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

Claim 9:
10. The processing device according to claim 4, wherein the one or more processors are configured to:
set a matching window in each of the pair of images to perform the stereo matching processing, and
in response to a determination that there is a possibility that the step candidate overlapping with the line segment candidate extending in the first direction or the third direction has been extracted due to the erroneous parallax measurement,
mask an edge having an edge intensity equal to or higher than a predetermined intensity among edges present in the matching window for the line segment candidate extending in the first direction or the third direction,
perform the stereo matching processing again for the line segment candidate extending in the first direction or the third direction except for the masked edge, and
correct the distance according to a result of the stereo matching processing performed again.