Image processing apparatus and image processing method

1 . An image processing apparatus comprising:

one or more processors; and

one or more memories storing instructions causing the one or more processors to:

calculate a first distance on a basis of first images generated by a first camera, the first distance being a distance to an imaging target, the first images being comprised in stereo images that are generated by a stereo camera sequentially performing image capturing operations, the stereo camera comprising the first camera and a second camera;

calculate a second distance on a basis of at least one of the stereo images, the second distance being a distance to the imaging target;

determine whether a difference between pixel positions, each corresponding to the imaging target, in the respective first images is within a predetermined amount, and, in a case where the difference between the pixel positions is within the predetermined amount, calculate, on a basis of the first distance and the second distance, a correction amount of a pixel position corresponding to the imaging target in an image generated by the second camera; and

cause a position of a pixel value comprised in an image generated by the second camera to move in a lateral direction on a basis of the correction amount.

2 . The image processing apparatus according to claim 1 , wherein each of the stereo images comprises an image generated by the first camera and an image generated by the second camera.

3 . The image processing apparatus according to claim 1 , the one or more processors are further configured to control an execution of (i) the calculation of the first distance; (ii) the calculation of the second distance; and (iii) the determination of whether the difference between pixel positions is within the predetermined amount, on a basis of (i) whether a value of a traveling speed of a mobile object to which the image processing apparatus is provided is within a predetermined range, and (ii) whether a value of a yaw rate of the mobile object to which the image processing apparatus is provided is within a predetermined range.

4 . The image processing apparatus according to claim 2 , the one or more processors are further configured to control an execution of (i) the calculation of the first distance; (ii) the calculation of the second distance; and (iii) the determination of whether the difference between pixel positions is within the predetermined amount, on a basis of (i) whether a value of a traveling speed of a mobile object to which the image processing apparatus is provided is within a predetermined range, and (ii) whether a value of a yaw rate of the mobile object to which the image processing apparatus is provided is within a predetermined range.

5 . The image processing apparatus according to claim 1 , wherein the one or more processors are further configured to:

estimate, on a basis of a traveling speed and a yaw rate of a mobile object to which the image processing apparatus is provided, a pixel position corresponding to the imaging target in an image generated by the first camera, and

perform a process in a case where an estimated difference between each of the pixel positions, each corresponding to the imaging target, in the respective first images and the pixel position is within a predetermined amount.

6 . The image processing apparatus according to claim 2 , wherein the one or more processors are further configured to:

estimate, on a basis of a traveling speed and a yaw rate of a mobile object to which the image processing apparatus is provided, a pixel position corresponding to the imaging target in the image generated by the first camera, and

perform a process in a case where an estimated difference between each of the pixel positions, each corresponding to the imaging target, in the respective first images and the pixel position is within a predetermined amount.

7 . The image processing apparatus according to claim 3 , wherein the one or more processors are further configured to:

estimate, on a basis of the traveling speed and the yaw rate of the mobile object, a pixel position corresponding to the imaging target in the image generated by the first camera, and

perform a process in a case where an estimated difference between each of the pixel positions, each corresponding to the imaging target, in the respective first images and the pixel position is within a predetermined amount.

8 . An image processing method comprising:

calculating a first distance on a basis of first images generated by a first camera, the first distance being a distance to an imaging target, the first images being comprised in stereo images that are generated by a stereo camera sequentially performing image capturing operations, the stereo camera comprising the first camera and a second camera;

calculating a second distance on a basis of at least one of the stereo images, the second distance being a distance to the imaging target;

determining whether a difference between pixel positions, each corresponding to the imaging target, in the respective first images is within a predetermined amount, and, in a case where the difference between the pixel positions is within the predetermined amount, calculating, on a basis of the first distance and the second distance, a correction amount of a pixel position corresponding to the imaging target in an image generated by the second camera; and

causing a position of a pixel value comprised in the image generated by the second camera to move in a lateral direction on a basis of the correction amount.

9 . An image processing apparatus, the image processing apparatus comprising a circuitry configured to

calculate a first distance on a basis of first images generated by a first camera, the first distance being a distance to an imaging target, the first images being comprised in stereo images that are generated by a stereo camera sequentially performing image capturing operations, the stereo camera comprising the first camera and a second camera,

calculate a second distance on a basis of at least one of the stereo images, the second distance being a distance to the imaging target,

determine whether a difference between pixel positions, each corresponding to the imaging target, in the respective first images is within a predetermined amount, and, in a case where the difference between the pixel positions is within the predetermined amount, calculate, on a basis of the first distance and the second distance, a correction amount of a pixel position corresponding to the imaging target in an image generated by the second camera, and

cause a position of a pixel value comprised in the image generated by the second camera to move in a lateral direction on a basis of the correction amount.