Patent ID: 7697119
Filing Date: 2010-04-13
Classification: G01S

Abstract:
1. A range image generating apparatus comprising: a light source that radiates modulated light to a target space; an image pickup element including: (i) a plurality of photoelectric conversion elements that receive reflected light radiated from the light source and reflected by an object in the target space and that convert the reflected light into charges, (ii) a plurality of charge storage units provided for the respective photoelectric conversion elements, and (iii) a distribution unit that distributes the charges converted by the photoelectric conversion elements into the plurality of charge storage units in synchronization with modulation of the light source; a range image generating unit that performs a predetermined arithmetic operation based on the charges stored in the plurality of charge storage units and that generates a range image whose pixel values are distance values; a frequency changing unit that changes a modulation frequency for each frame rate or charge storage time; a control unit that controls the light source and the image pickup element in synchronization with the modulation frequency changed by the frequency changing unit; and a determination unit that compares a plurality of range images generated by the range image generating unit at successive times with each other, and when at least one range image from among the plurality of range images includes a pixel indicating a finite value and when a pixel in another one of the range images, which is at a same position as the pixel indicating the finite value, indicates infinity or non-measurability, the determination unit determines the pixel indicating the finite value to be a pixel indicating a value for a light source of another range image generating apparatus.