INTERPOLATING METHOD FOR DISTANCE DATA, AND METHOD AND DEVICE FOR COLOR IMAGE HIERARCHICAL CONSTITUTION

摘要

PROBLEM TO BE SOLVED: To provide the method for interpolating distance data in an area where a distance measurement can not be made in a distance image and to provide the method and device for making a color image hierarchical by using the distance data. SOLUTION: While a distance image is picked up by a range finder, a color image is picked up by a CCD 10. A distance data interpolation part 17 uses the picked-up color image information to find distance data of a pixel of interest from distance data of circumferential pixels through weighted interpolation corresponding the difference in color and the difference in pixel coordinate value between the pixel of interest and a reference pixel. A hierarchical constituting process means 18 makes the color image hierarchical by using the distance data and the extracted image is put together with other images by an image composition part 21.