Patent ID: 7477361

Claim:
A range image producing method of producing a range image in which a distance is represented with a pixel value by image taking of a scene containing a principal object from an image taking position with an image pickup device, comprising steps of: applying light modulated at a predetermined period to said scene; determining a first distance range and a second distance range, wherein said first distance range is from an image taking position to a point short of said principal object, and said second distance range is a distance range defined by eliminating said first distance range from a range between said image taking position and said principal object; receiving said light reflected by an object located in a first distance range with said image pickup device in a reception sequence and reception time according to said first distance range, to output a first image signal; receiving said light reflected by said principal object with said image pickup device in a reception sequence and reception time according to said second distance range, to output a second image signal; forming a first range image and a second range image according to respectively said first and second image signals; and designating blank portions within said second range image by comparison of said first and second range images, to compensate for said blank portions for forming said range image.