Depth measurement apparatus, imaging apparatus and depth measurement method that calculate depth information of a target pixel using a color plane of which a correlation value is at most a threshold

摘要

A depth measurement apparatus that calculates depth information of an object based on a first color image and a second color image. A depth calculator calculates depth information of a target pixel in a color plane, using the two color images. An evaluator calculates, for each color plane, an evaluation value to indicate a confidence coefficient of the depth information in the target pixel. The depth calculator (i) determines, based on the evaluation value, a color plane from which the depth information of the target pixel is calculated, (ii) calculates a correlation value in one color plane between the two color images, to calculate the depth information from the correlation value using a conversion table or a conversion formula that is different for each color plane, and (iii) calculates the depth information of the target pixel using a color plane of which a correlation value is a threshold or less.