Distance measuring apparatus, distance measuring method, and image pickup apparatus

Patent metadata

Field	Value
Publication number	US-10466048-B2
Application number	US-201815989446-A
Country	US
Kind code	B2
Filing date	May 25, 2018
Priority date	May 30, 2017
Publication date	Nov 5, 2019
Grant date	Nov 5, 2019

Abstract

A distance measuring apparatus includes: an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light including a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not including a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

First claim

What is claimed is:

1. A distance measuring apparatus comprising:
one or more processors; and
a memory storing instructions which, when executed by the processors, cause the information processing apparatus to function as:
an acquisition unit that acquires a first image at a first viewpoint where an object is irradiated with a first light comprising a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not comprising a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light;
and a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio of the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

2. The distance measuring apparatus according to claim 1 , wherein
the third image is generated by adding to the first image a seventh image at the first viewpoint where the object is irradiated with a third light comprising a reversed pattern that has light and dark reversed with respect to the pattern, and
the fourth image is generated by adding to the second image an eighth image at the second viewpoint where the object is irradiated with the third light.

3. The distance measuring apparatus according to claim 1 , wherein
the fifth image is generated by dividing the first image with the third image, and the sixth image is generated by dividing the second image with the fourth image.

4. The distance measuring apparatus according to claim 1 , wherein
the fifth image is generated by dividing the first image by the third image, and
the sixth image is generated by dividing the second image by the fourth image.

5. The distance measuring apparatus according to claim 1 , wherein
the fifth image is generated by subtracting the third image from the first image, and
the sixth image is generated by subtracting the fourth image from the second image.

6. The distance measuring apparatus according to claim 1 , wherein
the information relating to a distance is a parallax amount.

7. The distance measuring apparatus according to claim 1 , wherein
the information relating to a distance is a distance to the object.

8. The distance measuring apparatus according to claim 1 , further comprising an irradiating unit, wherein
the irradiating unit comprises a light source and a spatial light modulator that generates the first light by modulating light emitted from the light source, and
the irradiating unit selectively irradiates the object with the first light and the second light.

9. The distance measuring apparatus according to claim 1 , further comprising an irradiating unit, wherein
the irradiating unit comprises a light source and a mask that generates the first light from light emitted from the light source, and
the irradiating unit selectively irradiates the object with the first light and the second light.

10. The distance measuring apparatus according to claim 7 , wherein
the light source comprises a white light source.

11. The distance measuring apparatus according to claim 7 , wherein
the light source comprises a red light source, a green light source, and a blue light source.

12. The distance measuring apparatus according to claim 7 , wherein
the light source comprises an infrared light source.

13. The distance measuring apparatus according to claim 1 , wherein
the control unit controls so as to judge whether to perform acquisition of the third image and the fourth image, or not, based on the first image or the second image.

14. An image pickup apparatus comprising:
one or more processors; and
a memory storing instructions which, when executed by the processors, cause the information processing apparatus to function as:
an image pickup unit that acquires a first image at a first viewpoint where an object is irradiated with a first light comprising a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not comprising a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and
a control unit that employs a fifth image obtained based on a ratio of the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image, and thereby acquires information corresponding to a distance.

15. An image pickup apparatus comprising:
one or more processors; and
a memory storing instructions which, when executed by the processors, cause the information processing apparatus to function as:
an image pickup unit that acquires a first image at a first viewpoint where an object is irradiated with a first light comprising a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a seventh image at the first viewpoint where the object is irradiated with a third light comprising a reversed pattern that has light and dark reversed with respect to the pattern, and an eighth image at the second viewpoint where the object is irradiated with the third light;
a generating unit that generates a third image by adding the first image and the seventh image and generates a fourth image by adding the second image and the eighth image; and
a control unit that acquires information corresponding to a distance, by employing a fifth image obtained based on a ratio of the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

16. A distance measuring method comprising:
one or more processors; and
a memory storing instructions which, when executed by the processors, cause the information processing apparatus to function as:
acquiring a first image at a first viewpoint where an object is irradiated with a first light comprising a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not comprising a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and
acquiring information corresponding to a distance, by employing a fifth image obtained based on a ratio of the first image and the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

17. A recording medium on which is recorded a program storing instructions for causing a computer to execute the steps of:
acquiring a first image at a first viewpoint where an object is irradiated with a first light comprising a pattern, a second image at a second viewpoint different from the first viewpoint where the object is irradiated with the first light, a third image at the first viewpoint where the object is irradiated with a second light not comprising a pattern, and a fourth image at the second viewpoint where the object is irradiated with the second light; and
acquiring information corresponding to a distance, by employing a fifth image obtained based on a ratio the first image by the third image and a sixth image obtained based on a ratio of the second image and the fourth image.

Assignees

• Canon Kk

Inventors

• Oigawa Makoto

Classifications

• G01C11/06

  by comparison of two or more pictures of the same area · CPC title

• G01S17/89

  for mapping or imaging · CPC title

• G06T2207/10024

  Color image · CPC title

• G06T2207/10012

  Stereo images · CPC title

• G06T7/593

  from stereo images · CPC title