Distance measurement device, movable apparatus, and control method

A movable apparatus comprising:

• an image capturing unit configured to be capable of capturing images of first image information and second image information having parallax therebetween from one optical system;
• and
• at least one processor or circuit configured to function as:
• a parallax calculation unit configured to extract image information within a search window from each of the first image information and the second image information and calculate an amount of parallax using a correlation between image information of the first image information within the search window and image information of the second image information within the search window which have been extracted,
• wherein the parallax calculation unit sets the search window on the basis of an optical characteristic value of an image height for performing parallax calculation,
• the optical characteristic value corresponds to a centroidal gap between a centroid of a first luminous flux forming the first image information and a centroid of a second luminous flux forming the second image information on an exit pupil of the optical system, and
• a control unit configured to issue a warning or control movement operation of the movable apparatus based on a distance measurement result using the amount of parallax calculated by the parallax calculation unit.

A method for controlling a distance measurement device comprising:

• image-capturing of capturing images of first image information and second image information having parallax therebetween from one optical system;
• and
• parallax-calculating of extracting image information within a search window from each of the first image information and the second image information and calculating an amount of parallax using a correlation between image information of the first image information within the search window and image information of the second image information within the search window which have been extracted,
• wherein the parallax-calculating sets the search window on the basis of an optical characteristic value of an image height for performing parallax calculation, and
• the optical characteristic value corresponds to a centroidal gap between a centroid of a first luminous flux forming the first image information and a centroid of a second luminous flux forming the second image information on an exit pupil of the optical system.