IMAGE PROCESSING APPARATUS, SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM

• Main Authors: NAGAO KAGEHIRO, KISHIWADA JUN, KIKUCHI NAOKI, AOKI SHIN
• Format: Patent
• Language: English; Japanese
• Published: 27.07.2015
• Subjects: ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; PICTORIAL COMMUNICATION, e.g. TELEVISION; SURVEYING; TESTING

PROBLEM TO BE SOLVED: To provide an image processing apparatus configured to calibrate the whole area of an image of a stereo camera accurately.SOLUTION: An image processing apparatus includes a first acquisition section, a second acquisition section, and a third acquisition section. The first acquisition section acquires a first captured image obtained by a first camera which images a first subject at a first distance from a stereo camera including the first camera and a second camera, and a second captured image obtained by the second camera which images the first subject. The second acquisition section acquires a third captured image obtained by the first camera which images a second subject at a second distance, which is shorter than the first distance, from the stereo camera, and a fourth captured image obtained by the second camera which images the second subject. A correction parameter determination section determines a correction parameter for correcting the captured image, on the basis of the first and second captured images for a first image area indicating a central area of the captured image obtained by the first or second camera, while on the basis of the third and fourth captured images for a second image area indicating an image area other than the central area of the captured image. 【課題】ステレオカメラの画像全域を高精度に校正する画像処理装置を提供する。【解決手段】第１取得部と第２取得部と第３取得部とを備える。第１取得部は、第１カメラと第２カメラを含むステレオカメラから第１距離だけ離れた第１被写体を第１カメラで撮像した第１撮像画像と、第１被写体を第２カメラで撮像した第２撮像画像とを取得する。第２取得部は、第１距離よりも短い第２距離だけステレオカメラから離れた第２被写体を第１カメラで撮像した第３撮像画像と、第２被写体を第２カメラで撮像した第４撮像画像とを取得する。補正パラメータ決定部は、第１カメラまたは第２カメラによる撮像で得られる撮像画像の中央領域を示す第１画像領域については第１撮像画像および第２撮像画像に基づいて、撮像画像の中央領域以外の画像領域を示す第２画像領域については第３撮像画像および第４撮像画像に基づいて、撮像画像を補正するための補正パラメータを決定する。【選択図】図４