Abstract: A light signal detection device includes a light receiving optical system configured to receive a reflection signal reflected from an object when irradiation light emitted from an irradiation unit hits the object and reflects from the object; and circuitry configured to binarize the received reflection signal using a first threshold value, based on a determination of whether the reflection signal is equal to or greater than the first threshold value; binarize the received reflection signal using a second threshold value set with a given value similar to a noise signal value, based on a determination of whether the reflection signal is equal to or greater than the second threshold value; and measure a time difference between a time of emitting the irradiation light from the irradiation unit and a time of receiving a reflection signal equal to or greater than the first threshold value or the second threshold value.

Abstract: A distance-measuring apparatus, a mobile object, a distance-measuring method, and a distance-measuring system. The distance-measuring apparatus and the distance-measuring method include performing matching for a plurality of images obtained by a plurality of imaging devices to convert the plurality of images into first distance information on a pixel-by-pixel basis, emitting a laser beam where at least one of a laser-beam resolution in a horizontal direction and a laser-beam resolution in a vertical direction exceeds two degrees, obtaining a reflected signal obtained when the laser beam is reflected by an object, detecting a peak that corresponds to reflection from the object from the reflected signal, calculating second distance information based on a length of time taken to observe the peak after the laser beam is emitted in the emitting, and integrating the first distance information and the second distance information with each other. The mobile object includes the distance-measuring apparatus.

Abstract: A light signal detection device includes a light receiving optical system configured to receive a reflection signal reflected from an object when irradiation light emitted from an irradiation unit hits the object and reflects from the object; and circuitry configured to binarize the received reflection signal using a first threshold value, based on a determination of whether the reflection signal is equal to or greater than the first threshold value; binarize the received reflection signal using a second threshold value set with a given value similar to a noise signal value, based on a determination of whether the reflection signal is equal to or greater than the second threshold value; and measure a time difference between a time of emitting the irradiation light from the irradiation unit and a time of receiving a reflection signal equal to or greater than the first threshold value or the second threshold value.

Abstract: A distance-measuring apparatus, a mobile object, a distance-measuring method, and a distance-measuring system. The distance-measuring apparatus and the distance-measuring method include performing matching for a plurality of images obtained by a plurality of imaging devices to convert the plurality of images into first distance information on a pixel-by-pixel basis, emitting a laser beam where at least one of a laser-beam resolution in a horizontal direction and a laser-beam resolution in a vertical direction exceeds two degrees, obtaining a reflected signal obtained when the laser beam is reflected by an object, detecting a peak that corresponds to reflection from the object from the reflected signal, calculating second distance information based on a length of time taken to observe the peak after the laser beam is emitted in the emitting, and integrating the first distance information and the second distance information with each other. The mobile object includes the distance-measuring apparatus.