| 摘要 |
PROBLEM TO BE SOLVED: To provide a depth estimation device capable of accurately and fast estimating the depth of an object while using camera images captured by a plurality of cameras.SOLUTION: The depth estimation device comprises: a camera image acquisition part 1 for acquiring camera images from each camera; an object region determination part 6 for determining an object region in a three-dimensional voxel space on the basis of the camera images; an object region projection part 7 for producing a projection image of the object region for each camera image; a corresponding point detection part 61 for detecting a corresponding point by performing corresponding point matching defining the same line as a search clearance between projection images; and a depth estimation part 8 for estimating the depth of the object region on the basis of a parallax of the corresponding points. |
