Ricoh Company, Ltd.

Ryohsuke Tamura

Yoshikazu Watanabe

Soichiro Yokota

Kiichiroh Saitoh

Wei Zhong

Kiichiroh Saito

A disparity value deriving device includes a calculator configured to calculate costs of candidates for a corresponding region in a comparison image that corresponds to a reference region in a reference image, based on luminance values of the regions. The device also includes a changer configured to change a cost exceeding a threshold to a value higher than the threshold; a synthesizer configured to synthesize a cost of a candidate for a corresponding region for one reference region after the change and a cost of a candidate for a corresponding region for another reference region after the change; and a deriving unit configured to derive a disparity value based on a position of the one reference region and a position of the corresponding region in the comparison image for which the cost after the synthesis is smallest.

Disparity value deriving device, movable apparatus, robot, disparity value producing method, and computer program

A disparity value deriving device includes an acquisition unit configured to acquire a degree of matching between a reference region in a reference image captured from a first imaging position and each of a plurality of region in a designated range including a corresponding region to the reference region in a comparison image captured from a second imaging position; a synthesizer configured to synthesize the degree of matching of a reference region in neighborhood of a predetermined reference region in the reference image and the degree of matching of the predetermined reference region in the reference image; and a deriving unit configured to derive a disparity value of an object whose image is being captured in the predetermined reference region and a corresponding region to the predetermined reference region, based on a synthesized degree of matching obtained by the synthesizer.

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Kanagawa, Japan

Ryohsuke Tamura