TW201623918A - Distance estimation system, method and computer readable media - Google Patents

Abstract

A computer readable media stores a estimation program which make a distance estimation system to run a distance estimation method. Based on an image, the distance estimation system generates a depth map corresponding to the image, a first position data corresponding a first chosen position and a second position data corresponding a second chosen position in the image. The first and second chosen position respectively corresponds to a first and a second object in the image. The distance estimation system calculates the distance between the first and second object to achieve a convenient and reliable distance estimation method further based on the first and second position data and the depth map.

Description

Distance estimation system, distance estimation method, and computer readable medium

The invention relates to a distance estimation system, a distance estimation method and a computer readable medium, in particular to a distance estimation system, a distance estimation method and a computer readable medium according to a depth map of an image.

With the rapid changes in semiconductor manufacturing processes and continuous improvement in production technology, the performance of mobile devices such as mobile phones or tablets has become increasingly powerful, and the price has become affordable for the average consumer, which in turn has made mobile devices Widely used by the public. However, in the conventional single-lens mobile device with photography function, it is often only possible to provide the function of photographing and recording, but the actual size of any object in the image cannot be known. Therefore, if you encounter an object that needs to be labeled as a reference, a reference object that can be used as a reference for length, such as a ruler or a commonly used coin, is usually placed near the object to be measured at the time of shooting. However, this method cannot directly obtain the actual size of the object to be measured, and thus causes inconvenience and inaccuracy in use.

Therefore, the object of the present invention is to use the image taken It is convenient and accurate to estimate the size of any corresponding object in the image or the distance between any two objects.

Thus, in accordance with one aspect of the present invention, a distance estimation method is provided for use in a distance estimation system, the distance estimation system including an image capture method for capturing an image having at least a first target and a second target a module, an input module, a display module for displaying the image, and a processing module for electrically connecting the input module and the display module. The distance estimation method includes the following steps: (a) generating, by the processing module, a depth map of a pair of images according to the image; and (b) generating, by the input module, corresponding to the display module a first selected location of the image and a first location data of a second selected location and a second location profile, the first selected location and the second selected location respectively corresponding to the first of the images And (c) estimating, by the processing module, a distance between the first target and the second target based on at least the first location data, the second location data, and the depth map .

Therefore, according to another aspect of the present invention, a distance estimating system is provided, the distance estimating system comprising an image capturing module for capturing an image having at least a first target and a second target, and an input mode a group, a display module for displaying the image, and a processing module.

The input module is configured to generate one of a first selected position and a second selected position respectively corresponding to the image displayed by the display module First location data and a second location profile. The first selected location and the second selected location respectively correspond to the first target and the second target in the image.

The processing module at least electrically connects the input module and the display module, and generates a pair of depth maps of the image according to the image, and at least according to the first location data, the second location data, and the depth map. Estimating the distance between the first target and the second target.

Thus, in accordance with still another aspect of the present invention, a computer readable medium is provided for use in a distance estimation system. The distance estimation system includes an image capture module for capturing an image having at least a first target and a second target, an input module, a display module for displaying the image, and an at least The input module and the processing module of the display module are connected. The computer readable medium is configured to store an estimation program. The estimation program includes a plurality of instructions. When the instructions are executed by the processing module, the processing module performs the following steps, including: acquiring a pair according to the image. a depth map of the image; a first location data and a second location data corresponding to one of the first selected location and the second selected location of the image displayed by the display module are generated by the input module The first selected location and the second selected location respectively correspond to the first target and the second target in the image; and the at least the first location data, the second location data, and the depth map are estimated The distance between the first target and the second target.

The effect of the present invention is that the processing module is based at least on the first a location data, the second location data, and the depth map, estimating a distance between the first target and the second target to provide a distance estimation method, a distance estimation system, and a computer readable method that are both convenient and reliable Take the media.

S1~S5‧‧‧Steps

S41‧‧‧ substeps

Sub-step S41’‧‧

S42‧‧‧ substeps

Sub-step S42’‧‧

Sub-step S421‧‧

Sub-step S422‧‧

Sub-step S422’‧‧

S422”‧‧‧ substeps

11‧‧‧Image capture module

12‧‧‧ Input Module

13‧‧‧Display module

14‧‧‧Sensor module

15‧‧‧Processing module

16‧‧‧Computer readable media

H1, h2‧‧‧ distance

H11‧‧‧ distance

H21, h22‧‧‧ distance

H33‧‧‧distance

L1~L3‧‧‧Distance

F‧‧‧ lens focal length

I‧‧‧Image Sensor Array

D1‧‧‧first object distance

D2‧‧‧Second object distance

A‧‧‧ tilt angle

B‧‧‧ angle

K‧‧‧ angle

K1, K2‧‧‧ angle

M‧‧‧ focus

Other features and effects of the present invention will be apparent from the embodiments of the present invention. FIG. 1 is a block diagram illustrating a first embodiment and a third embodiment of the distance estimating method of the present invention. FIG. 2 is a flow chart illustrating the first embodiment of the distance estimating method of the present invention; FIG. 3 is a schematic diagram showing an image displayed by the display module of the first embodiment; 4 is a schematic diagram illustrating the calculation manner of the first embodiment; FIG. 5 is a block diagram illustrating a distance estimation system to which the second embodiment of the distance estimation method of the present invention is applied; FIG. 6 is a flowchart illustrating the present invention The second embodiment of the invention; FIG. 7 is a flow chart illustrating the third embodiment of the present invention; FIG. 8 is a schematic view showing the calculation mode of the second embodiment of the present invention; and FIG. The calculation method of the third embodiment of the present invention will be described.

Before the present invention is described in detail, it should be noted in the following In the description, similar elements are denoted by the same reference numerals.

Referring to Figure 1, there is shown a block diagram of a first embodiment of a distance estimation system to which the distance estimation method of the present invention is applied. The distance estimation system includes an image capture module 11, an input module 12, a display module 13, a sensing module 14, a processing module 15, and a computer readable medium 16. The image capturing module 11 has a Stereopsis function, and includes a lens and an image sensor array, and is used for capturing an image, the image comprising at least a first target and a second target. The input module 12 is for facilitating an input indication by a user. The display module 13 is configured to display the image. The sensing module 14 is configured to detect an inclination angle of the image sensor array relative to a vertical plane, and the vertical plane is opposite to a horizontal plane, for example, ground, vertical a plane. The computer readable medium 16 stores an estimation program that includes a plurality of instructions that cause the processing module 15 to perform the distance estimation method to achieve distance estimation. The estimation program may be an application software (APP) built in the computer readable medium 16 or downloaded through the network to download the media 16 from the computer.

In this embodiment, the distance estimation system may be a mobile device such as a smart phone, a digital camera or a tablet. The processing module 15 is electrically connected to the image capturing module 11 , the input module 12 , the display module 13 , the sensing module 14 , and the computer readable medium 16 . The image capturing module 11 is a camera module of the mobile device for capturing images. The input module 12 is a touch interface of the mobile device. The display module 13 is a screen of the mobile device for displaying the image. The sensing module 14 For example, the Gyro built into the mobile device, or other similar components that can be used to detect the three-axis (x, y, z) position to obtain the tilt angle. It should be noted that in other embodiments, the sensing module 14 can also be omitted, or the tilt angle can be estimated by calculation. The processing module 15 is a processor of the mobile device. The computer readable medium 16 is a storage unit of the mobile device.

In other embodiments, the distance estimation system can also be a mobile device and a computer, or a computer and a camera-enabled device, such as a monitoring device, a driving recorder, and a reverse camera device. The processing module 15 is electrically connected to the input module 12, the display module 13, and the computer readable medium 16. The image capturing module 11 is, for example, a camera module of the mobile device. The input module 12 is a mouse or keyboard of the computer. The display module 13 is a display of the computer. The sensing module 14 is, for example, a gyroscope of the mobile device, or other similar component that can detect the tilt angle. It should be noted that in other embodiments, the sensing module 14 can also be omitted, or the tilt angle can be estimated by calculation. The processing module 15 is a processor of the computer, and the computer readable medium 16 is a storage unit of the computer, such as RAM, EEPROM, CD-ROM, hard disk, and the like.

Referring to Figures 1 and 2, Figure 2 is a flow chart illustrating how the distance estimation system performs the first embodiment of the distance estimation method of the present invention. It is particularly worth mentioning that the steps in each embodiment of the distance estimation method of the present invention are not sequentially limited.

In step S1, the processing module 15 generates a depth map (Depth Map) of a pair of images according to the image. The depth map is included in the image The relative distance of each target relative to each point from the target to the lens.

In step S2, the input module 12 generates a first location data and a second location profile corresponding to one of the first selected location and the second selected location of the image displayed by the display module 13. The first selected location and the second selected location respectively correspond to the first target and the second target in the image. The definition of the first location data is that the data has a location information corresponding to one of the first selected locations in the image and corresponding to the first target in the image. That is to say, the data includes the selected location in the image and the corresponding target, which is the coordinate. Similarly, the definition of the second location data is analogous.

In step S3, the display module 13 displays a first mark and a second mark respectively in the first selected position and the second selected position in the image. Referring to FIG. 3, FIG. 3 is an example of the display module 13 displaying the image. In the embodiment, the input module 12 and the display module 13 are combined into a touch screen, so that a user can borrow A first selected position in the image is first selected by the finger, such as the center of the dotted circle D1, and the dotted circle D1 is the first mark. The first selected position corresponds to the first target in the image, such as the lower right corner of a cabinet. The user then clicks a finger to select a second selected position in the image, such as the center of the upper dotted circle D2, and the dotted circle D2 is the second mark. The second selected position corresponds to the second target in the image, such as the upper right corner of the cabinet.

Referring to FIG. 1 and FIG. 2, in step S4, the processing module 15 estimates at least the first location data, the second location data, and the depth map. Calculate the distance between the first target and the second target. Step S4 includes sub-step S41 and sub-step S42.

In the sub-step S41, the processing module 15 further selects a lens focal length and a pixel size of the image sensor array according to the first position data and the depth map according to the image capturing module 11 Estimating a first object distance between the first target and the lens.

In sub-step S42, the processing module 15 estimates the distance between the first target and the second target based at least on the first object distance, the first position data, the second position data, and the focal length of the lens. Sub-step S42 includes sub-step S421 and sub-step S422.

In sub-step S421, the processing module 15 obtains, according to the first location data and the second location data, a first on the image sensor array and respectively corresponding to the first selected location and the second selected location. Location and a second location.

In sub-step S422, the processing module 15 estimates the first target and the second target according to the first object distance, the distance between the first position and the second position, the focal length of the lens, and the tilt angle. The distance between them.

Referring to FIG. 1 and FIG. 4, FIG. 4 is a schematic diagram of a principle of using a perspective projection (Plecthole Projection) or a pinhole imaging method, illustrating that the image capturing module 11 of the first embodiment is in a target object. Taking the image, the relationship between the first target, the second target, a focus (projection center point) M, the lens focal length, the tilt angle, and the image imaged on the image sensor array I, And the calculation method of the processing module 15. Defining h1 as the distance between the first target and the second target, as shown in the figure The distance between the lower right corner and the upper right corner of the cabinet as described in the example of 3. The definition f is the focal length of the lens when the image capturing module 11 captures the image. The definition d1 is the first object distance. It is defined that when the image capturing module 11 captures the image, the tilt angle of the image sensor array I with respect to the vertical plane is A. The definition h11 is the distance between the first location and the second location. Equation (1) can be obtained by using the proportional relationship of approximate triangles, and formula (2) can be obtained according to the principle of trigonometric function, and then formula (2) is used to calculate the relationship between the first target and the second target. Distance h1.

It is particularly worth mentioning that the first target and the second target in the example shown in FIG. 3 are respectively the lower right corner and the upper right corner of the same cabinet, so the distance between the first target and the second target is just right. It is the height of the cabinet. In other embodiments, the first target and the second target may also belong to different objects to estimate the distance between the first target and the second target. In the first embodiment, since the inclination angle or the like is taken into consideration, the estimated distance between the first target and the second target is relatively accurate.

Referring to FIG. 1 and FIG. 2, in step S5, the display module 13 displays the estimated distance between the first target and the second target, for example, at the first selected position and the second selection. Between locations. As in the example shown in Figure 3, the distance is displayed between two dashed circles, such as D: 1M.

Referring to FIG. 5 and FIG. 6, the second method of distance estimation according to the present invention The embodiment, the distance estimation system to which it applies is slightly different from the first embodiment. As shown in FIG. 5, the distance estimation system does not include the sensing module 14 of FIG. The second embodiment of the distance estimating method is substantially the same as the first embodiment, and differs in sub-step S41', sub-step S42' and sub-step S422' of the distance estimating method.

In the sub-step S41 ′, the processing module 15 further determines a lens focal length and the image sense when the image capturing module 11 captures the image according to the first location data, the second location data, and the depth map. The pixel size of the detector array is used to estimate a first object distance and a second object distance between the first target and the second target respectively.

In the sub-step S42 ′, the processing module 15 estimates the first target and the second target according to the first object distance, the second object distance, the first position data, the second position data, and the focal length of the lens. the distance between.

In sub-step S422 ′ of sub-step S42 ′, the processing module 15 estimates the first object distance, the second object distance, the distance between the first position and the second position, and the focal length of the lens. The distance between a target and the second target. Referring to FIG. 8, FIG. 8 is a schematic view similar to FIG. 4, illustrating the first target, the second target, the focus (projection center point) M, the focal length of the lens, and the image in the second embodiment. The relationship between the images on the detector array I and the calculation mode of the processing module 15. The definition h2 is the distance between the first target and the second target, as shown in the example of FIG. 3, the distance between the lower right corner and the upper right corner of the cabinet. The definition f is the focal length of the lens when the image capturing module 11 captures the image. Definitions d1 and d2 are the first object distance and the second object distance, respectively. Define h33 as the first place The distance between the second position and the image sensor array I is set. The distance h2 between the first target and the second target is calculated using equations (3) and (4). It is particularly worth mentioning that although the distance estimation system to which the second embodiment is applied does not require the sensing module 14, the estimated distance h2 of the second embodiment is an approximation. More specifically, when the image capturing module 11 captures the image, and when the tilt angle of the image sensor array I relative to the vertical plane is small, for example, less than 20 degrees, the distance h2 The error between the approximation and the true distance between the first target and the second target is small.

h 2= d 1 ² + d 2 ² -2. d 1. d 2. Cos( K )...(3)

Referring to FIG. 1 and FIG. 7, the distance estimation system to which the third embodiment of the distance estimation method of the present invention is applied is the same as the first embodiment, and the distance estimation method is different from the first embodiment in that the distance estimation is: Sub-step S41 ′, sub-step S42 ′ and sub-step S422 ′′ of the method, and the image sensor array I has the tilt with respect to a vertical surface when the image capturing module 11 captures the image The angle is zero (because the tilt or rotation has been adjusted first). In other words, when the image capturing module 11 captures the image, the display module 13 can further display a reference horizontal line (can be set to pass a horizontal line of the center point of the image sensor array I for the user to perform alignment correction for eliminating the tilt angle factor. When the user aligns the correction, the image sensor array I is relative to the The angle of inclination of the vertical plane is zero. It is worth noting that the display module 13 does not limit the display of a reference horizontal line, in other embodiments. In other ways, it is also possible to indicate to the user whether the correction has been completed by other means (for example, a light number).

In the sub-step S41 ′, the processing module 15 further determines a lens focal length and the image sense when the image capturing module 11 captures the image according to the first location data, the second location data, and the depth map. The pixel size of the detector array is used to estimate a first object distance and a second object distance between the first target and the second target respectively.

In the sub-step S42 ′, the processing module 15 estimates the first target and the second target according to the first object distance, the second object distance, the first position data, the second position data, and the focal length of the lens. the distance between.

In sub-step S422 of sub-step S42 ′, the processing module 15 is based on the first object distance, the second object distance, the distance between the first position and the center point of the image sensor array I, and the second The distance between the position and the center point of the image sensor array I and the focal length of the lens are used to estimate the distance between the first target and the second target. Referring again to FIG. 9, FIG. 9 is a schematic view similar to FIG. Describe the relationship between the first target, the second target, the focus (projection center point) M, the lens focal length, and the image imaged on the image sensor array I of the third embodiment, and The calculation mode of the processing module 15 is: when the image capturing module 11 captures the image, first letting the image sensor array have a tilt angle with respect to the vertical plane, that is, the image in FIG. B is 90 degrees. The definition f is the focal length of the lens when the image capturing module 11 captures the image. The definitions d1 and d2 are the first object distance and the second object distance respectively. The definition h21 is when the reference is transmitted. The horizontal position causes the image sensor array I to be perpendicular to the horizontal plane (eg, the ground), the first position and the shadow The distance from the center point of the sensor array I. The definition h22 is the distance between the second position and the center point of the image sensor array I when the image sensor array I is perpendicular to the horizontal plane (eg, the ground) through the reference horizontal line. The distance h2 between the first target and the second target is calculated using equations (5) to (7).

h 2= d 1. Sin( K 1)- d 2. Sin( K 2)...(5)

In summary, by recording the relative distance (depth map) between the target and the image capturing module while capturing the image, or even obtaining the three-axis rotation angle of the image capturing module (acquiring a tilt angle), The processing module 15 estimates the size of any object in the image or at least according to the first location data, the second location data, the focal length, the pixel size, and the depth map. The linear distance between any two objects to provide a convenient and reliable distance estimation method, and the captured image is no longer a simple 2D image, but also provides 3D information.

The above is only the preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, that is, the simple equivalent changes and modifications made by the patent application scope and patent specification content of the present invention, All remain within the scope of the invention patent.

S1~S5‧‧‧Steps

S41~S42‧‧‧ substeps

Sub-step S421~S422‧‧

Claims (21)

A distance estimation method is applicable to a distance estimation system, and the distance estimation system includes an image capturing module, an input module, and a method for capturing an image having at least a first target and a second target. For the display module for displaying the image and a processing module for electrically connecting the input module and the display module, the distance estimation method comprises the following steps: (a) generating, by the processing module, a image according to the image Corresponding to the depth map of the image; (b) generating, by the input module, a first location data corresponding to one of the first selected location and the second selected location of the image displayed by the display module a second location data, the first selection location and the second selection location respectively corresponding to the first target and the second target in the image; and (c) by the processing module, at least according to the first The location data, the second location data, and the depth map estimate a distance between the first target and the second target. The method of claim 1, wherein the image capturing module comprises a lens and an image sensor array, wherein the step (c) comprises the following substeps: (c-1) by the processing module And estimating the first target and the lens according to the first position data and the depth map, and according to a lens focal length and a pixel size of the image sensor array when the image capturing module captures the image a first object distance between; and (c-2) estimating, by the processing module, a distance between the first target and the second target based at least on the first object distance, the first position data, the second position data, and the focal length of the lens . The method for estimating distance according to claim 2, wherein when the image capturing module captures the image, the image sensor array has an oblique angle (A) with respect to a vertical mask, wherein the sub-step (c- 2) comprising the following sub-steps: (c-21) obtaining, by the processing module, the first location information and the second location data respectively on the image sensor array and respectively corresponding to the first selected location and a first position and a second position of the second selected position; and (c-22) by the processing module, according to the first object distance (d1), between the first position and the second position The distance (h11), the focal length of the lens (f), and the angle of inclination (A), using the following formula The distance (h1) between the first target and the second target is estimated. The method of claim 1, wherein the image capturing module comprises a lens and an image sensor array, wherein the step (c) comprises the following substeps: (c-1) by the processing module According to the first location data, the second location data, and the depth map, and estimating the lens focal length and the pixel size of the image sensor array according to the image capturing module, a first object distance and a second object distance between the first target and the second target respectively; and (c-2), by the processing module, according to the first object distance, the second The object distance, the first position data, the second position data, and the focal length of the lens are used to estimate a distance between the first target and the second target. The distance estimation method according to claim 4, wherein the sub-step (c-2) comprises the following sub-steps: (c-21) by the processing module, respectively, according to the first location data and the second location data Obtaining a first position and a second position on the image sensor array and respectively corresponding to the first selected position and the second selected position; and (c-22) by the processing module, according to the first An object distance (d1), the second object distance (d2), a distance between the first position and the second position (h33), and a focal length (f) of the lens, using the following formula h 2 = d 1 ² + d 2 ² -2. d 1. d 2. Cos( K ) The distance (h2) between the first target and the second target is estimated. The distance estimation method of claim 4, when the image capturing module captures the image, the image sensor array has an oblique angle with respect to a vertical mask and the tilt angle is zero, wherein The step (c-2) includes the following sub-steps: (c-21) obtaining, by the processing module, the first position data and the second position data respectively on the image sensor array a first position and a second position of the selected position and the second selected position; and (c-22), by the processing module, according to the first object distance (d1), the second object distance (d2) The distance between the first position and the center point of the image sensor array (h21), the distance between the second position and the center point of the image sensor array (h22), and the focal length (f) of the lens are utilized. The following formula h 2 = d 1. Sin( K 1)- d 2. Sin( K 2) The distance (h2) between the first target and the second target is estimated. The distance estimation method of claim 1, further comprising the step (d) and the step (e): (d) by the display module, the first selected position and the second selected position in the image respectively Displaying a first mark and a second mark; and (e) displaying, by the display module, a distance between the estimated first target and the second target at the first selected position and the second Choose between locations. A distance estimation system includes: an image capture module for capturing an image having at least a first target and a second target; a display module for displaying the image; and an input module for And generating a first location data and a second location profile respectively corresponding to one of the first selected location and the second selected location of the image displayed by the display module, the first selected location and the second selected Positions respectively corresponding to the first target and the second target in the image; and a processing module electrically connecting at least the input module and the display module And generating a pair of depth maps corresponding to the image according to the image, and estimating a distance between the first target and the second target based at least on the first location data, the second location data, and the depth map. The distance estimation system of claim 8, wherein the image capturing module comprises a lens and an image sensor array, and the processing module is based on the first position data and the depth map, and is further based on the image The capture module captures a lens focal length of the image and a pixel size of the image sensor array, and estimates a first object distance between the first target and the lens, and the processing module further depends on the The first object distance, the first position data, the second position data, and the focal length of the lens are used to estimate a distance between the first target and the second target. The distance estimation system of claim 9, further comprising a sensing module electrically connected to the processing module to sense an oblique angle of the image sensor array relative to a vertical plane, wherein the image sense When the image capturing module captures the image, the detector array has the tilt angle (A) with respect to the vertical surface, and the processing module obtains the image according to the first position data and the second position data respectively. a first position and a second position on the sensor array corresponding to the first selected position and the second selected position, respectively, the processing module is further configured according to the first object distance (d1), the first position and The distance between the second position (h11), the focal length of the lens (f), and the angle of inclination (A), using the following formula The distance (h1) between the first target and the second target is estimated. The distance estimation system of claim 8, wherein the image capture mode The group includes a lens and an image sensor array, and the processing module is based on the first position data, the second position data, and the depth map, and further captures a lens according to the image capturing module a focal length and a pixel size of the image sensor array, estimating a first object distance and a second object distance between the first target and the second target respectively, the processing module according to the first An object distance, the second object distance, the first position data, the second position data, and the focal length of the lens are used to estimate a distance between the first target and the second target. The distance estimation system of claim 11, wherein the processing module obtains on the image sensor array according to the first location data and the second location data, respectively, and respectively corresponding to the first selected location and the first Selecting a first position and a second position of the position, the processing module is further configured according to the first object distance (d1), the second object distance (d2), and the first position and the second position The distance (h33) and the focal length (f) of the lens are expressed by the following formula h 2 = d 1 ² + d 2 ² -2. d 1. d 2. Cos( K ) The distance (h2) between the first target and the second target is estimated. The distance estimation system of claim 11, further comprising a sensing module electrically connected to the processing module to sense an oblique angle of the image sensor array relative to a vertical plane, wherein the image sense When the image capturing module captures the image, the image sensor module has the tilting angle with respect to the vertical surface and the tilting angle is zero, and the processing module respectively determines the first position data and the second position data. Obtaining a first position and a second position on the image sensor array corresponding to the first selection position and the second selection position, respectively, the processing module is further configured according to the first object distance (d1) a second object distance (d2), a distance between the first position and a center point of the image sensor array (h21), a distance between the second position and a center point of the image sensor array (h22), and the lens Focal length (f), using the following formula h 2 = d 1. Sin( K 1)- d 2. Sin( K 2) The distance (h2) between the first target and the second target is estimated. The distance estimation system of claim 8, wherein the display module displays a first mark and a second mark in the first selected position and the second selected position in the image, the display module And displaying the estimated distance between the first target and the second target between the first selected position and the second selected position. A computer readable medium, which is suitable for a distance estimation system, the distance estimation system includes an image capture module for capturing an image having at least a first target and a second target, an input module, a display module for displaying the image and a processing module for electrically connecting at least the input module and the display module, the computer readable medium for storing an estimation program, the estimation program comprising a plurality of instructions When the instructions are executed by the processing module, the processing module performs the following steps, including: acquiring a depth map of a pair of images according to the image; and obtaining, by the input module, corresponding to the display module a first location of the first selected location and a second location of the second selected location and a second location data, the first selected location and the second selected location respectively corresponding to the image a first target and the second target; and estimating a distance between the first target and the second target based at least on the first location data, the second location data, and the depth map. The computer-readable medium as claimed in claim 15 , wherein the image capturing module comprises a lens and an image sensor array, wherein the instructions are executed by the processing module when the processing module is executed The following steps: estimating the first target according to the first position data and the depth map, and according to a lens focal length and a pixel size of the image sensor array when the image capturing module captures the image a first object distance between the lenses; and estimating a distance between the first target and the second target based at least on the first object distance, the first position data, the second position data, and the focal length of the lens . The computer readable medium of claim 16, wherein the image sensor array has an oblique angle (A) with respect to a vertical mask when the image capturing module captures the image, wherein the instructions When the processing module is executed, the processing module further performs the following steps: respectively obtaining, according to the first location data and the second location data, on the image sensor array and respectively corresponding to the first selected location and the a first position and a second position of the second selected position; and according to the first object distance (d1), a distance between the first position and the second position (h11), the focal length of the lens (f), And the inclination angle (A), using the following formula The distance (h1) between the first target and the second target is estimated. The computer-readable medium as claimed in claim 15 , wherein the image capturing module comprises a lens and an image sensor array, wherein the instructions are executed by the processing module when the processing module is executed The following steps: according to the first location data, the second location data, and the depth map, and according to the lens focal length of the image capturing module and the pixel size of the image sensor array, Estimating a first object distance and a second object distance between the first target and the second target respectively; and according to the first object distance, the second object distance, the first position data, The second position data and the focal length of the lens are used to estimate the distance between the first target and the second target. The computer readable medium of claim 18, wherein the instructions are executed by the processing module, so that the processing module further performs the following steps: obtaining the first location data and the second location data respectively a first position and a second position on the image sensor array and respectively corresponding to the first selected position and the second selected position; and according to the first object distance (d1), the second object distance ( D2), the distance between the first position and the second position (h33), and the focal length (f) of the lens, using the following formula h 2 = d 1 ² + d 2 ² -2. d 1. d 2. Cos( K ) The distance (h2) between the first target and the second target is estimated. The computer readable medium of claim 18, wherein the image sensor array has an oblique angle with respect to a vertical mask and the tilt angle is zero, wherein the image capturing module captures the image, wherein When the processing module is executed, the processing module further performs the following steps: respectively obtaining, according to the first location data and the second location data, on the image sensor array and respectively corresponding to the first selection a first position and a second position of the second selected position; and according to the first object distance (d1), the second object distance (d2), the first position and the image sensor array The distance of the center point (h21), the distance between the second position and the center point of the image sensor array (h22), and the focal length (f) of the lens are determined by the following formula h 2 = d 1. Sin( K 1)- d 2. Sin( K 2) The distance (h2) between the first target and the second target is estimated. The computer readable medium as claimed in claim 15 , wherein when the processing module is executed, the processing module further performs the following steps: the first selected location in the image by the display module and The second selected position respectively displays a first mark and a second mark; and And displaying, by the display module, the estimated distance between the first target and the second target is displayed between the first selected position and the second selected position.