WO2018185083A3 - Lichtlaufzeitkamera - Google Patents

Lichtlaufzeitkamera Download PDF

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Publication number
WO2018185083A3
WO2018185083A3 PCT/EP2018/058456 EP2018058456W WO2018185083A3 WO 2018185083 A3 WO2018185083 A3 WO 2018185083A3 EP 2018058456 W EP2018058456 W EP 2018058456W WO 2018185083 A3 WO2018185083 A3 WO 2018185083A3
Authority
WO
WIPO (PCT)
Prior art keywords
light
transit time
camera
psf
light transit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/058456
Other languages
English (en)
French (fr)
Other versions
WO2018185083A2 (de
Inventor
Stephan Ulrich
Lutz Heyne
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
PMDtechnologies AG
Original Assignee
PMDtechnologies AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by PMDtechnologies AG filed Critical PMDtechnologies AG
Priority to CN201880037067.9A priority Critical patent/CN110709722B/zh
Priority to US16/500,704 priority patent/US11525918B2/en
Publication of WO2018185083A2 publication Critical patent/WO2018185083A2/de
Publication of WO2018185083A3 publication Critical patent/WO2018185083A3/de
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Lichtlaufzeitkamera (20) für ein Lichtlaufzeitkamerasystem (1), mit einem Lichtlaufzeitsensor (22) mit mehreren Lichtlichtlaufzeitpixeln (23) zur Ermittlung einer Phasenverschiebung eines ausgesendeten und empfangenen Lichts (Sp2), wobei ausgehend von den erfassten Phasenverschiebungen (Δφ) Entfernungswerte (d) ermittelt werden, dadurch gekennzeichnet, dass die Lichtlaufzeitkamera (20) einen Speicher aufweist, in dem Parameter einer die Lichtlaufzeitkamera (20) und Lichtlaufzeitsensor (22) charakterisierende Punktspreizfunktion (PSF) abgelegt ist, mit einer Auswerteeinheit, die derart ausgestaltet ist, dass anhand der abgelegten Punktspreizfunktion (PSF) ein erfasstes komplexwertiges Bild (I(x)) im Fourierraum entfaltet und ein Streulicht korrigiertes komplexwertiges Bild (I0(x)) ermittelt wird, und dass die Ermittlung der Phasenverschiebungen (Δφ) bzw. Entfernungswerte (d) anhand des korrigiertes komplexwertiges Bilds (I0(x)) erfolgt.
PCT/EP2018/058456 2017-04-04 2018-04-03 Lichtlaufzeitkamera Ceased WO2018185083A2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880037067.9A CN110709722B (zh) 2017-04-04 2018-04-03 飞行时间摄像机
US16/500,704 US11525918B2 (en) 2017-04-04 2018-04-03 Time-of-flight camera

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017205742.4 2017-04-04
DE102017205742 2017-04-04

Publications (2)

Publication Number Publication Date
WO2018185083A2 WO2018185083A2 (de) 2018-10-11
WO2018185083A3 true WO2018185083A3 (de) 2018-12-27

Family

ID=61899273

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/058456 Ceased WO2018185083A2 (de) 2017-04-04 2018-04-03 Lichtlaufzeitkamera

Country Status (4)

Country Link
US (1) US11525918B2 (de)
CN (1) CN110709722B (de)
DE (1) DE102018107801B4 (de)
WO (1) WO2018185083A2 (de)

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CN109781030B (zh) * 2019-01-23 2020-03-03 四川大学 基于点扩散函数估计的相位校正方法及装置
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DE102020123537B4 (de) 2019-09-09 2024-02-22 Ifm Electronic Gmbh Lichtlaufzeitkamerasystem
JP2021051015A (ja) 2019-09-25 2021-04-01 ソニーセミコンダクタソリューションズ株式会社 測距装置、測距方法、並びにプログラム
US11514594B2 (en) 2019-10-30 2022-11-29 Vergence Automation, Inc. Composite imaging systems using a focal plane array with in-pixel analog storage elements
EP3835819B1 (de) 2019-12-10 2025-07-16 Melexis Technologies NV Vorrichtung zur berechnung eines optischen bereichs und verfahren zur berechnung eines optischen bereichs
CN111352120B (zh) * 2020-03-25 2022-09-09 炬佑智能科技(苏州)有限公司 飞行时间测距系统及其测距方法
US12230649B2 (en) 2020-05-19 2025-02-18 Vergence Automation, Inc. AI system on chip (SOC) for robotics vision applications
WO2021234907A1 (ja) * 2020-05-21 2021-11-25 日本電気株式会社 画像処理装置、制御方法及び記憶媒体
DE102020123671B4 (de) * 2020-09-10 2022-12-22 Ifm Electronic Gmbh Verfahren und Vorrichtung zur Dynamikerweiterung eines Lichtlaufzeitkamerasystems
CN112255643B (zh) * 2020-11-03 2022-09-27 上海炬佑智能科技有限公司 ToF传感装置及其距离检测方法
DE102020215401A1 (de) * 2020-12-07 2022-06-09 Robert Bosch Gesellschaft mit beschränkter Haftung Optischer Sensor
RU2770153C1 (ru) * 2021-06-15 2022-04-14 Самсунг Электроникс Ко., Лтд. Способ корректировки ошибки измерения глубины tof-камеры
KR20230009624A (ko) 2021-07-09 2023-01-17 삼성전자주식회사 Tof 영상 처리 방법 및 장치
US20230358868A1 (en) * 2022-05-06 2023-11-09 Waymo Llc Mitigating Crosstalk from High-Intensity Returns in a Light Detection and Ranging (Lidar) Device
CN116381729B (zh) * 2023-05-23 2025-08-01 深圳奥芯微视科技有限公司 深度计算方法、tof深度相机和计算机可读存储介质
DE102023123815A1 (de) 2023-09-05 2025-03-06 Valeo Detection Systems GmbH Korrektur eines Messdatensatzes eines Lidarsensorsystems

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Also Published As

Publication number Publication date
DE102018107801A1 (de) 2018-10-04
DE102018107801B4 (de) 2025-08-14
WO2018185083A2 (de) 2018-10-11
CN110709722B (zh) 2023-11-24
CN110709722A (zh) 2020-01-17
US20200096637A1 (en) 2020-03-26
US11525918B2 (en) 2022-12-13

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