Distance detection method and system using a stereoscopical imaging apparatus

A distance detecting method for use with a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object, and a picture processing unit for processing said pictures and for outputting distance distribution information for the image, the method comprising the steps of:

• designating at least one particular zone in one of said pictures,
• calculating a frequency of picture elements for said particular zone with a minimum brightness for said particular zone, and calculating a frequency of picture elements of said particular zone with a maximum brightness for said particular zone;
• calculating a correction level for a present shutter speed of said stereoscopical imaging apparatus based upon said frequencies;
• correcting said present shutter speed by said correction level;
• performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of small regions in each of said at least two pictures, and determining deviation amounts of brightness corresponding to said at least two pictures on the basis of a minimum value of a brightness difference between said at least two pictures;
• detecting a minimum value and a maximum value of a degree of said coincidence;
• and
• performing high-speed calculation of a degree of said coincidence between said at least two pictures for each said required small region of each of said at least two pictures, and determining a deviation amount of each picture element corresponding to said at least two pictures with respect to a minimum value and a maximum value for said degree of said coincidence when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two pictures is a third predetermined value.

A distance detecting system, comprising:

• a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object;
• first memory means for storing image data making up said pictures so as to obtain distance distribution information for said image;
• second memory means for storing said image data so as to control a present shutter speed of said imaging apparatus, said second memory means being connected to said imaging apparatus in parallel with said first memory means;
• zone dividing means for dividing one of said pictures into a plurality of zones;
• brightness averaging means for obtaining average brightness for at least one of said zones;
• correction level determining means for determining a correction level of said present shutter speed based upon said average brightness said at least one of said zones;
• coincidence calculation means for performing a high-speed calculation of coincidence between at least two of said pictures for each of a plurality of required small regions in each of said at least two of said pictures;
• deviation amount determining means for determining deviation amounts of brightness corresponding to said at least two of said pictures on the basis of a minimum value of a brightness difference between said pictures
• maximum and minimum values detecting means for detecting a minimum value and a maximum value of a degree of coincidence between said at least two of said pictures;
• deviation amount determining means, which uses said minimum value for said degree of said coincidence for determining a deviation amount of a picture element corresponding to said at least two of said of said pictures with respect to a minimum value and a maximum value for said degree when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two of said pictures is a third predetermined value;
• and
• a picture processing unit for outputting a distance distribution information for an entire image based upon deviation amounts determined by said deviation amount determining means.

A distance detecting system, comprising:

• a stereoscopical imaging apparatus for imaging an object from a plurality of different directions and for obtaining a plurality of pictures of an image of the object;
• first memory means for storing image data making up said pictures so as to obtain distance distribution information for said image;
• second memory means for storing said image data so as to control a present shutter speed of said imaging apparatus, said second memory means being connected to said imaging apparatus in parallel with said first memory means;
• zone designating means for designating at least one particular zone in one of said pictures;
• frequency distribution producing means for calculating a frequency of picture elements of said particular zone with a minimum brightness for said particular zone, and calculating a frequency of picture elements of said particular zone with a maximum brightness for said particular zone;
• correction level calculating means responsive to said frequencies for calculating a correction level for said present shutter speed;
• shutter speed correcting means for correcting said present shutter based upon said correction level;
• coincidence calculation means for performing a high-speed calculation of a coincidence between at least two of said pictures for each of a plurality of required small regions for each of said at least two of said pictures;
• maximum and minimum values detecting means for detecting a minimum value and a maximum value of a degree of coincidence between said at least two of said pictures;
• deviation amount determining means, which uses said minimum value for said degree of said coincidence for determining a deviation amount of a picture element corresponding to said plurality of said digital pictures with respect to a minimum value and a maximum value for said degree when a minimum value is equal to or less than a first predetermined value, when a difference between said maximum value and said minimum value is equal to or larger than a second predetermined value, and when a brightness change of a small portion of a required image out of said at least two of said pictures is a third predetermined value;
• and
• a picture processing unit for outputting distance distribution information for said image based upon said deviation amounts determined by said deviation amount determining means.