Image sensing apparatus, image sensing method, distance measuring apparatus, and distance measuring method

A distance measuring apparatus comprising:

• compound eyes which can obtain a sensed image of an object by a plurality of simple eyes;
• a memory in which at least two measurement matrices in which obtained distances are different from each other are stored;
• and
• a processor configured to
• extract light amount information of an estimated pixel from the sensed image by using a digital signal processing technique which uses a sparse representation for each measurement matrix, by using the at least two measurement matrices;
• and
• measure a distance of the object by using a norm of a value using at least light amount information of the estimated pixel which is estimated for each measurement matrix,
• wherein the compound eyes include the plurality of simple eyes, wherein each of the plurality of simple eyes includes a lens and a corresponding photo sensor, and
• wherein each of the measurement matrix indicates mapping information between pixels of the sensed image and the plurality of simple eyes according to a distance between the object and the compound eyes.

A distance measuring method comprising:

• obtaining an estimated sparsifying coefficient from a sensed image of an object obtained by compound eyes, by using at least two measurement matrices in which obtained distances are different from each other;
• extracting light amount information of an estimated pixel by using the estimated sparsifying coefficient;
• and
• measuring a distance of the object, by using a norm of a value using at least the light amount information of the estimated pixel which is estimated for each measurement matrix,
• wherein the compound eyes include the plurality of simple eyes,
• wherein each of the plurality of simple eyes includes a lens and a corresponding photo sensor, and
• wherein each of the measurement matrix indicates mapping information between pixels of the sensed image and the plurality of simple eyes according to a distance between the object and the compound eyes.