PROBLEM TO BE SOLVED: To reduce noise of a parallax image.SOLUTION: A parallax image generation device 1 comprises: a parallax calculation part 3 which calculates parallax for each pixel based on a stereo image acquired from a stereo camera 2, sets an evaluation value indicating smoothness of the parallax for each pixel, calculates a summary value using the evaluation value and generates an initial parallax image in such a manner that the smoothness of the parallax for each pixel is improved by minimizing the calculated summary value; a region calculation part 4 which calculates a coupling region by clustering the initial parallax image and calculates a boundary region along a boundary line of the coupling region including pixels in a range of a predetermined number of pixels from the boundary line; and a parallax re-calculation part 5 which resets the evaluation value by setting a value P2 to the evaluation value indicating the smoothness of the parallax for pixels outside of the boundary region and setting a value P3 that is smaller than the value P2, to the evaluation value for pixels inside of the boundary region and regenerates the parallax image while using the stereo image on the basis of the reset evaluation value.SELECTED DRAWING: Figure 1
【課題】視差画像のノイズの低減を図ること。【解決手段】視差画像生成装置1は、ステレオカメラ2から取得したステレオ画像を基に画素毎に視差を計算し、画素毎に視差の滑らかさを示す評価値を設定し、評価値を用いて集計値を計算し、計算した集計値が最小となって画素毎の視差の滑らかさを向上させるように初期の視差画像を生成する視差計算部3と、初期の視差画像をクラスタリングすることにより連結領域を算出し、連結領域の境界線から予め定められた画素数の範囲の画素を含む境界線に沿った境界領域を算出する領域計算部4と、境界領域の外の画素においては視差の滑らかさを示す評価値に値P2を設定し、境界領域内の画素においては評価値に値P2よりも小さい値P3を設定ことにより評価値を再設定し、再設定した評価値を基にステレオ画像を用いて視差画像を再生成する視差再計算部5と、を備える。【選択図】図1
PARALLAX IMAGE GENERATION DEVICE
視差画像生成装置
2016-09-05
Patent
Electronic Resource
Japanese
IPC: | H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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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