Range finding apparatus, moveable apparatus, robot, three dimensional measurement apparatus, method of measuring three dimensional information, and storage medium

A method of measuring three dimensional information of an object, comprising:

• supplying a first drive pulse having a first pulse width to a light source to emit a first light from the light source;
• receiving the first light, emitted from the light source and reflected from an object, by a light detector;
• supplying a second drive pulse having a second pulse width, different from the first pulse width of the first drive pulse, to the light source to emit a second light from the light source;
• receiving the second light, emitted from the light source and reflected from the object by the light detector;
• and
• calculating three dimensional information of the object based on a reception result of the first light by the light detector and a reception result of the second light by the light detector,
• wherein when the first pulse width is set smaller than the second pulse width, the first drive pulse is set with a sine wave pattern and the second drive pulse is set with a rectangular wave pattern, and when the second pulse width is set smaller than the first pulse width, the first drive pulse is set with a rectangular wave pattern and the second drive pulse is set with a sine wave pattern.

A non-transitory storage medium storing a program that, when executed by a computer, causes the computer to execute a method of measuring three dimensional information of an object, the method comprising:

• supplying a first drive pulse having a first pulse width to a light source to emit a first light from the light source;
• receiving the first light, emitted from the light source and reflected from an object, by a light detector;
• supplying a second drive pulse having a second pulse width, different from the first pulse width of the first drive pulse, to the light source to emit a second light from the light source;
• receiving the second light, emitted from the light source and reflected from the object by the light detector;
• and
• calculating three dimensional information of the object based on a reception result of the first light by the light detector and a reception result of the second light by the light detector,
• wherein when the first pulse width is set smaller than the second pulse width, the first drive pulse is set with a sine wave pattern and the second drive pulse is set with a rectangular wave pattern, and when the second pulse width is set smaller than the first pulse width, the first drive pulse is set with a rectangular wave pattern and the second drive pulse is set with a sine wave pattern.