Patent ID: 9338434
Filing Date: 2016-05-10
CPC Classification: G01S,G06T,G08G,H04N

Claim Text:
1. A disparity calculation apparatus, comprising: an input mode that receives data of a target image and data of a reference image from a stereo camera; and a control circuitry, wherein the control circuitry is operative to: calculate a degree of difference of image brightness between a target point included in the target image and each of a plurality of search points included in the reference image corresponding to the target point; detect, as a corresponding point candidate from the plurality of search points, the search point for which the degree of difference of image brightness is minimal in a coordinate distribution of the plurality of search points, and determine if a plurality of the detected search points are present; extract, when the number n (where n is integer equal to or greater than two) of first corresponding point candidates and the number m (where m is integer smaller than n) of second corresponding point candidates are different, a corresponding point from the first corresponding point candidates by eliminating the first corresponding point candidate for which the second corresponding point candidate with a corresponding disparity value for the target value does not exist, the first corresponding point candidates corresponding to a first target point determined as a target point for which a plurality of the corresponding point candidates exist, the second corresponding point candidates corresponding to a second target point existing in a peripheral area including the first target point; and output disparity data calculated based on a coordinate point of the corresponding point corresponding to the first target point and a coordinate point of the first target point.