Ricoh Company, Ltd.

Wei Zhong

Kiichiroh Saitoh

Yoshikazu Watanabe

Soichiro Yokota

Ryohsuke Tamura

Kiichiro Saito

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 deriving apparatus for deriving disparity of an object includes a calculator to calculate costs between a first reference area in a reference image and each one of corresponding areas corresponding to the first reference area in the comparison image, and costs between a second reference area, surrounding the first reference area in the reference image, and each one of corresponding areas corresponding to the second reference area in a comparison image; a synthesizer to synthesize the costs of the first reference area and the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis costs; and a correction unit to apply a spatial filter to a local region, composed of a plurality of areas, in the first reference image to correct a disparity value of the local region.

Disparity deriving apparatus, movable apparatus, robot, method of deriving disparity, method of producing disparity, and storage medium

An image reducer executes a reduction process on a comparison image to generate a reduced comparison image, and executes a reduction process on a reference image to generate a reduced reference image. A disparity value deriver (a deriving unit) derives a disparity value by setting the minimum value of synthesized costs of pixels in the reduced comparison image in connection with a reference pixel in the reduced reference image, which have been calculated by a cost synthesizer. A disparity image generator generates a reduced disparity image, which is an image obtained by replacing the luminance values of the respective pixels in the reduced reference image with the disparity values corresponding to the pixels. The disparity image enlarger executes an enlargement process for enlarging the image size of the reduced disparity image generated by the disparity image generator to generate a disparity image.

Disparity value deriving device, equipment control system, movable apparatus, robot, and disparity value deriving method

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.

Disparity value deriving device, equipment control system, movable apparatus, and robot

An intersection recognizing apparatus includes a stereo image obtaining unit configured to obtain a stereo image by capturing a forward image in a street by a stereo camera; a parallax image generator configured to generate a parallax image based on the stereo image obtained by the stereo image obtaining unit; a parallax map generator configured to generate a parallax map based on the parallax image; a feature data storage unit configured to store feature data of an intersection road shoulder width regarding a road surface; and a recognition processing calculation unit configured to recognize an intersection condition based on the parallax map and the feature data of the intersection road shoulder width.

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Kanagawa, Japan

Wei Zhong