Patent ID: 11880993
Assignee: TOSHIBA ELECTRONIC DEVICES & STORAGE CORPORATION
Field: Audio-visual technology (Electrical engineering)
Classification: CPC G  H  B | IPC B  G  H

Claim 7:
8. A driving assistance system comprising:
a stereo camera configured to acquire a stereo image of an object including first and second images, wherein the object is captured in the images;
an image processing device that includes 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 first and second images by correcting the disparity between the first and second images with respect to the yaw angle direction using the calculated correction parameter, and
output the corrected first and second images; and

a driving assistance device configured to output information for assisting a driver based on the first and second images output by the image processing device.