Patent ID: 8233079
Filing Date: 2012-07-31
Classification: G01S,G05D,G06K

Abstract:
1. An environment recognition apparatus, comprising: a light projector that intermittently projects a light pattern toward an object to be measured existing in an environmental space in accordance with a duty factor of a pulse train defining one frame; a camera that outputs a difference image between an image of the object taken at an exposure where the light pattern is projected and an image of the object taken at an exposure where the light pattern is not projected; a recognition means that recognizes the object based on the outputted difference image; and a timing controller that controls a timing to project the light pattern by varying a pulse repetition period in the pulse train in one frame at random, wherein each pulse repetition period is calculated by generating a random number, multiplying the generated random number by a time value corresponding to a pulse width, and adding a predetermined time value corresponding to a minimum pulse width to the product of the generated random number and the time value corresponding to the pulse width.