| 摘要 |
PROBLEM TO BE SOLVED: To calculate distance with high reliability by reducing the error of parallax to some degree even in the case of causing the error by image noise. SOLUTION: This three dimensional image processing device is provided with a corresponding point detector 8 detecting each pixel of one image corresponding to each pixel of the other image, an absolute value calculator 12 separating the image into pixel blocks of m×m pixels and obtaining the absolute value of parallax vector for each pixel block, an absolute value distribution observer 14 observing the frequency distribution following the absolute value of the obtained parallax vector, a correction quantizer 16 eliminating the absolute value of the parallax vector with frequency lower than a given value, extracting maximum value of the absolute value of the parallax vector over or equal to the given value and determining it to be the representative value and quantizing each parallax vector in the pixel blocks making the reference value be a reference, and a distance calculator 10 calculating the distance to the object, based on the quantized parallax vector.
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