Abstract: A wireless device may coordinate UWB channel usage with neighboring devices. In some embodiments, an initiator may periodically send an ultra-wideband acquisition packets (UWB-AP). The UWB-AP may comprise information of future UWB channel usage of the initiator. Neighboring UWB devices may receive the UWB-AP and adjust channel usage based on the UWB-AP.

Abstract: The present disclosure provides a system for wireless positioning system including a collection unit for collecting a plurality of CIR data and distance data between a plurality of anchor terminals and the mobile terminal, when the mobile terminal communicates with the plurality of anchor terminals installed in a space for performing positioning of the mobile terminal; a pre-processing unit for generating a plurality of pre-proceed data by pre-processing the plurality of CIR data; a first learning unit for learning a first artificial neural network based on the plurality of pre-processed data and the distance data; an analysis unit for analyzing the first artificial neural network to select a plurality of positioning critical data used for positioning of the mobile terminal among the plurality of pre-processed data; and a second learning unit for learning a second artificial neural network based on the plurality of positioning critical data and the distance data.

Abstract: A method includes obtaining radar pulse configuration information at an electronic device. The method also includes generating a data unit of a Wi-Fi communications protocol based on the radar pulse configuration information, the data unit comprising a preamble and a data field. The method also includes transmitting at least one radar pulse within a duration of the data field. The method also includes receiving at least one reflection of the at least one radar pulse within the duration of the data field. The method also includes processing the at least one reflection to determine a distance between an object and the electronic device.

Abstract: A radio-frequency (RF) data link can be provided between a stationary base component and a rotating component that rotates about an axis defined by a shaft that has a waveguide core (e.g., a hollow core). The rotating component can include a data source such as one or more sensors. An RF transmitter unit can be disposed in the rotating component and can have a first antenna oriented to transmit into one end of the waveguide core of the shaft. The base component can include an RF receiver unit that can have a second antenna located at the other end of the shaft and oriented to receive RE signals through the waveguide core of the shaft. The waveguide core of the shaft can provide a waveguide for RF data transmissions (e.g., in the millimeter-wave band) between the first antenna and the second antenna.

Abstract: Embodiments of this application provide a collaborative sensing method, an electronic device, and a readable storage medium, where a second device includes a reconfigurable intelligent surface (RIS), and the method includes: sensing, by a first device, a target in collaboration with the second device based on a RIS capability of the second device, where the RIS capability is a RIS reflection capability and/or a RIS refraction capability, the RIS reflection capability is used for representing that the second device supports reflection of a sensing signal from the first device to the target, and the RIS refraction capability is used for representing that the second device supports generation of the sensing signal and sending of the sensing signal to the target.

Abstract: A radar system performs a plurality of horizontal scans; from the horizontal scans, the radar system identifies several cells. Based on the horizontal scans, the radar system produces a first vertical profile that is applied to the identified cells. The radar system performs one or more vertical scans of one of the identified cells to get measured reflectivity values in elevation. The measured reflectivity values are used to create a second vertical profile. The second vertical profile is used to refine the first vertical profile at the location of the identified cell and also to proximal weather. The data used to create the first and second vertical profiles can be combined into a data packet and stored within the radar or transmitted to a remote device. The remote device can reproduce a third vertical profile from the information in the data packet at any point.

Abstract: A wireless device operable to detect a nearby object is disclosed. Herein, an object is considered a nearby object when a roundtrip propagation duration of a pulse(s) between an antenna and the object is less than two nanoseconds (2 ns). Given the close proximity of the object, an echo of the emitted pulse(s) may be reflected instantaneously toward the antenna to potentially overlap with the emitted pulse(s), thus causing difficulty in detecting the reflected pulse(s). In this regard, in embodiments disclosed herein, an acoustic delay circuit is provided in the wireless device to add a temporal delay in the emitted pulse(s) and the reflected pulse(s) to prevent the reflected pulse(s) from overlapping with the emitted pulse(s). As a result, the wireless device can accurately receive the reflected pulse(s) to thereby detect the nearby object.

Abstract: A system for processing data, comprising a signal processing system configured to receive and process a reflected wireless data signal from a remote source and a noise suppression system configured to receive the wireless data signal and to detect and suppress harmonic components associated with reflected noise from a local source from the wireless data signal.

Abstract: The invention relates to a radar system comprising: a frequency synthesizer, configured to generate a modulated local signal (Sf0+?f0); at least one frequency multiplier, configured to supply an intermediate-frequency local signal (Sf_inter+?f_inter) to each emission channel (8) and to each reception channel, the intermediate-frequency local signal (Sf_inter+?f_inter) being a fractional multiple of the modulated local signal (Sf0+?f0); a plurality of emission frequency transposition components, the emission frequency transposition components being synchronized with one another by the modulated local wave (Sf0+?f0); a plurality of reception frequency transposition components, the reception frequency transposition components being synchronized with one another by the modulated local signal (Sf0+?f0), the reception channels being configured to demodulate the intermediate-frequency reception signal (Sf_inter_Rx+?f_inter_Rx) using the intermediate-frequency local signal (Sf_inter+?f_inter).

Abstract: A method of radar detection of targets in a region of interest, comprises storing boundaries of the region of interest, represented in a world reference system of coordinates. A camera fixed to the radar sensor captures an image of the environment, where a calibration object like a chessboard is identified, and based on its position in the captured image, the position and orientation of the radar sensor are determined in the world reference system. The environment is scanned, to determine target positions in a radar reference system of coordinates, centered in the radar sensor. Based on this, the target positions are transferred from the radar reference system to the world reference system, and are compared with the stored boundaries of the region of interest.

Abstract: The purpose of the present invention is to provide a learning model, a signal processor, a flying object, and a program that enable appropriate observation of the situation of an observed object or the environment around the observed object. The learning model is learned by using teaching data with a first received signal as input, the first received signal being based on a reflected electromagnetic wave that is an electromagnetic wave emitted to a first target area and then reflected, and with first meta-information as output, the first meta-information corresponding to the first received signal and having a predetermined item, so as to input a second received signal based on a reflected electromagnetic wave that is an electromagnetic wave emitted to a second target area and then reflected, and to output second meta-information corresponding to the second received signal and having a predetermined item.

Abstract: A device and a method for safeguarding a monitored zone by at least one FMCW LiDAR sensor for transmitting transmitted light beams into the monitored zone is provided. The FMCW LiDAR sensor scans a plurality of measurement points in the monitored zone and generates measurement data from transmitted light remitted or reflected by the measurement points. A control and evaluation unit evaluates the measurement data and generates a safety relevant signal based on the evaluation. The measurement data comprise radial speeds of the measurement points and polarization dependent intensities of the transmitted light remitted or reflected by the measurement points. The control and evaluation unit is configured to segment the measurement points using the radial speeds and the polarization dependent intensities and to combine them into objects and/or object segments.

Abstract: Disclosed by the present application are an array coherent ranging chip and a system thereof. The chip includes a modulated light source unit (101), an on-chip emission unit (102) and a reception array (103). The modulated light source unit (101) is used for generating a modulated light beam and splitting the modulated light beam into signal light and reference light, and then outputting the signal light and the reference light. The on-chip emission unit (102) is used for irradiating the signal light onto a target object at a preset divergence angle so as to have the signal light reflected to form multi-angle signal light. The reception array (103) is used for receiving the reference light and the multi-angle signal light and respectively performing conversion and detection on both the reference light and the signal light of each angle so as to obtain a plurality of ranging signals.

Abstract: A weather resistant autonomous driving sensor unit for an autonomous vehicle driving system. The sensor unit further includes a cover having an inside surface facing the one or more light detection and ranging sensors, and an external surface facing an external environment of a vehicle. The cover is formed of molded polycarbonate and also forms a vehicle component selected from the group consisting of a vehicle grille, bumper and front end module. A hydrophilic coating applied to the external surface of the coating. The hydrophilic coating can be made of several different compounds that are applied to the external surface using spraying, dipping or vapor deposition. The hydrophilic coating selected must provide a droplet thickness to diameter ratio of less than 0.3 when the water contact angle on the external surface of the cover is less than 40 degrees or between about 25 degrees to about 40 degrees.

Abstract: A detection device includes a transmitting component, configured to transmit a laser beam; a collimating and shaping component, configured to process the laser beam as a collimated linear laser beam; a scanning rotating mirror component, including at least one reflection surface, configured to reflect the linear laser beam; a receiving component, configured to receive a target echo, and convert the target echo from an optical signal into an electrical signal corresponding to the target echo, where the target echo includes a reflected signal of the linear laser beam.

Abstract: A light receiving device according to an embodiment includes: a light receiving element (1000) using an SPAD; a current source (1001) that supplies a recharge current to the SPAD; a detection section (1002) that detects a voltage based on a current, inverts an output signal in a case where a voltage value of the detected voltage exceeds a threshold value, shapes the inverted output signal into a pulse signal, and outputs the pulse signal; a plurality of counters (201(1) to 201(N)) that each counts the pulse signal output from the detection section; and a distribution section (1101) that selects a target counter to which the pulse signal is to be supplied from the plurality of counters, in which distribution section selects the target counter by a plurality of control signals corresponding to the plurality of counters on a one-to-one basis, the plurality of control signals including a state of simultaneously selecting two or more counters among the plurality of counters.

Abstract: A three-dimensional scanning ranging device, including: an optical scanning chip (1), a focusing lens (2), a light receiving element (3) and a microprocessor, wherein the optical scanning chip (1) may be used for sequentially scanning and outputting line-shaped light spots of a plurality of scanning angles onto a to-be-measured object, the focusing lens (2) may be used for sequentially focusing a plurality of light beams reflected from the to-be-measured object under irradiation of the line-shaped light spots, the light receiving element (3) may be used for sequentially receiving the plurality of light beams after being focused by the focusing lens (2) so as to obtain multiple images containing a bright spot, the microprocessor may be used for analyzing, on the basis of a first relationship between the bright spot and a depth of the to-be-measured object at different scanning angles and in different pixel rows, the multiple images containing a bright spot so as to obtain a three-dimensional point cloud of the

Abstract: A Lidar system may comprise a rotor and a stator. The rotor is configured to rotate with respect to the stator. The rotor comprises at least one supporting body and a plurality of light sources disposed on the at least one supporting body, the plurality of light sources configured to emit a plurality of first light beams. The plurality of light beams are non-uniformly distributed along a vertical direction in a vertical field of view of the Lidar system.

Abstract: A LiDAR system includes a steering system and a light source. In some cases, the steering system includes a rotatable polygon with reflective sides and/or a dispersion optic. The light source produces light signals, such as light pulses. In some cases, the light sources products light pulses at different incident angles and/or different wavelengths. The steering system scans the light signals. In some cases, the light pulses are scanned based on the wavelength of the light pulses.

Abstract: A range finding device comprising an image sensor and a measurement circuit that measures a distance to a predetermined position within a field of view of the image sensor based on time of flight of light, is disclosed. The range finding device records image data that has been obtained using the image sensor, as well as a measurement result from the measurement circuit, into a recording medium in association with each other. The range finding device executes the recording under a condition that the measurement performed by the measurement circuit has been successful.

Abstract: A range finding device comprising an image sensor and a measurement circuit that measures a distance to a predetermined position within a field of view of the image sensor based on time of flight of light, is disclosed. The range finding device generates data of a composite image of an image obtained by the image sensor and an image indicating a measurement result of the measurement circuit. The range finding device generates data of composite images for display and recording wherein the composite image for display and the composite image for recording differ from each other in a form and/or a composition position of the image indicating the measurement result.

Abstract: In an embodiment a light detection system includes a detector configured to provide a received light signal and a processing circuit configured to identify a number of peaks in the received light signal and to estimate a signal-to-noise ratio associated with the received light signal based on the number of identified peaks.

Abstract: A system and method for determining a distance is provided. The system includes a scanner that captures a scan-point by emitting a light having a base frequency and at least one measurement frequency and receiving a reflection of the light. Processors determine the distance to the scan-point by using a method that comprises: generating a signal in response to receiving the reflection of light; determining a first distance to the scan-point based on a phase-shift of the signal and the measurement frequency; determining a second distance and a third distance based on a phase-shift of the signal determined using a Fourier transform at the measurement frequency on a pair of adjacent half-cycles; determining a corrected second distance and a corrected third distance by compensating for an error in the second distance and third distance by performing the Fourier transform on the pair of adjacent half-cycles.

Abstract: Embodiments discussed herein refer to LiDAR systems that use avalanche photo diodes for detecting returns of laser pulses. The bias voltage applied to the avalanche photo diode is adjusted to ensure that it operates at desired operating capacity.

Abstract: A method for using an offline acceptance workshop of a multi-line laser radar automatic driving device (100). The offline acceptance workshop comprises a workshop main body (1), an acceptance parking platform (2), an acceptance detection device (3) and an acceptance control system. The acceptance parking platform (2) comprises a horizontal platform (21), a parking positioning device (22) and a parking fixed point device (23); the acceptance detection device (3) is arranged on a side wall, opposite to the outlet (11), of the workshop main body (1); the acceptance control system is used for controlling the work; the workshop can automatically point and position the automatic driving device (100); whether the installation of the multi-line laser radar is accurate can be quickly and effectively detected; and whether the function is normal or not can be quickly and effectively detected.

Abstract: A medical device and its method of use includes a catheter, at least two electromagnetic sensing coils located within the distal tip of the catheter, and a multi-element planar ultrasound transducer array located within the distal tip of the catheter and configured to transmit and receive ultrasonic energy. The device also includes an imaging system coupled to the ultrasound transducer and is used for creating an image of tissue in a first target plane that extends orthogonally from the catheter body. The medical device also includes a backscatter evaluation system for use in receiving and evaluating the acoustic spectral characteristics of tissues within a second target area within the first target plane.

Abstract: A method includes: receiving a ranging signal from the transmitter comprising a set of multiplexed sub-signals, each multiplexed sub-signal characterized by a frequency in a set of frequencies; calculating a time-based time-of-arrival estimate based on the series of time-domain samples of the ranging signal; calculating a time-based uncertainty of the time-based time-of-arrival; for each sub-signal pair in a subset of multiplexed sub-signals of the set of multiplexed sub-signals, extracting a phase difference of the sub-signal pair; calculating a phase-based time-of-arrival estimate based on the phase difference of each sub-signal pair in the subset of multiplexed sub-signals; calculating a phase-based uncertainty of the phase-based time-of-arrival estimate; and calculating a hybrid time-of-arrival estimate as a weighted combination of the time-based time-of-arrival estimate, the phase-based time-of-arrival estimate, based on the time-based uncertainty and the phase-based uncertainty.

Abstract: An electronic device includes a transmission antenna, a reception antenna, and a controller. The transmission antenna transmits a transmission wave. The reception antenna receives a reflected wave that is the transmission wave having been reflected. The controller detects an object that reflects the transmission wave, based on a transmission signal transmitted as the transmission wave and a reception signal received as the reflected wave. The controller classifies a predetermined target, based on a probability density distribution calculated from a relative velocity of the object relative to the electronic device.

Abstract: In a general aspect, a plurality of motion zones are identified in a motion detection system. Each of the plurality of motion zones represents a distinct region in a space associated with a wireless communication network, and at least a subset of the motion zones are associated with respective wireless communication devices in the wireless communication network. Motion-sensing data is generated based on first wireless signals transmitted during a first time period between pairs of wireless communication devices. The motion-sensing data represents motion in the space. A new motion zone is identified based on the motion-sensing data; the new motion zone is not associated with any of the wireless communication devices. User input is received in response to a graphical representation of the new motion zone being displayed on a display device. The motion detection system is updated based on the user input.

Abstract: Motion detection apparatuses are disclosed. The motion detection may be performed using one or more of a sub-window of a predetermined time window, a predetermined threshold value that is settable responsive to changes in one or more environmental factors, or a detection trigger. An apparatus includes a processor and an analog-to-digital converter (ADC) circuitry to sample a reflected predetermined pattern signal to generate reflected predetermined pattern samples. The processor captures collections of the reflected predetermined pattern samples corresponding to a predetermined time window and determines a sum of the collections or sub-collections. The processor determines an average of magnitudes of the determined sum and determines that a moving object is detected responsive to a predetermined threshold value.

Abstract: Techniques and apparatuses are described that implement a smart-device-based radar system capable of performing angular position estimation. A machine-learned module analyzes complex range data generated to estimate angular positions of objects. The machine-learned module is implemented using a multi-stage architecture. In a local stage, the machine-learned module splits the complex range data into different range intervals and separately processes subsets of the complex range data using individual branch modules. In a global stage, the machine-learned module merges the feature data generated from the individual branch modules using a symmetric function and generates angular position data. By using machine-learning techniques and processing the complex range data directly, the radar system can achieve higher angular resolutions compared to other radar systems that utilize other techniques, such as analog or digital beamforming.

Abstract: A detection device includes a transmitter configured to transmit an electromagnetic wave or a sound wave as a transmission signal, a receiver configured to receive a signal obtained by reflecting the transmission signal from an object, as a reception signal, a mixer configured to mix the transmission signal and the reception signal and output a mixed signal as an intermediate signal, and a detector configured to detect a motion of the object and a distance to the object from the intermediate signal, wherein the detector performs first sampling of the intermediate signal at a first sampling time in a first time interval when detecting the motion of the object, and the detector performs second sampling at a second sampling time in a second time interval smaller than the first time interval, between adjacent first sampling times when detecting the distance to the object.

Abstract: This invention relates to methods and devices for detection of motion. Embodiments of the invention provide a method of detecting motion of an object using a wireless transceiver device, the method including the steps of: transmitting wireless signals from a transmitter element in the transceiver device, the signals being reflected by the object; receiving the signals reflected by the object in a receiver element in the transceiver device; estimating at least one channel characteristic from the reflected signals; applying a time and/or frequency domain analysis to the estimated channel characteristic; detecting any variation in the estimated channel characteristic over time; and detecting motion of the object based on the detected variation. A wireless transceiver device arranged to detect motion is also provided.

Abstract: Embodiments of the present disclosure provide a communication method, which is applied in a terminal, and includes: receiving a ranging authorization policy, the ranging authorization policy at least indicating: whether the terminal has measurement ranging permission. A ranging authorization policy may be at least one of a permission indication, indicating at least the ranging permission, a business indication, indicating at least a ranging-related business, or an indication for a first effective time, indicating an effective time of the ranging authorization policy.

Abstract: An apparatus comprises an interface and a processor. The interface may be configured to receive pixel data representing a first field of view of a camera and four-dimensional (4D) point cloud data representing a second field of view of a 4D imaging radar sensor. The first field of view of the camera and the second field of view of the 4D imaging radar sensor generally overlap. The processor may be configured to process the pixel data and the 4D point cloud data arranged as video frames and perform an extrinsic parameter calibration for the 4D imaging radar sensor and the camera based on adaptive projection error. The extrinsic parameter calibration may comprise applying a pose calibration process to the video frames.

Abstract: A method of controlling a sensor system for a traffic infrastructure facility, by way of which a transformation rule for a coordinate transformation of radar data acquired by way of a radar device and of video data acquired by way of a video camera is determined based on an association of road users detected by way of the video camera with road users detected by way of the radar device.

Abstract: A radar sensor scans an environment to identify, for each target, a candidate target volume. A camera, fixed to the radar sensor, captures an image of the environment, and runs an image recognition algorithm to identify target boundaries for each target. The radar sensor determines a refined target volume, by selecting and keeping a first part of the candidate target volume located inside the target boundaries and removing a second part of the candidate target volume located outside the target boundaries.

Abstract: Apparatus and methods useful in surveying to provide information rich models. In particular, information not readily or possibly provided by conventional survey techniques can be provided. In some versions targets provide reference for baseline positioning or improving position information otherwise acquired. Scanning may be carried out in multiple locations and merged to form a single image. Machine mounted and hand mounted scanning apparatus is disclosed.

Abstract: In an embodiment, a method includes: receiving a range-Doppler image (RDI) based on raw data from a radar sensor; performing moving target indication (MTI) filtering on the RDI to generate a first filtered radar image; performing constant false alarm rate (CFAR) detection on the first filtered radar image to generate a second filtered radar image; performing minimum variance distortionless response (MVDR) beamforming on the second filtered radar image to generate a range-angle image (RAI); performing CFAR detection on the RAI to generate a third filtered radar image; generating a point set based on the third filtered radar image; clustering targets of the point set; and tracking at least one of the clustered targets using a Kalman filter.

Abstract: A radar receiver is operable to capture and process reflections from a nearby target, of relatively large size. Phase history data is extracted from the received reflection signal, the phase history data being transformed into range migration compensated data. The range migration compensated data is then processed, with reference to Doppler migration to produce Doppler migration compensated data. The Doppler migration compensated data is then mapped into a Cartesian reference frame.

Abstract: The technologies described herein relate to a radar system that is configured to generate point clouds based upon radar tensors generated by the radar system. More specifically, the radar system is configured to generate heatmaps based upon radar tensors, wherein a neural network receives the radar tensors as input and constructs the heatmaps as output. Point clouds are generated based upon the heatmaps. A computing system detects objects in an environment of an autonomous vehicle (AV) based upon the point clouds, and the computing system further causes the AV to perform a driving maneuver based upon the detected objects.

Abstract: The present invention provides an obstacle detection method, an obstacle detection system and a vehicle. An original range profile is separated to obtain a first range profile of a first target according to echo signal models, therefore a two-dimensional position coordinate of the first target is determined. The first target is in front of or beside a second target and is in an invisible line of sight of the mmWave radar, and the second target is in a direct line of sight of the mmWave radar. By adopting a signal separation method in the present invention, the first range profile can be effectively separated from an original range profile, thereby reducing interference of a range profile of the second target, and obtaining an accurate position of the first target.

Abstract: A reconfigurable ground penetrating radar (GPR) device, an autonomous GPR system and method of acquiring radar data about a medium. The GPR device includes a radar antenna with a first polarization, a processor unit connected to said antenna, a casing around the antenna and the processor unit, a wheel assembly including a holder, a wheel and a wheel rotation sensor. The wheel rotation sensor is connected to the processor unit and an axis of the wheel is pivotal relative to the first polarization.

Abstract: An object detection apparatus includes: measurement circuitry, which, in operation, measures a first local maximum point of a first reflected wave of an acoustic wave and a second local maximum point of a second reflected wave of the acoustic wave, where the acoustic wave is emitted from an ultrasonic sensor; and target processing circuitry, which, in operation, performs ranging of an object by assuming that the object exists in a position within an error range ½ times a distance to a position of the first local maximum point, in a case where the first local maximum point is closer than a distance within an error range twice a reverberation distance and farther than a distance within an error range of the reverberation distance and in a case where the second local maximum point is a position within an error range 3/2 times the distance to the first local maximum point.

Abstract: Shear wave elastography and/or other ultrasound imaging procedures are performed using a data acquisition technique in which data are acquired with high SNR while maintaining a high PRFe, using conventional clinical ultrasound scanners. In general, ultrasound data are acquired using plane waves at different angles, after which a time alignment process is applied to the acquired data. The time alignment uses interpolation to obtain data points at higher frame rates, and the time-aligned data is compounded to increase the SNR.

Abstract: The present invention relates to a multi-target distance measurement system including: a plurality of optical dividers; a plurality of measurement heads optically connected, one by one, to ends of a plurality of optical paths divided by the plurality of optical dividers; and a range finder configured to measure a distance from each of the plurality of measurement heads to a measurement target, in which when a laser pulse is emitted toward the measurement target through each of the plurality of measurement heads and the range finder receives a reference pulse and a measurement pulse from the each of the plurality of measurement heads, a distance between the each of the plurality of measurement heads and the measurement target is calculated on the basis of a receiving time difference between the reference pulse and the measurement pulse of the each of the plurality of measurement heads.

Abstract: A distance information acquisition system, comprising: a light source module, a receiving module, and a processing module. The light source module comprises N groups of emitted lights having timing correlations, where N is an integer greater than or equal to 3, and at least two groups of adjacent emitted lights comprise timing correlations in terms of emission timing. The receiving module acquires a signal of returning lights in a field of view of the N groups of emitted lights outputted by the light source module and converts into an electric signal. The processing module acquires distance information of a detected object in one complete field of view on the basis of the electric signal converted from the N groups of emitted lights.

Abstract: A portable terminal comprises a distance measurement device capable of treasuring a distance of a first distance measurement range and a distance of a second distance measurement range different from the first distance measurement range, and a processor configured to determine a distance to an object based on a result of distance measurement by the distance measurement device and output the result as a distance measurement value. The present invention relates to one of the sustainable development goals which concerns building “Infrastructure, Industrialization, and Innovation”.

Abstract: A ranging device includes a light receiving unit, a frequency distribution generation unit that generates a frequency distribution based on a timing at which light irradiated to an object is detected, a control unit that controls a frame period for counting of distance data, and a distance measurement result calculation unit that calculates a distance measurement result based on the frequency distribution. The distance measurement result calculation unit periodically acquires the frequency distribution during a predetermined period set as a frame period. When the frequency of any of the classes in the acquired frequency distribution exceeds a threshold value, the distance measurement result calculation unit determines a distance range of the class in which the frequency exceeds the threshold value as a distance measurement result, and the control unit outputs the distance measurement result before the predetermined period of time to end the frame period.

Abstract: An image processing method includes: acquiring a plurality of sensed values based on detecting light; comparing sensed values of each row with a corresponding threshold value to select a plurality of selected sensed values from the plurality of sensed values; determining a location of a centroid according to the plurality of selected sensed values; and calculating a plurality of depth values with respect to a plurality of detecting points according to the location of the centroid and a plurality of depth information transformation functions respectively corresponding to the detecting points.