STEREO CAMERA APPARATUS, STEREO CAMERA SYSTEM AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To facilitate matching images taken by two cameras.

SOLUTION: Two cameras 1 and 2 are disposed parallel with respect to an optical axis. The position of a pixel of each image taken by the cameras 1 and 2 is represented by a first coordinate system which is a two dimensional orthogonal coordinate prescribed on a light-receiving plane. The position of a point in an actual space is represented with angles with respect to tree axis; i.e. a first direction connecting optical centers of the cameras 1 and 2, a second direction which is a direction of the optical axis of each camera, and a third direction perpendicular to the first direction and the second direction. An arithmetic processing section 10 includes: a first conversion section 101 that converts a taken image into a first conversion image the position of which is represented by an angle with respect to the axis of first direction and an angle with respect to the axis of second direction; a second conversion section 102 that converts the taken image into a second conversion image the position of which is represented by an angle with respect to the axis of the first direction and an angle with respect to the axis of third direction; and a parallax estimation unit 103 that calculates the parallax using the first conversion image and the second conversion image.

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