SOLID SHAPE DETECTION METHOD

摘要

PURPOSE:To obtain parallax with improved reliability by allowing two images to correspond each other positively when detecting a solid shape utilizing the parallax of both eyes. CONSTITUTION:The edge image of an image which is picked up by two TV cameras 1a and 1b is extracted by edge extraction parts 3a and 3b. The edge to be detected is specified in one edge image and the relative difference of position is obtained between picture elements which are considered to be related in the other edge image for each picture element constituting a specified edge. Also, the differential value of the picture element constituting the edge with an edge image based on the light and shade stored at image accumulation parts 2a and 2b is obtained at differential information extraction parts 4a and 4b. The absolute value of the difference of differential values is obtained between picture elements where the relative difference of positions is obtained and a weight coefficient is determined by applying a defined function to the absolute value. A parallax is determined based on the frequency distribution obtained by weighting the frequency for the relative difference of positions using the above weighting coefficient.