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Range finding method and apparatus

  • US 4,695,156 A
  • Filed: 07/03/1986
  • Issued: 09/22/1987
  • Est. Priority Date: 07/03/1986
  • Status: Expired due to Fees
First Claim
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1. A method for finding the range of a target object, comprising the steps of:

  • (a) viewing the target object from a first perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VA (IA) corresponding to the first perspective, where VA is a voltage proportional to light intensity at a light-sensitive region of the row and IA is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row;

    (b) viewing the target object from a second perspective, using a camera having a sensor with light-sensitive regions that are disposed in a row having ends, to provide a signal VB (IB) corresponding to the second perspective, where VB is a voltage proportional to light intensity at a light-sensitive region of the row and IB is an integer corresponding to the distance between the respective light-sensitive region and a predetermined end of the row;

    (c) finding a disparity function D(IA) which maps VA (IA) onto VB (IB) for every IA in an interval, the interval including a plurality of consecutive integers;

    (d) using the disparity function D(IA) to determine the range of the target object at a plurality of points on the target object; and

    (e) providing electrical signals corresponding to the range to an output device.

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