Image processing device, stereo camera device, mobile object, disparity calculating method, and image processing method

Abstract

An image processing deviceincludes a communication unitand a controller(processor). The communication unitacquires a standard image and a reference image captured by a stereo camera. The controllercalculates a disparity based on the standard image and the reference image. The controllercalculates, at each pixel position, a cost value representing a degree of difference for each pixel position between the standard image and each of multiple images obtained by displacing the reference image by multiple different deviation amounts in a direction corresponding to a baseline length direction of the stereo camera. The processor aggregates the cost values using dynamic programming and calculates a disparity for each pixel position based on the aggregated cost values for each different deviation amount. The multiple different deviation amounts are discrete values at uneven intervals.