Stereo image processing device and stereo image processing method

摘要

An image segmenting unit (401) in the stereo image processing device (100) extracts M (a natural number between 2 and N, inclusive) number of segmented target images wherein a first partial area within a target image has been segmented into N (a natural number of 2 or more), and also extracts M number of segmented reference images wherein a second partial area within a reference image has been segmented into N. An image concatenating unit (402) serially concatenates M data strings, each comprising a intensity value from each segmented target image, to form a first image data string and also serially concatenates M data strings, each comprising a intensity value from each segmented reference image, to form a second image data string. A filtering unit (403) and a peak position detection unit (104) calculate the disparity between the standard images and the reference images.

主权项

1. A stereo image processing apparatus that computes a shift between a target image and a reference image that form stereo images, the stereo image processing apparatus comprising:
an extraction section that extracts M many divisional target images obtained by dividing a first partial region in the target image into N parts (where N is a natural number equal to or greater than 2, and M is a natural number equal to or greater than 2 but equal to or less than N), and extracts M many divisional reference images obtained by dividing a second partial region in the reference image corresponding to the first partial region in the target image into N parts; a concatenating section that forms a first concatenated data sequence by concatenating, in series, M many data sequences, each of which comprises intensity values of a corresponding one of the divisional target images, and forms a second concatenated data sequence by concatenating, in series, M many data sequences, each of which comprises intensity values of a corresponding one of the divisional reference images; a filtering section that computes inverted phase filter coefficients by reversing the data order of the first concatenated data sequence, and performs filtering on the second concatenated data sequence using the inverted phase filter coefficients; and a computation section that computes the shift based on a peak position in a filtering result of the filtering section.