DISPARITY VALUE DERIVING DEVICE, EQUIPMENT CONTROL SYSTEM, MOVABLE APPARATUS, AND ROBOT

摘要

A disparity value deriving device includes an acquisition unit configured to acquire a degree of matching between a reference region in a reference image captured from a first imaging position and each of a plurality of region in a designated range including a corresponding region to the reference region in a comparison image captured from a second imaging position; a synthesizer configured to synthesize the degree of matching of a reference region in neighborhood of a predetermined reference region in the reference image and the degree of matching of the predetermined reference region in the reference image; and a deriving unit configured to derive a disparity value of an object whose image is being captured in the predetermined reference region and a corresponding region to the predetermined reference region, based on a synthesized degree of matching obtained by the synthesizer.

主权项

1. A disparity value deriving device comprising:
an acquisition unit configured to acquire a degree of matching between a reference region in a reference image captured from a first imaging position and each of a plurality of regions in a designated range including a corresponding region corresponding to the reference region in a comparison image captured from a second imaging position; a synthesizer configured to synthesize the degree of matching of a reference region in neighborhood of a predetermined reference region in the reference image and the degree of matching of the predetermined reference region in the reference image; and a deriving unit configured to derive a disparity value of an object whose image is being captured in the predetermined reference region and the corresponding region corresponding to the predetermined reference region, based on a synthesized degree of matching obtained by the synthesizer, wherein at least a part of the regions in the designated range is displaced two or more pixels in a closest region in a predetermined direction.