Patent ID: 8649593

Claim:
An image processing apparatus comprising: a projective transformation unit configured to perform projective transformation on a left image and a right image captured from different points of view; a projective transformation parameter generating unit configured to generate a projective transformation parameter used by the projective transformation unit by receiving feature point information regarding the left image and the right image; a stereo matching unit configured to perform stereo matching using a left projective transformation image and a right projective transformation image subjected to projective transformation performed by the projective transformation unit; and a matching error minimization control unit configured to compute image rotation angle information regarding the left projective transformation image and the right projective transformation image and correspondence information of an error evaluation value of the stereo matching; wherein the matching error minimization control unit computes an image rotation angle at which the error evaluation value is minimized, and wherein the projective transformation parameter generating unit computes the projective transformation parameter that reflects the image rotation angle at which the error evaluation value is minimized, wherein the projective transformation parameter generating unit is configured to generate a projective transformation parameter on the basis of a plurality of feature points included in the left image and the right image, wherein the projective transformation parameter generating unit receives feature point information detected by a calibration chart detecting unit configured to detect a plurality of feature points from a constituent part of a plane chart included in the left image and the right image and generates a projective transformation parameter, and wherein the projective transformation parameter generating unit generates the projective transformation parameter used for generating a correction image that makes the shapes of the rectangles that form the plane chart included in a left image and a right image captured from different points of view the same.