Distance measurement image pickup apparatus
A distance measurement image pickup apparatus has two measurement periods. In a first distance measurement period, short pulsed light (1T) is irradiated, and exposure is performed in a plurality of exposure periods (A, B, and C) in which exposure timings are shifted. In each exposure period, an exposure gate is opened a plurality of times to perform repetitive exposure, and a first non-exposure period is provided from when a last exposure gate is closed until subsequent pulsed light is irradiated. In a second distance measurement period, long pulsed light (4T) is irradiated, and exposure is performed in a plurality of exposure periods (A, B, and C) in which exposure timings are shifted. In each exposure period, exposure is performed by opening the exposure gate only once, and a second non-exposure period is provided from when a last exposure gate is closed until subsequent pulsed light is irradiated.
1. A distance measurement image pickup apparatus for measuring a distance to a target using a time of flight of light, the distance measurement image pickup apparatus comprising:
a light emitting unit that irradiates the target with pulsed light emitted by a light source;
a light receiving unit that exposes pulsed light reflected by the target using an image sensor and converts the pulsed light into an electric signal;
a distance computation unit that computes a distance to the target from an output signal of the light receiving unit; and
a controller that controls a light emission timing at which the pulsed light is irradiated from the light emitting unit and an exposure timing at which the pulsed light is exposed by the light receiving unit,
wherein one frame corresponding to a unit of a measurement operation includes a first distance measurement period having a pulsed light width T H and a second distance measurement period having a pulsed light width T L (where T H <T L ),
the first distance measurement period is divided into a plurality of exposure periods in which exposure timings are shifted with respect to the irradiated pulsed light,
an exposure gate is opened n times (n is plural) at a predetermined interval between one pulsed light and subsequent pulsed light to perform repetitive exposure in each of the divided exposure periods,
a first non-exposure period in which exposure is not performed from when a last exposure gate is closed until subsequent pulsed light is irradiated is provided,
the second distance measurement period is divided into a plurality of exposure periods in which exposure timings are shifted with respect to the irradiated pulsed light,
an exposure gate is opened once to perform exposure between one pulsed light and subsequent pulsed light in each of the divided exposure periods, and
a second non-exposure period in which exposure is not performed from when the exposure gate is closed until subsequent pulsed light is irradiated is provided.
2. The distance measurement image pickup apparatus according to claim 1 ,
wherein a relationship below is satisfied among the pulsed light width T H in the first distance measurement period, the number n of times of repetitive exposure, and the pulsed light width T L in the second distance measurement period:
T L /T H =(3 n− 1)/2
or T L /T H =ROUNDDOWN[(3 n− 1)/2]
(where ROUNDDOWN is a function that omits figures below a decimal point).
3. The distance measurement image pickup apparatus according to claim 1 ,
wherein lengths of the first non-exposure period and the second non-exposure period are set so that an interval of pulsed light in the first distance measurement period and an interval of pulsed light in the second distance measurement period are equal to each other or a ratio of pulsed light intervals has an integer multiple relationship.
4. A distance measurement system for measuring a distance to a target by operating a plurality of distance measurement image pickup apparatuses according to claim 1 ,
wherein the lengths of the first non-exposure period and the second non-exposure period are set so that an interval of pulsed light irradiated by each of the distance measurement image pickup apparatuses is different between the apparatuses.
5. The distance measurement system according to claim 4 , wherein the lengths of the first non-exposure period and the second non-exposure period are set so that values of intervals of pulsed light irradiated by the respective distance measurement image pickup apparatuses are relatively prime.