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

Claim 6:
7. 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,
generate a histogram of a cumulative value obtained by accumulating intensities of an edge having a luminance change in the matching window in the first direction and a histogram of a cumulative value obtained by accumulating intensities of the edge in the second direction,
determine a barycenter position of a feature amount in the matching window based on a peak position of each generated histogram, and
correct the distance by using the barycenter position 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.