Stereo matching processing system, stereo matching processing method and recording medium

A stereo matching processing method, comprising:

• associating with each other such regions, in a plurality of images obtained by shooting a same object from different directions, that are on a same scanning line and have a largest correlation coefficient between them, as items that represent a same position;
• and
• determining whether or not line segments that are associated with each other as items that teach a same position are drawn in the plurality of images respectively,
• wherein when it is determined at said determining that the line segments are drawn, not such regions that are on the same scanning line and have a largest correlation coefficient between them, but intersections at which the scanning line and the line segments each cross are associated with each other at said associating step as items that represent a same position,
• wherein said associating unit generates disparity data supplemented by the supplementary lines by performing an association for each scanning line and
• wherein the generated disparity data is used to calculate a position in a three-dimensional coordinate system that corresponds to a pixel according to triangulation and extracts Digital Surface Model (DSM) data that includes altitude data indicating a height of a surface layer of an object, thereby to calculate a depth to the object and a shape of the object.

A non-transitory computer-readable recording medium that stores a program for controlling a computer to perform:

• an associating procedure of associating with each other such regions, in a plurality of images obtained by shooting a same object from different directions, that are on a same scanning line and have a largest correlation coefficient between them, as items that represent a same position;
• and
• a line segment determining procedure of determining whether or not line segments that are associated with each other as items that teach a same position are drawn in the plurality of images respectively,
• wherein when it is determined by said line segment determining procedure that the line segments are drawn, not such regions that are on the same scanning line and have a largest correlation coefficient between them, but intersections at which the scanning line and the line segments each cross are associated with each other by said associating procedure as items that represent a same position,
• wherein said associating unit generates disparity data supplemented by the supplementary lines by performing an association for each scanning line and
• wherein the generated disparity data is used to calculate a position in a three-dimensional coordinate system that corresponds to a pixel according to triangulation and extracts Digital Surface Model (DSM) data that includes altitude data indicating a height of a surface layer of an object, thereby to calculate a depth to the object and a shape of the object.