Patent attributes
A first image obtained by taking a moving object at a frame time point t by a first imaging device, a second image obtained by taking the moving object at a frame time point t+Δt by a second imaging device having a view point different from that of the first imaging device, and a third image obtained by taking the moving object at a frame time point t−Δt by the second imaging device are acquired. A first corresponding point on the first image corresponding to an arbitrary point on the second image is searched for, and the disparity of the arbitrary point is measured. Motion information of the arbitrary point is calculated on the basis of the third image, and by use of the motion information as a correction amount, the disparity is corrected. Three-dimensional position information of the arbitrary point is calculated on the basis of the corrected disparity.
