发明授权
US09595110B2 Disparity deriving apparatus, movable apparatus, robot, method of deriving disparity, method of producing disparity, program, and storage medium
有权
视差导出装置，可移动装置，机器人，导出差异的方法，产生视差的方法，程序和存储介质
- 专利标题： Disparity deriving apparatus, movable apparatus, robot, method of deriving disparity, method of producing disparity, program, and storage medium
- 专利标题（中）： 视差导出装置，可移动装置，机器人，导出差异的方法，产生视差的方法，程序和存储介质
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申请号： US14661393申请日： 2015-03-18
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公开(公告)号： US09595110B2公开(公告)日： 2017-03-14
- 发明人: Kiichiroh Saitoh
- 申请人： Kiichiroh Saitoh
- 申请人地址： JP Tokyo
- 专利权人： Ricoh Company, Ltd.
- 当前专利权人： Ricoh Company, Ltd.
- 当前专利权人地址： JP Tokyo
- 代理机构： Oblon, McClelland, Maier & Neustadt
- 优先权： JP2014-058623 20140320; JP2015-051947 20150316
- 主分类号： G06K9/00
- IPC分类号： G06K9/00 ; G06T7/00 ; G01S17/02 ; G01S17/93
摘要：
A disparity deriving apparatus for deriving disparity of an object based on a captured reference image of the object and a captured comparison image of the object includes a calculator to calculate costs between a first reference area in the reference image and each one of corresponding areas in the comparison image, and costs between a second reference area and each one of corresponding areas corresponding to the second reference area in the comparison image; a synthesizer to synthesize the costs of the first reference area, and the costs of the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis cost; and an output unit to output the derived disparity value and a specific cost of the first reference area identified by the derived disparity value.
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