Image processing device, method thereof, and moving body anti-collision device

A method of an image processing device including a camera unit and an image processing unit that processes images provided by the camera unit, wherein the camera unit includes a lens, a focusing unit that drives the lens to change a focusing distance, and an image pick-up unit,

• said method comprising the steps of:
• driving the lens to sequentially change the focusing distance of the camera unit to perform a focus-sweep operation so as to form, in the image pick-up unit, clear images of objects at different positions in an optical axis of the lens, wherein the image pick-up unit picks up a plurality of images corresponding to the different focusing distances in the focus-sweep operation,
• receiving the plurality of images obtained by the image pick-up unit of the camera unit in the focus-sweep operation, and identifying objects with clear images formed in the plurality of images, and
• producing an object distribution view according to the focusing distances used when picking up the plurality of images, said object distribution view indicating a position distribution of the identified objects.

A moving body anti-collision device provided on a moving body, comprising;

• a camera unit that picks up images around the moving body,
• an image processing unit that processes images provided by the camera unit, and
• a collision determination unit,
• wherein
• the camera unit includes:
• a lens,
• a focusing unit that drives the lens to change a focusing distance, and
• an image pick-up unit,
• wherein
• the focusing unit drives the lens to sequentially change the focusing distance of the camera unit to perform a focus-sweep operation, so that clear images of objects at different distances from the moving body in an optical axis of the lens are sequentially formed on the image pick-up unit,
• the image pick-up unit picks up a plurality of images corresponding to different focusing distances in the focus-sweep operation,
• the image processing unit receives the plurality of images obtained by the image pick-up unit of the camera unit in the focus-sweep operation, identifies objects with clear images formed in the plurality of images, and produces an object distribution view according to the focusing distances used when picking up the plurality of images, said object distribution view indicating relative positions between the identified objects and the moving body, and
• the collision determination unit determines whether the moving body is to collide with the identified body according to the object distribution view.

A moving body anti-collision device provided on a moving body, comprising;

• a camera unit that picks up images around the moving body,
• an image processing unit that processes images provided by the camera unit, and
• a display unit,
• wherein
• the camera unit includes:
• a lens,
• a focusing unit that drives the lens to change a focusing distance, and
• an image pick-up unit,
• wherein
• the focusing unit drives the lens to sequentially change the focusing distance of the camera unit to perform a focus-sweep operation, so that clear images of objects at different distances from the moving body in an optical axis of the lens are sequentially formed on the image pick-up unit,
• the image pick-up unit picks up a plurality of images corresponding to different focusing distances in the focus-sweep operation,
• the image processing unit receives the plurality of images obtained by the image pick-up unit of the camera unit in the focus-sweep operation, identifies objects with clear images formed in the plurality of images, and produces an object distribution view according to the focusing distances used when picking up the plurality of images, said object distribution view indicating relative positions between the identified objects and the moving body, and
• the display unit displays the object distribution view.