CN110109133A - Compensated distance method and distance measuring method based on the flight time - Google Patents
Compensated distance method and distance measuring method based on the flight time Download PDFInfo
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- CN110109133A CN110109133A CN201910367467.2A CN201910367467A CN110109133A CN 110109133 A CN110109133 A CN 110109133A CN 201910367467 A CN201910367467 A CN 201910367467A CN 110109133 A CN110109133 A CN 110109133A
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- 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
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- 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
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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Abstract
The embodiment of the present invention provides a kind of compensated distance method and distance measuring method based on the flight time, wherein compensated distance method includes: to obtain the corresponding phase compensation parameter of any modulating frequency based on the relationship between preset modulating frequency and phase compensation parameter；Based on the phase compensation parameter, phase compensation is carried out to the corresponding each phase diagram of any modulating frequency.Method provided in an embodiment of the present invention, pass through the relationship between the modulating frequency and phase compensation parameter of default settings, each modulating frequency to apply in ranging configures corresponding phase compensation parameter, to realize the TOF compensated distance under different modulating frequency, circuit delay bring error can be effectively offset, range accuracy is improved.
Description
Technical field
The present invention relates to flying time technology field more particularly to a kind of compensated distance methods and survey based on the flight time
Away from method.
Background technique
3D TOF (Time of flight, flight time), technology was by using cmos pixel array and active modulated light source
Technology provides 3D apart from depth map.In the technology, I-TOF (Indirect-TOF, indirect flight time) is by actively modulating
Light source and demodulation pixel array obtain the photoelectric conversion charge with out of phase difference, and depth distance is calculated according to formula.
Fig. 1 is the schematic diagram of a scenario of I-TOF in the prior art, and in Fig. 1, data processing unit 110 passes through modulation /demodulation
Control unit 120 exports modulated signal signal A and demodulated signal signal B.Wherein, modulated signal signal A is for controlling
Light source 130 processed, demodulated signal signal B is for controlling pixel array 140.Control of the light source 130 in modulated signal signal A
Lower generation emergent light, is radiated on testee 150, and testee 150 reflects emergent light, forms reflected light and by pixel array
140 receive.Pixel array 140 is formed including phase diagram under the control of demodulated signal signal B based on reflected light
Data.The data including phase diagram that data processing unit 110 is formed based on pixel array 140 calculate depth distance.?
Under this scene, the premise that data processing unit 110 calculates depth distance is modulated signal signal A and demodulated signal signal
For B in 0 phase, modulated signal signal A acts on the time of light source 130 and demodulated signal signal B acts on pixel battle array
The time of column 140 should be identical.
In practical applications, due to circuit delay, modulated signal signal A and demodulated signal signal B are in 0 phase
When, light source 130 and pixel array 140 can not be acted on simultaneously.Circuit delay bring error, will affect range accuracy.It is existing
Distance measuring method the phase diagram under the modulation of single modulating frequency is compensated by fixed phase compensation parameter, to offset line
Road delay time error.
However as the development of TOF technology, in order to improve range accuracy, modulating frequency is no longer limited to single modulation frequency
Rate, under more modulating frequencies, being compensated using fixed phase compensation parameter may result in bigger error, influence ranging
Precision.
Summary of the invention
The embodiment of the present invention provides a kind of compensated distance method and distance measuring method based on the flight time, existing to solve
The TOF technology problem that causes range accuracy low due to circuit delay problem.
In a first aspect, the embodiment of the present invention provides a kind of compensated distance method based on the flight time, comprising:
Based on the relationship between preset modulating frequency and phase compensation parameter, it is corresponding to obtain any modulating frequency
Phase compensation parameter；
Based on the phase compensation parameter, phase compensation is carried out to the corresponding each phase diagram of any modulating frequency.
Second aspect, the embodiment of the present invention provide a kind of distance measuring method based on the flight time, comprising:
The compensated distance method as provided by first aspect based on the flight time is executed, it is corresponding to obtain each modulating frequency
Each compensation phase diagram；
Based on the corresponding each compensation phase diagram of each modulating frequency, depth distance is obtained.
The third aspect, the embodiment of the present invention provide a kind of distance compensation apparatus based on the flight time, comprising:
Parameter selection unit, for obtaining based on the relationship between preset modulating frequency and phase compensation parameter
The corresponding phase compensation parameter of any modulating frequency；
Phase compensation unit, for being based on the phase compensation parameter, each phase corresponding to any modulating frequency
Bitmap carries out phase compensation.
Fourth aspect, the embodiment of the present invention provide a kind of range unit based on the flight time, comprising:
Phase diagram acquiring unit is compensated, for executing the compensated distance side based on the flight time provided such as first aspect
Method obtains the corresponding each compensation phase diagram of each modulating frequency；
Distance measuring unit obtains depth distance for being based on the corresponding each compensation phase diagram of each modulating frequency.
5th aspect, the embodiment of the present invention provide a kind of electronic equipment, including processor, communication interface, memory and total
Line, wherein processor, communication interface, memory complete mutual communication by bus, and processor can call in memory
Logical order, with execute the method as provided by first aspect or second aspect the step of.
6th aspect, the embodiment of the present invention provide a kind of non-transient computer readable storage medium, are stored thereon with calculating
Machine program, when which is executed by processor the step of realization method as provided by first aspect or second aspect.
A kind of compensated distance method and distance measuring method based on the flight time provided in an embodiment of the present invention, by setting
Relationship between fixed modulating frequency and phase compensation parameter, each modulating frequency to apply in ranging configure corresponding phase
Compensating parameter can effectively offset circuit delay bring mistake to realize the TOF compensated distance under different modulating frequency
Difference improves range accuracy.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the schematic diagram of a scenario of I-TOF in the prior art；
Fig. 2 is the flow diagram of the compensated distance method provided in an embodiment of the present invention based on the flight time；
Fig. 3 is the flow diagram of the distance measuring method provided in an embodiment of the present invention based on the flight time；
Fig. 4 is four phase data schematic diagrames under two kinds of modulating frequencies provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of the distance compensation apparatus provided in an embodiment of the present invention based on the flight time；
Fig. 6 is the structural schematic diagram of the range unit provided in an embodiment of the present invention based on the flight time；
Fig. 7 is the structural schematic diagram of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
When carrying out ranging based on TOF, circuit delay bring error will affect range accuracy.And with TOF technology
Development, the increase of modulating frequency compensate fixed phase compensation parameter to the phase diagram under the modulation of single modulating frequency
Method be applied to more modulating frequencies when, may result in bigger error, influence range accuracy.In this regard, the embodiment of the present invention
A kind of compensated distance method based on the flight time is provided.Fig. 2 is the distance provided in an embodiment of the present invention based on the flight time
The flow diagram of compensation method, as shown in Fig. 2, this method comprises:
Step 210, based on the relationship between preset modulating frequency and phase compensation parameter, any modulation frequency is obtained
The corresponding phase compensation parameter of rate.
Specifically, the relationship between modulating frequency and phase compensation parameter is preset, and modulating frequency and phase are mended
Repay parameter one-to-one correspondence.Herein, modulating frequency refers to the frequency of the modulated signal for modulated light source.It is carried out based on I-TOF
When ranging, multiple modulating frequencies may be used to be modulated light source.
When carrying out compensated distance, it is necessary first to according to each modulating frequency used in ranging, determine each modulation
The corresponding phase compensation parameter of frequency.
For example, the relationship between preset modulating frequency and phase compensation parameter is modulating frequency f1, f2, f3, f4
Respectively correspond phase compensation parameterIn ranging, the modulating frequency of practical application includes f1 and f3,
Then according to the relationship between preset modulating frequency and phase compensation parameter, the corresponding phase of available modulating frequency f1
Compensating parameter isThe corresponding phase compensation parameter of modulating frequency f3 is
In another example relationship between preset modulating frequency and phase compensation parameter be modulating frequency section F1, F2,
F3, F4 respectively correspond phase compensation parameterIn ranging the modulating frequency of practical application include f1,
F2 and f3, wherein modulating frequency f1, f2 belongs to section F1, and modulating frequency f3 belongs to section F2, then according to preset modulation
Relationship between frequency and phase compensation parameter, the corresponding phase compensation parameter of available modulating frequency f1 and f2 areIt adjusts
The corresponding phase compensation parameter of frequency f3 processed is
Step 220, it is based on phase compensation parameter, each phase diagram corresponding to the modulating frequency carries out phase compensation.
Specifically, light source is based on multiple modulating frequencies and generates emergent light, is radiated on testee, testee reflects
Light is penetrated, reflected light is formed and is received by pixel array, the corresponding phase diagram of multiple modulating frequencies is formed.Herein, a modulation frequency
Rate can correspond to one or more phase diagrams.
For any modulating frequency, the corresponding phase compensation parameter of the modulating frequency is obtained by step 210, is applied immediately
The phase compensation parameter each phase diagram corresponding to the modulating frequency carries out phase compensation.For example, modulating frequency f1 is corresponding
Phase compensation parameter isModulating frequency f1 is corresponding with 4 phase diagrams, is successively DCS1_0, DCS1_1, DCS1_2 and DCS1_
3.By carrying out phase compensation, following compensation result is obtained: the phase when obtaining DCS1_0, between modulated signal and demodulated signal
Potential difference isWhen obtaining DCS1_1, the phase difference between modulated signal and demodulated signal isIt is obtaining
When DCS1_2, the phase difference between modulated signal and demodulated signal isWhen obtaining DCS1_3, modulated signal with
Phase difference between demodulated signal is
By step 220, phase compensation is carried out using the corresponding each phase diagram of each modulating frequency when can be to ranging,
To realize the phase compensation of full rate.
Method provided in an embodiment of the present invention passes through the pass between the modulating frequency and phase compensation parameter of default settings
System, each modulating frequency to apply in ranging configures corresponding phase compensation parameter, to realize under different modulating frequency
TOF compensated distance, can effectively offset circuit delay bring error, improve range accuracy.
Based on the above embodiment, this method further include: step 230, based on default grayscale image compensating parameter, to grayscale image into
Row phase compensation.
Specifically, based in I-TOF ranging process, pixel array not only generates phase diagram after sensing reflected light, also
Grayscale image can be generated.Grayscale image is used to carry out the calculating of depth distance together with phase diagram.In conventional distance measuring method, lead to
The grayscale image for often directly acquiring pixel array generation is used for the calculating of depth distance.However in practical operation, due to circuit delay
Presence, grayscale image equally exists error.Method provided in an embodiment of the present invention pre-sets compensation ginseng for grayscale image
Number, i.e., default grayscale image compensating parameter give grayscale image bring for carrying out phase compensation to grayscale image to offset circuit delay
Error, to further increase range accuracy.
For example, default grayscale image compensating parameter isThen when obtaining grayscale image, between modulated signal and demodulated signal
Phase difference is
It should be noted that the embodiment of the present invention is not to step 230 and step 210, the 220 specific limit of execution sequence work
Fixed, step 230 can execute before step 210,220, can also execute after step 210,220, acceptable and step
210,220 synchronous execution.
Based on any of the above-described embodiment, this method further include: step 240, based on default bias light figure compensating parameter, to back
Jing Guangtu carries out phase compensation.
Specifically, based on during TOF measurement, pixel array not only generates phase diagram after sensing reflected light, moreover it is possible to
Enough generate bias light figure.Bias light figure is used to carry out the calculating of depth distance together with phase diagram.In conventional distance measuring method,
Typically directly obtain the calculating that the bias light figure that pixel array generates is used for depth distance.However in practical operation, due to route
The presence of delay, bias light figure equally exist error.Method provided in an embodiment of the present invention is pre-set for bias light figure
Compensating parameter, i.e., default bias light figure compensating parameter, for carrying out phase compensation to bias light figure, to offset circuit delay to back
Jing Guangtu bring error, to further increase range accuracy.
For example, default bias light figure compensating parameter isThen when obtaining bias light figure, modulated signal and demodulated signal it
Between phase difference be
It should be noted that the embodiment of the present invention is not to step 240 and step 210, the 220 specific limit of execution sequence work
Fixed, step 240 can execute before step 210,220, can also execute after step 210,220, acceptable and step
210,220 synchronous execution.
Based on any of the above-described embodiment, Fig. 3 is the stream of the distance measuring method provided in an embodiment of the present invention based on the flight time
Journey schematic diagram, as shown in figure 3, this method comprises:
Step 310, the compensated distance method based on the flight time that any of the above-described embodiment provides is executed, each tune is obtained
The corresponding each compensation phase diagram of frequency processed.
Specifically, when carrying out ranging based on I-TOF, multiple modulating frequencies may be used to be modulated light source.?
To after several corresponding phase diagrams of each modulating frequency, can based on preset modulating frequency and phase compensation parameter it
Between relationship, obtain the corresponding phase compensation parameter of each modulating frequency, and be directed to any modulating frequency, be based on the modulation
The corresponding phase compensation parameter of frequency, each phase diagram corresponding to the modulating frequency carries out phase compensation, to obtain the tune
The corresponding each compensation phase diagram of frequency processed.Herein, compensation phase diagram is the phase diagram carried out after phase compensation, compensates phase diagram
It is corresponded with phase diagram.
Phase compensation is carried out based on above-mentioned compensated distance method each phase diagram corresponding to each modulating frequency, can be obtained
To the corresponding each compensation phase diagram of each modulating frequency.
Step 320, it is based on the corresponding each compensation phase diagram of each modulating frequency, obtains depth distance.
Specifically, after obtaining the corresponding each compensation phase diagram of each modulating frequency, it is based on each modulating frequency pair
The each compensation phase diagram answered executes the calculating of depth distance, obtains the depth distance of testee.
Method provided in an embodiment of the present invention passes through the pass between the modulating frequency and phase compensation parameter of default settings
System, each modulating frequency to apply in ranging configures corresponding phase compensation parameter, to realize under different modulating frequency
TOF compensated distance, and based on compensation phase diagram calculate depth distance, can effectively offset circuit delay bring error, mention
High range accuracy.
Based on any of the above-described embodiment, in this method, before step 320 further include: obtain compensating for gray-scale figure and/or compensation
Bias light figure.
Specifically, compensating for gray-scale figure is the grayscale image carried out after phase compensation, and compensation bias light figure is to carry out phase compensation
Bias light figure afterwards.Compensating for gray-scale figure can be carried out phase compensation to grayscale image and obtained, be mended based on default grayscale image compensating parameter
Phase compensation can be carried out to bias light figure and be obtained based on default bias light figure compensating parameter by repaying bias light figure.
Accordingly, after obtaining compensating for gray-scale figure and/or compensation bias light figure, step 320 is specifically included: being based on each tune
The corresponding each compensation phase diagram of frequency processed and compensating for gray-scale figure and/or compensation bias light figure, obtain depth distance.Due to
Phase diagram, grayscale image and the bias light figure calculated applied to depth distance is to carry out phase via corresponding phase compensation parameter
It is obtained after compensation, having been calculated completely without that need to consider the interference of circuit delay problem bring for depth distance effectively increases depth
The computational accuracy of distance.
Based on any of the above-described embodiment, in this method, before step 310 further include: sent out respectively to light source and pixel array
Send the corresponding modulated signal of each modulating frequency and demodulated signal；Obtain the corresponding each phase diagram of each modulating frequency.
Specifically, when carrying out ranging based on I-TOF, need to generate based on each modulating frequency corresponding modulated signal and
Demodulated signal, and modulated signal is sent to light source, demodulated signal is sent to pixel array, so that light source can modulated
Emergent light is generated under the control of signal, after emergent light is radiated at testee, is reflected via testee, and pixel array is receiving
To after reflected light, corresponding phase diagram is generated under the control of demodulated signal.Obtain the corresponding each phase of each modulating frequency
Figure executes step 310 and step 320 immediately, completes the phase compensation of each phase diagram corresponding to each modulating frequency and meter
Calculate depth distance.
Based on any of the above-described embodiment, a kind of distance measuring method based on the flight time is realized by TOF sensor chip.
With reference to Fig. 1, modulation /demodulation control unit and pixel array are integrated in TOF sensor chip.In addition, in TOF sensor chip
It is also integrated with register list, the pass between preset modulating frequency and phase compensation parameter is stored in register list
System and default grayscale image compensating parameter and default bias light figure compensating parameter.In the embodiment of the present invention, distance measuring method uses two
Four phase flight time distance measuring methods of kind modulating frequency, specifically comprise the following steps:
Modulation /demodulation control unit is based on two kinds of modulating frequencies, i.e. f1 and f2 generate modulated signal signal A and demodulation letter
Number signal B, and modulated signal signal A is sent to light source, demodulated signal signal B is sent to pixel array.Light
Source generates emergent light under the control of modulated signal signal A, anti-via testee after emergent light is radiated at testee
It penetrates, pixel array generates corresponding phase diagram, grayscale image after receiving reflected light under the control of demodulated signal signal B
With bias light figure.TOF sensor chip in the process of running, based on the preset modulating frequency stored in register list
Relationship and default grayscale image compensating parameter and default bias light figure compensating parameter between phase compensation parameter, to pixel
Phase diagram, grayscale image and the bias light figure that array generates carry out phase compensation automatically, obtain compensation phase diagram, compensating for gray-scale figure and
It compensates bias light figure and avoids additional data processing overheads to simplify the structure of TOF system.
Fig. 4 is four phase data schematic diagrames under two kinds of modulating frequencies provided in an embodiment of the present invention, as shown in figure 4, modulation
Corresponding 4 phase diagrams of frequency f1 are followed successively by DCS1_0, DCS1_1, DCS1_2 and DCS1_3, corresponding 4 phases of modulating frequency f2
Bitmap is followed successively by DCS2_0, DCS2_1, DCS2_2 and DCS2_3.Based on preset modulating frequency and phase compensation parameter it
Between relationship, obtaining the corresponding phase compensation parameter of modulating frequency f1 isThe corresponding phase compensation parameter of modulating frequency f2 isIn addition, default grayscale image compensating parameter isPresetting bias light figure compensating parameter is
Based on the corresponding phase compensation parameter of modulating frequency f1Each phase diagram corresponding to modulating frequency f1 carries out
Phase compensation obtains following compensation result: when obtaining DCS1_0, the phase difference between modulated signal and demodulated signal isWhen obtaining DCS1_1, the phase difference between modulated signal and demodulated signal isObtaining DCS1_
When 2, the phase difference between modulated signal and demodulated signal isWhen obtaining DCS1_3, modulated signal and demodulation
Phase difference between signal is
Based on the corresponding phase compensation parameter of modulating frequency f2Each phase diagram corresponding to modulating frequency f2 carries out phase
Position compensation, obtain following compensation result: when obtaining DCS2_0, the phase difference between modulated signal and demodulated signal isWhen obtaining DCS2_1, the phase difference between modulated signal and demodulated signal isObtaining DCS2_
When 2, the phase difference between modulated signal and demodulated signal isWhen obtaining DCS2_3, modulated signal and demodulation
Phase difference between signal is
Based on default grayscale image compensating parameterPhase compensation is carried out to grayscale image, when obtaining grayscale image, modulation letter
Phase difference number between demodulated signal isBased on default bias light figure compensating parameterBias light figure is carried out
Phase compensation, when obtaining bias light figure, the phase difference between modulated signal and demodulated signal is
Compensation phase diagram, compensating for gray-scale figure and compensation bias light figure are obtained in TOF sensor chip, based on compensation phase
Figure, compensating for gray-scale figure and compensation bias light figure carry out depth distance calculating.
Method provided in an embodiment of the present invention, by the relationship between preset modulating frequency and phase compensation parameter,
And default grayscale image compensating parameter and default bias light figure compensating parameter are stored in the register of TOF sensor core Embedded
In list, so that TOF sensor chip is in the process of running, phase diagram, grayscale image and the background that pixel array can be generated
Light figure carries out phase compensation automatically, is effectively simplified the structure of TOF system, avoids additional data processing overheads.
Based on any of the above-described embodiment, Fig. 5 is the distance compensation apparatus provided in an embodiment of the present invention based on the flight time
Structural schematic diagram, as shown in figure 5, the device includes parameter selection unit 510 and phase compensation unit 520；
Wherein, parameter selection unit 510 is used for based on the pass between preset modulating frequency and phase compensation parameter
System, obtains the corresponding phase compensation parameter of any modulating frequency；
Phase compensation unit 520 is used to be based on the phase compensation parameter, corresponding each to any modulating frequency
Phase diagram carries out phase compensation.
Device provided in an embodiment of the present invention passes through the pass between the modulating frequency and phase compensation parameter of default settings
System, each modulating frequency to apply in ranging configures corresponding phase compensation parameter, to realize under different modulating frequency
TOF compensated distance, can effectively offset circuit delay bring error, improve range accuracy.
Based on any of the above-described embodiment, which further includes grey level compensation unit；
Grey level compensation unit is used to carry out phase compensation to grayscale image based on default grayscale image compensating parameter.
Based on any of the above-described embodiment, which further includes bias light compensation unit；
Bias light compensation unit is used to carry out phase compensation to bias light figure based on default bias light figure compensating parameter.
Based on any of the above-described embodiment, Fig. 6 is the knot of the range unit provided in an embodiment of the present invention based on the flight time
Structure schematic diagram, as shown in fig. 6, the device includes compensation phase diagram acquiring unit 610 and distance measuring unit 620；
Wherein, compensation phase diagram acquiring unit 610 is used to execute if the offer of above-mentioned any embodiment is based on the flight time
Compensated distance method, obtain the corresponding each compensation phase diagram of each modulating frequency；
Distance measuring unit 620 is used to be based on the corresponding each compensation phase diagram of each modulating frequency, obtains depth distance.
Device provided in an embodiment of the present invention passes through the pass between the modulating frequency and phase compensation parameter of default settings
System, each modulating frequency to apply in ranging configures corresponding phase compensation parameter, to realize under different modulating frequency
TOF compensated distance, and based on compensation phase diagram calculate depth distance, can effectively offset circuit delay bring error, mention
High range accuracy.
Based on any of the above-described embodiment, which further includes gray scale/bias light compensation acquiring unit；
Gray scale/bias light compensation acquiring unit is for obtaining compensating for gray-scale figure and/or compensation bias light figure；
Accordingly, distance measuring unit 620 is specifically used for being based on the corresponding each compensation phase diagram of each modulating frequency, with
And the compensating for gray-scale figure and/or the compensation bias light figure, obtain the depth distance.
Based on any of the above-described embodiment, which further includes control execution unit；
Control execution unit is for sending the corresponding modulation letter of each modulating frequency to light source and pixel array respectively
Number and demodulated signal；Obtain the corresponding each phase diagram of each modulating frequency.
Fig. 7 is the entity structure schematic diagram of electronic equipment provided in an embodiment of the present invention, as shown in fig. 7, the electronic equipment
It may include: processor (processor) 701,702, memory communication interface (Communications Interface)
(memory) 703 and communication bus 704, wherein processor 701, communication interface 702, memory 703 pass through communication bus 704
Complete mutual communication.Processor 701 can call the meter that is stored on memory 703 and can run on processor 701
Calculation machine program, to execute the compensated distance method based on the flight time of the various embodiments described above offer, for example, based on preparatory
Relationship between the modulating frequency and phase compensation parameter of setting obtains the corresponding phase compensation parameter of any modulating frequency；Base
In the phase compensation parameter, phase compensation is carried out to the corresponding each phase diagram of any modulating frequency.
In addition, processor 701 may call upon the calculating that is stored on memory 703 and can run on processor 701
Machine program, to execute the distance measuring method based on the flight time of the various embodiments described above offer, for example, when executing based on flight
Between compensated distance method, obtain the corresponding each compensation phase diagram of each modulating frequency；Based on each modulating frequency pair
The each compensation phase diagram answered obtains depth distance.
In addition, the logical order in above-mentioned memory 703 can be realized by way of SFU software functional unit and conduct
Independent product when selling or using, can store in a computer readable storage medium.Based on this understanding, originally
The technical solution of the inventive embodiments substantially part of the part that contributes to existing technology or the technical solution in other words
It can be embodied in the form of software products, which is stored in a storage medium, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes the present invention respectively
The all or part of the steps of a embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with computer program,
The computer program is implemented to carry out the compensated distance based on the flight time of the various embodiments described above offer when being executed by processor
Method, for example, based on the relationship between preset modulating frequency and phase compensation parameter, obtain any modulating frequency
Corresponding phase compensation parameter；Based on the phase compensation parameter, to the corresponding each phase diagram of any modulating frequency into
Row phase compensation.
The embodiment of the present invention also provides a kind of non-transient computer readable storage medium, is stored thereon with computer program,
The computer program is implemented to carry out the distance measuring method based on the flight time of the various embodiments described above offer when being executed by processor,
For example, the compensated distance method based on the flight time is executed, the corresponding each compensation phase diagram of each modulating frequency is obtained；
Based on the corresponding each compensation phase diagram of each modulating frequency, depth distance is obtained.
The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member
It is physically separated with being or may not be, component shown as a unit may or may not be physics list
Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs
In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness
Labour in the case where, it can understand and implement.
Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can
It realizes by means of software and necessary general hardware platform, naturally it is also possible to pass through hardware.Based on this understanding, on
Stating technical solution, substantially the part that contributes to existing technology can be embodied in the form of software products in other words, should
Computer software product may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, including several fingers
It enables and using so that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation
Method described in certain parts of example or embodiment.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (10)
1. a kind of compensated distance method based on the flight time characterized by comprising
Based on the relationship between preset modulating frequency and phase compensation parameter, the corresponding phase of any modulating frequency is obtained
Compensating parameter；
Based on the phase compensation parameter, phase compensation is carried out to the corresponding each phase diagram of any modulating frequency.
2. the compensated distance method according to claim 1 based on the flight time, which is characterized in that further include:
Based on default grayscale image compensating parameter, phase compensation is carried out to grayscale image.
3. the compensated distance method according to claim 1 based on the flight time, which is characterized in that further include:
Based on default bias light figure compensating parameter, phase compensation is carried out to bias light figure.
4. a kind of distance measuring method based on the flight time characterized by comprising
The compensated distance method based on the flight time as claimed any one in claims 1 to 3 is executed, each modulation frequency is obtained
The corresponding each compensation phase diagram of rate；
Based on the corresponding each compensation phase diagram of each modulating frequency, depth distance is obtained.
5. the distance measuring method according to claim 4 based on the flight time, which is characterized in that described to be based on each tune
The corresponding each compensation phase diagram of frequency processed, obtains depth distance, before further include:
Obtain compensating for gray-scale figure and/or compensation bias light figure；
Accordingly, described to be based on the corresponding each compensation phase diagram of each modulating frequency, depth distance is obtained, it is specific to wrap
It includes:
Based on each corresponding each compensation phase diagram of modulating frequency and the compensating for gray-scale figure and/or the compensation
Bias light figure obtains the depth distance.
6. the distance measuring method according to claim 4 based on the flight time, which is characterized in that described to execute such as claim
Compensated distance method described in any one of 1 to 3 based on the flight time obtains the corresponding each compensation phase of each modulating frequency
Bitmap, before further include:
The corresponding modulated signal of each modulating frequency and demodulated signal are sent to light source and pixel array respectively；
Obtain the corresponding each phase diagram of each modulating frequency.
7. a kind of distance compensation apparatus based on the flight time characterized by comprising
Parameter selection unit, for obtaining any based on the relationship between preset modulating frequency and phase compensation parameter
The corresponding phase compensation parameter of modulating frequency；
Phase compensation unit, for being based on the phase compensation parameter, each phase diagram corresponding to any modulating frequency
Carry out phase compensation.
8. a kind of range unit based on the flight time characterized by comprising
Phase diagram acquiring unit is compensated, for executing distance as claimed any one in claims 1 to 3 based on the flight time
Compensation method obtains the corresponding each compensation phase diagram of each modulating frequency；
Distance measuring unit obtains depth distance for being based on the corresponding each compensation phase diagram of each modulating frequency.
9. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes as described in any one of claims 1 to 3 be based on when executing described program
The step of the compensated distance method of flight time or such as described in any item distance measuring methods based on the flight time of claim 4 to 6
Suddenly.
10. a kind of non-transient computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer
Realized when program is executed by processor the compensated distance method as described in any one of claims 1 to 3 based on the flight time or
The step of distance measuring methods based on the flight time as described in any item such as claim 4 to 6.
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