Patent Document ID: 7599548
Application ID: 11387901
Patent Status: 1

Claim One:
1. An image processing apparatus comprising: an image acquiring device to acquire a first image obtained by taking a moving object at a frame time point t by a first imaging device, a second image obtained by taking the moving object at a frame time point t+Δt by a second imaging device having a view point different from that of the first imaging device, and a third image obtained by taking the moving object at a frame time point t−Δt by the second imaging device; a disparity measuring device configured to search for a first corresponding point on the first image corresponding to an arbitrary point on the second image, and to measure the disparity of the arbitrary point; a motion information calculating device configured to calculate motion information of the arbitrary point on the basis of the third image; a disparity correcting device configured to correct the disparity by use of the motion information as a correction amount; and a three-dimensional position information calculating device configured to calculate three-dimensional position information of the arbitrary point on the basis of the corrected disparity.