PROBLEM TO BE SOLVED: To provide a parallax value computation device that makes a correction by implementing appropriate processing corresponding to a cause of a parallax value error on a parallax value in a unit image area of a correction object, and further to provide an object recognition device, a mobile instrument control system and a parallax computation program.SOLUTION: A parallax image creation unit 132 includes: a parallax value calculation section 132C that calculates a parallax value among a plurality of acquired image data imaged by a plurality of imaging units for imaging the imaging areas for each unit image area; and a reliability determination section 132D. The parallax image creation unit 132 comprises: a reliability determination value change section 132E; a periphery complement processing section 132F; and an interframe complement processing section 132H, as parallax value correction means that corrects the parallax value of the unit image area satisfying at least one parallax value error condition among a plurality of mutually different parallax value error conditions, using correction processing corresponding to the at least one parallax value error condition among a plurality of different correction processing for each of the plurality of parallax value error conditions.SELECTED DRAWING: Figure 1

    【課題】補正対象となる単位画像領域の視差値について、その視差値エラーの原因に対応した適切な補正処理により補正を行う視差値演算装置、物体認識装置、移動体機器制御システム及び視差演算用プログラムを提供する。【解決手段】撮像領域を撮像する複数の撮像部で撮像した複数の撮像画像データ間における視差値を単位画像領域ごとに算出する視差値算出部132Cと信頼度判定部132Dを備えた視差画像生成部132において、互いに異なる複数の視差値エラー条件のうちの少なくとも1つの視差値エラー条件を満たす単位画像領域の視差値を、複数の視差値エラー条件ごとに異なる複数の補正処理のうち該少なくとも1つの視差値エラー条件に対応する補正処理を用いて補正する視差値補正手段として、信頼度判定値変更部132E,周辺補完処理部132F,フレーム間補完処理部132Hを有する。【選択図】図1


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    Title :

    PARALLAX VALUE COMPUTATION DEVICE, OBJECT RECOGNITION DEVICE, MOBILE INSTRUMENT CONTROL SYSTEM AND PARALLAX COMPUTATION PROGRAM


    Additional title:

    視差値演算装置、物体認識装置、移動体機器制御システム及び視差演算用プログラム


    Contributors:

    Publication date :

    2016-09-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / 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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