INFORMATION PROCESSING DEVICE, IMAGE PICKUP DEVICE, MOVING BODY CONTROL SYSTEM, INFORMATION PROCESSING METHOD, AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To reduce the length of time taken to obtain the result of effectiveness evaluation of matching to calculate the parallax value between stereo images even when the images involve any repeated pattern.SOLUTION: The level of non-similarity between small areas in a reference image (one of stereo images) and a comparison object image (the other of the stereo images) is figured out by ZSSD or otherwise. When the minimum value of non-similarity level is detected, an upper threshold Uth and a lower threshold Lth are set according to the minimum value. The number of occurrences of the minimum value is counted in the range between the upper and lower thresholds. When a minimum value below the lower threshold is detected, the upper and lower thresholds are updated according to that minimum value. The counted number of occurrences of the minimum value within the finally updated range between the upper and lower thresholds is outputted. If the counted number is a prescribed level or more, the parallax value is invalidated. When search processing is ended, the result of effectiveness evaluation of matching is obtained.SELECTED DRAWING: Figure 8