| 摘要 |
PROBLEM TO BE SOLVED: To input images photographed by two cameras arranged at different positions almost in parallel and calculate a parallax offset based on the photographed images. SOLUTION: Feature point pairs included in images photographed by two cameras are detected and a parallax offset in the photographed images of the two cameras is calculated by analyzing the feature point pairs. At first, a feature point pair determined to be highly reliable is selected by filtering the feature point pairs, a histogram of parallax offset data corresponding to the selected feature point pair is generated, a constraint in parallax offset values is set by using the histogram, and a parallax offset optimum value is calculated on the basis of the set constraint. In this configuration, even when a part of parameters of one camera is unknown, an optimum parallax offset can be calculated on the basis of the photographed images of respective cameras and a three-dimensional map can be generated. COPYRIGHT: (C)2009,JPO&INPIT
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