Stereo image matching method and stereo image parallax measurement method

摘要

A method of stereo matching and determining the disparity of stereo images with as small amount of computations as possible, and a method of measuring the disparity capable of absorbing a matching error which may occur, two right and left images are obtained by two imaging devices at imaging phase (A)(S1, S2). The right and left images obtained at imaging phase (A) have the characteristics thereof extracted respectively at characteristic extraction phase (B)(S3, S4). The resulting two right and left characteristic images are matched at the subsequent stereo matching phase (C)(S5). At stereo matching phase (C), the window on one of the characteristic images providing a reference is scanned according to a predetermined scanning rule. A window providing a unit of matching is sequentially set, and matching with the other characteristic image is performed for each window thus set. Disparity determination phase (D) divides the reference characteristic image into blocks of predetermined size, generates a histogram using the disparity obtained by matching of the window contained in each block, and determines a disparity at the histogram peak as the disparity of the particular block (S6). IMAGE