Stereo distance measurement apparatus and stereo distance measurement method
Provided is a stereo distance measurement apparatus wherein a camera image itself is adjusted to correct the blur, thereby preventing the distance measurement time from being long, while improving the precision of disparity detection. In the apparatus ( 100 ), a blur adjusting unit ( 102 ) uses a filter to tailor the blur of one of two images used by a disparity measuring unit ( 103 ), to the blur of the other which is weaker. A camera image itself is adjusted, whereby the blur can be corrected. Moreover, tailoring the blur of the one image to the blur of the other image which is weaker allows an application of the filter, which is a simple processing, to cause the blurs of the images used in the disparity detection, to coincide with each other. Therefore, the precision of disparity detection can be improved, while the distance measurement can be performed at a high speed.
1. A stereo ranging apparatus that calculates the distance to a target using a first image and a second image of the target, the apparatus comprising a processor having one or more integrated circuits configured to:
store blur adjusting filter coefficients corresponding to combinations of image heights of the first image and image heights of the second image;
compare an image height of a first partial image which is an image of the target in the first image and an image height of a second partial image which is a candidate for an image of the target in the second image;
acquire a blur adjusting filter coefficient that corresponds to a combination of the image height of the first partial image and the image height of the second partial image from the filter storage section;
adjust the blur of one partial image with the lower image height of the first partial image and the second partial image to the blur of the other partial image with the higher image height, using the acquired blur adjusting filter coefficient;
determine whether the second partial image is the image of the target in the second image based on the partial image with the adjusted blur and the partial image with the unadjusted blur;
measure disparity between the first partial image and the second partial image when the second partial image is the image of the target in the second image; and
calculate the distance to the target based on the disparity.
2. The stereo ranging apparatus according to claim 1 wherein the blur includes amplitude characteristics of brightness signals of an image.
3. The stereo ranging apparatus according to claim 1 , wherein:
the disparity is measured only in a single stage of a pixel disparity measuring process, or in two stages of the pixel disparity measuring process and a sub-pixel disparity measuring process; and
the blur is adjusted before the pixel disparity measuring process.
4. The stereo ranging apparatus according to claim 1 , wherein:
the disparity is measured in two stages of a pixel disparity measuring process and a sub-pixel disparity measuring process; and
the blur is adjusted in a subsequent stage of the pixel disparity measuring process and in a preceding stage of the sub-pixel disparity measuring process.
5. The stereo ranging apparatus according to claim 1 , wherein the blur of the entire first image or the entire second image is adjusted before measuring the disparity.
6. A method of stereo ranging that calculates a distance to a target using a first image and a second image, comprising the steps of:
comparing an image height of a first partial image which is an image of the target in the first image and an image height of a second partial image which is a candidate for an image of the target in the second image;
acquiring a blur adjusting filter coefficient that corresponds to a combination of the image height of the first partial image and the image height of the second partial image, from a correspondence stored between blur adjusting filter coefficients and combinations of image heights of the first image and image heights of the second image;
adjusting the blur of one partial image with the lower image height of the first partial image and the second partial image to the blur of the other partial image with the higher image height, using the acquired blur adjusting filter coefficient;
determining whether the second partial image is the image of the target in the second image based on the partial image with the adjusted blur and the partial image with the unadjusted blur;
measuring disparity between the first partial image and the second partial image when the second partial image is the image of the target in the second image; and
calculating the distance to the target based on the disparity.