Distance measuring apparatus, recognizing apparatus, and distance measuring method

A distance measuring method comprising:

• irradiating a measurement region with a pattern light having a predetermined luminous pattern that is comprised of a first luminous pattern, and a second luminous pattern having a relatively low intensity lower than an intensity of the first luminous pattern;
• receiving, by a light receiving sensor comprising a plurality of light receiving elements respectively corresponding to a plurality of pixels, a return light based on reflection of the pattern light by a target object located in the measurement region;
• obtaining, based on a return light component received by each of the pixels of the light receiving sensor, a distance information item representing a distance value of the target object relative to the distance measuring apparatus for each of the pixels;
• determining whether an intensity of each of the return light components received by the corresponding one of the pixels satisfies a predetermined measurement condition;
• and
• obtaining, as effective distance information, at least one distance value of at least one pixel of the light receiving sensor when it is determined that the intensity of the return light component received by the at least one pixel satisfies the predetermined measurement condition.

A distance measuring apparatus comprising:

• an irradiation unit configured to irradiate a measurement region selectively using at least a first pattern light and a second pattern light, each of the first and second pattern lights being comprised of a plurality of dot-shaped light components, the dot-shaped light components of the first pattern light having first distances therebetween, the dot-shaped light components of the second pattern light having second distances therebetween, the first distances being different from the second distances;
• a light receiving sensor comprising a plurality of light receiving elements respectively corresponding to a plurality of pixels, and configured to receive, for each of the pixels, a return light component based on reflection of the selectively generated one of the first and second pattern lights by a target object located in the measurement region;
• and
• a measurement controller configured to measure, based on the return light component received by each of the pixels of the light receiving sensor, a distance information item representing a distance value of the target object relative to the distance measuring apparatus for each of the pixels.

A distance measuring apparatus comprising:

• an irradiation unit comprising:
• a light source configured to generate a base pattern light comprised of base dot-shaped light components;
• and
• an optical system having a focal length and located to face the light source, the optical system being configured to emit the base dot-shaped light components therethrough,
• the irradiation unit being configured to change the focal length of the optical system to thereby irradiate, based on the base pattern light, the measurement region selectively using at least a first pattern light and a second pattern light while first distances between the dot-shaped light components of the first pattern light are different from second distances between the dot-shaped light components of the second pattern light;
• and
• a light receiving sensor comprising a plurality of light receiving elements respectively corresponding to a plurality of pixels, and configured to receive, for each of the pixels, a return light component based on reflection of the selectively generated one of the first and second pattern lights by a target object located in the measurement region;
• and
• a measurement controller configured to obtain, based on the return light component received by each of the pixels of the light receiving sensor, a distance information item representing a distance value of the target object relative to the distance measuring apparatus for each of the pixels.

A distance measuring apparatus comprising:

• an irradiation unit comprising:
• a light source configured to generate a pattern light comprised of dot-shaped light components;
• an optical system configured to emit the dot-shaped light components of the pattern light therethrough;
• and
• an optical function member disposed on a part of an optical path of the pattern light between the light source and the optical system, and configured to refract or diffuse a part of the pattern light, the part of the pattern light passing through the optical function member;
• a light receiving sensor comprising a plurality of light receiving elements respectively corresponding to a plurality of pixels, and configured to receive, for each of the pixels, a return light component based on reflection of the pattern light from the irradiation unit by a target object located in the measurement region;
• and
• a measurement controller configured to obtain, based on the return light component received by each of the pixels of the light receiving sensor, a distance information item representing a distance value of the target object relative to the distance measuring apparatus for each of the pixels.