| 摘要 |
PURPOSE:To measure an absolute distance of each point on an image at a high speed by generating areas having a similar direction from two sheets of normal distribution diagram, and comparing these areas with regard to right and left images. CONSTITUTION:By an area dividing part 14, a left area dividing result 15L and a right are dividing result 15R are obtained from a left normal direction distribution diagram 12L and a right normal direction distribution diagram 12R, respectively. In a comparing part 17, a position of the center of gravity of each area of the right and left, an area of the area, and an average surface element direction of the area are calculated from the area dividing result. Next, one center of gravity of the left area is fetched, and whether that which has the same Y coordinate, area of the area, and average surface element direction of the area exists in the center of gravity of the right or not is searched. It is executed with regard to all the centers of gravity of the left area. In such a way, a center-of-gravity parallax distribution diagram 18 is obtained. A parallax in a position of the center of gravity is used as distance information by a parallax distance conversion table 20. Subsequently, a distance distribution in each point of the area is obtained from said information and the average surface element direction. It is executed with regard to all the areas, and a distance distribution diagram 21 is obtained.
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