Patent ID: 11880993
Assignee: KABUSHIKI KAISHA TOSHIBA
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H  B | IPC B  G  H

Claim 0:
1. An image processing device used in determining a distance to an object from a stereo image, comprising:
a memory that stores the stereo image of the object including first and second images, wherein the object is captured in the images; and
a processor configured to:
detect first and second reference lines in the first image and corresponding first and second reference lines in the second image, and determine a pixel location of the first reference line in each of the first and second images;
calculate a disparity between the first and second images;
correct the pixel location of the first reference line in the second image using a homography transformation by which the disparity between the first and second images with respect to pitch and roll angle directions can be corrected;
calculate a correction parameter for correcting the disparity between the first and second images with respect to a yaw angle direction, using a distance between the first and second reference lines in the first image, the pixel location of the first reference line in the first image, and the corrected pixel location of the first reference line in the second image; and
correct the disparity between the first and second images with respect to the yaw angle direction using the calculated correction parameter.