Distance measurement processing device, image processing method, and distance measuring system

A distance measuring system comprising a distance measuring device and a distance measurement processing device, wherein

• the distance measuring device includes:
• an acquirer configured to acquire, on the basis of similarity between a first digital signal obtained by digitizing reflected light of laser light irradiated in a first irradiation direction and a second digital signal obtained by digitizing reflected light of laser light irradiated in a second irradiation direction different from the first irradiation direction, a weight value of the second digital signal;
• an integrator configured to accumulate, on the first digital signal, a signal obtained by weighting the second digital signal with the weight value and generate a third digital signal;
• a distance measurer configured to obtain a distance value to a target object on the basis of a time difference between irradiation timing of the laser light and timing of a peak position in the third digital signal and obtain a signal value corresponding to the peak position in the third digital signal;
• and
• a controller configured to change the first irradiation direction, and
• the distance measurement processing device includes:
• an information acquirer configured to acquire a two-dimensional distance image having the distance value as a pixel value and signal information concerning the signal value corresponding to the distance value for each of pixels in the two-dimensional distance image;
• and
• a reliability-degree generator configured to set, for each of the pixels of the two-dimensional distance image, each of the pixels as a center pixel and generate a reliability degree based on information concerning the pixels having distance values equal to or smaller than a predetermined value from a distance value of the center pixel among the pixels contiguous within a predetermined range from the center pixel and a signal value corresponding to the center pixel.