Distance measuring method and a distance measuring apparatus

• US 5,576,975 A
• Filed: 03/07/1995
• Issued: 11/19/1996
• Est. Priority Date: 09/20/1991
• Status: Expired due to Term

• Current Assignee: Fujitsu Limited
• Original Assignee: Fujitsu Limited
• Inventors: Sasaki, Shigeru, Watanabe, Masaki, Ohta, Yoshiyuki, Toriu, Takashi
• Primary Examiner(s): Voeltz, Emanuel T.
• Assistant Examiner(s): Stamber, Eric W.
• Application Number:
  US08/400,526
• Time in Patent Office: 623 Days
• Field of Search: 364/560, 364/561, 364/562, 364/563, 364/436, 364/460, 364/461, 382/1, 382/106, 340/936, 340/937, 340/942, 356/1.4, 356/28, 356/28.5, 356/3, 356/4.01, 324/160, 324/161
• US Class Current: 702/158
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60G 2401/142 Visual Display Camera, e.g. LCD
• CPC Class Codes: B60G 2800/222 during collision
• CPC Class Codes: B60G 2800/242 Obstacle avoidance manoeuvre
• CPC Class Codes: G02B 7/365 by analysis of the spatial frequency components of the image
• CPC Class Codes: H04N 23/673 based on contrast or high frequency components of image signals, e.g. hill climbing method

Abstract

Method and apparatus for obtaining distance data from an object to a lens by obtaining an image of the object by an image input unit for forming an image of the object through the lens on an image receiving plane. Two observed images Is and Is'"'"' with different blurs from the image input unit are obtained by making a position of the lens and/or a position of the image receiving plane with regard to the object different by a minute distance Δz. A filtering process is then performed by applying a filter to the two input observed images Is and Is'"'"', thereby providing two output images Fs and Fs'"'"'. The distance a up to the object is calculated by using the two output images Fs and Fs'"'"' obtained by the filtering process based on the relation between the two output images Fs and Fs'"'"' and radius s of the blur and the distance a from the lens to the object.

Claims

1. A method of obtaining distance data from an object to a lens based on an image of the object obtained by an image input unit which forms an image of the object through the lens on an image receiving plane, comprising the steps of:

providing a single image input unit, including a lens and an image receiving plane, obtaining two images Is and Is'"'"' of an object by forming the two images Is and Is'"'"' through the lens on the image receiving plane;

obtaining the two images Is and Is'"'"' having two different first and second blurs, respectively, using said single image input unit, by setting at least one of a position of the lens and a position of the image receiving plane in relation to the object different for each of said two images Is and Is'"'"' by a minute distance Δ

z on an optical axis common to said two images Is and Is'"'"';

performing filtering processes by applying a filter to each of said two images Is and Is'"'"', thereby generating two output images Fs and Fs'"'"'; and

calculating a distance a from the lens to the object based on said generated two output images Fs and Fs'"'"' according to a relation between said generated two output images Fs and Fs'"'"' and a radius s of the first blur and a radius s'"'"' of the second blur on the image receiving plane for the object at the distance a from the lens and a relation between the radius s of the first blur and a radius s'"'"' of the second blur and the distance a from the lens to the object.

2. The method of measuring the distance according to claim 1 further comprising:

the step of designating said filtering processes by the following expressions (A) and (B)

space="preserve" listing-type="equation">Fs=∫

exp (-x.sup.2 /σ

.sup.2) exp (ikx)Is(x)dx (A)

space="preserve" listing-type="equation">Fs'"'"'=∫

exp (-x.sup.2 /σ

.sup.2) exp (ikx)Is'"'"'(x)dx (B)

where k represents a predetermined spatial frequency in a Gaussian spatial filtering process, σ

represents a distribution of the Gaussian spatial filtering process, and x represents a coordinate in a direction of the x axis,

the step of representing a relation between the generated two output images Fs and Fs'"'"' and the radius of s of the first blur by the following expression (C) ##EQU5## and the step of representing a relation between the radius s of the first blur and the distance a from the lens to the object by the following expression (D) ##EQU6## where Γ

represents a radius of the lens and f a focus distance of the lens.

3. The method of measuring the distance according to claim 1 wherein the calculating step further includes the step of calculating the distance a from the lens to the object by referring to a look-up-table which is previously prepared to represent a relation between a calculation value of said expression (C) and the distance a from the lens to the object.

4. A distance measuring apparatus comprising:

a single image input unit including a lens and an image receiving plane, obtaining two observed images of an object on the image receiving plane and outputting the two observed images;

first operation means for receiving a first image of said two observed images from said single image input unit and for applying a filtering process to the first image input from said single image input unit by performing a Fourier transformation for a respective predetermined frequency k;

second operation means for receiving a second image of said two observed images from said single image input unit and for applying said filtering process of said first operation means to the second image input from the single image input unit if at least one of a lens position, a position of the image receiving plane, and a position of the single image input unit is moved from a position of said first image; and

third operation means for obtaining a distance from the lens to the object based on a result of the first operation means for the first image, a result of the second operation means for the second image and a distance in which said at least one of the lens, the image receiving plane and the single image input unit are moved.

5. The distance measuring apparatus according to claim 4, wherein the first and second operation means include means for performing an integration of a result obtained by multiplying the two observed images input from said single image input unit by a Gaussian function and a Fourier function.

6. The distance measuring apparatus according to claim 5, wherein said third operation means includes means for obtaining the distance from the lens to the object from the following expressions ##EQU7## wherein Fs represents a result of the first operation means, Fs'"'"' represents a result of the second operation means, Δ

z is the quantity of the movement representing the distance in which said at least one of the lens, the image receiving plane and the single image input unit are moved, k is a predetermined spatial frequency in a Gaussian spatial filtering process, Γ

is a radius of the lens, f is a focus distance of the lens, s is a radius blur of one of the two observed images, and a is the distance from the lens to the object.

7. The distance measuring apparatus according to claim 5, further comprising memory means for storing a look-up-table previously prepared for a result of the first operation means, a result of the second operation means and the distance from the lens to the object, wherein said third operation means obtains the distance from the lens to the object by referring to said look-up-table.

8. The distance measuring apparatus according to claim 7 further comprising means for obtaining said look-up-table by performing a calculation of data associated with the result of the first operation means and the result of the second operation means obtained for the quantity of the movement.

9. The distance measuring apparatus according to claim 4, wherein said single image input unit comprises a lens movement structure moving the lens along an optical axis and outputting the first and second images obtained on the image receiving plane before the lens is moved and after the lens is moved, respectively.

10. The distance measuring apparatus according to claim 4, wherein said single image input unit comprises an image receiving plane structure moving the image receiving plane along an optical axis and outputting the first and second images on the image receiving plane before the image receiving plane is moved and after the image receiving plane is moved, respectively.

11. The distance measuring apparatus according to claim 4, wherein said single image input unit comprises a structure moving a camera body along an optical axis keeping positions of the lens and the image receiving plane fixed and outputting the first and second images on the image receiving plane before the camera body is moved and after the camera body is moved, respectively.

12. The distance measuring apparatus according to claim 4, wherein said single image input unit includes a spectroscope and respective image receiving planes with different distances from the spectroscope, and outputs the first and second images at the respective image receiving plane.