| 摘要 |
PURPOSE:To generate distance information in a real time by using stereo feature points obtained by processing images from two TV cameras whose scanning lines are made to correspond to each other. CONSTITUTION:A parallax generation part 21 delays two feature point images 1 and 2 which are inputted at a video rate to generate a couple of one image 11 of delay quantity (x) picture elements and the other image 12 of delay quantity (y) picture elements as to all necessary parallaxes (x-y). A double image coincidence component 23 inputs the couple of images outputted by the parallax generation part 21 and extracts a double image coincidence part where feature points are continuously coincident between the couple of images. A distance image generating circuit 24 synchronizes and decodes the double image coincidence image 13 between a double image part equipped with double image coincidence components 23 as many as necessary parallaxes and the quantity of parallaxes output by the respective double image coincidence components 23 to generate a distance image 14 to which the value of a parallax as the value of a picture element is assigned. Consequently, the distance information can be generated in real time. |
