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Distance measuring device and vehicle provided therewith

  • US 9,955,136 B2
  • Filed: 10/15/2013
  • Issued: 04/24/2018
  • Est. Priority Date: 10/22/2012
  • Status: Active Grant
First Claim
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1. A distance measuring device that generates a parallax image to measure a distance, the distance measuring device comprising:

  • a plurality of image sensors each configured to capture an image; and

    one or more processors configured or programmed to;

    extract an edge image of each of the images, the edge image including pixel values each containing identification information used to identify an edge caused by a brightness variation from light to dark or an edge caused by a brightness variation from dark to light;

    generate a binarized edge image of each of the edge images in accordance with the identification information of the edge image;

    generate the parallax image by matching the binarized edge images; and

    calculate a distance image from the parallax image;

    whereinthe binarized edge image is generated by substituting a pixel value that includes the identification information for identifying the edge in the edge image caused by the brightness variation from light to dark with a binary value, and substituting a pixel value that includes the identification information for identifying the edge in the edge image caused by the brightness variation from dark to light with another binary value.

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