| 摘要 |
PROBLEM TO BE SOLVED: To provide a stereo image processing method for reducing mismatching in stereo matching processing due to a noise included in an image picked up by a stereo camera, and for acquiring a highly reliable parallax image and distance image. SOLUTION: In step S1, the luminance value of the pixel of a reference image is compared with a prescribed threshold Nth. In step S2, the luminance value of the pixel of a reference image whose luminance value is determined to be smaller than a prescribed threshold Nth is replaced with 0 value. In step S4, when the luminance value of the pixel of the reference image is 0 value, a parallax vector Vp of the pixel is set to 0 value. In step S5, corresponding points in a comparison image are specified by defining the pixel of the reference image whose luminance value is determined to be equal to or more than the prescribed threshold Nth as a pixel of interest, and the parallax vector Vp of the pixel of interest generated according to a distance Z to a region where a target object 2 exists is obtained, and the processing is ended. COPYRIGHT: (C)2009,JPO&INPIT
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