Stereo image processing apparatus and stereo image processing method

摘要

Provided is a stereo image processing apparatus wherein parallax can be calculated with high precision. A window-function shifting unit (411) sets a third window function, which is formed by shifting a second window function on the basis of the amount of deviation in sub-pixel units, onto an image cutting-out unit (412). The image cutting-out unit (412) applies the second window function to a position subjected to a cut-out, cuts out a unit partial target image from a standard image, applies the second window function or the third window function, and cuts out a unit partial reference image from a reference image. A peak-position detection unit (106) calculates the amount of deviation in sub-pixel units on the basis of the phase difference between a data string comprising brightness of the cut-out unit partial target image, and a data string comprising brightness of the cut-out unit partial reference image.

主权项

1. A stereo image processing apparatus that computes a subpixel-level disparity between a target image and a reference image that form stereo images, the stereo image processing apparatus comprising:
an extraction section that extracts a unit partial target image for subpixel estimation from the target image by applying a first window function at an extraction target position, and that extracts a unit partial reference image for subpixel estimation from the reference image by applying the first window function or a second window function that is set; a computation section that computes the subpixel-level disparity based on a phase difference between a data sequence including intensity values of the extracted unit partial target image for subpixel estimation and a data sequence including intensity values of the extracted unit partial reference image for subpixel estimation; and a window function setting section that sets, with respect to the extraction section, the second window function, which is formed by shifting the first window function based on the subpixel-level disparity computed by the computation section, wherein the computation section further:
computes an inverted phase filter coefficient by reversing the data order of the data sequence including the intensity values of the extracted unit partial target image for subpixel estimation;performs filtering on the data sequence including the intensity values of the unit partial reference image for subpixel estimation using the inverted phase filter coefficient; andcomputes the subpixel-level disparity based on a peak position in a result of the filtering.