Subaru Corporation

Shuji Arai

Naoki Takahashi

An image processing apparatus includes a long-exposure distance image generator, a short-exposure distance image generator, a resolution reducer, a detector, an estimator, and an image processor. The estimator estimates a moving distance of a specific object from a moving amount of the specific object in a pixel region in which saturation has occurred within a long-exposure distance image whose resolution has been reduced. When a difference between the estimated moving distance of the specific object and an actual moving distance of a first vehicle is within a predetermined threshold range, with regard to the pixel region in which the saturation has occurred in the long-exposure distance image, the image processor generates a distance image using distance data of the pixel region in which the saturation has occurred.

Image processing apparatus, image processing method, and non-transitory recording medium

An image processing apparatus includes a representative-distance calculator and a joining processor. The representative-distance calculator generates representative distance values of the basis of a distance image generated from a stereo image including an image of at least one object including a vehicle. The distance image includes distance values of pixels. The joining processor performs a joining process of joining a first image region and a second image region that are defined based on the image of the at least one object in the stereo image, performs a determining process of determining whether a temporarily joined region in which the first image region and the second image region are temporarily joined includes an image of a corner portion of the vehicle, and refrains from performing the joining process when the temporarily joined region includes the image of the corner portion.

Image processing apparatus

An image processing apparatus includes a representative-distance calculator and a joining processor. The representative-distance calculator generates representative distance values of the basis of a distance image generated from a stereo image including an image of at least one object including a vehicle. The distance image includes distance values of pixels. The joining processor performs a joining process of joining a first image region and a second image region that are defined based on the image of the at least one object and disposed apart from each other in the stereo image. The joining processor performs a determining process of determining whether the first image region and the second image region each include an image of a side face of the vehicle. The joining processor performs the joining process when the first image region and the second image region each include the image of the side face of the vehicle.

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Tokyo, Japan

Shuji Arai