# US 11,908,148 B2 · Information processing device to determine object distance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,908,148 B2 - Document ID: US11908148B2 - Status: Granted - Kind: B2 - Application number: 17/700,268 - Filed: 2022-03-21 - Published: 2022-09-29 - Granted: 2024-02-20 - Earliest claimed: 2021-03-29 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Kazuya Nobayashi; Shin Tanaka; Makoto Oigawa; Shigeo Kodama; Tomoyuki Kawamoto - Web page: https://patentgrep.com/patent/US11908148B2 ## CPC - G01C 3/14: with binocular observation at a single point, e.g. stereoscopic type (G01C3/20 takes precedence) - G06T 7/55: from multiple images - G01S 7/497: Means for monitoring or calibrating - G01S 13/867: {Combination of radar systems with cameras} - G01S 13/931: of land vehicles - G01S 17/08: for measuring distance only (indirect measurement G01S17/46; active triangulation systems G01S17/48) - G01S 17/89: for mapping or imaging - G01S 17/931: of land vehicles - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - H04N 7/18: Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast - 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 - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract An electronic device includes at least one processor or circuit configured to function as a setting unit, an acquisition unit and a processing unit. The setting unit sets an object region in an image acquired from an imaging unit. The acquisition unit acquires a distance map including distance information corresponding to a pixel included in the object region. The processing unit determines object distance information indicating a distance to an object included in the object region, based on the distance information corresponding to the pixel included in the object region. ## Claims ### Claim 1 An information processing device comprising: one or more memories storing instructions; and one or more processors executing the instructions to: sequentially set a region occupied by an object as an object region in a captured image, and sequentially set an identification number of the object region detected in the captured image; sequentially acquire a distance map including distance information corresponding to a pixel included in the object region; sequentially determine object distance information indicating a distance to an object included in the object region, based on the distance information corresponding to the pixel included in the object region; generate, from a history of the object distance information with a same identification number as the identification number, the object distance information using a history of the distance information in a predetermined time range; and determine the object distance information by calculating a weighted average of object distance information based on a size of the object region having the same identification number. ### Claim 2 (depends on 1) The information processing device according to claim 1, wherein the one or more processors further executes the instructions to: acquire a first image signal and a second image signal that have predetermined parallax; and acquire the distance map by determining the distance information corresponding to the pixel, based on the first image signal and the second image signal. ### Claim 3 (depends on 1) The information processing device according to claim 1, wherein the one or more processors further executes the instructions to: determine the object distance information based on any of a mode value, an average value, or a median value of the distance information corresponding to the pixel included in the object region. ### Claim 4 (depends on 1) The information processing device according to claim 1, wherein the one or more processors further executes the instructions to: set the object region as a frame encompassing the object in the image, and generate external information indicating a shape and a position of the frame; and determine the object distance information based on the external information. ### Claim 5 (depends on 1) The information processing device according to claim 1, wherein the one or more processors further executes the instructions to: generate external information indicating the region that is occupied by the object in the image, as the object region; and determine the object distance information based on the external information. ### Claim 6 (depends on 1) The information processing device according to claim 1, wherein the information processing device is included in a movable body. ### Claim 7 (depends on 1) The information processing device according to claim 1, wherein the information processing device is included in an imaging apparatus. ### Claim 8 A method comprising: sequentially setting a region occupied by an object as an object region in a captured image and sequentially setting an identification number of the object region detected in the captured image; sequentially acquiring a distance map including distance information corresponding to a pixel included in the object region; sequentially determining object distance information indicating a distance to an object included in the object region, based on the distance information corresponding to the pixel included in the object region; generating, from a history of the object distance information with a same identification number as the identification number, the object distance information using a history of the distance information in a predetermined time range; and determining the object distance information by calculating a weighted average of object distance information based on a size of the object region having the same identification number. ### Claim 9 (depends on 8) The method according to claim 8, further comprising: acquiring a first image signal and a second image signal that have predetermined parallax; and acquiring the distance map by determining the distance information corresponding to the pixel, based on the first image signal and the second image signal. ### Claim 10 (depends on 8) The method according to claim 8, further comprising: determining the object distance information based on any of a mode value, an average value, or a median value of the distance information corresponding to the pixel included in the object region. ### Claim 11 (depends on 8) The method according to claim 8, further comprising: setting the object region as a frame encompassing the object in the image, and generating external information indicating a shape and a position of the frame; and determining the object distance information based on the external information. ### Claim 12 (depends on 8) The method according to claim 8, further comprising: generating external information indicating the region that is occupied by the object in the image, as the object region; and determining the object distance information based on the external information. ### Claim 13 A non-transitory storage medium that stores a program causing a computer to execute a method, the method comprising: sequentially setting a region occupied by an object as an object region in a captured image and sequentially setting an identification number of the object region detected in the captured image; sequentially acquiring a distance map including distance information corresponding to a pixel included in the object region; sequentially determining object distance information indicating a distance to an object included in the object region, based on the distance information corresponding to the pixel included in the object region; generating, from a history of the object distance information with a same identification number as the identification number, the object distance information using a history of the distance information in a predetermined time range; and determining the object distance information by calculating a weighted average of object distance information based on a size of the object region having the same identification number. ### Claim 14 (depends on 13) The non-transitory storage medium according to claim 13, further comprising: acquiring a first image signal and a second image signal that have predetermined parallax; and acquiring the distance map by determining the distance information corresponding to the pixel, based on the first image signal and the second image signal. ### Claim 15 (depends on 13) The non-transitory storage medium according to claim 13, further comprising: determining the object distance information based on any of a mode value, an average value, or a median value of the distance information corresponding to the pixel included in the object region. ### Claim 16 (depends on 13) The non-transitory storage medium according to claim 13, further comprising: setting the object region as a frame encompassing the object in the image, and generating external information indicating a shape and a position of the frame; and determining the object distance information based on the external information. ### Claim 17 (depends on 13) The non-transitory storage medium according to claim 13, further comprising: generating external information indicating the region that is occupied by the object in the image, as the object region; and determining the object distance information based on the external information.