Image capturing device, method of searching for occlusion region, and program

An occlusion region searching method implemented by a computer having a distance image sensor and at least two luminance image sensors, comprising the steps of:

• estimating external parameters using a distance image obtained by the distance image sensor and a luminance image obtained by the luminance image sensor;
• determining a correspondence relationship between pixel positions in the distance image and pixel positions in the luminance image, using previously stored internal parameters of the distance image sensor and the luminance image sensor, and the external parameters;
• and
• searching for an occlusion region in the distance image, using the determined correspondence relationship between pixel positions in the distance image and pixel positions in the luminance image.

A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to enable a computer having a distance image sensor and at least two luminance image sensors to function as:

• an external parameter estimating unit for estimating external parameters using a distance image obtained by the distance image sensor and a luminance image obtained by the luminance image sensor;
• a corresponding pixel determining unit for determining a correspondence relationship between pixel positions in the distance image and pixel positions in the luminance image, using previously stored internal parameters of the distance image sensor and the luminance image sensor, and the external parameters;
• and
• an occlusion searching unit for searching for an occlusion region in the distance image, using the correspondence relationship between pixel positions in the distance image and pixel positions in the luminance image determined by the corresponding pixel determining unit.