| 摘要 |
PROBLEM TO BE SOLVED: To generate a highly accurate parallax image in a short time.SOLUTION: The present invention comprises: a pattern projector 3 for radiating a pattern to an object; a reference image capture unit 210 and a comparison image capture unit 220 for capturing the image of the object to which the pattern is radiated; a parallax image generation unit 230 for generating a parallax image from the captured images; a parallax image evaluation unit 430 for changing the value of a parameter associated with the pattern while evaluating the parallax image, and outputting the parallax image on the basis of the evaluation result; and an object determination unit 410 for determining at least one of the size, shape, color, and light transmissivity of the object and the distance from a stereo camera 2. The parallax image evaluation unit 430 acquires a parameter value that is predetermined as a value corresponding to the determination result of the object determination unit 410 as an evaluation criterion value, and narrows down, on the basis of the acquired evaluation criterion value, an evaluation range that is a range of parameter values in which the parallax image is evaluated.SELECTED DRAWING: Figure 7 |
