Image processing device, image processing method, and device control system

Patent metadata

Field	Value
Publication number	US-9819927-B2
Application number	US-201514710787-A
Country	US
Kind code	B2
Filing date	May 13, 2015
Priority date	Jun 9, 2014
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

Disclosed is an image processing device for generating disparity information from a first image and a second image, wherein the first image is captured by a first capture unit and the second image is captured by a second capture unit. The image processing device includes a disparity detector configured to detect disparity information of a pixel or a pixel block of the second image by correlating the pixel or the pixel block of the second image with each of pixels or each of pixel blocks of the first image within a detection width. The disparity detector is configured to detect the disparity information of the pixel or the pixel block of the second image more than once by changing a start point of pixels or pixel blocks of the first image within the detection width.

First claim

What is claimed is:

1. An image processing device configured to generate disparity information from a first image and a second image, wherein the first image is captured by a first capture unit and the second image is captured by a second capture unit, the image processing device comprising:
a disparity detector configured to detect a first disparity information of a specific pixel or a specific pixel block of the second image by correlating the specific pixel or the specific pixel block of the second image with each of pixels or each of pixel blocks of a first detection range having a predetermined detection width in the first image,
wherein the disparity detector is configured to detect second disparity information of the specific pixel or the specific pixel block of the second image more than once by specifying a start point of a second detection range having the predetermined detection width in the first image, the second detection range being different from the first detection range, and correlating the specific pixel or the specific pixel block of the second image with each of pixels or each of pixel blocks of the second detection range that has the predetermined detection width from the start point.

2. The image processing device according to claim 1 ,
wherein the disparity detector is configured to specify a pixel or a pixel block that is next to the pixel or the pixel block that is disposed at a tail end of the pixels or the pixel blocks within the first detection range as the starting point of the second detection range.

3. The image processing device according to claim 1 ,
wherein the disparity detector is configured to detect, by specifying the start point, the second disparity information of the specific pixel or the specific pixel block of the second image a maximum number of times that is allowed by a time interval for the first capture unit to capture the first image or a time interval for the second capture unit to capture the second image.

4. The image processing device according to claim 1 , further comprising:
a reliability determination unit configured to determine reliability of a plurality of disparity information items of the specific pixel or the specific pixel block of the second image, the plurality of disparity information items being detected by the disparity detector; and
a disparity information determination unit configured to determine a disparity information item that has a highest reliability among the plurality of disparity information items of the specific pixel or the specific pixel block of the second image as the disparity information of the specific pixel or the specific pixel block of the second image.

5. The image processing device according to claim 1 , further comprising:
a calculation count register configured to store a number of times of calculation of the first disparity information and the second disparity information,
wherein the disparity detector is configured to continue detecting the second disparity information of the specific pixel or the specific pixel block of the second image by specifying the start point, until a number of times of the detection of the first disparity information and the second disparity information becomes the number of times of the calculation that is stored in the calculation count register.

6. The image processing device according to claim 1 , further comprising:
a start point pixel position register configured to store a position of a pixel that is the start point,
wherein the disparity detector is configured to detect the second disparity information of the specific pixel or the specific pixel block of the second image by using the position of the pixel that is stored in the start point pixel position register as the start point of the second detection range.

7. An image processing method for generating disparity information from a first image and a second image, wherein the first image is captured by a first capture unit and the second image is captured by a second capture unit, the method comprising:
a first disparity information detecting step, by a disparity detector, of detecting first disparity information of a specific pixel or a specific pixel block of the second image by correlating the specific pixel or the specific pixel block of the second image with each of pixels or each of pixel blocks of a first detection range having a predetermined detection width in the first image; and
a second disparity information detecting step, by the disparity detector, of detecting second disparity information of the specific pixel or the specific pixel block of the second image by specifying a start point of a second detection range having the predetermined detection width in the first image, the second detection range being different from the first detection range, and correlating the specific pixel or the specific pixel block of the second image with each of pixels or each of pixel blocks of the second detection range that has the predetermined detection width from the start point.

8. A device control system configured to control a device by processing an image that is captured by a capture unit, the system comprising:
a first capture unit configured to capture a first image;
a second capture unit configured to capture a second image;
a disparity detector configured to detect disparity information of a specific pixel or a specific pixel block of the second image by correlating the specific pixel or the specific pixel block of the second image with each of pixels or each of pixel blocks of the first image within a predetermined detection width; and
a device controller configured to control the device based on the disparity information that is detected by the disparity detector,
wherein the disparity detector is configured to detect first disparity information of the specific pixel or the specific pixel block of the second image by correlating the specific pixel or the specific pixel block of the second image with each of pixels or each of pixel blocks of a first detection range having the predetermined detection width in the first image, and
wherein the disparity detector is configured to detect second disparity information of the specific pixel or the specific pixel block of the second image more than once by specifying a start point of a second detection range having the predetermined detection width in the first image, the second detection range being different from the first detection range, and correlating the specific pixel or the specific pixel block of the second image with each of pixels or each of pixel blocks of the second detection range that has the predetermined detection width from the start point.

9. The image processing device according to claim 1 , wherein the second detection range is adjacent to the first detection range, and the second detection range is for detecting a disparity value at a short distance side compared to the first detection range with respect to the specific pixel or the specific pixel block of the second image.

10. The device control system according to claim 8 , wherein the device controlled by the device control system is a vehicle.

Assignees

• Takahashi Yuji
• Sekiguchi Hiroyoshi
• Watanabe Eita
• Watanabe Yoshikazu
• Kuromizu Reiko
• Ricoh Co Ltd

Inventors

• Takahashi Yuji
• Sekiguchi Hiroyoshi
• Watanabe Eita
• Watanabe Yoshikazu
• Kuromizu Reiko

Classifications

• G06T2207/20021

  Dividing image into blocks, subimages or windows · CPC title

• H04N2013/0081

  Depth or disparity estimation from stereoscopic image signals · CPC title

• G06T2207/30261

  Obstacle · CPC title

• H04N13/0239 Primary

  Electricity · mapped topic

• G06T7/593 Primary

  from stereo images · CPC title