US 12,470,834 B2
Ranging system and ranging method thereof
Tzu-Chia Liu, Taipei (TW); Chi-Min Weng, Taipei (TW); and Jiun-Shiung Chen, Taipei (TW)
Assigned to LITE-ON TECHNOLOGY CORPORATION, Taipei (TW)
Filed by LITE-ON TECHNOLOGY CORPORATION, Taipei (TW)
Filed on Jun. 5, 2024, as Appl. No. 18/733,890.
Claims priority of provisional application 63/523,400, filed on Jun. 27, 2023.
Claims priority of application No. 202410476928.0 (CN), filed on Apr. 19, 2024.
Prior Publication US 2025/0008230 A1, Jan. 2, 2025
Int. Cl. H04N 23/81 (2023.01); H04N 5/262 (2006.01); H04N 7/18 (2006.01); H04N 23/88 (2023.01); H04N 23/90 (2023.01)
CPC H04N 23/81 (2023.01) [H04N 5/2628 (2013.01); H04N 7/18 (2013.01); H04N 23/88 (2023.01); H04N 23/90 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A ranging system, comprising:
a pinhole camera having a first field-of-view (FoV) and configured to capture a pinhole image of a scene;
a fisheye camera having a second field-of-view and configured to capture a fisheye image of the scene, wherein the second field-of-view is larger than the first field-of-view; and
a processor configured to:
perform an undistorting process on the fisheye image to obtain a corresponding undistorted fisheye image;
perform a size-converting process on the pinhole image to obtain a corresponding size-converted pinhole image, wherein the corresponding size-converted pinhole image is consistent with the corresponding undistorted fisheye image in imaging size;
obtain a transformation relation between a pinhole image plane of the pinhole camera and a fisheye image plane of the fisheye camera;
obtain a corresponding point of the corresponding undistorted fisheye image corresponding to a target point of the corresponding size-converted pinhole image based on the transformation relation, wherein the target point and the corresponding point correspond to a physical point; and
obtain a distance between the ranging system and the physical point based on the transformation relation, the target point and the corresponding point;
wherein the undistorted fisheye image has a FoV overlapping region;
wherein the FoV overlapping region is a preset region; the processor is further configured to:
obtain an epipolar line of the corresponding undistorted fisheye image corresponding to the target point of the corresponding size-converted pinhole image based on the transformation relation, wherein the epipolar line comprises a plurality of pixel points.