Distance measuring apparatus utilizing two-dimensional image

• US 5,218,414 A
• Filed: 05/12/1992
• Issued: 06/08/1993
• Est. Priority Date: 05/14/1991
• Status: Expired due to Term

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kajiwara, Yasuya
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US07/881,861
• Time in Patent Office: 392 Days
• Field of Search: 356/1, 356/4, 356/3
• US Class Current: 356/3.14
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves

Abstract

A distance measuring apparatus which can accurately measure the distance to an object and keep track of the object. In the apparatus, a pair of image-pickup optical systems pick up an object. A window including the object is set in an image picked up by one of the image-pickup optical systems. The distance to the object is measured by calculating correlation between the image in the window and an image picked up by the other image pickup optical system. Tracking an object is also possible by taking a correlation of images in the window formed in a time sequence. Adequate exposure is determined from an image signal in the window so that the image pickup optical systems are controlled to set the adequate exposure to the image in the window. Contrast of an image in the window becomes distinct, thus enabling accurate distance calculations and tracking of an object.

Claims

1. A distance measuring apparatus comprising:

a pair of image-pickup optical systems for picking up an image of an object for output to a display device;

a window setting means for setting a window on the display including said object within the image picked up by one of said image-pickup optical systems;

a distance calculating means for calculating a distance to said object by calculating a correlation between the image in the window and an image picked up by the other image-pickup optical system;

an exposure calculating means for calculating an adequate exposure level of said image-pickup systems from the image in the window; and

a control means for controlling said image-pickup optical systems so that an adequate level of exposure is set for the image in the window.

4. A distance measuring apparatus according to claim 1, further comprising a tracking means for tracking said object by using the image in the window as a reference image to take a correlation of reference images in time sequence.

2. A distance measuring apparatus comprising:

a pair of image-pickup optical systems for picking up an image of an object for output to a display device;

a window setting means for setting a window on the display including said object within the image picked up by one of said image-pickup optical systems;

a distance calculating means for calculating a distance to said object by calculating a correlation between the image in the window and an image picked up by the other image-pickup optical system;

an exposure calculating means for calculating an adequate exposure level of said image-pickup systems from the image in the window; and

a control means for controlling said image-pickup optical systems so that an adequate level of exposure is set for the image in the window, wherein said exposure calculating means calculates an adequate exposure level in accordance with a peak value of the image in the window when a difference between mean and peak values of the image in the window is equal to or larger than a predetermined value or when a ratio of a region of the image in the window having a brightness equal to or higher than a predetermined value to the remaining region exceeds a predetermined value.

5. A distance measuring apparatus according to claim 2, further comprising a tracking means for tracking said object by using the image in the window as a reference image to take a correlation of reference images in time sequence.

3. A distance measuring apparatus comprising:

a pair of image-pickup optical systems for picking up an image of an object for output to a display device;

a window setting means for setting a window on the display including said object within the image picked up by one of said image-pickup optical systems;

a distance calculating means for calculating a distance to said object by calculating a correlation between the image in the window and an image picked up by the other image-pickup optical system;

an exposure calculating means for calculating an adequate exposure level of said image-pickup systems from the image in the window; and

a control means for controlling said image-pickup optical systems so that an adequate level of exposure is set for the image in the window, wherein said exposure calculating means calculates an adequate exposure level with a mean value of the image in the window when the headlights of a vehicle carrying said apparatus are OFF, or with a peak value of the image in the window when the headlights are ON.

6. A distance measuring apparatus according to claim 3, further comprising a tracking means for tracking said object by using the image in the window as a reference image to take a correlation of reference images in time sequence.