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US 10,769,804 B2Granted
Parallax calculation apparatus, stereo camera apparatus, vehicle, and parallax calculation method
AssigneeKYOCERA Corporation
InventorNaoto Ohara
Life of this patent
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Abstract
A parallax calculation apparatus includes an acquisition unit and a controller. The acquisition unit acquires a standard image and a reference image captured by a stereo camera. From each of the standard image and the reference image, the controller extracts lines from a plurality of lines parallel to a first direction in an image space corresponding to a baseline direction of a three-dimensional coordinate space. The controller calculates a parallax between the standard image and the reference image based on a plurality of pixels included in the extracted lines.
Claims12
A parallax calculation apparatus comprising:
- an acquisition unit configured to acquire a standard image and a reference image captured by a stereo camera;
- and
- a controller configured to extract, from each of the standard image and the reference image, lines from a plurality of lines parallel to a first direction in an image space corresponding to a baseline direction of a three-dimensional coordinate space, and to calculate a parallax between the standard image and the reference image based on a plurality of pixels included in the extracted lines, wherein
- an upper region and a lower region of the image space respectively correspond to an upper region and a lower region across a vertical direction in the three-dimensional coordinate space,
- a density of lines extracted by the controller from the lower region in the image space is higher than a density of lines extracted from the upper region, and
- the parallax between the standard image and the reference image is a difference in a position of each pixel of the reference image from a position of each pixel of the standard image.
3 more elements
A stereo camera apparatus comprising:
- a stereo camera;
- and
- a parallax calculation apparatus including a controller configured to extract, from each of a standard image and a reference image captured by the stereo camera, lines from a plurality of lines parallel to a first direction in an image space corresponding to a baseline direction of a three-dimensional coordinate space, and to calculate a parallax between the standard image and the reference image based on a plurality of pixels included in the extracted lines, wherein
- an upper region and a lower region of the image space respectively correspond to an upper region and a lower region across a vertical direction in the three-dimensional coordinate space,
- a density of lines extracted by the controller from the lower region in the image space is higher than a density of lines extracted from the upper region, and
- the parallax between the standard image and the reference image is a difference in a position of each pixel of the reference image from a position of each pixel of the standard image.
3 more elements
A vehicle equipped with a stereo camera apparatus comprising:
- a stereo camera;
- and
- a parallax calculation apparatus including a controller configured to extract, from each of a standard image and a reference image captured by the stereo camera, lines from a plurality of lines parallel to a first direction in an image space corresponding to a baseline direction of a three-dimensional coordinate space, and to calculate a parallax between the standard image and the reference image based on a plurality of pixels included in the extracted lines, wherein
- an upper region and a lower region of the image space respectively correspond to an upper region and a lower region across a vertical direction in the three-dimensional coordinate space,
- a density of lines extracted by the controller from the lower region in the image space is higher than a density of lines extracted from the upper region, and
- the parallax between the standard image and the reference image is a difference in a position of each pixel of the reference image from a position of each pixel of the standard image.
3 more elements
A parallax calculation method performed by a parallax calculation apparatus equipped with an acquisition unit and a controller, the parallax calculation method comprising:
- a step in which the acquisition unit acquires a standard image and a reference image captured by a stereo camera;
- and
- a step in which the controller extracts, from each of the standard image and the reference image, lines from a plurality of lines parallel to a first direction in an image space corresponding to a baseline direction of a three-dimensional coordinate space, and calculates a parallax between the standard image and the reference image based on a plurality of pixels included in the extracted lines, wherein
- an upper region and a lower region of the image space respectively correspond to an upper region and a lower region across a vertical direction in the three-dimensional coordinate space,
- a density of lines extracted by the controller from the lower region in the image space is higher than a density of lines extracted from the upper region, and
- the parallax between the standard image and the reference image is a difference in a position of each pixel of the reference image from a position of each pixel of the standard image.
3 more elements
Dependencies are inferred from the claim text.