DISTANCE-MEASURING APPARATUS, MOBILE OBJECT, DISTANCE-MEASURING METHOD, AND DISTANCE-MEASURING SYSTEM
FIG1 is a diagram illustrating the spatial resolution and the distance resolution of a stereo camera, a LiDAR device, and a principle fusion in comparison to each other
FIG1 is a diagram illustrating the spatial resolution and the distance resolution of a stereo camera, a LiDAR device, and a principle fusion in comparison to each other. As illustrated in FIG1, the spatial resolution of a stereo camera is high, and the spatial resolution of a LiDAR device is low when an object is at a remote point. However, when a principle fusion is adopted, high spatial resolution is achieved even when an object is at a remote point. The distance resolution of a stereo camera is low when an object is at a remote point, and the distance resolution of a LiDAR device is high regardless of the distance. However, when a principle fusion is adopted, high distance resolution is achieved even when an object is at a remote point. The performance that goes beyond the principle of measurement of a stereo camera and a LiDAR device can be obtained in such a principle fusion.
diagram
24
unit
1
less than β becomes
['1. A distance-measuring apparatus (100) comprising: a plurality of imaging devices (11, 12) configured to obtain a plurality of images; a converter (23) configured to perform matching for the plurality of images obtained by the plurality of imaging devices (11, 12) to convert the plurality of images into first distance information on a pixel-by-pixel basis; an irradiation unit (232, 233) configured to emit a laser beam where at least one of a first laser-beam resolution in a horizontal direction and a second laser-beam resolution in a vertical direction exceeds two degrees; a light receiver (234, 235) configured to obtain a reflected signal obtained when the laser beam is reflected by an object; a distance calculator (28) configured to detect a peak that corresponds to reflection from the object from the reflected signal and calculate second distance information based on a length of time (T) taken to observe the peak after the laser beam is emitted by the irradiation unit (232, 233); and an integration unit (29) configured to integrate the first distance information and the second distance information with each other.']