Image processing device and three-dimensional measuring system
AssigneeOMRON Corporation
InventorShinya MATSUMOTO
Life of this patent
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Abstract
An image processing device includes a disparity estimating unit configured to estimate a disparity between the first image and the second image based on a method different from stereo matching, a transforming unit configured to perform transformation processing on both the first image and the second image to reduce the number of pixels in the horizontal direction and/or the vertical direction, a setting unit configured to set, based on the disparity thus estimated, a search range for a corresponding point for the stereo matching, and a search unit configured to search only the search range thus set for a corresponding point of each pixel between the first image subjected to the transformation processing and the second image subjected to the transformation processing.
Claims10
An image processing device configured to generate a depth map based on stereo matching using an image pair, the depth map corresponding to data containing coordinates of each pixel and distance information, the coordinates of each pixel and the distance information being associated with each other, the image processing device comprising:
- an image capture unit configured to capture the image pair made up of a first image and a second image, the first image and the second image being taken from different viewpoints;
- a disparity estimating unit configured to estimate a disparity between the first image and the second image based on a method different from the stereo matching;
- a transforming unit configured to perform transformation processing on both the first image and the second image to reduce a number of pixels in a horizontal direction and/or a vertical direction;
- a setting unit configured to set, based on the disparity estimated, a search range for a corresponding point for the stereo matching;
- a disparity map generating unit configured to search only the search range set for a corresponding point of each pixel between the first image subjected to the transformation processing and the second image subjected to the transformation processing and generate a disparity map based on a result of the search, the disparity map corresponding to data containing the coordinates of each pixel and disparity information, the coordinates of each pixel and the disparity information being associated with each other;
- and
- a depth map generating unit configured to transform the disparity information of the disparity map into the distance information and generate the depth map.
An image processing method for generating a depth map based on stereo matching using an image pair, the depth map corresponding to data containing coordinates of each pixel and distance information, the coordinates of each pixel and the distance information being associated with each other, the image processing method comprising:
- capturing a first image and a second image, the first image and the second image being taken from different viewpoints;
- estimating a disparity between the first image and the second image based on a method different from the stereo matching;
- performing transformation processing on both the first image and the second image to reduce a number of pixels in a horizontal direction and/or a vertical direction;
- setting, based on the disparity estimated, a search range for a corresponding point for the stereo matching;
- searching only the search range set for a corresponding point of each pixel between the first image subjected to the transformation processing and the second image subjected to the transformation processing and generating a disparity map based on a result of the search, the disparity map corresponding to data containing the coordinates of each pixel and disparity information, the coordinates of each pixel and the disparity information being associated with each other;
- and
- transforming the disparity information of the disparity map into the distance information and generating the depth map.
Dependencies are inferred from the claim text.