# US 10,771,769 B2 · Distance measuring apparatus, distance measuring method, and imaging apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,771,769 B2 - Document ID: US10771769B2 - Status: Granted - Kind: B2 - Application number: 15/962,048 - Filed: 2018-04-25 - Published: 2018-11-01 - Granted: 2020-09-08 - Earliest claimed: 2017-04-28 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Hidetoshi Tsubaki - Web page: https://patentgrep.com/patent/US10771769B2 ## CPC - H04N 13/282: for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems - G01C 3/08: Use of electric radiation detectors - G01C 3/085: {with electronic parallax measurement} - G01C 11/02: Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 7/593: from stereo images - H04N 13/243: using three or more two-dimensional [2D] image sensors - H04N 13/25: using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor - H04N 13/254: in combination with electromagnetic radiation sources for illuminating objects - H04N 13/257: Colour aspects - H04N 13/271: wherein the generated image signals comprise depth maps or disparity maps - H04N 13/296: Synchronisation thereof; Control thereof - G06T 2207/10012: Stereo images - G06T 2207/10028: Range image; Depth image; 3D point clouds - G06T 2207/10152: Varying illumination - H04N 2013/0081: {Depth or disparity estimation from stereoscopic image signals} - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract 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. ## Claims ### Claim 1 A distance measuring apparatus comprising: at least one processor; and a memory storing an instruction which, when the instruction is executed by the processor, causes the distance measuring apparatus to function as: an imaging unit capable of acquiring a plurality of images having view points different from one another; and a controlling unit configured to perform controlling 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, wherein the control unit controls at least one of illuminance of a patterned light projected using a projecting unit, a wavelength of the patterned light and whether the patterned light is projected or not in each of regions based on the image by the imaging unit. ### Claim 2 (depends on 1) The distance measuring apparatus according to claim 1, wherein the controlling unit determines, on the basis of space frequencies of textures of respective regions in the image acquired by the imaging unit, the region on which the patterned light is projected. ### Claim 3 (depends on 1) The distance measuring apparatus according to claim 1, wherein the controlling unit determines, on the basis of possibility of measurement of a distance based on the plurality of images acquired by the imaging unit, a region on which the patterned light is projected. ### Claim 4 (depends on 1) The distance measuring apparatus according to claim 1, wherein the controlling unit performs control to measure a distance on the basis of a plurality of images acquired by the imaging unit in a state in which another patterned light having a pattern, illuminance, or a waveform different from the pattern, the illuminance, or the waveform of the patterned light is projected on a first region where a distance cannot be measured on the basis of the plurality of images acquired by the imaging unit in the state in which the patterned light is projected. ### Claim 5 (depends on 4) The distance measuring apparatus according to claim 4, wherein, when luminance of the first region at a time when the patterned light is projected is smaller than a first threshold, the controlling unit performs control to measure a distance on the basis of the plurality of images acquired by the imaging unit in a state in which the other patterned light having illuminance higher than the illuminance of the patterned light is projected on the first region. ### Claim 6 (depends on 4) The distance measuring apparatus according to claim 4, wherein, when luminance of the first region at a time when the patterned light is projected is smaller than a first threshold, the controlling unit performs control to measure a distance on the basis of the plurality of images acquired by the imaging unit in a state in which the other patterned light having wavelength different from the wavelength of the patterned light is projected on the first region. ### Claim 7 (depends on 1) The distance measuring apparatus according to claim 1, wherein, when luminance of a second region where distance cannot be measured on the basis of the plurality of images acquired by the imaging unit in a state in which the patterned light is projected is equal to or larger than a second threshold, the controlling unit performs control to measure a distance on the basis of a plurality of images acquired by the imaging unit in a state in which a patterned light is projected on the second region using another projecting unit disposed in a position different from a position of the projecting unit. ### Claim 8 (depends on 1) The distance measuring apparatus according to claim 1, wherein the controlling unit performs control to project the patterned light on a region where a repeated pattern is present. ### Claim 9 (depends on 1) The distance measuring apparatus according to claim 1, further comprising another imaging unit disposed in a position optically conjugate to the imaging unit, wherein the imaging unit and the other imaging unit are different from each other in capturing sensitivity or a capturing wavelength region. ### Claim 10 (depends on 1) The distance measuring apparatus according to claim 1, wherein the controlling unit performs control to calculate a distance on the basis of a plurality of images acquired by the imaging unit in a state in which a patterned light is projected using another projecting unit disposed in a position optically conjugate to the imaging unit, and the patterned light projected by the projecting unit and the patterned light projected by the other projecting unit are different from each other in a wavelength or illuminance. ### Claim 11 (depends on 1) The distance measuring apparatus according to claim 1, wherein the imaging unit includes a plurality of imaging elements disposed in positions different from one another. ### Claim 12 (depends on 11) The distance measuring apparatus according to claim 11, wherein the imaging unit includes a trio or more of the imaging elements. ### Claim 13 (depends on 1) The distance measuring apparatus according to claim 1, wherein the imaging unit acquires the plurality of images from an imaging element on which unit pixels are two-dimensionally disposed, the unit pixels including a first divided pixel that acquires a signal corresponding to a first light beam passing through a first pupil region of an imaging optical system and a second divided pixel that acquires a signal corresponding to a second light beam passing through a second pupil region different from the first pupil region of the imaging optical system. ### Claim 14 A distance measuring method comprising: acquiring, in a state in which a patterned light is projected on any region using a projecting unit disposed in a position optically conjugate to an imaging unit, with the imaging unit, a plurality of images having view points different from one another; measuring a distance on the basis of the plurality of images acquired by the imaging unit; and controlling at least one of illuminance of a patterned light projected using a projecting unit, a wavelength of the patterned light and whether the patterned light is projected or not in each of regions based on the image by the imaging unit. ### Claim 15 An imaging apparatus comprising: at least one processor; and a memory storing an instruction which, when the instruction is executed by the processor, causes the distance measuring apparatus to function as: 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, wherein the control unit controls at least one of illuminance of a patterned light projected using a projecting unit, a wavelength of the patterned light and whether the patterned light is projected or not in each of regions based on the image by the imaging unit. ### Claim 16 A distance measuring apparatus comprising: an imaging unit capable of acquiring a plurality of images having view points different from one another at least one processor; and a memory storing an instruction which, when the instruction is executed by the processor, causes the distance measuring apparatus to function as: 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, and wherein the imaging unit includes an imaging element on which unit pixels are two-dimensionally disposed, the unit pixels including a first divided pixel that acquires a signal corresponding to a first light beam passing through a first pupil region of an imaging optical system and a second divided pixel that acquires a signal corresponding to a second light beam passing through a second pupil region different from the first pupil region of the imaging optical system. ### Claim 17 A distance measuring method comprising: acquiring, in a state in which a patterned light is projected on any region using a projecting unit disposed in a position optically conjugate to an imaging unit, with the imaging unit, a plurality of images having view points different from one another; and measuring a distance on the basis of the plurality of images acquired by the imaging unit, and wherein the imaging unit includes an imaging element on which unit pixels are two-dimensionally disposed, the unit pixels including a first divided pixel that acquires a signal corresponding to a first light beam passing through a first pupil region of an imaging optical system and a second divided pixel that acquires a signal corresponding to a second light beam passing through a second pupil region different from the first pupil region of the imaging optical system.