IMAGE PROCESSING DEVICE AND METHOD

摘要

PROBLEM TO BE SOLVED: To calculate an inclination of a plane of an object rendered in an image on a subarea level. SOLUTION: A subarea SAxy set in a reference image is expanded/shrunk in the epi-polar line direction based on an expansion parameterβshowing an expansion ratio. A first matching processing part 11 evaluation correlation of a luminance characteristic to specify a first correlation destination matching in luminance with an expanded subarea SA'xy in a comparison image. A computing part 12 specifies an expansion parameterβwith the highest luminance characteristic correlation evaluated for the first correlation destination in the respective first correlation destinations specified by varying the expansion parameterβ. On the basis of the specified expansion parameterβ, the plane inclination of the object around a vertical axis of a stereo camera is computed. COPYRIGHT: (C)2005,JPO&NCIPI