Stereo matching device, stereo matching program and stereo matching method

摘要

PROBLEM TO BE SOLVED: To provide a stereo matching apparatus capable of improving stereo matching accuracy.SOLUTION: There is provided a stereo matching apparatus comprising: an image input unit 2 acquiring a standard image and a reference image; a window cost calculation processing unit 4 calculating a window cost representing a dissimilarity between a standard window set to the standard image for each pixel contained in the standard image and a reference window set to the reference image corresponding to the standard window; a main-sub-direction cost calculation processing unit 5 calculating a main direction cost obtained by aggregating window costs of all pixels contained in the standard image in the main direction and a sub-direction cost obtained by aggregating the main direction costs of all pixels contained in the standard image in the sub-direction; an evaluation value calculation processing unit 6 calculating an evaluation value based on the main direction cost and the sub-direction cost; and a correspondence point determination unit 7 determining a correspondence point corresponding to a pixel contained in the standard image among the pixels contained in the reference image based on the evaluation value.SELECTED DRAWING: Figure 9