Vehicle vicinity supervising device and vicinity supervising method
AssigneesDenso Corporation, Toyota Jidosha Kabushiki Kaisha
InventorsToshihiko TERADA, Naohide UCHIDA, Hirotake ISHIGAMI, Hiroaki ITO
Life of this patent
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Abstract
An apparatus for supervising a vicinity of a vehicle includes: an image capturing unit that captures a plurality of images in which an object is simultaneously captured from different locations; a parallax calculation unit that performs a sub pixel estimation based on the plurality of images to calculate a parallax value; a parallax offset calculation unit that calculates a parallax offset value based on the parallax value under a condition where a decimal part S of the parallax value is within a predetermined range; and a parallax correction unit that corrects the parallax value using the parallax offset value.
Claims4
An apparatus for supervising vicinity of a vehicle comprising:
- an image capturing unit that captures a plurality of images in which an object is simultaneously captured from different locations;
- a parallax calculation unit that performs a sub pixel estimation based on the plurality of images to calculate a parallax value;
- a parallax offset calculation unit that calculates a parallax offset value based on the parallax value under a condition where a decimal part S of the parallax value is within a predetermined range;
- and
- a parallax correction unit that corrects the parallax value using the parallax offset value.
A method for supervising vicinity of a vehicle comprising:
- an image capturing step for capturing a plurality of images in which an object is simultaneously captured from different locations;
- a parallax calculation step for performing a sub pixel estimation based on the plurality of images to calculate a parallax value;
- a parallax offset calculation step for calculating a parallax offset value based on the parallax value under a condition where a decimal part S of the parallax value is within a predetermined range;
- and
- a parallax correction step for correcting the parallax value using the parallax offset value.
Dependencies are inferred from the claim text.