Image apparatus and method for calculating depth based on temperature-corrected focal length

A method, comprising:

• measuring a first local temperature value associated with an image apparatus based on processing sensor data generated by at least one temperature sensor;
• performing a first contrast autofocus of at least one image captured by the image apparatus to calculate a first autofocus step code, based at least in part upon the measured first local temperature value;
• measuring a second local temperature value based on processing sensor data generated by the at least one temperature sensor, the second local temperature value being different from the first local temperature value;
• performing a second contrast autofocus of at least one image captured by the image apparatus to calculate a second autofocus step code, based at least in part upon the measured second local temperature value;
• and
• calculating a focal length variation based on both the first autofocus step code and the second autofocus step code.

A method for calculating a depth of an object relative to an image apparatus, the image apparatus including an image sensor and a lens configured to direct incident light of the image sensor, the method comprising:

• capturing a plurality of images of the object at separate, respective portions of the image sensor;
• calculating a binocular disparity of the object based on the plurality of images;
• measuring a current local temperature value associated with the lens;
• performing a contrast autofocus of at least one image of the plurality of images to calculate an autofocus step code, based at least in part upon the measured current local temperature value;
• calculating a focal length variation based on both the autofocus step code and a second autofocus step code, the second autofocus step code being associated with a reference focal length of the lens, the reference focal length being associated with a reference local temperature value;
• calculating a corrected focal length of the lens based on the focal length variation;
• and
• calculating the depth of the object relative to the image apparatus, based on both the binocular disparity and the corrected focal length.