| 摘要 |
PROBLEM TO BE SOLVED: To obtain steady and highly accurate three-dimensional data having little measurement error and other errors, by reducing the influence of a disorder and noise, occurring sporadically, of a picture signal. SOLUTION: A left image 101 and a right image 102, which have been obtained by a stereo camera, are subjected to a feature extraction processing in feature extraction parts 103, 104 respectively to produce a left featured image and a right featured image. The outputs of the feature extraction parts 103, 104 are inputted to an associating part 105 to associate the featured images with each other in a one-dimensional window unit, thereby obtaining a parallax of a one-dimensional window unit. The output of the associating part 105 is inputted to a parallax accumulation part 106 and a parallax decision part 107. The parallax decision part 107 decides a parallax of a block unit of an image in process by using a parallax of a one-dimensional window unit of the image in process and a parallax of a one-dimensional window unit of an image, which has been processed and accumulated in the parallax accumulation part 106. |
