| 摘要 |
A method of 3-dimensional structure estimation of the invention, making use of a plurality of stereo-pictures, repeats, for each pixel of a first picture, a step of extracting corresponding small regions (4) corresponding to the concerning pixel according to a depth estimation (68); a step of calculating a neighboring correspondence value for each of the corresponding small regions representing correspondence among neighboring corresponding small regions of picures taken by neighboring cameras; a step of obtaining a sum (61) of the neighboring correspondence values; and selecting a value of the depth estimation (68) which gives a singular value of the sum (61) representing correspondence among the corresponding small regions.
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