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

Claim 2:
3. The processing device according to claim 2, wherein the one or more processors are configured to:
perform stereo matching processing to search for corresponding points of the pair of images in a direction connecting the pair of cameras,
measure the parallax,
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, and
determine that the validity of the step candidate is high in response to a determination that the step candidate does not overlap with the line segment candidate or in response to a determination that the step candidate overlaps with the line segment candidate extending in the second direction.