Distance measuring apparatus, processing apparatus, distance measuring method, storage medium

A distance measuring apparatus comprising:

• a light emitter configured to emit light to be irradiated onto an object;
• a light receiver configured to detect light reflected by the object among the light from the light emitter, measure a time of flight of the light from the light emitter, and generate distance data based on the time of flight;
• one or more memories storing instructions;
• and
• one or more processors that, upon execution of the instructions, operate to:
• correct the distance data based on a first delay time from when the light emitter is instructed to emit the light to when the light emitter emits light, and a second delay time from when the light emitter is instructed to emit the light to when the light receiver starts measuring the time of flight,
• correct the distance data based on a third delay time from when a drive unit in the light receiver outputs a drive voltage for causing the light emitting element to emit the light to when the light emitting element emits the light,
• correct the distance data based on a fourth delay time from when the signal is output from the light receiving element to when the signal output from the light receiving element reaches the measuring unit,
• correct the distance data according to an image height in the light receiver and a focal length of an imaging optical system through which the light emitted from the light emitter and the light reflected by the object pass, and
• correct the distance data based on a fifth delay time according to a temperature in at least one of the light emitter and the light receiver.

A distance measuring method configured to correct distance data using a light emitter configured to emit light to be irradiated onto an object, and a light receiver configured to detect light reflected by the object among the light from the light emitter, measure a time of flight of the light from the light emitter, and generate distance data based on the time of flight, the distance measuring method comprising:

• correcting the distance data based on a first delay time from when the light emitter is instructed to emit the light to when the light emitter emits light, and a second delay time from when the light emitter is instructed to emit the light to when the light receiver starts measuring the time of flight,
• correcting the distance data based on a third delay time from when a drive unit in the light receiver outputs a drive voltage for causing the light emitting element to emit the light to when the light emitting element emits the light,
• correcting the distance data based on a fourth delay time from when the signal is output from the light receiving element to when the signal output from the light receiving element reaches the measuring unit,
• correcting the distance data according to an image height in the light receiver and a focal length of an imaging optical system through which the light emitted from the light emitter and the light reflected by the object pass, and
• correcting the distance data based on a fifth delay time according to a temperature in at least one of the light emitter and the light receiver.