| 摘要 |
In an environment recognition apparatus including a light projector that intermittently projects a light pattern toward an object to be measured existing in an environmental space in accordance with a duty factor of a pulse train defining one frame, a camera that outputs a difference image between an image of the object taken at an exposure where the light pattern is projected and an image of the object taken at an exposure where the light pattern is not projected and the object is recognized based on the difference image, there is equipped with a timing controller that controls the projection timing by varying a pulse repetition period in the pulse train in one frame at random, thereby effectively avoiding the interference with the other while using a camera of ordinary sensitivity. |
