| 摘要 |
In order to provide a stereo camera of small size and wherein errors of distance measurement are stable, there are provided: an image acquisition section; a first region processing section; a target object extraction section; a cause-of-error identifying section; and a second region processing section. The image acquisition section acquires a plurality of images that are picked up by a plurality of image pickup units. The first region processing section generates a first distance image by dividing the plurality of respective images acquired by the image acquisition section into each of first regions comprising a predetermined plurality of pixels, and measures the distance in each of the divided first regions. The target object extraction section extracts a target object from the distance image or from the image and extracts second regions comprising a plurality of first regions including the extracted target object. The cause-of-error identifying section extracts prescribed representative values from the second region, and compares the brightness value of arbitrary pixels in the second region with the brightness value of pixels in a corresponding region, from an arbitrary pixel to a position shifted by an amount corresponding to the parallax indicating a representative value, and identifies the cause-of-error on the basis of the results of this comparison. The second region processing section determines a weight value based on the cause-of-error and, using this weight value, measures the distance in each second region, and generates a second distance image. |
