| 摘要 |
PURPOSE: To conduct correspondence between stereo images, to decide a parallax of the stereo image with an arithmetic amount as less as possible and to absorb an error caused by corresponding. CONSTITUTION: Two image pickup devices obtain left and right images in the image pickup phase (A) (S101, S102). Then, in the characteristic extracted phase (B), a characteristic is extracted for the left and right images obtained in the image pickup phase (A) (S103, S104) and the two left right characteristic images corresponds with each other in the corresponding phase (C) at the post state (S105). In the corresponding phase (C), a window being the unit of correspondence is set sequentially by scanning a linear window according to a scanning rule on one referenced characteristic image and the correspondence is conducted with the other characteristic image for each set linear window. Next, in the parallax decision phase (D), the one reference characteristic image is divided into blocks of a size and a histogram is generated by using the parallax obtained by the correspondence of the linear window including the picture elements of each block and, for example, a parallax at each peak position is sued for a block parallax (S106). |
