Distance measuring camera

A distance measuring camera, comprising:

• a first imaging system including a first optical system for collecting light from a subject to form a first subject image and a first image sensor for imaging the first subject image to obtain a first image containing the first subject image;
• a second imaging system including a second optical system for collecting the light from the subject to form a second subject image and arranged so as to be shifted from the first optical system in a direction perpendicular to an optical axis direction of the first optical system and a second image sensor for imaging the second subject image to obtain a second image containing the second subject image;
• a size obtaining part for detecting a plurality of feature points of the first subject image in the first image and measuring a distance between the plurality of feature points of the first subject image to obtain a size of the first subject image and detecting a plurality of feature points of the second subject image in the second image respectively corresponding to the plurality of feature points of the first subject image and measuring a distance between the plurality of feature points of the second subject image to obtain a size of the second subject image;
• and
• a distance calculating part for calculating a distance to the subject based on an image magnification ratio between a magnification of the first subject image and a magnification of the second subject image which is obtained as a ratio between the size of the first subject image and the size of the second subject image obtained by the size obtaining part,
• wherein the size obtaining part detects the plurality of feature points of the second subject image in the second image by searching pixels on a plurality of epipolar lines in the second image respectively corresponding to the plurality of feature points of the first subject image.