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.


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    Title :

    Disparity value deriving device, equipment control system, movable apparatus, robot, disparity value deriving method, and computer-readable storage medium


    Additional title:

    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


    Contributors:

    Publication date :

    2015-09-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS






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