Mitsumi Electric Company Ltd.

Satoru Suto

Satoshi Ajiki

Takashi Matsumoto

Masato Ehara

Fumiya Nagai

A distance measuring cameraincludes a first optical system for collecting light from a subject to form a first subject image, a second optical system for collecting the light from the subject to form a second subject image, an imaging part for imaging the first subject image formed by the first optical system and the second subject image formed by the second optical system, and a distance calculating partfor calculating a distance to the subject based on the first subject image and the second subject image imaged by the imaging part S. The first optical system and the second optical system are configured so that a change of a magnification of the first subject image according to the distance to the subject is different from a change of a magnification of the second subject image according to the distance to the subject.

Distance measuring camera

A distance measurement cameracontains a first optical system OSfor collecting light from a subjectto form a first subject image, a second optical system OSfor collecting the light from the subjectto form a second subject image, an imaging part S for imaging the first subject image formed by the first optical system OSand the second subject image formed by the second optical system OSand a distance calculating unitfor calculating the distance to the subjectbased on the first subject image and the second subject image imaged by the imaging part S. The distance calculating partcalculates the distance to the subjectbased on an image magnification ratio between a magnification of the first subject image and a magnification of the second subject image.

The distance-measuring camera contains a first optical system for forming a first subject image, a second optical system for forming a second subject image, an imaging part for imaging the first subject image and the second subject image and a distance calculating part for calculating a first candidate for a distance to the subject based on an image magnification ratio between a magnification of the first subject image imaged by the imaging part and a magnification of the second subject image imaged by the imaging part and a second candidate for the distance to the subject based on a parallel disparity between the first subject image and the second subject image. The distance calculating part selects either one of the first candidate and the second candidate as the distance to the subject according to a predetermined condition.

The distance measuring camera includes a first imaging system for obtaining a first image, a second imaging system for obtaining a second image and a size obtaining partfor measuring a distance between a plurality of feature points of a first subject in the first image to obtain a size of the first subject image and measuring a distance between a plurality of feature points of a second subject image in the second image to obtain a size of the second subject image. The size obtaining partsearches pixels on an epipolar line only in a search area of the second image in which a first imaging area corresponding to the first image can be overlapped with a second imaging area corresponding to the second image to detect the plurality of feature points of the second subject image.

A distance measuring camera contains a first imaging system for obtaining a first image containing a first subject image, a second imaging system for obtaining a second image containing a second subject image, a size obtaining part for detecting a plurality of feature points of the first subject image in the first image and measure a distance between the feature points of the first subject image to obtain a size of the first subject image and utilizes an epipolar line to detect a plurality of feature points of the second subject image respectively corresponding to the plurality of feature points of the first subject image and measures a distance between the feature points of the second subject image to obtain a size of the second subject image and a distance calculating part for calculating a distance to the subject based an image magnification ratio between a magnification of the first subject image and a magnification of the first subject image and a magnification of the second subject image.

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Tokyo, Japan

Satoru Suto