IN-VEHICLE IMAGING APPARATUS

An illumination apparatus irradiates an object with a reference light having a random pattern to be switched for each illumination period T. A photodetector detects reflected light from the object. A processing device reconstructs a reconstructed image of the object based on the detection intensity based on the output of the photodetector and the light intensity distribution of the reference light. An interval period Tin which the light intensity of the reference light is zero or the reference light has a uniform light intensity distribution is inserted between an irradiation period Tand the next irradiation period T. With the upper limit of the sensing distance in the depth direction of the in-vehicle imaging apparatus as L, and with the speed of light as c, the interval period Tis designed to be equal to or larger than ×L/c.