A method and apparatus for measuring a distance to an object, be a device (100) having at least two cameras (104, 106), is described. One or more first images including the object are acquired by a first camera of the device and one or more first reference images are acquired by a second camera of the device, while the device is in a first position. One or more second images including the object and one or more second reference images are acquired by cameras of the device, while the device is in a second position, different from the first position. Based on the first and second reference images, information on the displacement of at least one camera of the device between the first and second position are determined. The distance from the device to the object is calculated based on the first and second images including e object and the determined information on the displacement of the at least one camera.

A parallax calculation apparatus includes an acquisition unit and a controller. The acquisition unit acquires a standard image and a reference image captured by a stereo camera. From each of the standard image and the reference image, the controller extracts lines from a plurality of lines parallel to a first direction in an image space corresponding to a baseline direction of a three-dimensional coordinate space. The controller calculates a parallax between the standard image and the reference image based on a plurality of pixels included in the extracted lines.

To provide a distance measuring apparatus, a distance measuring method, and an imaging apparatus that can satisfactorily measure a distance. A distance measuring apparatus includes an imaging unit capable of acquiring a plurality of images having view points different from one another and a controlling unit configured to perform control to acquire the plurality of images with the imaging unit in a state in which a patterned light is projected on any region using a projecting unit disposed in a position optically conjugate to the imaging unit and measure a distance on the basis of the plurality of images acquired by the imaging unit.

A ranging apparatus capable of suppressing reduction of ranging accuracy at a long distance end of a distance measurement range, thereby making it possible to perform high-accuracy ranging over a wide distance range. An image pickup device receives light fluxes from a fixed focus optical system. A distance information acquisition unit acquires distance information of an object based on image signals from the image pickup device. This section acquires the distance information based on parallax between a first image based on a light flux having passed a first region of an exit pupil, and a second image based on a light flux having passed a second region of the exit pupil. The optical system is configured such that parallax of an object existing at a predetermined distance is smaller than parallax of an object existing at a shorter distance than the predetermined distance.

Provided is a stereo camera that is capable of reducing the distance error created by entrance pupil center movement between different principal ray angles of incidence. In the present invention, imaging system unit 100a images a standard image of an object. Imaging system unit 100b images a reference image of the object. A geometric correction information storage unit 114 stores geometric correction information for the standard image and reference image, which each have error depending on the differences between the positions of the object in the standard image and reference image if the entrance pupil center indicating the point of intersection between the principal ray and optical axis moves according to the angle of incidence and the positions of the object in the standard image and reference image if it is assumed that the entrance pupil center does not move according to the angle of incidence. The geometric correction unit 119 geometrically corrects the standard image and reference image using the geometric correction information.

A method including: positioning sensors on a robotic device; positioning a camera on the robotic device; capturing an image of the environment; measuring color depth of each pixel in the image; classifying each pixel into a color depth range; determining for at least one set of two points captured in the image, if the color depth of pixels measured in a region between the two points is within a predetermined range of color; generating at least one line between the two points when the color depth of pixels measured in the region between the two points is within the predetermined range of color; identifying on a map of the environment a wall surface on which the line is generated as a flat wall surface; and adjusting a heading of the robotic device relative to an angle of the wall surface.

The present disclosure relates to a signal processing apparatus, a signal processing method, and an object detection system. A stereo camera performs imaging by a right camera and a left camera to acquire a stereo image and a millimeter wave radar acquires a radar image in which a position of an object is detected in a radiation range of millimeter waves by using millimeter waves. Then, by communication via a communication apparatus with a target in which positional information is known, it is determined whether or not the target is reliable, and in a case where it is determined that the target is reliable, calibration processing is performed for eliminating a deviation in coordinate systems generated in the stereo image and the radar image in which the target is detected.

In an image distance calculator (100), a CPU (104) extracts a frame image from moving images of an object captured by a camera, generates a slice image on the basis of a temporal change in a pixel line on a y-axis at a point x0 in the frame image, calculates a spotting point on the basis of correspondences between pixels in the slice image and pixels in the frame image, obtains pixels in the frame image corresponding to pixels in the slice image by a back-trace process, segments the frame image and slice image into regions, determines a corresponding region corresponding to a segmented region of the slice image, calculates a ratio value from an average q of the numbers of pixels in the corresponding region in the frame image and an average p of the numbers of pixels in the segmented region of the slice image, and calculates the distance z from the camera to the object for each corresponding region using a predetermined distance function.

A photoelectric conversion apparatus includes a photodiode, a counter, a control circuit. The photodiode is configured to cause avalanche multiplication. The counter is configured to generate a count signal as a result of counting a pulse generated by the avalanche multiplication during a predetermined period. The control circuit is configured to perform control to bring the photodiode into a waiting state in which the avalanche multiplication is possible and a stop state in which the avalanche multiplication is stopped, based on the count signal during a predetermined period.

A photoelectric conversion device includes a voltage control unit connected to a first node of a capacitive element and a transistor via the same piece of wiring and configured to output a plurality of voltages having different values to the same piece of wiring.