Patent ID: 11881034
Assignee: HITACHI ASTEMO, LTD.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H | IPC G  H

Claim 3:
4. The processing device according to claim 2, wherein the one or more processors are configured to:
measure the parallax by performing stereo matching processing to search for corresponding points of the pair of images in a direction connecting the pair of cameras,
classify the line segment candidate as a line segment candidate extending in a first direction in which the corresponding points are searched for, a line segment candidate extending in a second direction perpendicular to the first direction, and a line segment candidate extending in a third direction intersecting the first direction and the second direction according to the inclination of the line segment candidate,
determine that the validity of the step candidate is low in response to a determination that the step candidate overlaps with the line segment candidate extending in the first direction or the third direction,
analyze whether or not there is a possibility that the step candidate has been extracted due to erroneous parallax measurement based on arrangement of a three-dimensional point group constituting the step candidate, and
correct a distance according to the parallax in response to a determination that there is a possibility that the step candidate has been extracted due to the erroneous parallax measurement.