DEPTH ESTIMATION APPARATUS FOR DEPTH CONSISTENCY BETWEEN FRAMES AND ITS METHOD

摘要

An apparatus and a method for estimating depth for maintaining depth consistency between frames are provided to reduce a visual color error by improving accuracy of depth or disparity information. An image input and storage unit(11) receives two or more images captured at the same time and stores them by frames. A camera calibrating unit(12) performs camera calibration on an image inputted via the image input and storage unit. A depth search range setting unit(14) classifies the images stored in the image input and storage unit by areas based on the camera calibration results, and sets a search range to estimate depth of each pixel of the classified areas. An image and pixel selecting unit(15) selects depth by comparing similarities of color values of each pixel of the search range set by the depth search range setting unit. A similar function calculation and initial depth selecting unit(16) selects depth of each pixel according to similarities of similar functions by reducing similar function calculation targets by using the deviation with respect to the color values.