| 摘要 |
PROBLEM TO BE SOLVED: To provide an image processing apparatus configured to recognize each of objects, while reducing image processing load even when the objects are imaged in an overlapping manner.SOLUTION: When an edge is extracted from an acquired image, blur amount estimation means 21 estimates the amount of blur, on the basis of a difference in pixel value between a pair of pixels located closest to both sides of the edge, and a difference in pixel value between at least one pair of pixels located at both sides of the pair of pixels. Distance image generation means 22 scans an image with the blur amount estimated by the blur amount estimation means 21, the blur amount being allocated in each of pixel positions, in a predetermined direction, to map the blur amount of one edge to pixels located between the edges existing in a scanning direction. The distance image generation means 22 calculates a distance from an imaging apparatus to a subject, on the basis of the blur amount mapped in the pixel positions and correlation information between the blur amount of the image from the imaging apparatus and the distance from the imaging apparatus to the subject, to generate a distance image.SELECTED DRAWING: Figure 1 |
