RANGE IMAGE SENSOR, PROCESSOR AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To provide a range image sensor capable of precisely obtaining a distance value of a pixel corresponding to a contour in a discontinuous portion of the distance value in a depth map.SOLUTION: The range image sensor comprises: a first image generation unit 10 that generates a depth map; a second image generation unit 20 that generates a high-definition image which has preciseness higher than the depth map; and a processor 30. The processor 30 includes: a boundary extraction unit 33; a pixel extraction unit 34; and a correction unit 35. The boundary extraction unit 33 extracts positions of two boundary pixels interposed by a boundary of an object of interest in a target space from a high-definition image. The pixel extraction unit 34 extracts target pixels including an object boundary and reference pixels which are positioned at the rear side of the target pixel neighboring the target pixels in the depth map based on the position of boundary pixels. The correction unit 35 corrects the distance value of the target pixels using the position of the boundary in a range of the target pixels and a correction value which is preset with respect to the density difference of the position between the target pixel and a reference pixel.