| CPC G06T 7/70 (2017.01) [G06T 3/40 (2013.01); G06V 20/58 (2022.01)] | 7 Claims |
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1. A distance measuring apparatus comprising:
a camera that acquires time-series images at a predetermined frame rate
a sensor that detects a moving velocity of the camera; and
at least one processor and at least one memory having at least one program, wherein
the at least one program causes the at least one processor to
generate a plurality of enlarged images obtained by enlarging a reference image acquired before a target image among the time-series images at a plurality of different enlargement rates,
detect a target object that is a subject from the target image,
specify a distance to the detected target object on the basis of the frame rate, the moving velocity, and the enlargement rate of the enlarged image with which the difference is minimum,
binarize the target image in association with each of the detected target objects and obtain a difference between each of the binarized target images and each of the plurality of binarized enlarged images, and
set the enlarged image in which a sum of values obtained by binarizing and inverting a difference between corresponding pixels in a region of an attention object is maximum as an enlarged image with which the difference is minimum.
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