Stereo matching processing apparatus, stereo matching processing method and computer-readable recording medium

摘要

Improving stereo matching speed and accuracy, an image data input unit acquires image data of plural images of a predetermined region captured from plural different positions. A reference disparity setting unit sets a reference disparity suitable for the plural images. The search range setting unit sets a predetermined range smaller than the image range as a search range for stereo matching, by referring to points in the images between which the reference disparity set by the reference disparity setting unit is provided. A stereo matching unit searches out, for an arbitrary point in one of the plural images, a point in the other image that matches the arbitrary point, from the search range set by the search range setting unit, by referring to a point in the other image that provides the reference disparity set by the reference disparity setting unit.

主权项

1. A stereo matching processing apparatus, comprising:
an image data acquiring unit that acquires image data of a plurality of images of a region, the plurality of images being captured at substantially a same time at a plurality of different positions so as to contain an overlapping portion; a reference disparity setting unit that sets a disparity provided when a point at a reference height in a real space is seen from points in the plurality of images corresponding to the point at the reference height as a reference disparity that is suitable for the plurality of images, the disparity being a difference in an apparent direction of an object in the region having been captured as seen from different positions, the different positions being non-collinear with the object in the region having been captured; a search range setting unit that sets a predetermined range that is smaller than the overlapping portion of the plurality of images as a search range for stereo matching, by referring to points in the plurality of images between which the reference disparity set by said reference disparity setting unit is provided; and a searching unit that searches out, for an arbitrary point in one image of the plurality of images, a point in an other image of the plurality images that matches the arbitrary point, from the search range set by said search range setting unit, by referring to the point in the other image that provides the reference disparity set by said reference disparity setting unit.