| 摘要 |
The distance to an object in relation to a vehicle is determined using two cameras 101, 102 that acquire differing but overlapping fields of view (FOV), wherein the image angles 103, 104 of the cameras differ from one another (i.e. the cameras have different focal lengths). The images produced of the object in the overlapping region of the cameras fields of view are used to calculate the distance to the object. The imaging scales or distortions of cameras may differ. The cameras may each be mono cameras. The distance may be determined in consideration of at least one of the image angles or by comparing the images of the object. Alternatively, the distance may be determined in consideration of the orientation or positioning of the cameras which may further involve considering the angle between the optical axes of the cameras. Alternatively, the distance may be determined through back calculation of the image distortion of the cameras. The cameras may have parallel, convergent or divergent optical axes. The cameras may have differently configured optics e.g. one may have a wide angle lens and the other a telephoto lens. |
