Abstract: An image processing device includes a processor including hardware, the processor implements an image acquisition process for acquiring a plurality of images including a first image and a second image; a filter process for extracting first to N-th frequency components using first to N-th bandpass filters; correlation calculation for obtaining first to N-th correlation calculation results at a target pixel by performing correlation calculation with an i-th frequency component in the first image and the i-th frequency component in the second image; a reliability calculation process for obtaining reliability of each of the correlation calculation results obtained; a weight setting process for setting a weight of each of the correlation calculation results using the reliability; and amount of disparity calculation for obtaining an amount of disparity using the weight and the first to the N-th correlation calculation results.

Abstract: An image processing device includes a processor including hardware, the processor being configured to calculate comparison result information through a comparison process performed on the results of a census transform process performed on a first image and the results of the census transform process performed on a second image, set weight information, calculate a cost using the comparison result information and the weight information, calculate the amount of disparity using the cost, set a first weight having as low degree of contribution to the cost on a neighboring pixel which is determined to be affected by noise to a large extent among a plurality of neighboring pixels, and set a second weight having a high degree of contribution to the cost on a neighboring pixel which is determined to be affected by noise to a small extent among the plurality of neighboring pixels.

Abstract: An image processing device includes a processor including hardware, the processor being configured to calculate comparison result information through a comparison process performed on the results of a census transform process performed on a first image and the results of the census transform process performed on a second image, set weight information, calculate a cost using the comparison result information and the weight information, calculate the amount of disparity using the cost, set a first weight having as low degree of contribution to the cost on a neighboring pixel which is determined to be affected by noise to a large extent among a plurality of neighboring pixels, and set a second weight having a high degree of contribution to the cost on a neighboring pixel which is determined to be affected by noise to a small extent among the plurality of neighboring pixels.