Measuring device, moving device, measuring method, and storage medium

A moving device comprising:

• at least one processor or circuit configured to function as:
• a stereo image acquiring unit configured to acquire a first image of a first viewpoint and a second image of a second viewpoint at a predetermined first time and acquire a third image of the first viewpoint and a fourth image of the second viewpoint at a second time different from the first time;
• a stereo distance measuring unit configured to acquire a first distance image from the first image and the second image and acquire a second distance image from the third image and the fourth image;
• a movement amount calculating unit configured to calculate a relative movement amount between the stereo image acquiring unit and a subject between the first time and the second time on the basis of the first distance image and the second distance image;
• and
• a control unit configured to perform warning or control of a movement operation of the moving device on the basis of the movement amount calculated by the movement amount calculating unit.

A measuring method comprising:

• acquiring a first image of a first viewpoint and a second image of a second viewpoint at a predetermined first time and acquiring a third image of the first viewpoint and a fourth image of the second viewpoint at a second time different from the first time by using a stereo camera;
• acquiring a first distance image from the first image and the second image and acquiring a second distance image from the third image and the fourth image;
• and
• calculating a relative movement amount between the stereo camera and a subject between the first time and the second time on the basis of the first distance image and the second distance image.

A non-transitory computer-readable storage medium configured to store a computer program comprising instructions for executing following processes:

• acquiring a first image of a first viewpoint and a second image of a second viewpoint at a predetermined first time and acquiring a third image of the first viewpoint and a fourth image of the second viewpoint at a second time different from the first time by using a stereo camera;
• acquiring a first distance image from the first image and the second image and acquiring a second distance image from the third image and the fourth image;
• and
• calculating a relative movement amount between the stereo camera and a subject between the first time and the second time on the basis of the first distance image and the second distance image.