CORRESPONDING POINT SEARCHING METHOD AND DISTANCE DETECTION DEVICE

摘要

A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.

主权项

1. A corresponding point searching method for searching for corresponding points between plural images, performed by an image processing device capable of performing an image processing on the plural images having a parallax therebetween, the method comprising:
a first searching step of performing a predetermined first method for searching for corresponding points between the plural images for each pixel in a reference image in the plural images; a second searching step of performing a predetermined second method for searching the corresponding points between the plural images for each pixel in the reference image in the plural images, the predetermined second method being different from the predetermine first method; a search accuracy judgment step of detecting whether or not search accuracy of the corresponding points obtained by the predetermined first method is not less than a reference value; and a corresponding point setting step of selecting the corresponding points obtained by the predetermined first method when the search accuracy of the corresponding points obtained by the predetermined first method is not less than the reference value, and selecting the corresponding points obtained by the predetermined second method when the search accuracy of corresponding points obtained by the predetermined first method is less than the reference value.