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

Claim 10:
11. 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,
specify an angle of an edge present in the matching window for the line segment candidate extending in the first direction or the third direction,
perform the stereo matching processing again for the line segment candidate extending in the first direction or the third direction by using the specified angle of the edge as the feature amount, and
correct the distance according to a result of the stereo matching processing performed again.