DISPARITY ESTIMATION BY FUSION OF RANGE DATA AND STEREO DATA

• Main Authors: KAJIWARA, Yasuhiro, SAISHO, Kenichiroh, IMAI, Shigeaki, YOKOTA, Soichiro, NAKAMURA, Tadashi
• Format: Patent
• Language: English; French; German
• Published: 31.01.2018
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

A disparity computation system (100), a mobile object (140), a disparity computation device (100), a disparity computation method, and carrier means. The disparity computation system (100) includes an acquisition unit (711) configured to obtain distance data (Z 1 ) that indicates distance to an object in real space that lies at a position of a reference-pixel area (p) in a reference image (320), a calculation unit (610) configured to calculate a degree of dissimilarity (C) between the reference-pixel area (p) and a plurality of pixel areas in a comparison image (310), and a computation unit (630) configured to compute a disparity from the calculated degree of dissimilarity (C). The calculation unit (610) calculates the degree of dissimilarity (C 1 ) using a first value calculated from the reference image (320) and the comparison image (310) and a second value calculated from the comparison image (310) and the distance data (Z 1 ).