DISTANCE IMAGE GENERATION DEVICE AND METHOD

PROBLEM TO BE SOLVED: To improve the accuracy of distance measurement independent of the condition within the photographing space when generating the distance image of the space using an optical flight time-type distance image sensor.SOLUTION: A method includes: using an irradiation light intensity image of a photographing space, the image generated at the same timing as a distance image to determine whether the photographing space has an area where the incident light (reflection light) is such great to influence a pixel value calculation of another pixel; if there is such area, controlling a light source so as to perform a division-irradiation, irradiating the area and other areas mutually independently; and performing the determination by comparing each pixel value of an irradiation intensity image with a predetermined threshold.