Distance measuring device and distance measuring system

A distance measuring system comprising:

• a light source device configured to emit pulse train pattern light that repeats a light emission period and a non-light emission period of two types of luminance of a bright portion and a dark portion;
• a distance measuring sensor configured to generate a plurality of images by receiving reflected light, which is obtained by reflecting the emitted pattern light by an object, in light reception periods that are each synchronized with the light emission period and have different phases from each other;
• a bright region detecting unit configured to detect a bright region which is a region generated by receiving the reflected light corresponding to the bright portion of the pattern light in each of the plurality of images;
• a first distance measuring unit configured to detect a phase difference between the emitted pattern light and the reflected light on the basis of the bright regions detected in the plurality of images and calculate a first distance measurement value that is a distance to the object on the basis of the detected phase difference;
• a bright region selecting unit configured to select among the bright regions, detected in the plurality of images, on the basis of image signals constituting the images;
• a second distance measuring unit configured to calculate a second distance measurement value that is a distance to the object by triangulation using a position of the selected bright region in the image;
• and
• a fusion unit configured to generate a fused distance measurement value by fusing the calculated first distance measurement value and the calculated second distance measurement value.