KR101238748B1 - System for measuring distance of target using step-staring infrared sensor unit - Google Patents

Abstract

PURPOSE: A target distance measurement system using a scanning driving infrared light sensor device is provided to reduce risk of exposure by making the device hard to find from the outside. CONSTITUTION: A target distance measurement system consists of a scanning driving infrared light sensor device(10) and an image processing device(20). The scanning driving infrared light sensor device consists of a scanning mirror(12) and an infrared light sensor(14). The scanning mirror is disposed in the front side and receives infrared from the detected region including the target by repetitively rotating in a predetermined driving period and angle range. The infrared light sensor obtains a first scanning image and a second scanning image of the target by incident infrared light in one rotation position and another rotation position. If an image corresponding to the target exists in the overlapped part of the first scanning image and the second scanning image, the image processing device calculates 3-D distance information of the target by analyzing a correlation of the first scanning image and the second scanning image. [Reference numerals] (14) IR sensor; (20) Image processing device; (A) Sensing area; (AA) Target; (t) First scan image; (t+Δt) Second scan image

Description

Target distance measuring system using scanning driving infrared sensor device {SYSTEM FOR MEASURING DISTANCE OF TARGET USING STEP-STARING INFRARED SENSOR UNIT}

The present invention relates to a target distance measuring system, and more particularly, to a target distance measuring system for measuring a distance of a target using a scanning driving infrared sensor device.

Target distance measurement systems using active sensors such as lasers and radars obtain the distance by measuring energy reflected from the surface of the target by firing energy to the target.

However, the conventional target distance measuring system using an active sensor such as a laser and a radar has a problem in that there is a risk of exposing the position of a measurer performing measurement while simultaneously finding out distance information of the target.

In addition, the conventional target distance measuring system has a problem of reducing the measurement performance of the target distance by the electronic countermeasure (ECM) or multi-path (multi-path).

KR 10- 2000-0052569 A, Aug. 26, 2000, drawing 1e

An object of the present invention is to apply a measuring method using a passive sensor such as an infrared sensor instead of a measuring method using an active sensor such as a laser or radar to use the conventional active sensor without exposing the position of the distance measurer. It is to provide a target distance measuring system that can minimize the measurement error.

A target distance measuring system according to an aspect of the present invention for achieving the above object is a scanning mirror which is disposed on the front surface and repeatedly rotates within a predetermined driving period and angle range to receive infrared rays from the detection zone containing the target. And an IR sensor which acquires and outputs a first scan image and a second scan image of the target by infrared rays received and received at each of the one rotational position and the other rotational position of the scanning mirror, respectively. ; And the first scan image and the second scan image when an image corresponding to the target is simultaneously present in an overlapping portion of the first scan image and the second scan image among the image information input from the scan driving infrared sensor device. And an image processing apparatus for calculating three-dimensional distance information of the target by analyzing the correlation.

The image processing apparatus may include a target detector configured to detect the target from the obtained first scanned image and the second scanned image to determine a position of the target on an image plane, and to determine the target position using the determined target position. A target motion compensator for compensating for movement and a target distance calculator for calculating three-dimensional distance information of the target using the identified target position and motion compensation of the target may be included.

The target detector detects a correspondence relationship between the first scan image and the second scan image for each of the driving periods with respect to both the first scan images and the second scan images acquired for each driving cycle of the scanning mirror. It can be performed by.

The target detector includes a spatial filtering module for detecting target candidates in the first and second scanned images, and a target candidate for one of the detected target candidates based on a predetermined criterion. A target selection module and a target pointing module for determining a position of the target by calculating a center coordinate of the selected target candidate.

The spatial filtering module may be implemented by A-TDLF (Approximate Two Dim. Laplacian Filter).

The target selection module may select the brightest target candidate having a size of 11 × 11 or less among the detected target candidates. That is, the target selection module performs pre-determined clustering by binarizing the detected target candidates based on a predetermined threshold brightness value, and uses the CFAR (Constant False Alarm Rate) detection to detect the clutter present after the clustering ( clutter can be removed to select the brightest target candidate.

The position of the target in the target pointing module may be determined by calculating a center of gravity value of the cluster having the largest average brightness value among the selected target candidate clusters.

The target motion compensation unit may perform a function of compensating for the movement of the target during the interval of the driving time when the target is moved during the interval of the driving time of the scanning mirror between the one side rotational position and the other side rotational position. Can be. Compensating for the movement of the target may be performed using the speed at which the target moves during the interval of driving time of the scanning mirror.

로 표현되고 상기 표적이 이동하는 이동속도가

로 표현되며, x 및 y가 상기 영상평면 상의 2차원 직교좌표계의 좌표값이고, N이 상기 제2 주사영상의 개수이며 2보다 큰 정수인 경우, 상기 이동속도는 제1식으로 표현될 수 있다.The speed at which the target moves is such that the position of the target is determined by the target detection unit corresponding to the second scanning image at time t.

The speed at which the target moves

When x and y are the coordinate values of the two-dimensional rectangular coordinate system on the image plane, N is the number of the second scan image and an integer greater than 2, the moving speed can be expressed by the first equation.

Formula 1:

로 표현되는 경우 상기 제1 주사영상의 중심을 기준으로 하는 상기 표적의 위치는 제2식으로 표현되고, 상기 제2 주사영상에 대응하여 상기 표적탐지부에 의해 파악된 상기 표적의 위치가

로 표현되는 상기 제2 주사영상의 중심을 기준으로 하는 상기 표적의 위치는 제3식으로 표현될 수 있다.The interval of the driving time is expressed as Δt, and the position of the target identified by the target detection unit corresponding to the first scanned image is

When the position of the target relative to the center of the first scanning image is expressed by the second equation, the position of the target identified by the target detection unit corresponding to the second scanning image is

The position of the target with respect to the center of the second scan image, which is represented by, may be expressed by the third equation.

, d1: 상기 제1 주사영상의 중심을 기준으로 하는 좌우 이격거리, h1: 상기 제1 주사영상의 중심을 기준으로 하는 상하 이격거리Formula 2:

, d1: left and right separation distance based on the center of the first scanned image, h1: up and down separation distance based on the center of the first scanned image

, d2: 상기 제2 주사영상의 중심을 기준으로 하는 좌우 이격거리, h2: 상기 제2 주사영상의 중심을 기준으로 하는 상하 이격거리Equation 3:

, d2: left and right separation distance based on the center of the second scan image, h2: up and down separation distance based on the center of the second scan image

The target distance calculator calculates a horizontal distance and a vertical distance between the scan drive infrared sensor device and the target by using a corresponding relationship between the first scan image and the second scan image and parameters of the scan drive infrared sensor device. By calculating the three-dimensional distance information of the target can be calculated.

The sum of d1 of the second formula and d2 of the third formula is represented by d, and the focal length of the scan-driven infrared sensor device is represented by f, and the center of the first scanned image and the second scanned image When the distance between the center is represented by b, the horizontal distance L between the scan driving infrared sensor device and the target is expressed by the fourth expression, and the vertical distance H between the scan driving infrared sensor device and the target is fifth. The three-dimensional distance information R may be expressed by a sixth equation.

Formula 4:

, IFOV: 상기 주사구동 적외선센서장치의 파라미터인 공간분해능(Instantaneous Field Of View)Formula 5:

, IFOV: Instantaneous Field Of View which is a parameter of the scanning driven infrared sensor device

Equation 6:

As described above, the present invention applies a measurement method using a passive sensor such as an infrared sensor instead of a measurement method using an active sensor such as a laser or a radar, so that it is not easy to grasp from the outside. Has little advantage.

In addition, the present invention can eliminate the alignment and normalization (rectification) process of the two cameras, such as a stereo system by using the same infrared sensor and the same optical device, it is possible to measure the distance more precisely than the conventional.

In addition, the present invention has the advantage that the real-time implementation is possible by applying the target detection technique in the target relationship calculation and compensation of the target movement.

1 is a conceptual diagram of a target distance measuring system according to an embodiment of the present invention.
2 is a view for explaining the concept of acquiring the scanned image by the operation of the target distance measuring system.
3 is a view for explaining an image acquisition method of a conventional stereo system.
4 is a block diagram of an image processing apparatus according to an embodiment of the present invention.
5 is a block diagram of a target detection unit according to an embodiment of the present invention.
6 is a block diagram of the target selection module shown in FIG. 5.
FIG. 7 is a diagram for describing the constant false alarm rate (CFAR) detection of FIG. 6.
8 is an image for explaining a target detection result by the target detection unit according to the present embodiment.
9 is a view showing the position of the target in the first scan image and the second scan image according to the present embodiment with the center of each scan image as an origin.
10 is a diagram for illustrating a relationship between a position on a screen of a target and a horizontal distance between the target according to the present embodiment.
11 is a view for showing the three-dimensional position of the scanning drive infrared sensor device and the target according to the embodiment.

Hereinafter, a target distance measuring system according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings. 1 is a conceptual diagram of a target distance measuring system according to an embodiment of the present invention, and FIG. 2 is a view for explaining a concept of acquiring a scanned image by an operation of the target distance measuring system.

Referring to FIG. 1, the target distance measuring system according to the present exemplary embodiment may include a scan driving infrared sensor device 10 and an image processing device 20 interworking with the scanning drive infrared sensor device 10. The scanning drive infrared sensor device 10 acquires image information to detect a target in the detection zone A, and transmits a continuous scan image to the image processing apparatus 20, and the image processing apparatus 20 transmits the transferred scan. The image is processed to calculate a three-dimensional distance between the scanning drive infrared sensor device 10 and the target T.

Scan driving infrared sensor device 10 may be made of a scanning mirror 12 disposed on the front side and the IR sensor 14 for sensing the incident infrared light to obtain an image.

The scanning mirror 12 repeatedly rotates within a predetermined driving period and angle range to receive infrared rays from the detection zone including the target and enter the IR sensor 14. The scanning mirror 12 is repeatedly rotated to one side rotation position shown in ① of FIG. 1 to the other side rotation position shown in ② of FIG. 1.

As shown in FIG. 2, the IR sensor 14 acquires the first scan image t by infrared rays received by being received at one side rotation position of the scanning mirror 12, and rotates the other side of the scanning mirror 12. The second scan image t + Δt is obtained by the infrared light received at the position.

The first scanned image t refers to a scanned image acquired at time t, and the second scanned image t + Δt refers to a scanned image acquired at time Δt elapsed from time t. Δt means the interval of the driving time of the scanning mirror 12 between one rotational position and the other rotational position.

The scanning drive infrared sensor device 10 according to the present embodiment obtains an infrared image to obtain a distance of the target T. As shown in FIG. 1, when the direction of the scanning mirror 12 is changed, the image area of the detection area A reflected by the scanning mirror 12 is changed, and the area of the image incident to the IR sensor 14 is also changed. do. At this time, the difference in the driving angle of the scanning mirror 12 corresponds to the difference in the line of sight (LOS) of the first scan image (t) and the second scan image (t + Δt), thereby changing the overlap size between the columnar image .

In other words, the scanning driving infrared sensor device 10 according to the present exemplary embodiment may repeatedly drive the scanning mirror 12 in the directions of ① and ② of FIG. 1, and may move the first scanning image of FIG. t) and a second scanned image t + Δt, respectively. In this case, as shown in FIG. 2, the target T should be simultaneously present in the overlapping portions of the first and second scan images t and t + Δt.

3 is a view for explaining an image acquisition method of a conventional stereo system, will be introduced as a comparative example of the scanning drive infrared sensor device 10 according to the present embodiment. While the present embodiment uses one scanning-driven infrared sensor device 10 for photographing a target, a conventional stereo system acquires an image by simultaneously photographing an object with two parallel cameras.

As such, the target distance measuring system according to the present embodiment can eliminate the alignment and normalization process of two cameras, such as a stereo system, by using the same infrared sensor and the same optical device. Precise distance measurement is possible.

The image processing apparatus 20 scans the first scan when an image corresponding to the target T is simultaneously present in an overlapping portion of the first scan image and the second scan image among the image information input from the scan driving infrared sensor device 10. The correlation between the image and the second scan image is analyzed to calculate three-dimensional distance information about the target T.

4 is a block diagram of an image processing apparatus according to an embodiment of the present invention, wherein the image processing apparatus 20 may be functionally divided into a target detector 22, a target motion compensator 24, and a target distance calculator 26. Can be.

The target detector 22 may detect the target T from the first scan image and the second scan image input from the scan driving infrared sensor device 10 to determine the position of the image plane target T.

Hereinafter, the target detection unit 22 will be described in detail with reference to FIG. 5. 5 is a block diagram of a target detection unit according to an embodiment of the present invention. The detection of the target T is to determine a correspondence relationship between the two scanned images, and includes a first scan image for each of the first scan images and the second scan images acquired for each driving cycle of the scanning mirror 12. The correspondence between the scanned image and the second scanned image may be performed.

That is, the target detector 22 performs the first scan image t and the second scan image t + Δt, respectively, and inputs all viewpoints (... t-2, t-1, t, t + 1, t + 2, t + 3 ...) is also performed for each scanned image.

Referring to FIG. 5, the target detection unit 22 may include a spatial filtering module 222, a target selection module 224, and a target pointing module 226. The target can be detected automatically without intervention.

The spatial filtering module 222 detects target candidates in the first and second scanned images. Spatial filtering is a filter generally used to emphasize or attenuate specific spatial frequency components included in an image, and may be used to sharpen an unclear image, to improve a signal-to-noise ratio (S / N) of an image, and the like.

In the present embodiment, the spatial filtering module 222 may be implemented by an Approximate Two Dim. Laplacian Filter (A-TDLF) which is one of the spatial filters.

The A-TDLF measures the background characteristics by averaging the pixels in the 2D window and detects brighter areas than the surrounding background from the difference between this and the image which is enhanced by the Gaussain filter with the target signal against noise. The A-TDLF filter may be expressed as in Equation 1 below. x and y are coordinate values by a two-dimensional rectangular coordinate system defined on the image plane.

는 입력 영상을 나타내고,

는 A-TDLF의 결과 영상을 나타낸다.

은 중심의 3X3 크기의 Gaussian filter이고,

은 (x,y)중심의 11X11크기의 평균값 필터이다.here

Represents the input image,

Represents the resultant image of A-TDLF.

Is the central 3X3 Gaussian filter,

Is an average filter of size 11x11 centered on (x, y).

The target selection module 224 selects one target candidate based on a threshold brightness value, which is a predetermined reference, based on a target candidate of one of the target candidates detected by the spatial filtering module 222. That is, the target selection module 224 selects the brightest target in the image passing through the spatial filtering module 222.

The target selection module 224 will be described with reference to FIG. 6. FIG. 6 is a block diagram of the target selection module. The target selection module 224 includes a pre-thresholding and clustering 2242 and a constant CFAR. False Alarm Rate) is activated by detection 2244. The target selection module 224 selects the brightest target having a size of 11 × 11 or less from the image passed through the spatial filtering module 222.

Pre-Thresholding and Clustering 2242 may perform predetermined 8-neighbor clustering by binarizing the target candidates detected by the spatial filtering module 222 based on the threshold brightness value.

는 다음 수학식 2와 같이 표현될 수 있다. , 여기서 n은 n번째 클러스터를 의미한다.CFAR detection 2244 may select the brightest target candidate by removing clutter present after clustering above.

May be expressed as Equation 2 below. Where n is the nth cluster.

Even after pre-thresholding, many clutters may exist depending on the type of background image. Thus, CFAR detection 2244 can eliminate clutters and increase the accuracy of target selection.

로 표현되는 경우,

는 다음 수학식 3과 같이 표현될 수 있다. 여기서 n은 n번째 클러스터를 의미하고, k는 2~5사이의 값으로 정해진다.CFAR detection 2244 is performed by comparing the signal value of the target cell region with the signal value of the background cell as shown in FIG. 7. Guard cells are designed to prevent interference in two areas, where the adaptive threshold brightness value for clutter removal is applied when μ is the signal mean of the background cell and σ is the standard deviation of the background cell.

If expressed as

May be expressed as Equation 3 below. N is the n th cluster, and k is set to a value between 2 and 5.

CFAR detection 2244 removes clusters below the adaptive threshold brightness value in the clustering result as clutter, as shown in Equation 4 below. At this time, the target cell matches the horizontal and vertical size of the cluster, and the size of the background cell is twice the size of the target cell. The guard cell is set to 2 pixels in width as the boundary between the background cell and the target cell.

와 같이 표현될 수 있다.As such, the target selection module 224 may select the brightest target candidate among the target candidates detected by the spatial filtering module 222. Target candidates selected by the target selection module 224

Can be expressed as

는 다음 수학식 5와 같이 나타낼 수 있다. 여기서 center 함수는 클러스터의 무게 중심을 구하는 함수이다.The target pointing module 226 may determine the position of the target T by calculating the center coordinates of the target candidate selected by the target selection module 224. That is, the position of the target T may be determined by the center of gravity value of the cluster having the largest average brightness value among the selected target candidate clusters. The location of the target,

Can be expressed by the following equation (5). Where center is the function to find the center of gravity of the cluster.

8 is an image for explaining a target detection result by the target detection unit according to the present embodiment. The left image is the target displayed on the plane of the first scanned image, and the right image is the target displayed on the plane of the second scanned image.

The target motion compensation unit 24 according to the present embodiment uses the interval of the driving time of the scanning mirror between one rotational position and the other rotational position of the scanning mirror and the interval of the driving time using the speed at which the target T moves during Δt. It is possible to compensate for the movement of the target T during.

로 표현되고 상기 표적이 이동하는 이동속도가

로 표현되며, N이 상기 제2 주사영상의 개수이며 2보다 큰 정수인 경우, 이동속도는 다음 수학식 6으로 표현될 수 있다.The speed at which the target moves is such that the position of the target T is determined by the target detection unit 22 corresponding to the second scanning image at time t.

The speed at which the target moves

When N is the number of the second scanned image and is an integer greater than 2, the moving speed may be expressed by Equation 6 below.

9 is a view showing the position of the target in the first scan image and the second scan image according to the present embodiment with the center of each scan image as an origin. The position of the target compensated by the target motion compensation unit 24 will be described with reference to FIG. 9.

로 표현되는 경우, 제1 주사영상의 중심을 기준으로 하는 표적의 위치는 다음 수학식 7과 같이 표현될 수 있다. 여기서 d1은 제1 주사영상의 중심을 기준으로 하는 좌우 이격거리이고, h1은 제1 주사영상의 중심을 기준으로 하는 상하 이격거리이다.The position of the target identified by the target detector 22 in response to the first scanned image

When expressed as, the position of the target with respect to the center of the first scan image may be expressed by Equation 7 below. Here, d1 is a left and right separation distance based on the center of the first scanned image, and h1 is a vertical separation distance based on the center of the first scanned image.

로 표현되는 경우 구동시간의 간격 Δt동안 이동속도

에 의해 보상된 표적의 위치는 제2 주사영상의 중심을 기준으로 수학식 8과 같이 표현될 수 있다. 여기서 d2는 제2 주사영상의 중심을 기준으로 하는 좌우 이격거리이고, h2는 제2 주사영상의 중심을 기준으로 하는 상하 이격거리이다.The position of the target identified by the target detector 22 in response to the second scanned image

When expressed by, the moving speed during the interval Δt of the driving time

The position of the target compensated for may be expressed by Equation 8 based on the center of the second scan image. Here, d2 is a left and right separation distance based on the center of the second scan image, and h2 is a vertical separation distance based on the center of the second scan image.

As described above, the target distance measuring system according to the present exemplary embodiment has an advantage that real-time implementation is possible by applying the target detection technique in the target relation calculation and compensating for the target movement.

The target distance calculation unit 26 according to the present embodiment compensates for the position of the target detected by the target detection unit 22 and the position of the target moved during the interval Δt of the driving time by the target motion compensation unit 24. 3D distance information of the target can be calculated.

The target distance calculation unit 26 uses the correspondence relationship between the first scan image and the second scan image and parameters of the scan drive infrared sensor device 10 as shown in FIG. 3D distance information of the target may be calculated by calculating a horizontal distance and a vertical distance between the target T and the target T. FIG.

A method of calculating three-dimensional distance information R of a target will be described with reference to FIGS. 10 and 11. FIG. 10 is a diagram illustrating a relationship between a position on a screen of a target and a horizontal distance between the target, and FIG. 11 is a diagram illustrating a three-dimensional position of the scanning driving infrared sensor device and the target.

In the horizontal distance L between the scan drive infrared sensor device 10 and the target T, the sum of d1 in equation (7) and d2 in equation (8) is represented by d, and among the parameters of the scan drive infrared sensor device 10 When the focal length is represented by f and the distance between the center of the first scan image and the center of the second scan image shown in FIG. 10 is represented by b, the following equation (10) Can be calculated as:

The vertical distance H between the scan drive infrared sensor device 10 and the target T can be obtained by the following equation (11).

In Equation 11, θ may be determined by IFOV (Instantaneous Field Of View, spatial resolution) which is a parameter of the scan driving infrared sensor device 10. IFOV is a measure of the ground resolution of the syringe and is used in the minimum field of view.

The target distance calculation unit 26 uses the horizontal distance L and the vertical distance H between the scan drive infrared sensor device 10 and the target T calculated above, between the scan drive infrared sensor device 10 and the target T. Three-dimensional distance information R can be obtained through the following equation (12).

As such, the target distance measuring system according to the exemplary embodiment of the present invention uses a passive sensor such as the scanning-driven infrared sensor device 10 instead of the conventional measuring method using an active sensor such as a laser or a radar. By applying the measurement method, three-dimensional information of the target T can be obtained.

10: Scan driving infrared sensor device
12: injection mirror
14: IR sensor
20: Image processing device
22: target detection unit
222: space filtering module
224: target selection module
2242: Pre-Thresholding & Clustering
2244: CFAR detection
226: target positioning module
24: target motion compensation
26: target distance calculation unit

Claims (11)

A scanning mirror that is disposed on the front surface and repeatedly rotates within a predetermined driving period and angle range to receive infrared rays from a detection zone including a target, and is received and incident at one rotational position and the other rotational position of the scanning mirror, respectively A scanning drive infrared sensor device comprising an IR sensor for respectively acquiring and outputting a first scan image and a second scan image of the target by infrared light; And
When the image corresponding to the target is simultaneously present in the overlapping portion of the first scan image and the second scan image among the image information input from the scan driving infrared sensor device, the first scan image and the second scan image are separated. And an image processing apparatus for analyzing the correlation to calculate three-dimensional distance information of the target. The method of claim 1,
The image processing apparatus may include a target detector configured to detect the target from the obtained first scanned image and the second scanned image to determine a position of the target on an image plane, and to determine the target position using the determined target position. And a target motion compensator for compensating for movement, and a target distance calculator for calculating three-dimensional distance information of the target using the identified target position and motion compensation of the target. The method of claim 2,
The target detector detects a correspondence relationship between the first scan image and the second scan image for each of the driving periods with respect to both the first scan images and the second scan images acquired for each driving cycle of the scanning mirror. Target distance measuring system, characterized in that carried out by. The method of claim 3,
The target detector includes a spatial filtering module for detecting target candidates in the first and second scanned images, and a target candidate for one of the detected target candidates based on a predetermined criterion. A target selection module, and a target pointing module for determining a position of the target by calculating a center coordinate of the selected target candidate. 5. The method of claim 4,
The target selection module selects the brightest target candidates of size 11 × 11 or less among the detected target candidates. The method of claim 2,
The target motion compensation unit compensates for the movement of the target during the interval of the driving time when the target is moved during the interval of the driving time of the scanning mirror between the one side rotational position and the other side rotational position. Target distance measuring system. The method according to claim 6,
Compensating for the movement of the target is carried out using the speed at which the target moves during the interval of the driving time of the scanning mirror. The method of claim 7, wherein
The speed at which the target moves is such that the position of the target is determined by the target detection unit corresponding to the second scanning image at time t.

The speed at which the target moves

Wherein x and y are coordinate values of the two-dimensional rectangular coordinate system on the image plane, and N is the number of the second scanned image and is an integer greater than two, the movement speed is represented by the first equation. Target distance measurement system.
Formula 1:

9. The method of claim 8,
The interval of the driving time is expressed as Δt, and the position of the target identified by the target detection unit corresponding to the first scanned image is

When represented by the position of the target relative to the center of the first scanning image is represented by the second equation,
The position of the target identified by the target detection unit corresponding to the second scan image

The position of the target with respect to the center of the second scanning image represented by the target distance measuring system, characterized in that represented by the third expression.
Formula 2:

, d1: left and right separation distance based on the center of the first scanned image, h1: up and down separation distance based on the center of the first scanned image
Equation 3:

Here, d2: left and right separation distance based on the center of the second scan image, h2: up and down separation distance based on the center of the second scan image 10. The method of claim 9,
The target distance calculator calculates a horizontal distance and a vertical distance between the scan drive infrared sensor device and the target by using a corresponding relationship between the first scan image and the second scan image and parameters of the scan drive infrared sensor device. Computing the target distance measurement system, characterized in that for calculating the three-dimensional distance information of the target. The method of claim 10,
The sum of d1 of the second formula and d2 of the third formula is represented by d, and the focal length of the scan-driven infrared sensor device is represented by f, and the center of the first scanned image and the second scanned image When the distance between the center is represented by b, the horizontal distance L is represented by the fourth equation, the vertical distance H is expressed by the fifth equation, and the three-dimensional distance information R is expressed by the sixth equation Target distance measuring system.
Formula 4:

Formula 5:

, IFOV: Instantaneous Field Of View which is a parameter of the scanning driven infrared sensor device
Equation 6:

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