Image processing apparatus and image processing method

An image processing method comprising:

• acquiring a first image obtained by taking a moving object at a frame time point t by a first imaging device, a second image obtained by taking the moving object at a frame time point t+Δt by a second imaging device having a view point different from that of the first imaging device, and a third image obtained by taking the moving object at a frame time point t−Δt by the second imaging device;
• searching for a first corresponding point on the first image corresponding to an arbitrary point on the second image, and measuring the disparity of the arbitrary point;
• calculating motion information of the arbitrary point on the basis of the third image;
• correcting the disparity by use of the motion information as a correction amount;
• and
• calculating three-dimensional position information of the arbitrary point on the basis of the corrected disparity.

A computer program stored in a computer readable medium, the program comprising:

• means for instructing a computer to acquire a first image obtained by taking a moving object at a frame time point t by a first imaging device, a second image obtained by taking the moving object at a frame time point t+Δt by a second imaging device having a view point different from that of the first imaging device, and a third image obtained by taking the moving object at a frame time point t−Δt by the second imaging device;
• means for instructing the computer to search for a first corresponding point on the first image corresponding to an arbitrary point on the second image, and measure the disparity of the arbitrary point;
• means for instructing the computer to calculate motion information of the arbitrary point on the basis of the third image;
• means for instructing the computer to correct the disparity by use of the motion information as a correction amount;
• and
• means for instructing the computer to calculate three-dimensional position information of the arbitrary point on the basis of the corrected disparity.