Patent ID: 8144974
Filing Date: 2012-03-27
Classification: G06T

Abstract:
1. An image processing apparatus for generating distance data based on a plurality of images photographed from different positions, the apparatus comprising: a corresponding point searching unit for searching for corresponding points corresponding to each other between each of the plurality of images based on a correlation between each pixel in each of the plurality of images; and a corresponding point determination unit for, when a plurality of corresponding points is searched out in a second image of the plurality of images with respect to one target pixel in a first image of the plurality of images, calculating at least partial subject shape around the target pixel based on distance values of a plurality of pixels around the target pixel, calculating a target distance value, which is a distance value of the target pixel, with respect to each of the plurality of corresponding points based on the target pixel and each of the plurality of corresponding points, and determining a valid corresponding point from the plurality of corresponding points having a smallest difference from the subject shape, wherein the corresponding point determination unit is a unit that calculates an approximate curve representing a subject shape in a predetermined direction passing through the target pixel as the subject shape, wherein the corresponding point determination unit is a unit that determines, with respect to adjoining pixels in the predetermined direction, whether or not those having correlations with the corresponding points greater than or equal to a predetermined value are found as many as a required number for calculating the approximate curve and if the determination is positive, calculates the approximate curve based on the required number of pixels, while if the determination is negative, repeats the determination by including further adjoining pixels to the adjoining pixels in the predetermined direction until the determination becomes positive.