dérivation d'une valeur de disparité et support de stockage lisible par ordinateur
2015-09-02
Patent
Electronic Resource
English
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|DISPARITY VALUE DERIVING DEVICE, EQUIPMENT CONTROL SYSTEM, MOVABLE APPARATUS, AND ROBOT
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