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

Claim 8:
9. The processing device according to claim 4, wherein the one or more processors are configured to:
calculate similarity between a feature amount in a matching window set in one of the pair of images and a feature amount in a matching window set in the other 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,
reset the matching window by shifting any one of the matching window set in one of the pair of images and the matching window set in the other of the pair of images by a predetermined amount in the second direction,
perform the stereo matching processing again for the line segment candidate extending in the first direction or the third direction by using the reset matching window,
compare the similarity in a case of using the reset matching window with the similarity in a case of using the matching window before resetting, and
parallelize the pair of images based on a comparison result to correct the distance.