DISTANCE-MEASURING APPARATUS, MOBILE OBJECT, DISTANCE-MEASURING METHOD, AND DISTANCE-MEASURING SYSTEM
FIG14 is a diagram illustrating a configuration of a distance-measuring apparatus according to an embodiment of the present disclosure
FIG14 is a block diagram illustrating the functions of the distance-measuring apparatus 100 according to the present embodiment. In particular, FIG14 illustrates the functions of the stereo image computation unit 250 according to the present embodiment. As illustrated in FIG14, the stereo image computation unit 250 includes a distortion corrector 13 to which the reference images and comparison images obtained by the right camera 11 and the left camera 12, which together make up a stereo camera, are input, and a distance computing unit 14 that performs principle fusion. In the present embodiment, the images captured by the right camera 11 are used as reference images, and the images captured by the left camera 12 are used as comparison images. The configuration as illustrated in FIG14 is given by way of example, and no limitation is indicated thereby. For example, the laser signal processor 240 and the stereo image computation unit 250 may be combined together. Alternatively, the laser signal processor 240 may have some of the functions of the stereo image computation unit 250. Alternatively, the ECU 190 may have some of or the entirety of the functions of the stereo image computation unit 250.
diagram
24
unit
28
distance calculator
30
distance-image generation unit
12
left camera
14
distance computing unit
11
right camera
29
fusion unit
250
stereo image computation unit
25
distance interpolator
31
pixel-range determination unit
27
determination unit
240
26
reflected-signal cost converter
21
data acquisition unit
23
stereo matching unit
32
irradiation-direction pixel-range table
13
distortion corrector
['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.', '2. The distance-measuring apparatus (100) according to claim 1, further comprising a pixel-range determination unit (31) configured to determine a pixel range corresponding to an irradiation field (101) of one laser beam, wherein the integration unit (29) combines the first distance information in the pixel range with the second distance information in the pixel range.']