US Patent 11366229 Range finding method, range finding apparatus, and range finding system

A method of finding a range to a target object includes extracting a signal component from a beat signal obtained by synthesizing a transmission wave irradiated onto the target object and a reflection wave reflected and received from the target object, generating a matching evaluation value of a plurality of image data of the target object captured by an imaging device, fusing the signal component and the matching evaluation value before generating a distance image from the matching evaluation value, and setting distance information for each pixel of the image data of the target object based on the signal component and the matching evaluation value fused together to generate a distance image.