| 摘要 |
In the present invention, one of a plurality of images having a parallax is considered a baseline image and another is considered a reference image; as the cost of subpixel parallax candidates having the possibility of having a pixel on the baseline image, the correspondence error of the pixel values of coordinates on the baseline image and interpolated pixel values of subpixel coordinates on the reference image is calculated; the cost volume that is of the subpixel parallax level and that results from the 3D arrangement of the cost in the horizontal direction, vertical direction, and parallax direction is generated; when eliminating a noise component contained in each cost, filtering is performed that smooths while preserving object boundaries; the subpixel parallax that imparts the lowest cost within a specific range of the cost volume of the subpixel parallax level is determined with the initial parallax being the pixel unit parallax or subpixel parallax obtained ahead of time in the coordinates on the baseline image; and furthermore, depth is determined. As a result, when calculating the parallax and depth from a plurality of images, the parallax is calculated at a high precision, calculation time is greatly reduced through parallelization, and rapid depth calculation becomes possible. |
