Patent ID: 7466359

Claim:
An image-pickup apparatus for capturing an object, comprising: a light emitting unit for emitting irradiating light; a light receiving unit for receiving reflected light of the emitted irradiating light reflected from an object to capture an image of the object; a distance calculating unit for measuring a phase difference (time difference) from the emission of the light from said light emitting unit to the reception of reflected light by said light receiving unit for each unit composed of a predetermined number of adjacent pixels of the object to calculate a distance from said image-pickup apparatus to each corresponding pixel unit of the object; an image processing unit for corresponding the distance calculated in units of the predetermined number of pixels to the image captured by said light receiving unit; and a phase controller for relatively changing a phase difference (time difference) between a light emission operation of said light emitting unit and a light receiving operation of said light receiving unit at first predetermined time intervals, wherein said distance calculating unit measures the amount of light received by said light receiving unit in predetermined pixel units for a second predetermined time interval longer by a factor of a plural number than the first predetermined time interval, finds a phase difference which results in the largest amount of received light in the predetermined pixel units, and calculates a distance from said object to a corresponding pixel unit based on the phase difference which results in the largest amount of received light for each of the predetermined pixel units.