JP2007024731A - Distance measuring device, distance measuring method and distance measuring program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To acquire distance information at every detection point in a detection range. <P>SOLUTION: This distance measuring device 1 is equipped with: a radar 60 detecting the distance to an object positioned in the detection range; an imaging part 10 generating an image signal group corresponding to a prescribed imaging visual field; a distance computing part 20 computing the distance in the imaging visual field based on the image signal group output from the imaging part 10; and a supplementary part 31 detecting a non-detection point from a detection result from the radar 60, instructing distance calculation of a domain corresponding to the non-detection point to the distance calculating part 20, and outputting a detection result determined by supplementing a calculated value by the distance calculating part 20 into the non-detection point as distance data 53. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a distance measuring device, a distance measuring method, and a distance measuring program for detecting a distance to an object located within a detection range.

  In recent years, with the popularization of vehicles, various devices mounted on vehicles have been put into practical use. As such a vehicle-mounted device, there is a distance measuring device that measures an inter-vehicle distance between the host vehicle and a preceding vehicle and performs various processes such as alarm output based on the measured inter-vehicle distance.

  Conventionally, as such a distance measuring device, a distance measuring device including a radar has been proposed (see Patent Document 1). This radar distance measuring device detects the presence or absence of an obstacle and the distance to the obstacle by emitting a transmitted wave such as a laser beam in the forward direction and detecting a reflected wave from the obstacle such as a preceding vehicle. ing.

Japanese Utility Model Publication No. 63-43172

  However, in the conventional radar distance measuring device, there are many places where the distance is not detected, and there is a problem that it is impossible to acquire distance information at all the detection points in the detection range. For example, when a transmitted wave is emitted in an area where nothing exists, the radar cannot receive a reflected wave. Also, the transmitted wave is absorbed depending on the constituent material of the object, and the radar cannot receive the reflected wave. For this reason, the conventional radar distance measuring device cannot acquire distance information in a region where no object is present or where an object with a material that absorbs a transmitted wave is located, and all the detections within the detection range The distance information at the point could not be output.

  The present invention has been made in view of the above-described drawbacks of the prior art, and in a distance measurement device equipped with a radar, a distance at which accurate distance information can be acquired for all detection points in the detection range. It aims at providing a measuring device.

  In order to solve the above-described problems and achieve the object, a distance measurement device according to the present invention is a distance measurement device including a radar that detects a distance to an object located within a detection range, and at least the detection range is defined. An imaging unit that includes an imaging field of view, and that generates an image signal group corresponding to the imaging field; an arithmetic unit that calculates a distance to an object located in the imaging field based on the image signal group; and the radar Complementing means for detecting a non-detection point from the detection result from, and outputting the detection result obtained by supplementing the non-detection point with a calculation value in the calculation means as distance information.

  In the distance measuring device according to the present invention, the complementing unit instructs the computing unit to compute the distance of the region corresponding to the non-detection point, and the computing unit is based on the computing instruction of the complementing unit. The distance calculation is performed.

  Further, in the distance measuring device according to the present invention, the imaging means has the first image signal group imaged through the first optical path and the second image signal group imaged through the second optical path. And the arithmetic means detects an image signal that matches an arbitrary image signal of the first image signal group from the second image signal group, and the arbitrary image in the detected image signal A distance to an object located in the imaging field of view is calculated based on a movement amount from the signal.

  The distance measuring device according to the present invention is characterized in that the imaging means includes a pair of optical systems and a pair of imaging elements that convert optical signals output from the pair of optical systems into electrical signals. To do.

  In the distance measuring device according to the present invention, the imaging means has a pair of light guide optical systems and an imaging region corresponding to each light guide optical system, and takes each optical signal guided by each light guide optical system. And an image pickup device for converting into an electric signal in the region.

  The distance measuring device according to the present invention is characterized in that the distance measuring device is mounted on a vehicle.

  Further, the distance measurement method according to the present invention is a detection method for detecting a distance to an object located within a detection range, a detection step for detecting a distance to an object located within the detection range, and at least the detection range. An imaging step for generating an image signal group corresponding to an imaging field including the inside, a calculation step for calculating a distance to an object located in the imaging field based on the image signal group, and a detection result in the detection step And a complementing step of detecting a non-detection point and supplementing the non-detection point with a calculation value in the calculation step.

  The distance measurement program according to the present invention is a detection program for detecting a distance to an object located within a detection range, a detection procedure for detecting a distance to an object located within the detection range, and at least the detection range. From an imaging procedure for generating an image signal group corresponding to an imaging field including the inside, a calculation procedure for calculating a distance to an object located in the imaging field based on the image signal group, and a detection result in the detection procedure And a complementary procedure for detecting a non-detection point and replenishing the non-detection point with a calculation value in the calculation procedure.

  According to the distance measuring device of the present invention, by including a complementing unit that detects a non-detection point from the detection result of the detection unit and outputs a detection result obtained by supplementing the non-detection point with a calculation value in the calculation unit as distance information, Accurate distance information can be output for all detection points within the detection range of the detection means. For this reason, various safe driving support processes can be accurately performed by using the distance information output by the distance measuring device according to the present invention.

  Hereinafter, a distance measuring apparatus according to an embodiment of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the embodiments. In the description of the drawings, the same parts are denoted by the same reference numerals.

  First, a distance measuring device according to an embodiment will be described by taking a distance measuring device mounted on a vehicle and outputting distance information within a detection range as an example. Based on the distance information output from the distance measuring device, various safe driving support processes are performed by other devices. The distance measuring apparatus according to the present embodiment includes a complementing unit that detects a non-detection point from a radar detection result, supplements the non-detection point with a calculation value calculated by the distance calculation unit, and outputs the result as distance information. FIG. 1 is a block diagram showing a schematic configuration of a distance measuring apparatus according to the present embodiment.

  As shown in FIG. 1, the distance measuring device 1 according to the present embodiment has an imaging field including at least a detection range of the radar 60, and creates an image signal group corresponding to the imaging field, Based on the image signal group generated by the imaging unit 10, the distance calculation unit 20 that calculates the distance to an object located in the imaging field of view, and controls each process and operation of each component that constitutes the distance measuring device 1. A control unit 30, an output unit 40 that outputs various information including distance information, a storage unit 50 that stores various information including distance information, and a radar that detects a distance to an object located within a predetermined detection range. 60. The imaging unit 10, the distance calculation unit 20, the output unit 40, the storage unit 50, and the radar 60 are electrically connected to the control unit 30.

  The imaging unit 10 includes a right camera 11a, a right camera 11a, and a left camera 11b. The right camera 11a and the left camera 11b output image signal groups corresponding to respective imaging fields. The right camera 11a and the left camera 11b include lenses 12a and 12b, image sensors 13a and 13b, analog / digital (A / D) converters 14a and 14b, and frame memories 15a and 15b, respectively. The lenses 12a and 12b collect light incident from a predetermined viewing angle. The image sensors 13a and 13b arranged corresponding to the lenses 12a and 12b are realized by a CCD or a CMOS, and detect the light transmitted through the lenses 12a and 12b and convert it into an analog image signal. The A / D converters 14a and 14b convert analog image signals output from the image sensors 13a and 13b into digital image signals. The frame memories 15a and 15b store digital image signals output from the A / D conversion units 14a and 14b, and a digital image signal group corresponding to one captured image is used as an image signal group corresponding to the imaging field of view as needed. Output.

  The distance calculation unit 20 processes the image signal group output from the imaging unit 10 and calculates a distance to an object located in the imaging field of view, and stores the image signal group output from the imaging unit 10. And a memory 22. The distance calculation unit 20 calculates the distance of the region corresponding to the non-detection point in the radar 60 in accordance with the calculation instruction of the complement unit 31.

The computing unit 21 computes the distance to the object located in the imaging field based on the image signal group output from the imaging unit 10 using the stereo method. The computing unit 21 detects an image signal that matches an arbitrary image signal in the left image signal group output from the left camera 11b from the right image signal group output from the right camera 11a, and detects the detected image signal. The distance is calculated by the principle of triangulation based on the amount of movement I from an arbitrary image signal at. The calculating part 21 calculates | requires the distance R from the imaging part 10 to the vehicle C which is a target object using the following (1) Formula. In the formula (1), f is the focal length of the lenses 12a and 12b, and L is the width between the optical axes of the lenses 12a and 12b. Further, the movement amount I may be obtained based on the number of moved pixels and the pixel pitch.
R = f · L / I (1)
The calculation unit 21 calculates the distance R corresponding to each image signal included in the region corresponding to the non-detection point, and calculates data 52 in which the calculation value and the position information in the imaging field of view are associated with each other in the control unit 30. Output.

  The control unit 30 is realized by a CPU or the like that executes a processing program stored in the storage unit 50, and controls each process or operation of the imaging unit 10, the distance calculation unit 20, the output unit 40, the storage unit 50, and the radar 60. To do. The control unit 30 performs predetermined input / output control on information input / output to / from each of these components and performs predetermined information processing on the information.

  The control unit 30 includes a complementing unit 31. The complement unit 31 detects a non-detection point from the detection result from the radar 60, and outputs a detection result obtained by supplementing the non-detection point with a calculation value in the distance calculation unit 20 as distance information. In addition, the complement unit 31 instructs the distance calculation unit 30 to calculate the distance of the region corresponding to the non-detection point in the detection result.

  The output unit 40 is realized by a liquid crystal display, an organic electroluminescence display, or the like, and displays and outputs various display information such as an image captured by the imaging unit 10 in addition to the distance information. Moreover, the output part 40 is further provided with a speaker, and outputs various audio | voice information, such as a warning audio | voice which alert | reports that it approached the preceding vehicle C other than distance information.

  The storage unit 50 includes a ROM in which various types of information such as processing programs are stored in advance, and a RAM in which calculation parameters for each processing, various types of information output from various components, writing information, audio information, and the like are stored. . The storage unit 50 stores detection data 51 output from the radar 60, calculation data 52 output from the distance calculation unit 20, and distance data 53 output from the complementing unit 31.

  The radar 60 transmits a predetermined transmitted wave, receives a reflected wave reflected by the surface of the object, and a distance from the radar 60 to the object that reflects the transmitted wave based on the transmitted state and the received state. And the direction in which the object is located. The radar 60 determines the distance based on the transmission angle of the transmitted wave, the incident angle of the reflected wave, the reception intensity of the reflected wave, the time from transmission of the transmitted wave to reception of the reflected wave, frequency change of the reflected wave, and the like. The distance from the measuring device 1 to the object reflecting the transmitted wave is detected. The radar 60 outputs detection data 51 in which a detection distance value to an object located within the detection range is associated with position information within the detection range to the control unit 30. The radar 60 transmits laser light, infrared rays, or millimeter waves as a transmission wave. The radar 60 does not receive a reflected wave when transmitting a transmitted wave to a region where an object that reflects the transmitted wave does not exist or a region where an object provided with a member that absorbs the transmitted wave exists. For this reason, such a region becomes a non-detection point in which distance cannot be detected in the detection data 51.

  Next, processing operations until the control unit 30 outputs the distance data 53 among the operations of the distance measuring device 1 will be described. FIG. 2 is a flowchart showing a processing procedure until the control unit 30 completes the output of the distance data 53 in the distance measuring apparatus 1.

  As shown in FIG. 2, first, the control unit 30 instructs the radar 60 to perform a detection process for detecting a distance to an object located within the detection range (step S102). The radar 60 detects the distance to the object located within the detection range in accordance with the detection processing instruction of the control unit 30 and outputs detection data 51 to the control unit 30. The control unit 30 receives the detection data 51 from the radar 60 (step S104), and the complementing unit 31 detects a non-detection point within the detection range of the radar 60 in the received detection data 51 (step S106). ). Next, the complement unit 31 determines whether or not there is a non-detection point in the received detection result (step S108). When it is determined that there is a non-detection point (step S108: Yes), the complementing unit 31 performs a complementing process for supplementing the non-detection point with the calculation value of the distance calculation unit 20 (step S110). The detection result supplemented with the calculation value of the distance calculation unit 20 is output as distance information (step S112). On the other hand, when determining that there is no non-detection point (step S108: No), the complementing unit 31 outputs the received detection data 51 as the distance data 53 (step S112).

  Next, the complementing process shown in FIG. 2 will be described. FIG. 3 is a flowchart showing a processing procedure of the complement processing shown in FIG. As illustrated in FIG. 3, the control unit 30 instructs the imaging unit 10 to perform an imaging process (step S122). Next, the complementing unit 31 instructs the distance calculation unit 20 to calculate the distance of the area corresponding to the detected non-detection point (step S124). The distance calculation unit 20 performs distance calculation processing for calculating the distance of the region corresponding to the non-detection point in accordance with the calculation instruction of the complement unit 31 (step S126), and outputs each calculation value as calculation data 52 to the control unit 30. To do. The complementing unit 31 uses the computation data 52 output from the distance computation unit 20 to supplement the computation value computed by the distance computation unit 20 to the non-detection points in the detection data 51 (step S128), and ends the complementing process. .

  Next, each processing procedure shown in FIGS. 2 and 3 will be described in detail. FIG. 4 is a diagram illustrating an example of the detection data 51 illustrated in FIG. In the detection data 51a shown in FIG. 4, a location where the radar 60 detects a distance to an object located within the detection range is indicated as a radar detection point “●”, and a location where the radar 60 is not detected is indicated as a radar non-detection point “×”. As shown.

  When the complementing unit 31 detects a radar non-detection point from the detection information 51a (step S108: Yes), after instructing the imaging unit 10 to perform imaging processing (step S122), the region corresponding to the radar non-detection point, for example, The distance calculation unit 20 is instructed to calculate the distance of the area S1 in FIG. 4 (step S124).

  As shown in FIG. 5, the distance calculation unit 20 is based on the right image signal group 16a output from the right camera 11a and the left image signal group 16b output from the left camera 11b according to the instruction of the complement unit 31. Next, the distance calculation in the region S1 is performed (step S126). When the image signal corresponding to the region S1 in the left image signal group 16b is 161b, the arithmetic unit 21 firstly includes an image signal 161a located at a position corresponding to the image signal 161b in the right image signal group 16a, and an image The signal group 161b is compared, and it is examined whether or not the image signal 161a and the image signal 161b are matched. When it is determined that the image signal 161a and the image signal 161b do not match, the arithmetic unit 21 searches for an image signal that matches the image signal 161b while sequentially moving in the right direction in FIG. When the arithmetic unit 21 detects an image signal 165a that matches the image signal 161b in the right image signal group 16a, it obtains a movement amount I1 from the image signal 161a to the image signal 165a, and uses equation (1). The distance in the area S1 is calculated. As described above, the distance calculation unit 20 performs the distance calculation only on the area corresponding to the non-detection point in the detection data 51 of the radar 60, and each calculation value calculated corresponding to this area is used as the calculation data 52. Output to the control unit 30.

  Next, a process (step S128) in which the complementing unit 31 supplements the calculation value calculated by the distance calculation unit 21 to the non-detection points in the detection data 51 will be described with reference to FIG. Here, in FIG. 6, as in FIG. 4, a location where the radar 60 detects a distance to an object located within the detection range is indicated as a radar detection point “●”, and a location where the radar 60 is not detected is not detected by the radar. An area where the distance calculation unit 20 calculates the distance is indicated as a calculation point “◯” while being indicated as a point “×”.

  As shown in FIG. 6, first, the calculation data 52 a obtained by calculating the distance in the region corresponding to the non-detection point of the detection data 51 a is output from the distance calculation unit 20. Next, the complement unit 31 supplements the non-detection point in the detection data 51a output from the radar 60 with the calculation value in the calculation data 52a output from the distance calculation unit 20, thereby creating the distance data 53a. As a result, the distance measuring device 1 can output distance information corresponding to all detection points within the detection range.

  In the conventional distance measuring device, it was not possible to detect the distances to all the places where the transmitted wave was transmitted. For example, in a conventional distance measuring device, as shown in FIG. 7, when a transmitted wave is transmitted from a radar to a glass portion of a preceding vehicle C, the transmitted wave is absorbed by the glass, and the radar generates a reflected wave. Could not receive. For this reason, in the conventional distance measuring device, the distance information corresponding to this region is set as the non-detection point 63, and the distance between the host vehicle and the vehicle C cannot be output. Therefore, in the conventional distance measuring device, the warning sound cannot be output even when the vehicle C is close to the own vehicle, and the driver of the own vehicle indicates that the preceding vehicle C is close. Could not be notified. As a result, the conventional distance measuring device has a disadvantage that safe driving support cannot be performed accurately.

  On the other hand, in the distance measurement device 1 according to the present embodiment, the complement unit 31 detects non-detection in the detection data 51, and the distance data 53 in which the calculation value calculated by the distance calculation unit 20 is supplemented to the non-detection point. Is output. That is, the distance measuring device 1 can output distance information for all locations that have transmitted the transmitted wave. For example, as shown in FIG. 8, even if the distance of the region corresponding to the glass portion of the preceding vehicle C is not detected by the radar 60 and is set as a non-detection point, the complementing unit 31 does not detect this. A point 23 is supplemented with a calculated value 23 by the distance calculating unit 20. For this reason, in the distance measuring device 1, even when the vehicle C is located at a position where the distance cannot be detected by the radar 60 and the vehicle C is close to the own vehicle, the calculated value 23 is set. The warning sound can be output from the output unit 40 to notify the driver that the preceding vehicle C is approaching. Therefore, according to the distance measuring apparatus 1 according to the present embodiment, safe driving support can be accurately performed.

  Further, in the present embodiment, the distance calculation unit 20 performs the distance calculation process only on the region designated by the complementing unit 31. That is, the distance calculation unit 20 does not need to perform distance calculation processing on all image signals of the image signal group output from the imaging unit 10. For this reason, in this Embodiment, the time which the distance calculation process in the distance calculation part 20 requires can be shortened compared with the case where the distance calculation process is performed with respect to all the image signals. As a result, according to the distance measuring apparatus 1, it is possible to shorten the processing time required from the instruction of distance detection to the radar 60 to the output of the distance information by the complement unit 31, and accurate distance information can be obtained. It becomes possible to obtain quickly.

  In the present embodiment, the matching between the positional relationship in the image information group captured by the imaging unit 10 and the positional relationship in the detection range in the radar 60 is obtained in advance as follows, and each process is performed. For example, the distance measuring device 1 performs an imaging process in the imaging unit 10 and a detection process in the radar 60 on an object whose shape is known, and the position of the known object in the imaging unit 10 and the position of the known object in the radar 60. Ask for. Thereafter, the distance measuring apparatus 1 obtains a relationship between the position of the known object in the imaging unit 10 and the position of the known object in the radar 60 using a least square method or the like, and in the image information group captured by the imaging unit 10 The positional relationship and the positional relationship in the detection range of the radar 60 are matched.

  Further, in the distance measuring device 1, even when the imaging origin of the imaging unit 10 and the detection origin of the radar 60 are misaligned, the distance from the imaging point and the detection point to the distance measuring device 1 is sufficiently large. In this case, it can be considered that the imaging origin and the detection origin almost overlap each other. Further, when the positional relationship in the image information group captured by the imaging unit 10 and the positional relationship in the detection range in the radar 60 are accurately matched, the deviation between the imaging origin and the detection origin is performed by geometric transformation. It is also possible to correct.

  4 to 6 referred to in the description of the distance measuring apparatus 1 according to the embodiment are diagrams in which the detection range in the radar 60 and the imaging range in the imaging unit 10 are overlapped. Although the case where the image signal corresponds to one of the non-detection points has been described, the position of each image signal output from the imaging unit 10 does not necessarily match the radar detection point and the radar. In this case, the calculation unit 21 interpolates each region to be calculated using a primary interpolation method or the like based on a plurality of image signals located in the vicinity of the region to be calculated, and uses this interpolation value. To calculate.

  In the present embodiment, the distance measuring apparatus 1 including the radar 60 has been described. However, instead of the radar 60, a light source such as a semiconductor laser element, a light emitting diode, or a laser diode that transmits infrared light or visible light is used. A distance measuring device having a detector realized by a light receiving element such as a photosensor that receives reflected light from an object, or using light waves, microwaves, millimeter waves, ultrasonic waves, etc. It may be a distance measuring device provided with a radar type detector that measures the distance from the delay of the reflected wave.

  Moreover, although the imaging part 10 provided with a pair of imaging device 13a, 13b corresponding to each of a pair of lenses 12a, 12b was demonstrated as an imaging part in this Embodiment, it is not restricted to this, As shown in FIG. In addition, the imaging unit 110 includes a pair of optical guiding systems and an imaging element that has an imaging region corresponding to each optical guiding system and converts an optical signal guided by each optical guiding system into an electrical signal in each imaging region. (For example, see JP-A-8-171151 by the present applicant). As shown in FIG. 9, the imaging unit 110 converts a pair of mirrors 111a and 111b, mirrors 112a and 112b corresponding to the mirrors 111a and 111b, a lens 112c, and light collected by the lens 112c into an analog image. An image sensor 113 that converts the signal into a signal, an A / D converter 114 that changes an analog image signal output from the image sensor 113 into a digital image signal, and a frame memory 115 that stores the digital signal are provided. The mirrors 111a and 111b receive light from a subject such as the vehicle C, and the mirrors 112a and 112b reflect the light received by the mirrors 111a and 111b to the lens 112c. Therefore, an image corresponding to each optical system is formed on the image sensor 113. Therefore, the imaging unit 110 outputs an image 116 including an image 116a and an image 116b as shown in FIG. Based on such images 116a and 116b, the distance calculation unit 20 can calculate the distance value corresponding to each image signal.

  Moreover, although the distance measuring apparatus 1 provided with the some camera of the right camera 11a and the left camera 11b as the imaging part 10 was demonstrated as this Embodiment, it does not necessarily need to provide a some camera, A single camera is used. You may apply to the distance measuring device with which the imaging part 10 was equipped. In this case, the distance calculation unit 20 uses, for example, a shape from focus method, a shape from defocus method, a shape from motion method, or a shape from shading method based on the image signal group output from the imaging unit. Calculate the distance within. Here, the shape from focus method is a method for obtaining a distance from a focus position when the focus is best achieved. The shape from defocus method is a method of obtaining a relative blur amount from a plurality of images having different in-focus distances and obtaining a distance based on a correlation between the blur amount and the distance. The shape from motion method is a method for obtaining a distance to an object on the basis of the movement trajectory of a predetermined feature point in a plurality of temporally continuous images. The shape-from-shading method is a method for obtaining a distance to an object based on shading in an image, reflection characteristics of a target object, and light source information.

  Moreover, although the distance measuring device mounted on the vehicle has been described as the present embodiment, the present invention is not limited thereto, and may be applied to a distance measuring device mounted on another moving body. Further, the present invention is not limited to the distance measuring device mounted on the moving body, and may be applied to a distance measuring device that measures the distance within the detection range in a state of being fixed at a predetermined position, for example.

It is a block diagram showing a schematic structure of a distance measuring device concerning an embodiment. It is a flowchart which shows the process sequence until the output of distance data is completed in the distance measuring device shown in FIG. It is a flowchart which shows the process sequence of the complementation process shown in FIG. It is a figure which shows an example of the detection data shown in FIG. It is a figure explaining the distance calculation process which the distance calculation part shown in FIG. 1 performs. It is a figure explaining the complementation process which the complement part shown in FIG. 1 performs. It is a figure which shows an example of the image which the imaging part shown in FIG. 1 imaged. It is a figure which shows an example of the image which the imaging part shown in FIG. 1 imaged. It is a block diagram which shows the other example of schematic structure of the imaging part shown in FIG. It is a figure which shows an example of the image output from the imaging part shown in FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Distance measuring device 10,110 Image pick-up part 11a Right camera 11b Left camera 12a, 12b, 112c Lens 13a, 13b, 113 Image pick-up element 14a, 14b, 114 A / D conversion part 15a, 15b, 115 Frame memory 16a Right image signal group 16b Left image signal group 17 Image 20 Distance calculation unit 21 Calculation unit 22 Memory 23 Calculation point 30 Control unit 31 Supplementation unit 40 Output unit 50 Storage unit 51, 51a Detection data 52, 52a Calculation data 53, 53a Distance data 60 Radar 63 Non Detection point 161a, 165a, 161b Image signal 111a, 111b, 112a, 112b Mirror 116, 116a, 116b Image C Vehicle

Claims (8)

Detection means for detecting a distance to an object located within the detection range;
An imaging unit having an imaging field including at least the detection range and generating an image signal group corresponding to the imaging field;
A computing means for computing a distance to an object located in the imaging field based on the image signal group;
Complementing means for detecting a non-detection point from the detection result from the detection means, and outputting the detection result obtained by supplementing the non-detection point with a calculation value in the calculation means as distance information;
A distance measuring device comprising: The complement means instructs the calculation means to calculate the distance of the area corresponding to the non-detection point,
The distance measuring apparatus according to claim 1, wherein the calculation unit performs a distance calculation based on a calculation instruction of the complementing unit. The imaging means generates a first group of image signals captured through a first optical path and a second group of image signals captured through a second optical path;
The calculation means detects an image signal that matches an arbitrary image signal of the first image signal group from the second image signal group, and a movement amount of the detected image signal from the arbitrary image signal The distance measuring device according to claim 1, wherein a distance to an object located in the imaging field of view is calculated based on the distance. The imaging means includes
A pair of optical systems;
A pair of image sensors that convert optical signals output by the pair of optical systems into electrical signals;
The distance measuring device according to any one of claims 1 to 3, further comprising: The imaging means includes
A pair of light guiding optical systems;
An imaging device that has an imaging region corresponding to each light guide optical system and converts an optical signal guided by each light guide optical system into an electrical signal in each imaging region;
The distance measuring device according to any one of claims 1 to 3, further comprising:   The distance measuring device according to any one of claims 1 to 5, wherein the distance measuring device is mounted on a vehicle. In a distance measurement method for detecting the distance to an object located within the detection range,
A detection step of detecting a distance to an object located within the detection range;
An imaging step of generating an image signal group corresponding to an imaging field including at least the detection range;
A calculation step of calculating a distance to an object located in the imaging field based on the image signal group;
A complementary step of detecting a non-detection point from the detection result in the detection step, and supplementing the non-detection point with a calculation value in the calculation step;
A distance measurement method comprising: In a distance measurement program that detects the distance to an object located within the detection range,
A detection procedure for detecting a distance to an object located within the detection range;
An imaging procedure for generating an image signal group corresponding to an imaging visual field including at least the detection range;
A calculation procedure for calculating a distance to an object located in the imaging field based on the image signal group,
A complementary procedure for detecting a non-detection point from the detection result in the detection procedure, and supplementing the non-detection point with a calculation value in the calculation procedure;
The distance measurement program characterized by including.

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