STEREO IMAGE PROCESSOR AND STEREO IMAGE PROCESSING METHOD

摘要

A stereo image processor (1) performs image matching, in an image matching section (6), on partial images of the same object included in a base image and a comparative image respectively and detects pixel-precision partial displacement between the base image and the comparative image based on a result of the image matching. Next, in an inverted phase filter processing section (9) in a second matching section (8), pixel values from the comparative image are filtered with an inverted phase filter using, as a filter coefficient, pixel values from the base image with the order thereof reversed, given the partial images of the same object that have minimum pixel-precision partial displacement. Then, in a peak detecting section (10), a peak position where an output value of the filtering with the inverted phase filter is maximum is detected and sub-pixel-precision partial displacement between the base image and the comparative image is detected based on the peak position. In this way, there is provided a stereo image processor that has improved accuracy of disparity calculation and analytical resolution and that requires less computation for disparity calculation and is capable of fast processing.

主权项

1. A stereo image processor, comprising
a stereo image acquiring section acquiring a stereo image which includes a first image obtained by taking an image of an object by a first imaging system and a second image obtained by taking an image of the object by a second imaging system, an image matching section extracting a first coordinate point included in the first image and a second coordinate point included in the second image by image matching, the second coordinate point corresponding to the first coordinate point, a filter section extracting a first partial image including the first coordinate point from the first image, extracting a second partial image including the second coordinate point from the second image, and generating an output signal sequence based both on (i) values of a sequence of luminance values of respective coordinate points included in the first partial image with an order thereof reversed with respect to coordinates and on (ii) luminance values of respective coordinate points induced in the second partial image, a peak position detecting section detecting a peak position where an output value is maximum in the output signal sequence, and calculating sub-pixel level partial displacement between the first image and the second image based on the peak position.