Distance measuring device and method of controlling distance measuring device

A distance measuring method performed by processing circuitry, the method comprising:

• receiving, from a pixel array including a plurality of pixels which receives predetermined intermittent light and is arranged in a two-dimensional lattice pattern, a first signal according to a charge accumulated in a first period, a second signal according to a charge accumulated in a second period, a third signal according to a charge accumulated in a third period, and a fourth signal according to a charge accumulated in a fourth period;
• and
• generating a depth map according to a distance d and a luminance ir,
• wherein the distance d is obtained by the following formula:
• d=(c/4πf)×tan−1{(q3−q4)/(q1−q2)}
• wherein the luminance ir is obtained by the following formula:
• ir=(q1+q2+q3+q4)/2
• and wherein q1 is the first signal, q2 is the second signal, q3 is the third signal, q4 is the fourth signal, c is the speed of light, and f is frequency, including generating a high resolution depth map using an upsampling filter to process the distance d of a low resolution depth map and the luminance ir of low resolution infrared image data.

A non-transitory computer readable medium containing instructions that, when executed by processing circuitry, perform a distance measuring method comprising:

• receiving, from a pixel array including a plurality of pixels which receives predetermined intermittent light and is arranged in a two-dimensional lattice pattern, a first signal according to a charge accumulated in a first period, a second signal according to a charge accumulated in a second period, a third signal according to a charge accumulated in a third period, and a fourth signal according to a charge accumulated in a fourth period;
• and
• generating a depth map according to a distance d and a luminance ir, wherein the distance d is obtained by the following formula:
• d=(c/4πf)×tan−1{(q3−q4)/(q1−q2)}
• wherein the luminance ir is obtained by the following formula:
• ir=(q1+q2+q3+q4)/2
• and wherein q1 is the first signal, q2 is the second signal, q3 is the third signal, q4 is the fourth signal, c is the speed of light, and f is frequency, including generating a high resolution depth map using an upsampling filter to process the distance d of a low resolution depth map and the luminance ir of low resolution infrared image data.