PARALLAX VALUE DERIVATION DEVICE, APPARATUS CONTROL SYSTEM, MOVING BODY, ROBOT, PARALLAX VALUE DERIVATION METHOD AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a parallax value derivation device, apparatus control system, moving body, robot and parallax value derivation method and program that suppress occurrence of faulty matching when occlusion occurs in stereo matching processing.SOLUTION: A cost correction unit 330 is configured to: determine that a reference pixel is not included in an occlusion area when a flag of a left direction reliability level is equal to 0 and a flag of a right direction reliability level is equal to 0 as to the reference pixel of a reference image; add a route cost value in the left direction and route cost value in the right direction which are calculated by a cost consolidation unit 320 to a sum value of route cost values in other six directions and regard the calculated value as a synthesis cost value; determine that the reference pixel is included in the occlusion area when the flag of the left direction reliability level is equal to 1 and the flag of the right direction reliability level is equal to 1; and treat a parallax for the reference pixel as an invalid parallax, with the synthesis cost value being 0.