Distance image acquisition apparatus and application thereof

A distance image correction apparatus comprising:

• an input unit through which a distance image including a plurality of distance values is input;
• a correction information storage unit that stores, in a case where the distance image is acquired using a distance image acquisition apparatus that includes a light emitting unit, a lens, and an imaging unit, correction information including a plurality of correction values corresponding to an error of the distance value due to a lens thickness difference between a plurality of main light beam paths from the lens to a light-receiving surface of the imaging unit;
• and
• a correction unit that performs correction with respect to the distance values in the distance image on the basis of the correction information.

A distance image acquisition method comprising, in a state where correction information including a plurality of correction values corresponding to an error of distance value due to a lens thickness difference between a plurality of main light beam paths from a lens to a light-receiving surface of an imaging unit is stored in a correction information storage unit:

• a step of performing imaging using the imaging unit in a state where light emitted from a light emitting unit and reflected in a distance measurement region is guided to the light-receiving surface of the imaging unit by an optical system including the lens;
• a step of generating a distance image including a plurality of distance values corresponding to a time of flight of the light from the light emitting unit to the light-receiving surface of the imaging unit on the basis of an imaging result of the imaging unit;
• and
• a step of correcting the distance values in the distance image on the basis of the correction information.