Parallax Calculation via Sparse Pixel Extraction and Interpolation
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Solution Overview
Problem
Conventional parallax calculation methods require comparison of luminance values of all pixels within a detection region, leading to a high processing load and inefficiency in measuring parallax.
Innovation Solution
A stereo camera apparatus with a parallax calculation apparatus that extracts pixels at predetermined intervals in the y-direction, reducing the number of pixels to be processed by performing one-dimensional matching between the standard and reference images, and interpolating parallax values for missing pixels to maintain accuracy while decreasing processing load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional parallax calculation methods compare luminance values of all pixels within detection region, then measurement precision is maintained, but processing load becomes excessively high
Solution Approach 1:
The patent segments the image processing task by dividing it into two stages: (1) extracting parallax information only from pixel lines at predetermined intervals in the y-direction, and (2) interpolating parallax values for remaining pixels based on neighboring extracted pixels. This segmentation reduces the number of pixels requiring full processing while maintaining overall measurement precision through interpolation.
Solution Approach 2:
The patent extracts only the essential parallax information from a subset of pixels (those at predetermined intervals) rather than processing all pixels. By extracting parallax data from selected pixel lines and using interpolation to recover missing information, the system achieves high processing efficiency without sacrificing measurement accuracy.
2Productivity
If pixels are extracted at predetermined intervals to reduce processing load, then productivity improves, but measurement precision may deteriorate
Solution Approach 1:
The patent introduces interpolation as an intermediary process that bridges the gap between sparsely sampled pixel data and complete image information. By calculating parallax values for non-extracted pixels based on neighboring extracted pixels, the interpolation step ensures that measurement precision is maintained despite processing only a subset of pixels directly.
Data Source
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AI summary
A parallax calculation apparatus includes an acquisition unit and a controller. The acquisition unit acquires a standard image and a reference image captured by a stereo camera. From each of the standard image and the reference image, the controller extracts lines from a plurality of lines parallel to a first direction in an image space corresponding to a baseline direction of a three-dimensional coordinate space. The controller calculates a parallax between the standard image and the reference image based on a plurality of pixels included in the extracted lines.