Distance measuring device, distance measuring method, and signal processing method
View Patent ↗According to an embodiment, a distance measuring device is a signal processing device that performs processing on time-series luminance signals of each of frames acquired on the basis of reflected lights of laser lights irradiated in order in a plurality of predetermined directions for each of the frames. The distance measuring device includes a storage circuit and a selection circuit. The storage circuit stores information concerning a distance value obtained on the basis of a time-series luminance signal of a preceding frame. The selection circuit selects a peak based on the distance value as a candidate of the distance value out of peaks in the time-series luminance signal in a present frame.
1. A distance measuring device that performs processing on time-series luminance signals of each of frames acquired on the basis of reflected lights of laser lights irradiated sequentially in a plurality of predetermined directions for each of the frames, the distance measuring device comprising:
a storage circuit configured to store information concerning a prior distance value obtained on the basis of a time-series luminance signal of a preceding frame; and
a selection circuit configured to select a first selection peak based on a time-series luminance signal in a present frame and a second selection peak based on the information concerning the prior distance value and the time-series luminance signal in the present frame,
wherein the selection circuit selects the first selection peak without using information concerning the preceding frame.
2. The distance measuring device according to claim 1 , wherein
the selection circuit selects the first selection peak and the second selection peak as a predetermined peak of each of the time-series luminance signals in the present frame, and selects the predetermined peaks as a candidate of a distance value, and
the distance measuring device further comprises:
a reliability-degree generation circuit configured to generate a reliability degree corresponding to the predetermined peak selected for each of the time-series luminance signals; and
a measurement processing circuit configured to generate a distance value corresponding to each of the time-series luminance signals in the present frame on the basis of the reliability degree corresponding to the predetermined peak.
3. The distance measuring device according to claim 1 , wherein the selection circuit selects, as the first selection peak, a predetermined number of peaks in descending order of peak values for each of the time-series luminance signals of the present frame and further selects a peak based on the prior distance value as the second selection peak.
4. The distance measuring device according to claim 1 , wherein the selection circuit acquires, for each of the time-series luminance signals, an adjacent prior distance value based on the laser light of the preceding frame irradiated in a direction within a predetermined range from an irradiation direction of the laser light corresponding to the time-series luminance signal and selects the second selection peak in a range corresponding to the adjacent prior distance value for each of the time-series luminance signals.
5. The distance measuring device according to claim 2 , wherein
the selection circuit acquires, for each of the time-series luminance signals, an adjacent prior distance value based on the laser light of the preceding frame irradiated in a direction within a predetermined range from an irradiation direction of the laser light corresponding to the time-series luminance signal, and
the reliability degree is generated on the basis of the adjacent prior distance value included in a distance range corresponding to the predetermined peak for each of the time-series luminance signals.
6. The distance measuring device according to claim 5 , wherein the reliability degree is generated on the basis of a value of the time-series luminance signal of a peak corresponding to the adjacent prior distance value included in the distance range.
7. The distance measuring device according to claim 6 , wherein
the selection circuit acquires, for each of the time-series luminance signals, a second distance value corresponding to the predetermined peak of each of the time-series luminance signal based on the laser light of the present frame irradiated in a direction within a predetermined range from an irradiation direction of the laser light corresponding to the time-series luminance signal, and
the reliability degree is generated on the basis of the second distance value included in a distance range corresponding to the predetermined peak for each of the time-series luminance signals.
8. The distance measuring device according to claim 7 , wherein the reliability degree is generated on the basis of a value of the time-series luminance signal of a peak corresponding to the second distance value included in the distance range.
9. The distance measuring device according to claim 8 , wherein, when the value of the time-series luminance signal corresponding to the second distance value is equal to or smaller than a threshold based on ambient light, the time-series luminance signal corresponding to the second distance value is used for the generation of the reliability degree.
10. The distance measuring device according to claim 2 , wherein the measurement processing circuit generates, for each of the time-series luminance signals, a distance value corresponding to a peak having a highest value of the reliability degree out of peaks of the time-series luminance signal.
11. The distance measuring device according to claim 2 , wherein, when an S/N ratio of the time-series luminance signal of the present frame is equal to or larger than a predetermined value, the selection circuit selects, concerning the time-series luminance signal of the preceding frame, a peak without using the information concerning the prior distance value obtained on the basis of the time-series luminance signal of the preceding frame.
12. The distance measuring device according to claim 1 , further comprising:
an emitter configured to irradiate laser lights in order in a plurality of predetermined directions for each of the frames via an optical system; and
a signal generating circuit configured to generate time-series luminance signals of each of the frames acquired on the basis of reflected lights of the laser lights irradiated a plurality of times for each of the frames.
13. A distance measuring method for performing processing on time-series luminance signals of each of frames acquired on the basis of reflected lights of laser lights irradiated sequentially in a plurality of predetermined directions for each of the frames, the distance measuring method comprising:
storing information concerning a prior distance value obtained on the basis of a time-series luminance signal of a preceding frame; and
selecting a first selection peak based on a time-series luminance signal in a present frame and a second selection peak based on the information concerning the prior distance value and the time-series luminance signal in the present frame as predetermined peaks,
wherein selecting the first selection peak includes selecting the first selection peak without using information concerning the preceding frame.
14. The distance measuring method according to claim 13 , further comprising:
generating a reliability degree corresponding to the predetermined peaks selected for each of the time-series luminance signals; and
generating a distance value corresponding to each of the time-series luminance signals in the present frame on the basis of the reliability degree corresponding to the predetermined peak.
15. The distance measuring method according to claim 13 , wherein a predetermined number of peaks are selected as the first selection peak in descending order of peak values for each of the time-series luminance signals of the present frame and a peak is selected based on the prior distance value as the second selection peak.
16. The distance measuring method according to claim 13 , wherein, for each of the time-series luminance signals, an adjacent prior distance value based on the laser light of the preceding frame irradiated in a direction within a predetermined range from an irradiation direction of the laser light corresponding to the time-series luminance signal is acquired and the second selection peak is selected in a range corresponding to the adjacent prior distance value for each of the time-series luminance signals.
17. A signal processing method for performing processing on time-series luminance signals of each of frames acquired on the basis of reflected lights of laser lights irradiated sequentially in a plurality of predetermined directions for each of the frames, the signal processing method comprising:
selecting a first selection peak based on a time-series luminance signal in a present frame and a second selection peak based on information concerning a prior distance value and the time-series luminance signal in the present frame as predetermined peaks;
generating a reliability degree corresponding to the predetermined peaks selected for each of the time-series luminance signals; and
generating a distance value corresponding to each of the time-series luminance signals in the present frame on the basis of the reliability degree corresponding to the predetermined peak,
wherein selecting the first selection peak includes selecting the first selection peak without using information concerning a preceding frame.
18. The distance measuring device according to claim 1 , wherein the time-series luminance signal in the present frame is generated by integrating time-series luminance signals in the present frame acquired on the basis of reflected lights of laser lights irradiated in a direction within a predetermined range from an irradiation direction of the laser light corresponding to the time-series luminance signal.
19. The distance measuring device according to claim 1 , further comprising:
a measurement processing circuit configured to generate a distance value in the present frame based on a peak selected from the first selection and second selection peak,
wherein the peak is more likely to be selected in a case that there are more peaks with equivalent distance values in adjacent regions in the present frame.
20. The distance measuring device according to claim 1 , further comprising:
a measurement processing circuit configured to generate a distance value in the present frame based on a peak selected from the first selection and second selection peak,
wherein the peak is more likely to be selected in a case that there are more peaks with equivalent distance values in the preceding frame.