Range finding method, range finding apparatus, and range finding system

Patent metadata

Field	Value
Publication number	US-11366229-B2
Application number	US-202016745391-A
Country	US
Kind code	B2
Filing date	Jan 17, 2020
Priority date	Jan 22, 2019
Publication date	Jun 21, 2022
Grant date	Jun 21, 2022

Abstract

A method of finding a range to a target object includes extracting a signal component from a beat signal obtained by synthesizing a transmission wave irradiated onto the target object and a reflection wave reflected and received from the target object, generating a matching evaluation value of a plurality of image data of the target object captured by an imaging device, fusing the signal component and the matching evaluation value before generating a distance image from the matching evaluation value, and setting distance information for each pixel of the image data of the target object based on the signal component and the matching evaluation value fused together to generate a distance image.

First claim

What is claimed is:

1. A method of finding a range to a target object, comprising:
extracting a signal component from a beat signal obtained by synthesizing a transmission wave which is a chirp signal irradiated onto the target object and a reflection wave reflected and received from the target object;
generating a matching evaluation value of a plurality of image data of the target object captured by an imaging device;
fusing the signal component and the matching evaluation value before generating a distance image from the matching evaluation value; and
setting distance information for each pixel of the image data of the target object based on the signal component and the matching evaluation value fused together to generate a distance image.

2. The method according to claim 1 , further comprising:
limiting a range used for determining a local maximum value of the signal component based on the matching evaluation value; and
calculating a distance to the target object based on the signal component having the local maximum value within the range.

3. The method according to claim 1 ,
wherein the signal component is a frequency component of the beat signal,
the method further comprising:
converting the matching evaluation value into a frequency value;
limiting a range of the frequency component of the beat signal based on the frequency value converted from the matching evaluation value;
determining a specific frequency having a local maximum value from the limited range of the frequency component of the beat signal; and
converting the determined specific frequency into a distance to generate the distance image.

4. The method according to claim 1 ,
wherein the signal component is a frequency component of the beat signal,
the method further comprising:
converting the matching evaluation value into a time value;
converting the frequency component of the beat signal into a time component;
limiting a range of the time component of the beat signal based on the time value converted from the matching evaluation value;
determining a specific time having a local maximum value within the limited range of the time component of the beat signal; and
converting the determined specific time into a distance to generate the distance image.

5. The method according to claim 1 ,
wherein the generating generates the matching evaluation value for each one of a plurality of disparities of a disparity image of the target object,
wherein the fusing includes
adjusting a horizontal axis of the matching evaluation value represented by disparity and a horizontal axis of the signal component into the same specific physical quantity,
fusing the matching evaluation value and the signal component as a fusion cost curve, and
calculating a distance to the target object based on a local minimum value in the fusion cost curve represented by the same specific physical quantity.

6. The method according to claim 5 ,
wherein the signal component is a frequency component of the beat signal,
wherein the fusing includes
converting the horizontal axis of the matching evaluation value from a disparity axis into a frequency axis,
fusing the matching evaluation value and the signal component calculated along the frequency axis as a fusion cost curve, and
calculating the distance to the target object based on a specific frequency indicating the local minimum value in the fusion cost curve.

7. The method according to claim 5 ,
wherein the signal component is a frequency component of the beat signal,
wherein the fusing includes
converting the horizontal axis of the matching evaluation value from a disparity axis into a time axis,
converting the signal component calculated along a frequency axis into the frequency component of the beat signal calculated along a time axis,
fusing the matching evaluation value and the signal component of the beat signal calculated along the time axis as a fusion cost curve, and
calculating the distance to the target object based on a specific time indicating the local minimum value in the fusion cost curve.

8. The method according to claim 5 ,
wherein when the matching evaluation value becomes substantially a constant value and the frequency component of the beat signal has one peak alone, the fusing fuses the matching evaluation value and the signal component,
wherein when the frequency component of the beat signal has a plurality of peaks and the matching evaluation value has one local minimum value alone, the fusing fuses the matching evaluation value and the signal component.

9. The method according to according to claim 1 , further comprising:
detecting whether abnormality occurs in a first unit, the first unit being configured to perform a first function used for emitting the transmission wave, receiving the reflection wave, and processing the beat signal;
detecting whether abnormality occurs in a second unit, the second unit being configured to perform a second function used for capturing image data and processing the captured image data; and
displaying, on a display device, a message of detecting the abnormality in at least one of the first function and the second function in response to detecting the abnormality in the first function or the second function.

10. The method according to claim 9 , further comprising:
in response to detecting the abnormality in the first function, generating the distance image using distance information associated with each pixel of the image data based on the matching evaluation value calculated for the plurality of image data; and
in response to detecting the abnormality in the second function, outputting, to a control unit, distance information based on the signal component that is obtained using the first function.

11. A range finding apparatus comprising:
circuitry configured to
extract a signal component from a beat signal obtained by synthesizing a transmission wave which is a chirp signal irradiated onto a target object and a reflection wave reflected and received from the target object;
generate a matching evaluation value of a plurality of image data of the target object captured by an imaging device;
fuse the signal component and the matching evaluation value before generating a distance image from the matching evaluation value; and
set distance information for each pixel of the image data of the target object based on the signal component and the matching evaluation value fused together to generate the distance image.

12. A vehicle-mounted apparatus comprising:
the range finding apparatus of claim 11 ; and
an output unit configured to output the distance image to a control unit of a movable apparatus.

13. A movable apparatus comprising:
the range finding apparatus of claim 11 ; and
a control unit configured to control the movable apparatus based on the distance image.

14. A range finding system comprising:
a range finding device configured to emit a transmission wave to a target object and receive a reflection wave returned from the target object;
an imaging device configured to capture a plurality of image data of the target object; and
circuitry configured to
extract a signal component from a beat signal obtained by synthesizing a transmission wave which is a chirp signal irradiated onto a target object and a reflection wave reflected and received from the target object;
generate a matching evaluation value of a plurality of image data of the target object captured by an imaging device;
fuse the signal component and the matching evaluation value before generating a distance image from the matching evaluation value; an

Assignees

• Sekiguchi Hiroyoshi
• Miyajima Hidetaka
• Ouchida Shigeru
• Ricoh Co Ltd

Inventors

• Sekiguchi Hiroyoshi
• Miyajima Hidetaka
• Ouchida Shigeru

Classifications

• G01S17/931

  of land vehicles · CPC title

• G01S13/343 Primary

  using sawtooth modulation · CPC title

• H04N2013/0081

  Depth or disparity estimation from stereoscopic image signals · CPC title

• H04N13/239

  using two two-dimensional [2D] image sensors having a relative position equal to or related to the interocular distance (H04N13/243 takes precedence) · CPC title

• G01S13/931

  of land vehicles · CPC title