1. A method for processing a stereo image, for measuring parallax by making a stereo-correspondence search between a base image taken with a first imaging device and a reference image taken with a second imaging device, comprising the steps of:
setting a specified area of a base window with reference to an object point for obtaining a corresponding point in the base image;
setting a reference window having a same size as that of the base window in the reference image;
evaluating a difference between patterns of the base window and the reference window while scanning the reference window along an epipolar line in the reference image which corresponds to the object point;
determining a position of the reference window having a minimum difference as a stereo corresponding point;
measuring the parallax by a difference between a position of the base window and a position of the reference window when the stereo-corresponding point is determined;
calculating a reliability of the parallax by first reliability based on a sharpness of a peak of an evaluation-value distribution of the difference of patterns between the base window and the reference window obtained by scanning the reference window and second reliability based on a shape of the peaks; and
outputting a value of the reliability of the parallax together with a value of the parallax.
2. The method for processing a stereo image according to claim 1, further comprising the steps of:
calculating an inter-frame difference between a frame processed immediately before and a current frame in the base image;
making a stereo correspondence search only for a changed area determined to be changed between the frames and an unsearched area; and
outputting an immediately preceding stereo-correspondence search result for an unchanged and searched area.
3. The method for processing a stereo image according to claim 1, further comprising the steps of:
enlarging a size of the base window and the reference window during the stereo-correspondence search, for the area with lower reliability of parallax than a specified value among the unchanged and searched area;
repeating the stereo-correspondence search continuously following the stereo-correspondence search of the changed-area and the unsearched area; and
updating information on the parallax of the area and the reliability of the parallax when the reliability is improved.
4. The method for processing a stereo image according to claim 1, further comprising the steps of:
calculating the search-starting-position coordinates in the reference image which corresponds to each pixel in the base image, in advance, on the basis of tilt angles of optical axes of the first imaging device and the second imaging device;
holding a correspondence relationship between the position coordinates of each pixel in the base image and the search-starting-position coordinates in the reference image which correspond to each pixel in the base image as a table; and
making a stereo-correspondence search from a search starting position in the reference image which is obtained by referencing the table.
5. A stereo-image processing apparatus for measuring parallax by making a stereo-correspondence search between a base image taken with a first imaging device and a reference image taken with a second imaging device, comprising:
first setting means for setting a specified area of a base window with reference to an object point for obtaining a corresponding point in the base image;
second setting means for setting a reference window having the same size as that of the base window in the reference image;
evaluation means for evaluating a difference between patterns of the base window and the reference window while scanning the reference window along an epipolar line in the reference image which corresponds to the object point;
determination means for determining a position of the reference window having a minimum difference as a stereo corresponding point;
measurement means for measuring the parallax by a difference between a position of the base window and a position of the reference window when the stereo-corresponding point is determined;
calculation means for calculating a reliability of the parallax by first reliability based on a sharpness of a peak of an evaluation-value distribution of the difference of patterns between the base window and the reference window obtained by scanning the reference window and second reliability based on a shape of the peaks; and
output means for outputting a value of the reliability of the parallax together with a value of the parallax.
6. A program for processing a stereo image, for controlling a stereo-image processing apparatus for measuring parallax by making a stereo-correspondence search between a base image taken with a first imaging device and a reference image taken with a second imaging device, allowing the stereo-image processing apparatus to execute the steps of:
setting a specified area of a base window with reference to an object point for obtaining a corresponding point in the base image;
setting a reference window having the same size as that of the base window in the reference image;
evaluating a difference between patterns of the base window and the reference window while scanning the reference window along an epipolar line in the reference image which corresponds to the object point;
determining a position of the reference window having a minimum difference as a stereo corresponding point;
measuring the parallax by a difference between a position of the base window and a position of the reference window when the stereo-corresponding point is determined;
calculating the reliability of the parallax by first reliability based on a sharpness of a peak of an evaluation-value distribution of the difference of patterns between the base window and the reference window obtained by scanning the reference window and second reliability based on a shape of the peaks; and
outputting a value of the reliability of the parallax together with a value of the parallax.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A consumable device for providing electrical power, designed for a portable electronic appliance, comprising:
a fuel cell comprising an electrolyte arranged between an anode and a cathode,
means for storing hydrogen,
means for conveying the stored hydrogen to the anode,
means for tapping ambient air and for bringing the tapped air into contact with the cathode,
means for controlling release of the hydrogen, and
means for neutralizing the surplus water produced by the cell, wherein:
the means for storing hydrogen comprises at least one solid body comprising a material that releases gaseous hydrogen during combustion after ignition of the solid body by pyrotechnic means.
2. Device according to claim 1, wherein the material constituting the solid body is a pyrotechnic material.
3. Device according to claim 1 comprising a plurality of solid bodies, wherein the pyrotechnic means comprise firing means assigned to a respective body, the control means comprising means for addressing the firing means associated to activating means of the latter.
4. Device according to claim 3, wherein implementation of the activating means is placed under the control of means for measuring the quantity of power available for the appliance.
5. Device according to claim 3, comprising buffer means for storing the power supplied by the fuel cell, arranged between the latter and the electronic means of the appliance.
6. Device according to claim 1, wherein the means for tapping ambient air are means for causing the air to flow through an oxygen chamber, one of the walls whereof is at least partially formed by the cathode.
7. Device according to claim 1, wherein the solid body is housed in a compartment opening out into an expansion chamber for the released hydrogen, one of the walls whereof is at least partially formed by the anode.
8. Device according to claim 1, wherein the means for neutralizing the surplus water produced by the exchange between the hydrogen and the oxygen are resorption means.
9. Device according to claim 6, wherein the resorption means comprise any one of the ambient air flow means and means for absorbing the water produced.
10. Device according to claim 1, wherein the solid body is housed in the thickness of an interchangeable support, the different elements, means and chambers of the device, with the exception of the support of the solid body, being embedded in the appliance to be powered.
11. Device according to claim 1, wherein the electrolyte is a polymer membrane, the electrodes being formed from a carbon-based material.
12. Fuel cell of a device according to claim 1, said fuel cell being associated to electrodes (anode and cathode), with a fuel in the form of hydrogen, which is brought into contact by means of an electrolyte with a combustion agent in the form of oxygen, wherein:
the hydrogen is stored inside at least one solid body able to be decomposed by combustion, the fuel cell comprising pyrotechnic means for firing the body to release the hydrogen into an expansion chamber in contact with the anode, and the oxygen is tapped from the ambient air by means for tapping this air and for bringing the tapped air into contact with the cathode.
13. Application of a fuel cell according to claim 12 to supply of electrical power to a portable electronic appliance.
14. Hydrogen reserve for a fuel cell according to claim 12, comprising.
an interchangeable support forming a receptacle for at least one solid body, the solid body comprising a material that releases gaseous hydrogen during combustion after ignition of the solid body and emerging from the support to enable expansion of the hydrogen released inside an expansion chamber situated inside the appliance to be powered, wherein:
the support further comprising:
at least one firing means assigned to the body,
activating means for activating the firing means, and
easily reversible means for mechanical connection to the appliance to be powered.
15. Hydrogen reserve for a fuel cell according to claim 14, wherein the support further comprises connecting means operating in conjunction with conjugate connecting means of the appliance to bring the activating means into contact with the control and addressing means embedded in the appliance.
16. Hydrogen reserve for a fuel cell according to claim 14, wherein the connecting means and the means for mechanical connection of the support to the appliance are the same means.
17. Device according to claim 1, wherein a selective membrane is associated to the anode and is formed by a material enabling the solid hydrogen storage bodies to be isolated from humidity while allowing hydrogen to pass.