IMAGE PROCESSOR, IMAGE PROCESSING METHOD, IMAGE PROCESSING PROGRAM, AND MOBILE APPARATUS CONTROL SYSTEM

摘要

PROBLEM TO BE SOLVED: To prevent the interpolation of the parallax values of a plurality of solid objects in the case of interpolating the parallax values of a parallax image generated from a plurality of pickup images obtained by imaging a front side by a plurality of imaging means.SOLUTION: An image processor includes: a parallax image generation part 132 for generating a parallax image from a plurality of pickup images obtained by imaging a front side by stereo cameras 110a and 110b; a parallax interpolation part 133 for interpolating the parallax values of two points separated on the same line of the parallax image; upper edge detection means for detecting a horizontal edge above the line; and remote parallax detection means for detecting a remote parallax value as a parallax value smaller than the parallax values of the two points in a predetermined range above and below the line. The parallax interpolation part 133 performs interpolation between the two points when the horizontal edge is detected by the upper edge detection means, and the remote parallax value is not detected by the remote parallax detection means.