The objective of the present invention is to estimate a parallax offset in a stereo camera. This stereo image processing device is provided with: a parallax image acquiring unit 204 which obtains a parallax image on the basis of images obtained by image acquiring units 202, 203; an object detecting unit 205 which detects an object on the basis of the images and the parallax image; an object parallax estimating unit 206 which estimates the parallax of the object; a storage unit 207 which saves an image region of the object detected by means of the parallax and the object detecting unit 205; an image comparing unit 208 which compares with one another images of the object captured at different times; a parallax offset estimating unit 209 which calculates a parallax offset; and a distance output unit 210 which adjusts the distance of the object on the basis of the parallax estimated by the parallax offset estimating unit 209. The image comparing unit 208 geometrically deforms one image region, from among image regions in a current frame and a past frame in which the same object appears, and compares the deformed image with the other image to obtain a geometric deformation that increases the degree of similarity therebetween.
STEREO IMAGE PROCESSING DEVICE
STEREOBILDVERARBEITUNGSVORRICHTUNG
DISPOSITIF DE TRAITEMENT D'IMAGE STÉRÉO
2021-03-24
Patent
Electronic Resource
English
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / 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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