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

Claim 7:
8. 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 has been extracted due to the erroneous parallax measurement,
increase a size of the matching window in the second direction until the line segment candidate extending in the second direction around the line segment candidate extending in the first direction enters the matching window,
reset the matching window,
perform the stereo matching processing again for the line segment candidate extending in the first direction by using the reset matching window, and
correct the distance according to a result of the stereo matching processing performed again.