IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND INFORMATION STORAGE DEVICE

摘要

An image processing device includes a processor including hardware, the processor being configured to calculate comparison result information through a comparison process performed on the results of a census transform process performed on a first image and the results of the census transform process performed on a second image, set weight information, calculate a cost using the comparison result information and the weight information, calculate the amount of disparity using the cost, set a first weight having as low degree of contribution to the cost on a neighboring pixel which is determined to be affected by noise to a large extent among a plurality of neighboring pixels, and set a second weight having a high degree of contribution to the cost on a neighboring pixel which is determined to be affected by noise to a small extent among the plurality of neighboring pixels.

主权项

1. An image processing device comprising:
a processor comprising hardware, the processor being configured to: during a stereo matching process performed on the first image and the second image, perform a census transform process on a first image and a second image, and calculate comparison result information through a comparison process between results of the census transform process on the first image and results of the census transform process on the second image; set weight information for calculating a cost; calculate the cost at a pixel of interest using the comparison result information and the weight information; and calculate an amount of disparity at the pixel of interest using the cost, wherein the processor is configured to set a first weight having a low degree of contribution to the cost on a neighboring pixel which is determined to be affected by noise to a large extent among a plurality of neighboring pixels situated around the pixel of interest, and set a second weight having a high degree of contribution to the cost on a neighboring pixel which is determined to be affected by the noise to a small extent among the plurality of neighboring pixels, the plurality of neighboring pixels being situated in a given area within the first image and the second image.