US 9,813,694 B2
Disparity value deriving device, equipment control system, movable apparatus, robot, and disparity value deriving method
Wei Zhong, Dan Dong (CN); and Kiichiro Saito, Kanagawa (JP)
Assigned to RICOH COMPANY, LTD., Tokyo (JP)
Filed by Wei Zhong, Dan Dong (CN); and Kiichiro Saito, Kanagawa (JP)
Filed on Apr. 7, 2015, as Appl. No. 14/680,245.
Claims priority of application No. 2014-082182 (JP), filed on Apr. 11, 2014; and application No. 2015-055439 (JP), filed on Mar. 18, 2015.
Prior Publication US 2015/0296202 A1, Oct. 15, 2015
Int. Cl. H04N 13/02 (2006.01); G06K 9/62 (2006.01); B60R 1/00 (2006.01); G06T 7/593 (2017.01); H04N 13/00 (2006.01); G06K 9/00 (2006.01)
CPC H04N 13/0296 (2013.01) [B60R 1/00 (2013.01); G06K 9/6202 (2013.01); G06T 7/593 (2017.01); H04N 13/0239 (2013.01); B60R 2300/107 (2013.01); G06K 9/00805 (2013.01); G06K 2209/40 (2013.01); G06T 2207/20016 (2013.01); G06T 2207/30252 (2013.01); H04N 2013/0081 (2013.01)] 12 Claims
OG exemplary drawing
1. A disparity value deriving device for deriving a disparity value representing disparity for an object from a first reference image obtained by a first imaging unit for imaging the object and a first comparison image obtained by a second imaging unit for imaging the object, the second imaging unit being located at a different position from the first imaging unit, the disparity value deriving device comprising:
a reducer configured to generate a second reference image and a second comparison image by reducing the first reference image and the first comparison image, respectively, by a first ratio;
a calculator configured to calculate degrees of matching of a plurality of regions in a predetermined range in the second comparison image with a first reference region in the second reference image, the predetermined range including a corresponding region that corresponds to the first reference region;
a synthesizer configured to obtain a synthesis degree of matching for each of the regions by aggregating the degrees of matching in the second comparison image for a second reference region located in neighborhood of the first reference region, with the degree of matching of the regions;
a deriving unit configured to derive the disparity value between the first reference region and the corresponding region, based on the synthesis degrees of matching;
a generator configured to generate a first disparity image based on disparity values derived by the deriving unit; and
an enlarging unit configured to enlarge the first disparity image by a second ratio to generate a second disparity image, by placing at least one first correction pixel between referential pixels that are consecutive in column and row directions and by placing a second correction pixel in a space generated between consecutive ones of the first correction pixels, the referential pixels being pixels included in the first disparity image.