Information processing apparatus, movable body control system, and information processing method
AssigneeCanon Kabushiki Kaisha
InventorsMakoto Oigawa, Kazuya Nobayashi
Life of this patent
Estimating the term…
Abstract
An information processing apparatus acquires a first parallax image and a second parallax image, which are parallax images that are a group of images having parallax with each other and captured by an imaging unit with different exposure conditions, acquires reliability, which is an accuracy of a parallax amount of the parallax images, for the first parallax image and the second parallax image, and selects the parallax images for generating information about a distance from a plurality of the parallax images including the first parallax image and the second parallax image, based on the reliability.
Claims17
An information processing apparatus comprising:
- a memory storing instructions;
- and
- a processor configured to execute the instructions to:
- acquire a first pair of parallax images and a second pair of parallax images, each pair being a group of images having parallax with each other and captured by an imaging unit under different exposure conditions, wherein the first pair of parallax images is captured under a first exposure condition and the second pair of parallax images is captured under a second exposure condition that is different from the first exposure condition,
- acquire reliability, which indicates an accuracy of a parallax amount, for each of the first pair of parallax images and the second pair of parallax images, wherein the reliability is obtained by combining at least:
- reliability regarding a luminance saturation, reliability regarding a motion blur, and reliability regarding a contrast,
- select one pair of parallax images from among the first pair of parallax images and the second pair of parallax images, based on the reliability, so as to generate information about a distance, without combining the partial blocks from different pairs of images, and
- calculate the parallax amount from only the selected pair of parallax images and generate the information about the distance based on the parallax amount.
Dependencies are inferred from the claim text.