Distance calculator and distance calculation method
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United States of America Patent
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Dec 27, 2016
Grant Date -
Feb 5, 2015
app pub date -
Feb 6, 2013
filing date -
Mar 9, 2012
priority date (Note) -
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Abstract
In order to be able to measure a distance with disparity resolution of a stereo camera or less and precisely measure a relative distance to a target even in the event of degradation of the imaging condition, a distance calculator includes a monocular distance calculation section 203, a stereo distance calculation section 204, a blurriness level calculation section 201, a distance estimation section 202, and an output distance calculation section 206. The monocular distance calculation section 203 calculates the distance to a target based on image information captured by a camera 101 or 102. The stereo distance calculation section 204 calculates the distance to the target based on image information captured by the two cameras 101 and 102. The blurriness level calculation section 201 calculates the blurriness level of the image information captured by the image information captured by the cameras 101 and 102. The distance estimation section 202 estimates the distance to the target at the time of capturing of images by the cameras 101 and 102. The output distance calculation section 206 calculates the distance to the target to be output. The output distance calculation section 206 selects, as the distance to be output, the distance calculated by the monocular distance calculation section 203 or the distance calculated by the stereo distance calculation section 204 based on the blurriness level and the estimated distance.
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