Distance measuring device and method of controlling distance measuring device

1. A distance measuring device comprising:

a pixel array unit including a plurality of pixels which receives predetermined intermittent light and is arranged in a two-dimensional lattice pattern, wherein the pixel array unit is divided into a plurality of pixel blocks;

a continuous light image data generating unit configured to generate continuous light image data in which a plurality of pieces of pixel data indicating a luminance of predetermined continuous light is arranged in a two-dimensional lattice pattern on the basis of received light data of each of the plurality of pixels; and

a depth map generating unit configured to generate a depth map in which distance information corresponding to each of the plurality of pixels is arranged on the basis of the received light data and the continuous light image data, wherein

the depth map generating unit is configured to generate the depth map using a predetermined filter, and

the depth map generating unit includes:

a low resolution charge signal generating unit which generates low resolution charge signals for each of the plurality of pixel blocks by pixel addition to the received light data;

a low resolution continuous light image data generating unit which integrates the low resolution charge signal for each of the plurality of pixel blocks and outputs low resolution continuous light image data in which data according to an integrated value is arranged;

a low resolution depth map generating unit which generates data in which distance information corresponding to each of the plurality of pixel blocks is arranged as a low resolution depth map on the basis of the low resolution charge signal; and

a high resolution depth map generating unit which inputs the continuous light image data, the low resolution continuous light image data, and the low resolution depth map to the predetermined filter to generate the depth map.

2. The distance measuring device according to claim 1 , wherein

each piece of the received light data includes a plurality of charge signals, and

the continuous light image data generating unit generates the continuous light image data by integrating the plurality of charge signals for each of the plurality of pixels.

3. The distance measuring device according to claim 1 , wherein the depth map generating unit obtains a charge signal when a predetermined function, to which a plurality of charge signals and the continuous light image data have been input, is minimized to generate the depth map from the plurality of charge signals.

4. The distance measuring device according to claim 1 , wherein

the pixel array unit receives the predetermined intermittent light in a predetermined period and receives the predetermined continuous light in a continuous light receiving period which is different from the predetermined period, and

the continuous light image data generating unit generates the continuous light image data from the received light data in the continuous light receiving period.

5. A distance measuring device, comprising:

a pixel array unit including a plurality of pixels which receives predetermined intermittent light and is arranged in a two-dimensional lattice pattern;

a continuous light image data generating unit configured to generate continuous light image data in which a plurality of pieces of pixel data indicating a luminance of predetermined continuous light is arranged in a two-dimensional lattice pattern on the basis of received light data of each of the plurality of pixels; and

a depth map generating unit configured to generate a depth map in which distance information corresponding to each of the plurality of pixels is arranged on the basis of the received light data and the continuous light image data, wherein the depth map generating unit is configured to generate the depth map using a predetermined filter,

wherein the depth map generating unit includes:

a charge signal noise removing unit which inputs the continuous light image data and a plurality of charge signals to the predetermined filter to remove a noise of the plurality of charge signals; and

a depth converting unit which converts the plurality of charge signals from which the noise has been removed into the distance information, wherein

the plurality of charge signals include a first, second, third, and fourth charge signal, and

the predetermined filter is a filter in which a weighting coefficient which gets smaller as an absolute difference value between a sum of the first and the second charge signals and a sum of the third and the fourth charge signals is larger is multiplied by a predetermined Gaussian function.

6. A distance measuring device comprising,

a pixel array unit including a plurality of pixels which receives predetermined intermittent light and is arranged in a two-dimensional lattice pattern;

a continuous light image data generating unit configured to generate continuous light image data in which a plurality of pieces of pixel data indicating a luminance of predetermined continuous light is arranged in a two-dimensional lattice pattern on the basis of received light data of each of the plurality of pixels; and

a depth map generating unit configured to generate a depth map in which distance information corresponding to each of the plurality of pixels is arranged on the basis of the received light data and the continuous light image data, wherein the depth map generating unit is configured to generate the depth map using a predetermined filter,

wherein the depth map generating unit includes:

a charge signal noise removing unit which inputs the continuous light image data and a plurality of charge signals to the predetermined filter to remove a noise of the plurality of charge signals; and

a depth converting unit which converts the plurality of charge signals from which the noise has been removed into the distance information, wherein

the plurality of charge signals include a first, second, third, and fourth charge signal, and

the predetermined filter is a filter in which a weighting coefficient which gets larger as a sum of a square of a difference between the first and the second charge signals and a square of a difference between the third and the fourth charge signals is larger is multiplied by a predetermined Gaussian function.

7. A distance measuring device, comprising:

a pixel array unit including a plurality of pixels which receives predetermined intermittent light and is arranged in a two-dimensional lattice pattern;

a continuous light image data generating unit configured to generate continuous light image data in which a plurality of pieces of pixel data indicating a luminance of predetermined continuous light is arranged in a two-dimensional lattice pattern on the basis of received light data of each of the plurality of pixels; and

a depth map generating unit configured to generate a depth map in which distance information corresponding to each of the plurality of pixels is arranged on the basis of the received light data and the continuous light image data, wherein the depth map generating unit is configured to generate the depth map using a predetermined filter,

wherein the depth map generating unit includes:

a charge signal noise removing unit which inputs the continuous light image data and a plurality of charge signals to the predetermined filter to remove a noise of the plurality of charge signals; and

a depth converting unit which converts the plurality of charge signals from which the noise has been removed into the distance information,

wherein the predetermined filter includes a Gaussian function in which a coefficient which gets larger as a difference between a phase of the intermittent light before a noise is removed and a phase of the intermittent light from which the noise has been removed is smaller is multiplied by a term of a standard deviation.