SPARSE DISPARITY IMAGE PROCESSING METHOD AND APPARATUS, AND OBJECT DETECTION METHOD AND APPARATUS

摘要

PROBLEM TO BE SOLVED: To provide a sparse disparity image processing method and apparatus suitable for object detection, and an object detection method and apparatus based thereon.SOLUTION: A sparse disparity image processing method includes: acquiring a parallax image from which a predetermined object is to be detected; deciding horizontal distance restriction and parallax difference restriction to be satisfied by a pair of start point and end point for filling; deciding the pair of start point and end point for horizontal filling; filling a blank parallax point located between the horizontal start and end points; deciding vertical distance restriction and parallax difference restriction to be satisfied by the pair of start point and end point for filling; deciding the pair of start point and end point for vertical filling; and filling a blank parallax point located between the vertical start and end points. An image with a filled parallax point suitable for object detection can be acquired, which is useful for object detection.