Image processing method and apparatus

摘要

Images picked up by a plurality of cameras are corrected and projected on a single plane. The input images are converted to projected images on a reference projection plane in accordance with reference parameters and camera parameters. Then images of an area of nx x ny whose center is an intersection B that is a perpendicular from a center of a lens of a m-th camera on the reference projection plane are extracted from the projected images. By extracting the area as described above, there is obtained an image which can be assumed that optical axes of each camera intersects perpendicular to the reference projection plane and the optical axes are parallel to each other. Therefore, when an epipolar plane is constructed during an image interpolation process, corresponding points form a straight line on the epipolar plane, thus it becomes easier to detect the corresponding points.