DISPARITY ESTIMATION DEVICE, DISPARITY ESTIMATION METHOD, AND PROGRAM

摘要

A disparity estimation device calculates, for each of first pixels of a first image and each of second pixels of a second image, a first census feature amount and a second census feature amount, calculates, for each of the first pixels, a first disparity value of the first pixel with integer accuracy, extracts, for each of the first pixels, reference pixels located in positions corresponding to the first disparity value and a near disparity value close to the first disparity value from the second pixels, calculates sub-pixel evaluation values based on the relationship between the pixel values of the first pixel and the neighboring pixel and the pixel values of each of the reference pixels and the neighboring pixel, and estimates a second disparity value of the first pixel with sub-pixel accuracy by equiangular fitting.