Apparatus and method for aligning images obtained by stereo camera apparatus

A method of aligning images in a stereo camera apparatus, the method comprising:

• storing a plurality of images obtained by each of a plurality of cameras mounted in the stereo camera apparatus;
• setting screen display regions for the obtained images;
• setting a search region in an image obtained by a non-reference camera from among the plurality of cameras;
• setting a first reference position from a screen display region of a reference camera and selecting a pixel block according to the first reference position;
• searching a plurality of pixel blocks of the search region for one of the plurality of pixel blocks having a highest consistency ratio with the pixel block of the first reference position and extracting a region of the pixel block having the highest consistency ratio;
• determining a second reference position corresponding to the extracted region of the pixel block;
• storing an offset value corresponding to a distance difference between the first reference position and the second reference position in a specific direction;
• and
• moving the screen display region of the non-reference camera in a direction corresponding to the offset value, so that the screen display regions of the reference camera and the non-reference camera have focuses on a same horizontal line,
• wherein the specific direction is perpendicular to the horizontal line.

A stereo camera apparatus comprising:

• a plurality of cameras comprising a reference camera and at least one non-reference camera;
• means for storing a plurality of images obtained by the plurality of the cameras;
• means for setting a screen display region for each of the obtained images;
• means for setting a search region in an image obtained by the at least one non-reference camera;
• means for setting a first reference position from the screen display region of the reference camera and for selecting a reference pixel block corresponding to the first reference position;
• means for determining which pixel block in the search region is most consistent with the reference pixel block;
• means for determining a second reference position for the pixel block having the highest consistency ratio;
• means for storing an offset value which corresponds to a distance difference between the first reference position and the second reference position;
• and
• means for adjusting the screen display region of the at least one non-reference camera in accordance with the offset value, so that the screen display regions of the reference camera and the at least one non-reference camera have focuses on a same horizontal line,
• wherein the offset value is calculated with regard to a direction perpendicular to the horizontal line.

A stereo camera apparatus comprising:

• a camera unit comprising at least a first camera and a second camera;
• a reference position search unit for determining a first reference position from first image data obtained by the first camera, for setting and evaluating a first pixel block corresponding to the first reference position, for searching and evaluating second image data obtained from the second camera to determine a second pixel block having a highest consistency ratio with the first pixel block, and for determining a second reference position corresponding to the second pixel block;
• an offset value determiner for calculating a compensation value corresponding to differences between the first and second reference positions;
• and
• a controller for adjusting a screen display region of the second image data in correspondence with the compensation value, so that a screen display region of the first image data and the screen display region of the second image data have focuses on a same horizontal line,
• wherein the compensation value is calculated with regard to a direction perpendicular to the horizontal line.

A method of aligning images in a stereo camera apparatus, the method comprising:

• storing a first image obtained by a first camera;
• storing a second image obtained by a second camera;
• setting a search region in the second image;
• determining a first reference position from the first image and selecting a first pixel block according to the first reference position;
• searching a plurality of pixels blocks of the second image for one of the plurality of pixel blocks having the highest consistency ratio with the first pixel block;
• determining a second reference position corresponding to the pixel block having the highest consistency ratio with the first pixel block;
• determining an offset value corresponding to a difference between the first reference position and the second reference position;
• and
• moving a display region of the second image in a direction corresponding to the offset value, so that a display region of the first image and the display region of the second image have a focus on a same horizontal line,
• wherein the offset value is calculated with regard to the direction, the direction being perpendicular to the horizontal line.