Disparity deriving apparatus, movable apparatus, robot, method of deriving disparity, method of producing disparity, program, and storage medium

摘要

A disparity deriving apparatus for deriving disparity of an object based on a captured reference image of the object and a captured comparison image of the object includes a calculator to calculate costs between a first reference area in the reference image and each one of corresponding areas in the comparison image, and costs between a second reference area and each one of corresponding areas corresponding to the second reference area in the comparison image; a synthesizer to synthesize the costs of the first reference area, and the costs of the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis cost; and an output unit to output the derived disparity value and a specific cost of the first reference area identified by the derived disparity value.

主权项

1. A disparity deriving apparatus for deriving disparity of an object based on a reference image of the object captured at a first image capturing position and a comparison image of the object captured at a second image capturing position, the disparity deriving apparatus comprising:
processing circuitry configured to
calculate costs between a first reference area in the reference image and each one of corresponding areas corresponding to the first reference area in a given region in the comparison image, and costs between a second reference area, surrounding the first reference area in the reference image, and each one of corresponding areas corresponding to the second reference area in a given region in the comparison image;synthesize the costs of the first reference area, and the costs of the second reference area as synthesis costs;derive a disparity value of the object captured in the first reference area based on the synthesis costs;determine, from the costs of the first reference area, a specific cost that is identified by the derived disparity value; andoutput the derived disparity value and the determined specific cost that is identified by the derived disparity value.