| 摘要 |
PROBLEM TO BE SOLVED: To provide a correlation calculation method for calculating the distribution of distances up to an object at a high speed. SOLUTION: The image of an object is picked up by a pair of image pickup devices 10 and 11 and that image is made into a multi-resolution image in a pyramid structure by a multi-resolution image generating part 20. Next, the images of respective layers are made into edge images buy a spatial filter 30 for reducing an arithmetic quantity. Next, stereo collation is performed between the respective layers by a correlation operating part 40. At such a time, first of all, it is performed between the images, which are low-resolution images, of an upper layer and almost parallax is found. Besides, a correlation area and a search area corresponding to the stereo collation of the next layer are set by that parallax. By repeating such operation, the stereo collation to the final layer can be completed in a short time. Since the final layer is a source image, it becomes a high-density distance image equal with conventional one. Then, the distribution of distances to the object and the direction of a plane to form the object are calculated at a high speed by a distance distribution calculating part 50 and a plane direction estimating part 60. |
