US 12,069,234 B2
Distance measurement device, moving device, distance measurement method, control method for moving device, and storage medium
Makoto Oigawa, Kanagawa (JP); and Shin Tanaka, Kanagawa (JP)
Assigned to Canon Kabushiki Kaisha, Tokyo (JP)
Filed by CANON KABUSHIKI KAISHA, Tokyo (JP)
Filed on Mar. 25, 2022, as Appl. No. 17/705,062.
Claims priority of application No. 2021-057085 (JP), filed on Mar. 30, 2021.
Prior Publication US 2022/0321871 A1, Oct. 6, 2022
Int. Cl. G06T 7/55 (2017.01); G01S 7/481 (2006.01); G01S 7/4865 (2020.01); G01S 17/10 (2020.01); G01S 17/86 (2020.01); G06T 7/246 (2017.01); H04N 17/00 (2006.01); B60Q 9/00 (2006.01)
CPC H04N 17/002 (2013.01) [G01S 7/4814 (2013.01); G01S 7/4865 (2013.01); G01S 17/10 (2013.01); G01S 17/86 (2020.01); G06T 7/246 (2017.01); G06T 7/55 (2017.01); B60Q 9/00 (2013.01); G06T 2207/30252 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A device comprising:
at least one processor; and
a memory coupled to the at least one processor storing instructions that, when executed by the at least one processor, cause the at least one processor to function as:
a first acquisition unit configured to acquire first distance information including an error via an optical system;
a second acquisition unit configured to acquire second distance information of which the error is less than that of the first distance information;
a generation unit configured to calculate a correction value for correcting first defocus amounts based on the difference between the first defocus amounts and second defocus amounts, wherein the first defocus amounts are used to obtain the first distance information and corresponds to the deviation in the optical axis direction between the sensor surface and the imaging surface, and the second defocus amounts are obtained from the second distance information; and
a correction unit configured to correct the first distance information using a corrected first defocus amounts using the correction value.