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.
Claims14
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.
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.
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.
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.
Dependencies are inferred from the claim text.