JP2017010382A - Parallax detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parallax detection device capable of calculating parallax with a small amount of calculation.SOLUTION: A parallax detection device (1A) creates a parallax image on the basis of left camera images (CL) and right camera images (CR) continuously picked up by a stereo camera (11). The parallax detection device (1A) includes: a movement area detection section (13A) for detecting a left movement area coordination (EL) from the two left camera images (CL) picked up with different timing of imaging; and a parallax calculation section (14A) for calculating parallax between the left movement area coordination (EL) detected from the left camera images (CL) and a similar area obtained from the right camera images (CR).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a parallax detection device that creates a parallax image based on a first camera image and a second camera image continuously captured by a stereo camera.

  2. Description of the Related Art Conventionally, a parallax detection device that recognizes a moving object, that is, a moving object from a first camera image and a second camera image captured by a stereo camera is known.

  For example, Patent Document 1 discloses a moving object detection device as a parallax detection device. This moving object detection apparatus detects a moving object by temporally comparing parallax images indicating parallax between left and right images by a stereo camera.

  Specifically, the moving object detection device 100 as the parallax detection device disclosed in Patent Document 1 includes a parallax calculation unit 101, a temporal difference calculation unit 102, an initial difference calculation unit 103, as shown in FIG. And a moving object detection unit 104. First, the parallax calculation unit 101 calculates the parallax between the two cameras constituting the stereo camera and creates an imaged parallax image. Here, the parallax image is also referred to as a distance image, and is an image representing the parallax between the first camera image and the second camera image, that is, an image showing a shift in the position of the target point projected on these two images. The thickness is expressed in shades. For example, in a parallax image, a portion with a large deviation is represented by white in a gray scale, and a portion with a small deviation is represented by black in a gray scale. As a result, it can be seen from the parallax image that the portion represented in white exists at the short distance position and the portion represented in black exists at the long distance position.

  Next, the temporal difference calculation unit 102 calculates a difference image in the unit time of the parallax image calculated by the parallax calculation unit 101 and connects the temporal difference images in the common shooting region between the two cameras. Extract regions. Thereby, the temporal change amount of the parallax image is known.

  Next, the initial difference calculation unit 103 calculates a difference image with respect to the reference image of the parallax image calculated by the parallax calculation unit 101, and for the difference image with the reference image in a common shooting area between the two cameras. A binarization process and an expansion / contraction process are performed to extract a connected region. The moving object detection unit 104 detects that the object is a moving object when the pixel value of at least one of the extracted two connected regions exceeds a threshold value.

JP 2005-258954 A (published September 22, 2005)

  However, in the moving object detection apparatus 100 disclosed in the above-described conventional Patent Document 1, when the parallax calculation unit 101 calculates the parallax from the image of the stereo camera, the parallax is calculated in all image regions. For this reason, the amount of calculation for calculating the parallax increases, and it is necessary to use an expensive processor for processing or to prepare dedicated hardware.

  The present invention has been made in view of the above problems, and an object thereof is to provide a parallax detection device capable of calculating parallax with a small calculation amount.

  In order to solve the above-described problem, a parallax detection device according to an aspect of the present invention creates a parallax image based on a first camera image and a second camera image continuously captured by a stereo camera. A motion region detection unit that detects a motion region from the two first camera images having different imaging timings and a parallax calculation unit that calculates a parallax for the detected motion region are provided.

  According to one aspect of the present invention, there is an effect of providing a parallax detection device capable of calculating parallax with a small calculation amount.

It is a block diagram which shows the structure of the parallax detection apparatus in Embodiment 1 of this invention. (A) is a figure which shows an example of the image image | photographed with the left camera in the stereo camera of the said parallax detection apparatus, (b) is a figure which shows an example of the image image | photographed with the right camera in a stereo camera. (A) is a figure which shows an example of the left motion image created by the left motion image creation part in the said parallax detection apparatus, (b) shows an example of the right motion image created by the right motion image creation part. FIG. In the said parallax detection apparatus, it is a figure which shows the method of detecting a motion region by a motion region detection part. (A) is a figure which shows the method of calculating a parallax by the parallax calculation part of the said parallax detection apparatus, Comprising: It is a figure which shows the left motion image produced by the left motion image creation part, (b) is a right motion image. It is a figure which shows the right motion image produced by the production part. It is a figure which shows an example of the parallax image created by the parallax image creation part in the said parallax detection apparatus. It is a block diagram which shows the structure of the parallax detection apparatus in Embodiment 2 of this invention. It is a block diagram which shows the structure of the parallax detection apparatus in Embodiment 3 of this invention. (A) shows a method of calculating parallax by the parallax calculation unit in the parallax detection device, and shows a left camera image taken at a certain time by the left camera, and (b) shows ( It is a figure which shows the right camera image image | photographed with the right camera at the same time as the time a was image | photographed. It is a block diagram which shows the structure of the parallax detection apparatus in Embodiment 4 of this invention. It is a block diagram which shows the structure of the conventional parallax detection apparatus.

Embodiment 1
(Configuration of parallax detection device)
An embodiment of the present invention will be described below with reference to FIGS.

  The configuration and function of the parallax detection device 1A of the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a parallax detection device 1A according to the present embodiment.

  As shown in FIG. 1, the parallax detection device 1A of the present embodiment includes a stereo camera 11, a motion image creation unit 12, a motion region detection unit 13A, a parallax calculation unit 14A, and a parallax image creation unit 15A. ing.

  The stereo camera 11 includes a left camera 11a as a first camera and a right camera 11b as a second camera. The left camera 11a and the right camera 11b are continuously photographed at the same time, and create a left camera image CL as a first camera image and a right camera image CR as a second camera image. Then, the left camera 11a and the right camera 11b transmit the left camera image CL and the right camera image CR to the left motion image creation unit 12a and the right motion image creation unit 12b, which are individually provided as the motion image creation unit 12, respectively. To do.

  The left motion image creation unit 12a and the right motion image creation unit 12b are first pixels indicating pixels that change with time in the left camera image CL and the right camera image CR transmitted from the left camera 11a and the right camera 11b, respectively. A left motion image DL as a motion image and a right motion image DR as a second motion image are created.

  A specific method for creating the left motion image DL and the right motion image DR is as follows. That is, the left motion image creation unit 12a and the right motion image creation unit 12b each store the previous image and calculate the difference between pixel values, that is, gradation values, of the previous image and the current image. To do. Next, binarization is performed in which “1” is given to pixels whose difference is a certain value or more, and “0” is given to pixels whose difference is less than a certain value. Hereinafter, a pixel having the difference equal to or greater than a certain value is referred to as a change pixel, and a pixel having the difference smaller than the certain value is referred to as a non-change pixel.

  In the present embodiment, the left motion image creation unit 12a and the right motion image creation unit 12b create the left motion image DL and the right motion image DR by the method described above, but in the present invention, the parallax of the present embodiment It is not limited to the method of creating a motion image in the detection apparatus 1A. For example, as a method for creating a motion image, an image obtained by averaging several past to several tens of images is used as a background image, and a difference between pixel values of the background image and the current image is calculated. A method of using the difference value as it is without binarizing the difference value of the pixel value between the image and the current image may be used. In other words, the method for creating a motion image may be any method that can identify a pixel whose pixel value has changed between the previous image and the current image.

  The left motion image creation unit 12a transmits the created left motion image DL to the parallax calculation unit 14A via the motion region detection unit 13A. On the other hand, the right motion image creation unit 12b transmits the created right motion image DR directly to the parallax calculation unit 14A.

  In the left motion image DL sent from the left motion image creation unit 12a, the motion region detection unit 13A has more than a certain percentage of each segmented region obtained by segmenting the entire region of the left motion image DL. The segmented area is detected as the first motion area. More specifically, a segmented region in which a change pixel exists between a certain value P as a first ratio and less than a certain value Q as a second ratio (constant value P <constant value Q) is detected.

  Here, the size of the segmented area will be described. If the size of the segmented area is too large, different moving objects that exist at different distances from the left camera 11a may enter one segmented area. As a result, there is a possibility that parallax cannot be detected in the parallax calculation unit 14A described later. On the other hand, if the size of the segmented area is too small, the characteristics of the segmented area are reduced. As a result, the parallax calculation unit 14A may detect a parallax with an incorrect region. From the above, it is necessary to set the size of the segmented area appropriately. Specifically, although it depends on the number of pixels of the camera, it is desirable that the size of the segmented area is, for example, about 8 × 8 pixels.

  Next, the setting of the range of the value of the change pixel, that is, the setting of the constant value P and the constant value Q, which the segment area detected by the motion area detection unit 13A has will be described.

  First, the setting of the constant value P that is the lower limit value will be described. In the above-described left motion image creation unit 12a, a pixel that should originally be determined as a non-change pixel may be determined as a change pixel due to the influence of noise of the left camera 11a. In order to eliminate this influence, it is necessary to set the value P that is the lower limit value to be somewhat large. Specifically, although depending on the number of pixels of the left camera 11a and the right camera 11b, when the size of the segmented area is 8 × 8 pixels, it is desirable to set the value P to 16 or more.

  Next, the setting of the constant value Q that is the upper limit value will be described. If there are too many changing pixels in the segmented area, the pattern of the changing pixels in the segmented area is not characteristic. For this reason, in the parallax calculation part 14A, there exists a possibility of detecting an incorrect area | region when performing pattern matching. Therefore, it is necessary to set the value Q, which is the upper limit value, to be small to some extent. Specifically, although depending on the number of pixels of the left camera 11a and the right camera 11b, it is desirable to set the value Q to 48 or less when the size of the segmented area is 8 × 8 pixels.

  The motion region detection unit 13A serves as a first motion region that is a partitioned region in which change pixels exist in a set value range for all regions in the left motion image DL sent from the left motion image creation unit 12a. A left motion region coordinate EL is detected. The motion region detection unit 13A transmits the detected left motion region coordinate EL to the parallax calculation unit 14A.

  In this embodiment, the parallax calculation unit 14A includes a motion image similar region detection unit 14a and a motion image parallax calculation unit 14b.

  The motion image similar region detection unit 14a detects, from the right motion image DR, a right motion region coordinate ER as a second motion region having a feature similar to the feature of the left motion region coordinate E sent from the motion region detection unit 13A. .

  In addition, the motion image parallax calculation unit 14b calculates the parallax between the left motion region coordinate EL of the left motion image DL and the right motion region coordinate ER of the right motion image DR.

  A specific parallax calculation method will be described below.

  The motion image similar region detection unit 14a is similar to the pattern of the left motion region coordinate EL, which is a segmented region in the left motion image DL, which is sent from the motion region detection unit 13A and in which a change pixel exists within the set value range. A right motion region coordinate ER that is present is searched for on the epipolar line in the right motion image DR. Note that “on the epipolar line” means that on the horizontal line of the same y coordinate when the stereo camera 11 is parallelized, for example, when the left camera 11a and the right camera 11b are located at the same y coordinate.

  When a similar right motion region coordinate ER is detected in the right motion image DR, the parallax calculation unit 14A calculates a parallax from a difference in distance between the left motion region coordinate EL and the right motion region coordinate ER. When the left camera 11a and the right camera 11b have the same y coordinate, the parallax for the region is calculated from the difference between the x coordinate of the left motion region coordinate EL and the right motion region coordinate ER.

  Here, the method for obtaining the region of the right motion region coordinate ER that is similar to the pattern of the left motion region coordinate EL may be any method, but may be obtained by, for example, template matching, phase-only correlation method, or the like.

  The motion image parallax calculation unit 14b of the parallax calculation unit 14A performs all of the left motion region coordinate EL detected by the motion region detection unit 13A and the right motion region coordinate ER detected by the motion image similar region detection unit 14a. Parallax is calculated. The parallax calculation unit 14A transmits the calculated result to the parallax image creation unit 15B.

  The parallax image creation unit 15B creates a parallax image using the parallax calculation result sent from the parallax calculation unit 14A. The parallax image is an image in which the magnitude of the parallax is expressed by shading. Specifically, the parallax image is displayed in white as the region with the larger parallax is displayed in white, and the region in which the parallax is smaller is displayed in black. The region in which the parallax is not detected is displayed in black.

(Specific operation of parallax detection device)
Next, a specific operation of the parallax detection device 1A according to the present embodiment will be described with reference to FIGS. 1 and 2 (a) and 2 (b) to FIG. (A) of FIG. 2 is a figure which shows an example of the image image | photographed with the left camera 11a in the stereo camera 11 of the parallax detection apparatus 1A. FIG. 2B is a diagram illustrating an example of an image captured by the right camera 11b in the stereo camera 11 of the parallax detection device 1A.

  First, the left camera 11a and the right camera 11b of the stereo camera 11 simultaneously capture images at a certain time. Examples of images taken by the left camera 11a and the right camera 11b are shown in FIGS.

  The left camera image CL and the right camera image CR photographed by the left camera 11a and the right camera 11b are photographed from different locations by the left camera 11a and the right camera 11b, respectively, as shown in FIGS. As a result, there is a shift. The left camera 11a and the right camera 11b transmit the captured left camera image CL and right camera image CR as moving images to the left motion image creation unit 12a and the right motion image creation unit 12b, respectively.

  The left motion image creation unit 12a and the right motion image creation unit 12b create a motion image in which pixels that have changed over time are extracted from the motion images sent from the left camera 11a and the right camera 11b, respectively.

  Examples of motion images created by the left motion image creation unit 12a and the right motion image creation unit 12b are shown in FIGS. FIG. 3A is a diagram illustrating an example of the left motion image DL created by the left motion image creation unit 12a in the parallax detection device 1A. FIG. 3B is a diagram illustrating an example of the right motion image DR created by the right motion image creation unit 12b.

  The left motion image creation unit 12a and the right motion image creation unit 12b store the previous left camera image CL and the right camera image CR, respectively, and calculate the pixel value difference between the previous image and the current image. . In FIGS. 3A and 3B, the change pixel, that is, the pixel where the object is moving is shown in white, and the non-change pixel, ie, the pixel where the object is not moving is shown in black.

  The left motion image creation unit 12a transmits the created left motion image DL to the parallax calculation unit 14A via the motion region detection unit 13A, while the right motion image creation unit 12b directly transmits the created right motion image DR to the parallax. Transmit to the calculation unit 14A.

  The motion region detection unit 13A detects the left motion region coordinate EL that is a segmented region where a change pixel exists at a certain ratio in the left motion image DL sent from the left motion image creation unit 12a. FIG. 4 is a diagram illustrating a method of detecting a motion region in the motion region detection unit 13A.

  For example, a region G1 illustrated in FIG. 4 is one of the divided regions, and no change pixel exists in the region G1. For this reason, since it is not the ratio of the fixed range mentioned above, it is not determined that it is a motion region. Further, in the region G2 shown in FIG. 4, since the ratio of the change pixels is the above-described ratio in the certain range, it is determined that the region is a motion region.

  The motion region detection unit 13A includes a left motion region coordinate EL that is a segmented region in which change pixels exist in a certain range of all segmented regions in the left motion image DL sent from the left motion image creating unit 12a. Is detected. The motion region detection unit 13A transmits the detected left motion region coordinate EL to the parallax calculation unit 14A.

  A specific method for detecting parallax in the parallax calculation unit 14A will be described with reference to FIGS. FIG. 5A shows a method for calculating the parallax by the parallax calculation unit 14A of the parallax detection device 1A, and shows the left motion image DL created by the left motion image creation unit 12a. FIG. 5B is a diagram illustrating the right motion image DR created by the right motion image creation unit 12b.

  As shown in FIG. 5A, the parallax calculation unit 14A is sent from the motion region detection unit 13A in the left motion image DL sent from the left motion image creation unit 12a in the motion image similar region detection unit 14a. As shown in FIG. 5B, the right motion region coordinate ER, which is the coordinate of the region similar to the left motion region coordinate EL that is the coordinate of the segmented region, is sent to the right. It detects in the motion image DR. Next, the motion image parallax calculation unit 14b of the parallax calculation unit 14A calculates the parallax from the coordinate difference between the left motion region coordinate EL and the right motion region coordinate ER.

  The parallax calculation unit 14A calculates the parallax for all the left motion region coordinates EL sent from the motion region detection unit 13A using the method as described above. On the other hand, the parallax calculation unit 14A does not calculate parallax for coordinates that are not sent from the motion region detection unit 13A. As a result, since the amount of calculation is reduced compared to the case where the parallax is calculated for all regions as in the conventional case, the calculation for detecting the moving object can be remarkably accelerated.

  The parallax calculation unit 14A transmits the obtained parallax calculation result to the parallax image creation unit 15B.

  The parallax image creation unit 15B creates a parallax image using the parallax calculation result sent from the parallax calculation unit 14A. FIG. 6 shows an example of the parallax image PI created by the parallax image creation unit 15B.

  As shown in FIG. 6, the parallax image creation unit 15B creates a parallax image PI in which the magnitude of the parallax is expressed in shades. Specifically, the parallax image PI is displayed in white as the parallax is large, and is displayed in black as the parallax is small, and is displayed in black in a region where the parallax is not detected, that is, a region where the object is stationary. Is done. In the illustrated FIG. 6, the stereo camera 11 is photographed obliquely from above. As a result, since the part which hits the head of the moving object is close to the left camera 11a and the right camera 11b, the parallax becomes large. For this reason, the part which hits the head of a moving object is displayed whitish. On the other hand, since the portion of the moving object that touches the foot is far from the left camera 11a and the right camera 11b, the parallax is reduced. For this reason, the portion corresponding to the foot of the moving object is displayed in black. Thus, by expressing the magnitude of the parallax with shading, it is possible to detect a moving object and to grasp the distance between the moving object and the left camera 11a and the right camera 11b.

  As described above, the parallax detection device 1 </ b> A according to the present embodiment obtains a parallax image based on the left camera image CL as the first camera image and the right camera image CR as the second camera image continuously captured by the stereo camera 11. create. Then, a motion region detection unit 13A that detects a left motion region coordinate EL as a motion region from two left camera images CL with different imaging timings, and a left camera region EL detected from the left camera image CL. A parallax calculating unit 14A that calculates parallax with a similar region obtained from the image CR.

  According to the above configuration, the parallax calculation unit 14A calculates the parallax between the left motion region coordinates EL detected from the left camera image CL by the motion region detection unit 13A and the similar region obtained from the right camera image CR. Thereby, compared with the case where parallax is calculated about all the image areas, the amount of calculation required for calculating parallax can be reduced.

  Therefore, it is possible to provide the parallax detection device 1A that can calculate the parallax with a small amount of calculation.

  In addition, the parallax detection device 1A according to the present embodiment compares the current image with the past image for each of the left camera image CL and the right camera image CR continuously captured by the stereo camera 11, and changes the pixel. A left motion image creation unit 12a and a right motion image creation unit 12b that create a left motion image DL and a right motion image DR. The motion region detection unit 13A determines a segmented region in which pixels that have changed in the left motion image DL have a first ratio or more for each segmented region in which the entire region of the left motion image DL is segmented. Detected as region coordinates EL. Further, the parallax calculation unit 14A detects a motion image similar region detection that detects a right motion region coordinate ER as a second motion region having a feature similar to the feature of the left motion region coordinate EL of the left motion image DL from the right motion image DR. And a motion image parallax calculation unit 14b that calculates a parallax between the left motion region coordinate EL of the left motion image DL and the right motion region coordinate ER of the right motion image DR.

  According to the above configuration, the parallax calculation unit 14A, for the left motion region coordinate EL detected by the motion region detection unit 13A, the left motion region coordinate EL of the left motion image DL and the right motion region coordinate ER of the right motion image DR. Is calculated. Thereby, compared with the case where parallax is calculated about all the image areas, the amount of calculation required for calculating parallax can be reduced. Further, by calculating the parallax between the left motion region coordinate EL of the left motion image DL and the right motion region coordinate ER of the right motion image DR, the parallax of the edge portion of the moving object can be detected with high sensitivity.

[Embodiment 2]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those explained in the above embodiment are given the same reference numerals and explanation thereof is omitted.

  In the parallax detection device 1A according to the first embodiment, in the parallax image created by the parallax image creation unit 15A, the region where the parallax calculation unit 14A does not calculate the parallax is displayed in black. That is, the parallax image creation unit 15A did not display the parallax in the parallax image for the region where the parallax calculation unit 14A did not calculate the parallax. In the parallax detection device 1B according to the present embodiment, the parallax image creation unit 15B displays the parallax in the parallax image and displays the parallax for the entire parallax image even in a region where the parallax calculation unit 14B does not calculate the parallax. It is different from the parallax detection device 1A.

  The configuration of the parallax detection device 1B of the present embodiment will be described with reference to FIG. FIG. 7 is a block diagram showing a configuration of the parallax detection device 1B in the present embodiment.

  In the parallax detection device 1B of the present embodiment, as illustrated in FIG. 7, the parallax calculation unit 14B includes a motion image entire region parallax calculation unit 14c. Then, the motion image whole area parallax calculation unit 14c is created by the left motion image creation unit 12a and the right motion image creation unit 12b in which only the background where no motion object exists is displayed before the motion object detection operation. Using the left motion image DL and right motion image DR, the parallax is calculated for the entire area of the screen. Then, the parallax image creation unit 15B creates a parallax image using the parallax calculation result calculated by the parallax calculation unit 14B.

  Then, the parallax image creation unit 15B stores this parallax image as a background parallax image. Once this background parallax image is created, it can be used any number of times when creating a parallax image in which a moving object is present.

  Next, when there is a moving object, the parallax calculation unit 14B calculates the parallax by a method similar to the method created by the parallax detection device 1A of the first embodiment. That is, the parallax calculation unit 14B has two left motion images DL and right sent from the left motion image creation unit 12a and the right motion image creation unit 12b, respectively, for the left motion region coordinates EL sent from the motion region detection unit 13A. The parallax in the motion image DR is detected. On the other hand, the parallax calculation unit 14B calculates the parallax only once for the coordinates that are not sent from the motion region detection unit 13A.

  The parallax image creation unit 15B overwrites the background parallax image for the area for which the parallax has been obtained, using the parallax calculation result sent from the parallax calculation unit 14B. Thereby, the parallax image creation unit 15B creates a parallax image for detecting a moving object.

  With the parallax detection device 1B of the present embodiment, the parallax can be calculated over the entire screen by configuring as described above. Thereby, the position from the stereo camera 11 can be grasped about the object of the whole screen. Further, for the coordinates that are not sent from the motion region detection unit 13A, the parallax is calculated only once, and the parallax is calculated mainly for the left motion region coordinates EL sent from the motion region detection unit 13A. As a result, the amount of calculation for calculating the parallax is reduced. Therefore, in the parallax detection device 1B, it is possible to remarkably speed up the calculation related to the detection of the moving object.

[Embodiment 3]
The following will describe another embodiment of the present invention with reference to FIGS. For convenience of explanation, members having the same functions as those explained in the above embodiment are given the same reference numerals and explanation thereof is omitted.

  In the parallax detection device 1A according to the first embodiment, the parallax calculation unit 14A calculates the parallax using the left motion image DL and the right motion image DR sent from the left motion image creation unit 12a and the right motion image creation unit 12b. It was. In the parallax detection device 1C according to the present embodiment, the parallax calculation device 14C calculates the parallax using the left camera image CL and the right camera image CR sent from the left camera 11a and the right camera 11b. Is different.

  A configuration of the parallax detection device 1 </ b> C according to the present embodiment will be described with reference to FIG. 8. FIG. 8 is a block diagram illustrating a configuration of the parallax detection device 1 </ b> C according to the present embodiment.

  As illustrated in FIG. 8, the parallax detection device 1 </ b> C according to the present embodiment includes a left camera 11 a and a right camera 11 b that configure a stereo camera 11, a left motion image creation unit 12 a provided for the left camera 11 a, A motion region detection unit 13C, a parallax calculation unit 14C, and a parallax image creation unit 15C are provided.

  In the parallax detection device 1C, the left camera 11a transmits the captured left camera image CL as a moving image to the left motion image creation unit 12a and the parallax calculation unit 14C. The right camera 11b transmits the captured right camera image CR as a moving image to the parallax calculation unit 14C.

  The left motion image creation unit 12a creates a left motion image DL indicating a pixel that changes over time in the left camera image CL sent from the left camera 11a. Then, the left motion image creation unit 12a transmits the created left motion image DL to the motion region detection unit 13C. The method for creating the left motion image DL is the same as the method described in the first embodiment.

  Next, the motion region detection unit 13C performs left motion as a first motion region that is a segmented region in which a change pixel exists at a certain ratio or more in the left motion image DL sent from the left motion image creation unit 12a. The area coordinate EL is detected. Specifically, depending on the number of pixels of the left camera 11a, the motion region detection unit 13C detects a partitioned region in which 32 or more change pixels exist when the size of the partitioned region is 8 × 8 pixels. . This is because the number of pixels indicating the background is larger than the number of pixels indicating the moving object in the divided area in the divided area where the ratio of the change pixels is less than half. This is because, when the parallax calculation unit 14C described later detects parallax, the parallax with respect to the background may be calculated.

  Further, in the parallax detection device 1A according to the first embodiment, the parallax calculation unit 14A calculates the parallax using the left motion image DL and the right motion image DR when detecting the parallax. Therefore, when the number of change pixels in the segmented area is too large, the pattern of the change pixels in the segment area is not characterized. As a result, the parallax calculation unit 14A may detect an erroneous region when performing pattern matching. Therefore, in the parallax detection device 1 </ b> A according to the first embodiment, the constant value Q that is the upper limit is set for the ratio of the change pixels.

  However, in the parallax detection device 1C according to the present embodiment, the parallax calculation unit 14C calculates the parallax using the left camera image CL and the right camera image CR when detecting the parallax. Therefore, even if the number of changed pixels in the segmented area is large, an erroneous area is not detected when performing pattern matching. Therefore, there is no need to set an upper limit for the proportion of change pixels.

  The motion region detection unit 13C transmits the detected left motion region coordinate EL to the parallax calculation unit 14C.

  In the present embodiment, the parallax calculation unit 14C includes a camera image similar region detection unit 14d and a camera image parallax calculation unit 14e.

  The camera image similar region detection unit 14d is a left image region as a first image region of the left camera image CL displayed in the same region as the left motion region coordinate EL of the left motion image DL sent from the motion region detection unit 13C. A right image region pixel FR as a second image region having a feature similar to the feature of the pixel FL is detected from the right camera image CR captured by the stereo camera 11.

  The camera image parallax calculation unit 14e calculates the parallax between the left image region pixel FL of the left camera image CL and the right image region pixel FR of the right camera image CR.

  A parallax detection method in the parallax calculation unit 14C will be described with reference to FIGS. 8 and 9A and 9B. FIG. 9A illustrates a method for the parallax calculation unit 14C to calculate the parallax, and is a diagram illustrating the left camera image CL captured at a certain time by the left camera 11a. (B) of FIG. 9 is a diagram showing a right camera image CR taken by the right camera 11b at the same time as when (a) was taken.

  The parallax calculation unit 14C is displayed in the same region as the left motion region coordinate EL sent from the motion region detection unit 13C in the left camera image CL photographed by the left camera 11a in the camera image similar region detection unit 14d. The right image area pixel FR, which is an area similar to the left image area pixel FL of the left camera image CL shown in FIG. 9A, is taken by the right camera 11b as shown in FIG. 9B. It detects in camera image CR.

  Next, the parallax calculation unit 14C calculates the parallax from the coordinate difference between the left image region pixel FL and the right image region pixel FR by the camera image parallax calculation unit 14e.

  The parallax calculation unit 14C further calculates parallax for all the left motion region coordinates EL detected by the motion region detection unit 13C. The result calculated by the parallax calculation unit 14C is sent to the parallax image creation unit 15C.

  The parallax image creation unit 15C creates a parallax image using the parallax calculation result sent from the parallax calculation unit 14C. The parallax image is an image in which the magnitude of the parallax is expressed by shading. Specifically, the parallax image is displayed in white as the region with the larger parallax is displayed in white, and the region in which the parallax is smaller is displayed in black. The region in which the parallax is not detected is displayed in black.

  Thus, in the parallax detection device 1 </ b> C according to the present embodiment, the current image and the past image are compared for the left camera image CL as the first camera image captured by the stereo camera 11, and the pixel that has changed Is provided with a left motion image creating unit 12a that creates a left motion image DL as a first motion image. In addition, the motion region detection unit 13C determines a segmented region in which pixels that have changed in the left motion image DL exist for a certain value Q or more as the second ratio for each segmented region that segments the entire region of the left motion image DL. It is detected as a left motion region coordinate EL as the first motion region. Furthermore, the parallax calculation unit 14C has a feature similar to the feature of the left image region pixel FL as the first image region of the left camera image CL displayed in the same region as the left motion region coordinate EL of the left motion image DL. A right image area pixel FR as a second image area is detected from a right camera image CR as a second camera image captured by the stereo camera 11, and a left image area of the left camera image CL. A camera image parallax calculation unit 14e that calculates parallax between the pixel FL and the right image area pixel FR as the second image area of the right camera image CR is provided.

  According to the above configuration, the parallax calculation unit 14C performs the left image region pixel FL of the left camera image CL and the right image region pixel FR of the right camera image CR with respect to the left motion region coordinate EL detected by the motion region detection unit 13C. Is calculated. Thereby, compared with the case where parallax is calculated about all the image areas, the amount of calculation required for calculating parallax can be reduced. Also, by calculating the parallax between the left image region pixel FL of the left camera image CL and the right image region pixel FR of the right camera image CR, the parallax at the center of the moving object can be detected with high sensitivity.

[Embodiment 4]
The following will describe another embodiment of the present invention with reference to FIG. For convenience of explanation, members having the same functions as those explained in the above embodiment are given the same reference numerals and explanation thereof is omitted.

  In the parallax detection device 1A according to the first embodiment, the parallax calculation unit 14A uses the left motion image DL and the right motion image DR transmitted from the left motion image creation unit 12a and the right motion image creation unit 12b when calculating the parallax. Use. In this case, the detection sensitivity is good for the edge portion of the moving object, but the detection sensitivity is poor for the central portion of the moving object. In the parallax detection device 1C according to the third embodiment, the parallax calculation unit 14C uses the left camera image CL and the right camera image CR sent from the left camera 11a and the right camera 11b when calculating the parallax. In this case, contrary to the parallax detection apparatus 1A in the first embodiment, the detection sensitivity is good for the central part of the moving object, but the detection sensitivity is poor for the edge part of the moving object.

  Therefore, the parallax detection device 1D according to the present embodiment is different in that the method according to the first embodiment and the method according to the third embodiment are combined as a parallax calculation method.

  A configuration of the parallax detection device 1D of the present embodiment will be described with reference to FIG. FIG. 10 is a block diagram illustrating a configuration of the parallax detection device 1D according to the present embodiment.

  As illustrated in FIG. 10, the parallax detection device 1 </ b> D according to the present embodiment includes a left motion image provided for each of the left camera 11 a and the right camera 11 b and the left camera 11 a and the right camera 11 b constituting the stereo camera 11. A creation unit 12a, a right motion image creation unit 12b, a motion region detection unit 13D, a parallax calculation unit 14D, and a parallax image creation unit 15D are provided.

  In the parallax detection device 1D, the left camera 11a and the right camera 11b respectively capture the captured left camera image CL and right camera image CR, respectively, a left motion image creation unit 12a, a right motion image creation unit 12b, and a parallax calculation unit. To 14D.

  The left motion image creation unit 12a and the right motion image creation unit 12b are respectively a left motion image DL indicating a temporally changing pixel in the left camera image CL and the right camera image CR sent from the left camera 11a and the right camera 11b, respectively. And a right motion image DR.

  Next, in the left motion image DL sent from the left motion image creation unit 12a, the motion region detection unit 13D has a change pixel that is greater than or equal to a certain value P as a first ratio and less than a certain value Q as a second ratio. As a left motion region coordinate EL1 as a small motion region that is an existing segmented region and a multi-motion region as a segmented region in which a change pixel exists at a constant value Q (constant value P <constant value Q) or more as the second ratio The left movement region coordinate EL2 of the second is detected. Specifically, the motion region detection unit 13D depends on the number of pixels of the left camera 11a and the right camera 11b, but when the size of the segmented region is 8 × 8 pixels, 16 constant values P, Q is 32 pieces.

  The motion region detection unit 13D, for all regions in the left motion image DL sent from the left motion image creation unit 12a, has left motion region coordinates EL1 and EL2 that are divided regions where change pixels exist within a set value range. Is detected. The motion region detection unit 13D transmits the detected left motion region coordinates EL1 and EL2 to the parallax calculation unit 14D.

  The parallax calculation unit 14D creates a right motion image by using the motion image similar region detection unit 14a to generate a right motion region coordinate ER1 that is a coordinate of a region similar to the left motion region coordinate EL1 sent from the motion region detection unit 13D. It detects in the right motion image DR sent from the part 12b. Next, the motion image parallax calculation unit 14b of the parallax calculation unit 14D calculates the parallax from the coordinate difference between the left motion region coordinate EL1 and the right motion region coordinate ER1.

  Next, the parallax calculation unit 14D is displayed in the same region as the left motion region coordinate EL2 sent from the motion region detection unit 13D in the left camera image CL photographed by the left camera 11a by the camera image similar region detection unit 14d. The right image region pixel FR1 which is a region similar to the left image region pixel FL1 of the left camera image CL being detected is detected in the right camera image CR photographed by the right camera 11b.

  Next, the parallax calculation unit 14C calculates the parallax from the coordinate difference between the left image region pixel FL1 and the right image region pixel FR1 by the camera image parallax calculation unit 14e.

  The parallax calculation unit 14D calculates the parallax for all the left motion region coordinates EL1 and EL2 detected by the motion region detection unit 13D. The parallax calculation unit 14D transmits the calculated result to the parallax image creation unit 15D.

  The parallax image creation unit 15D creates a parallax image using the parallax calculation result sent from the parallax calculation unit 14D. The parallax image is an image in which the magnitude of the parallax is expressed by shading. Specifically, the parallax image is displayed in white as the region with the larger parallax is displayed in white, and the region in which the parallax is smaller is displayed in black. The region in which the parallax is not detected is displayed in black.

  As described above, in the parallax detection device 1D of the present embodiment, the method of calculating the parallax is determined in the parallax calculation unit 14D depending on the ratio of the change pixels in the motion region in the left motion image DL. Specifically, when the ratio of the change pixels is small, that is, when the parallax of the region where the ratio of the edge portion of the moving object is large is calculated, the parallax is calculated using the left motion image DL and the right motion image DR. As a result, the edge portion of the moving object can be detected with high sensitivity, so that the parallax can be calculated with high accuracy. On the other hand, when the ratio of the change pixels is large, that is, when calculating the parallax of the region where the ratio of the central portion of the moving object is large, the parallax is calculated using the left camera image CL and the right camera image CR. As a result, since the center part of the moving object can be detected with high sensitivity, the parallax can be calculated with high accuracy. As a result, the parallax detection device 1D according to the present embodiment can obtain the parallax with high accuracy for both the edge portion and the central portion of the moving object by calculating the parallax.

  In addition, as with the parallax detection device 1A in the first embodiment, parallax is not calculated for coordinates that are not transmitted from the motion region detection unit 13D. As a result, since the amount of calculation is reduced compared to the case where the parallax is calculated for all regions as in the conventional case, the calculation for detecting the moving object can be remarkably accelerated.

  As described above, the parallax detection device 1D according to the present embodiment uses the current image for each of the left camera image CL as the first camera image captured by the stereo camera 11 and the right camera image CR as the second camera image. A left motion image creation unit 12a that creates a left motion image DL as a first motion image and a right motion image DR as a second motion image that compares the past image and displays a pixel that has changed, and a right motion image A creation unit 12b is provided. In addition, the motion region detection unit 13D determines that the changed pixels in the left motion image DL are equal to or more than a certain value P as the first ratio and the second ratio for each segmented region in which the entire region of the left motion image DL is segmented. A segment area that is less than a certain value Q (constant value P <constant value Q) is detected as a left motion area coordinate EL1 as a small motion area.

  In addition, a segment area that is present at a certain value Q or more is detected as a left motion area coordinate EL2 as a multi-motion area.

  The parallax calculation unit 14D includes a motion image parallax calculation unit 14b that detects from the right motion image DR a right image region pixel FR1 having a feature similar to the feature of the left motion region coordinate EL1 of the left motion image DL, and the left motion image DL From the right camera image CR captured by the stereo camera 11, the right image area pixel FR1 having characteristics similar to the characteristics of the left image area pixel FL1 of the left camera image CL displayed in the same area as the left movement area coordinate EL2. The camera image similar region detection unit 14d to detect, the motion image parallax calculation unit 14b that calculates the parallax between the left motion region coordinate EL1 of the left motion image DL and the right motion region coordinate ER1 of the right motion image DR, and the left camera image CL A camera image parallax calculation unit 14e that calculates parallax between the left image area pixel FL1 and the right image area pixel FR1 of the right camera image CR is provided.

  According to the above configuration, the motion region detection unit 13D detects the segmented region in which the pixel that has changed in the left motion image DL is greater than or equal to the certain value P and less than the certain value Q as the left motion region coordinate EL1, and is constant. A segmented region having a value Q or more is detected as the left motion region coordinate EL2. When calculating the parallax in the parallax calculation unit 14D, the parallax between the left motion area coordinate EL1 of the left motion image DL and the right image area pixel FR1 of the right motion image DR is calculated with respect to the left motion area coordinate EL1. On the other hand, for the left motion area coordinate EL2, the parallax between the left image area pixel FL1 of the left camera image CL and the right image area pixel FR1 of the right camera image CR is calculated.

  Thereby, when calculating the parallax when the ratio of the edge portion of the moving object is large, by calculating the parallax between the left motion region coordinate EL1 of the left motion image DL and the right image region pixel FR1 of the right motion image DR, The parallax at the edge of the moving object can be detected with high sensitivity.

  Further, when calculating the parallax of the region where the ratio of the central portion of the moving object is large, the motion is calculated by calculating the parallax between the left image region pixel FL1 of the left camera image CL and the right image region pixel FR1 of the right camera image CR. The parallax at the center of the object can be detected with high sensitivity. As a result, it is possible to detect the parallax at both the edge and center of the moving object with high sensitivity.

  Further, the parallax is not calculated for a region that is not detected by the motion region detection unit 13D. As a result, the parallax can be calculated with a small calculation amount.

[Summary]
The parallax detection devices 1A to 1D according to the first aspect of the present invention generate parallax images based on the first camera image (left camera image CL) and the second camera image (right camera image CR) continuously captured by the stereo camera 11. In the parallax detection device to be created, the motion region detection units 13A, 13C, and 13D that detect the motion region (left motion region coordinate EL) from the two first camera images (left camera image CL) having different imaging timings, and the above A parallax calculation unit that calculates parallax between the motion region (left motion region coordinate EL) detected from the first camera image (left camera image CL) and a similar region obtained from the second camera image (right camera image CR). 14A to 14D.

  According to the above invention, the parallax calculation unit calculates the parallax between the motion region detected from the first camera image by the motion region detection unit and the similar region obtained from the second camera image. Thereby, compared with the case where parallax is calculated about all the image areas, the amount of calculation required for calculating parallax can be reduced.

  Therefore, it is possible to provide a parallax detection device that can calculate parallax with a small amount of calculation.

  The parallax detection device 1A according to aspect 2 of the present invention is the parallax detection device according to aspect 1, in which the first camera image (left camera image CL) and the second camera image (right camera image CR) continuously captured by the stereo camera 11 are used. ), The current image is compared with the past image, and the first motion image (left motion image DL) and the second motion image (right motion image DR) that display the changed pixels are generated. The motion region detection unit 13A includes creation units 12a and 12b, and the motion region detection unit 13A determines that the pixels that have changed in the first motion image (left motion image DL) represent the entire region of the first motion image (left motion image DL). For each divided area, a divided area that exists at a first ratio (a constant value P) or more is detected as a first movement area (left movement area coordinate EL), and the parallax calculation unit 14A performs the first movement. A second motion region (right motion region coordinate ER) having a feature similar to that of the first motion region (left motion region coordinate EL) of the image (left motion image DL) is extracted from the second motion image (right motion image DR). The motion image similar region detection unit 14a to detect, the first motion region (left motion region coordinate EL) of the first motion image (left motion image DL) and the second motion region of the second motion image (right motion image DR). It can be configured to include a motion image parallax calculation unit 14b that calculates parallax with the (right motion region coordinates ER).

  According to the above configuration, the parallax calculation unit calculates the parallax between the first motion region of the first motion image and the second motion region of the second motion image for the first motion region detected by the motion region detection unit. To do. Thereby, compared with the case where parallax is calculated about all the image areas, the amount of calculation required for calculating parallax can be reduced. Further, by calculating the parallax between the first motion region of the first motion image and the second motion region of the second motion image, the parallax of the edge portion of the moving object can be detected with high sensitivity.

  The parallax detection device 1C according to aspect 3 of the present invention compares the current image with the past image in the parallax detection device according to aspect 1 with respect to the first camera image (left camera image CL) captured by the stereo camera 11. And a first motion image creation unit 12a that creates a first motion image (left motion image DL) that displays the changed pixels, and the motion region detection unit 13C includes the first motion image (left motion image). (DL), for each segmented region obtained by segmenting the entire region of the first motion image (left motion image DL), a segmented region in which a second ratio (a constant value Q) or more exists is defined as the first motion region. The parallax calculation unit 14C is displayed in the same area as the first movement area (left movement area coordinate EL) of the first movement image (left movement image DL). The stereo camera 11 captures a second image area (right image area pixel FR) having characteristics similar to the characteristics of the first image area (left image area pixel FL) of the first camera image (left camera image CL). A camera image similar region detection unit 14d that detects the second camera image (right camera image CR), the first image region (left image region pixel FL) of the first camera image (left camera image CL), and the first. A camera image parallax calculation unit 14e that calculates the parallax between the two-camera image (right camera image CR) and the second image region (right image region pixel FR) may be provided.

  According to the above configuration, the parallax calculation unit calculates the parallax between the first image region of the first camera image and the second image region of the second camera image for the first motion region detected by the motion region detection unit. To do. Thereby, compared with the case where parallax is calculated about all the image areas, the amount of calculation required for calculating parallax can be reduced. Also, by calculating the parallax between the first image area of the first camera image and the second image area of the second camera image, the parallax at the center of the moving object can be detected with high sensitivity.

  The parallax detection device 1D according to aspect 4 of the present invention is the parallax detection device according to aspect 1, in which the first camera image (left camera image CL) and the second camera image (right camera image CR) captured by the stereo camera 11 are used. Motion image creation for comparing the current image with the past image for each of the images, and creating a first motion image (left motion image DL) and a second motion image (right motion image DR) that display the changed pixels Units (left motion image creation unit 12a and right motion image creation unit 12b), and the motion region detection unit 13D is configured such that pixels that have changed in the first motion image (left motion image DL) For each segmented region obtained by segmenting the entire region of the image (left motion image DL), a segmented region that exists in a range that is greater than or equal to the first ratio (constant value P) and less than the second ratio (constant value Q) (first ratio <second ratio). A little movement While detecting as a region (left motion region coordinate EL1), and detecting a segmented region that is greater than or equal to the second ratio (constant value Q) as a multi-motion region (left motion region coordinate EL2), the parallax calculation unit 14D A second motion region (right motion region coordinate ER1) having a feature similar to that of the small motion region (left motion region coordinate EL1) of the first motion image (left motion image DL) is converted into the second motion image (right motion image DR). ) And the first camera image (left) displayed in the same region as the multi-motion region (left motion region coordinate EL2) of the first motion image (left motion image DL). A second camera in which the stereo camera 11 captures a second image region (right image region pixel FR1) having characteristics similar to those of the first image region (left image region pixel FL1) of the camera image CL). A camera image similar region detection unit 14d that detects from an image (right camera image CR), a small motion region (left motion region coordinate EL1) of the first motion image (left motion image DL), and the second motion image (right motion). A motion image parallax calculation unit 14b that calculates a parallax between the image DR) and the second motion region (right motion region coordinates ER1); and a first image region (left image region pixel) of the first camera image (left camera image CL). FL1) and a camera image parallax calculation unit 14e that calculates parallax between the second camera image (right camera image CR) and the second image area (right image area pixel FR1).

  According to the above configuration, the motion region detection unit detects a segment region that exists in the first ratio or more and less than the second ratio as a small motion region, and detects a segment region that exists in the second ratio or more as a multi-motion region. . Then, when calculating the parallax in the parallax calculation unit, with respect to the small motion region, the parallax between the small motion region of the first motion image and the second motion region of the second motion image is calculated.

  On the other hand, for the multi-motion area, the parallax between the first image area of the first camera image and the second image area of the second camera image is calculated.

  Thus, when calculating the parallax when the ratio of the edge portion of the moving object is large, by calculating the parallax between the small motion region of the first motion image and the second motion region of the second motion image, The parallax of the edge part can be detected with high sensitivity.

  Further, when calculating the parallax of the area where the ratio of the central part of the moving object is large, by calculating the parallax between the first image area of the first camera image and the second image area of the second camera image, The parallax at the center can be detected with high sensitivity. As a result, it is possible to detect the parallax at both the edge and center of the moving object with high sensitivity.

  Also, the parallax is not calculated for a region that is not detected by the motion region detection unit. As a result, the parallax can be calculated with a small calculation amount.

  The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention. Furthermore, a new technical feature can be formed by combining the technical means disclosed in each embodiment.

  The present invention relates to a parallax detection device that creates a parallax image based on a first camera image and a second camera image continuously captured by a stereo camera. For example, an image for a surveillance camera, a monitoring camera, or the like. It can be used for processing technology.

1A to 1D Parallax detector 11 Stereo camera 11a Left camera (first camera)
11b Right camera (second camera)
12 motion image creation unit 12a left motion image creation unit (motion image creation unit, first motion image creation unit)
12b Right motion image creation unit (motion image creation unit, second motion image creation unit)
13A / 13C / 13D Motion region detection units 14A to 14D Parallax calculation unit 14a Motion image similar region detection unit 14b Motion image parallax calculation unit 14c Motion image whole region parallax calculation unit 14d Camera image similar region detection unit 14e Camera image parallax calculation unit 15A -15D Parallax image creation unit CL Left camera image (first camera image)
CR Right camera image (second camera image)
DL Left motion image (first motion image)
DR Right motion image (second motion image)
EL left motion region coordinates (motion region, first motion region)
EL1 Left movement area coordinates (small movement area)
EL2 Left motion region coordinates (multi motion region)
ER / ER1 right motion region coordinates (second motion region)
FL1 Left image area pixel (first image area)
FR1 Right image area pixel (second image area)
P constant value (first ratio)
Q constant value (second ratio)

Claims (4)

In a parallax detection device that creates a parallax image based on a first camera image and a second camera image continuously captured by a stereo camera,
A motion region detection unit for detecting a motion region from the two first camera images having different imaging timings;
A parallax detection device comprising: a parallax calculation unit that calculates a parallax between a motion area detected from the first camera image and a similar area obtained from the second camera image. A first motion image and a second motion image that display pixels that have changed by comparing the current image with a past image for each of the first camera image and the second camera image continuously captured by the stereo camera. It has a motion image creation unit that creates
The motion area detection unit detects, as a first motion area, a segment area in which pixels that have changed in the first motion image are present at a first ratio or more with respect to each segment area obtained by segmenting the entire area of the first motion image. As well as
The parallax calculation unit
A motion image similar region detection unit for detecting a second motion region having a feature similar to that of the first motion region of the first motion image from the second motion image;
The parallax detection device according to claim 1, further comprising a motion image parallax calculation unit that calculates parallax between the first motion region of the first motion image and the second motion region of the second motion image. A first motion image creating unit that compares a current image with a past image of the first camera image captured by the stereo camera and creates a first motion image that displays a pixel that has changed;
The motion area detection unit uses, as a first motion area, a segment area in which pixels that have changed in the first motion image have a second ratio or more for each segment area in which the entire area of the first motion image is segmented. Detect and
The parallax calculation unit
A second image area having characteristics similar to the characteristics of the first image area of the first camera image displayed in the same area as the first motion area of the first motion image is captured by the stereo camera. A camera image similar region detection unit for detecting from two camera images;
The parallax detection device according to claim 1, further comprising a camera image parallax calculation unit that calculates parallax between the first image area of the first camera image and the second image area of the second camera image. . For each of the first camera image and the second camera image captured by the stereo camera, the current image and the past image are compared, and the first motion image and the second motion image displaying the changed pixels are obtained. It has a motion image creation section to create
The motion region detection unit is configured such that pixels that have changed in the first motion image have a first ratio that is greater than or equal to a first ratio and a second ratio (first ratio <first ratio <first ratio> (2) a segmented area that is present in less than 2) is detected as a small motion area, and a segmented area that is present in the second ratio or more is detected as a multi-motion area,
The parallax calculation unit
A motion image similar region detection unit for detecting a second motion region having a feature similar to the feature of the small motion region of the first motion image from the second motion image;
A second image area having characteristics similar to the characteristics of the first image area of the first camera image displayed in the same area as the multi-motion area of the first motion image is captured by the stereo camera. A camera image similar region detection unit for detecting from a camera image;
A motion image parallax calculation unit that calculates parallax between the small motion region of the first motion image and the second motion region of the second motion image;
The parallax detection device according to claim 1, further comprising a camera image parallax calculation unit that calculates parallax between the first image area of the first camera image and the second image area of the second camera image. .

Images