CN110749902A - 3D imaging system and imaging method based on time segmentation - Google Patents
3D imaging system and imaging method based on time segmentation Download PDFInfo
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- G—PHYSICS
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- 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
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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
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- G—PHYSICS
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- 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
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- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
Abstract
The invention discloses a 3D imaging system based on time segmentation, comprising: a transmitter for transmitting a laser beam towards a target area; the detector unit is used for receiving the echo signal reflected from the target area, processing the echo signal and outputting a TOF value of the target area; and the control and processing circuit is used for controlling the detector unit to perform corresponding processing according to the predefined time window to output TOF values, and receiving the TOF values to perform 3D imaging on the scenes in the designated distance range in the target area. According to the invention, the required distance range is selected by adopting a time segmentation mode, so that the three-dimensional imaging of the scene in the specified distance range is realized, the data can be effectively utilized, and the efficiency of the imaging system is improved.
Description
Technical Field
The invention relates to the technical field of three-dimensional imaging, in particular to a 3D imaging system and an imaging method based on time segmentation.
Background
Three-dimensional (3D) imaging systems based on Time-Of-Flight (TOF) mainly calculate the distance between the system and the target scene from the Time required to emit a laser pulse towards the target scene and to measure the Time required for the laser pulse to return to the imaging system from the emission. In addition, the imaging system may obtain an intensity value for each pixel and generate a three-dimensional image of the target region based on the intensity value and the distance information.
In the conventional 3D imaging, if a scene in a specific distance range needs to be imaged, generally, after the 3D imaging of the scene in the whole imaging distance range is completed, data is read out to an external FPGA and then processed and screened, 3D data in the specific distance range is retained, and 3D data outside the range is removed. The waste of data generated by 3D imaging based on the mode also causes the imaging system to have low efficiency, and the data volume of 3D imaging is huge, so that all data are difficult to read out to an off-chip FPGA for processing in real time.
The currently adopted method is to output data to an external FPGA after processing the data in a histogram unit in a chip, so that the data volume can be reduced. However, if no special design is adopted, a large number of time-to-digital converters (TDCs) are required for data processing in the data processing process, and the amount of data processed in the histogram unit is still very large, resulting in a more complex and inefficient imaging system.
The above background disclosure is only for the purpose of assisting understanding of the inventive concept and technical solutions of the present invention, and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
It is an object of the present invention to provide a 3D imaging system and an imaging method based on time segmentation to solve at least one of the above-mentioned problems of the background art.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is realized as follows:
a time segmentation based 3D imaging system comprising:
a transmitter for transmitting a laser beam towards a target area;
the detector unit is used for receiving the echo signal reflected from the target area, processing the echo signal and outputting a TOF value of the target area;
and the control and processing circuit is used for controlling the detector unit to perform corresponding processing according to the predefined time window to output TOF values, and receiving the TOF values to perform 3D imaging on the scenes in the designated distance range in the target area.
In some embodiments, the detector cell comprises a gating circuit, a reset quenching circuit, a SPAD cell, a TDC, a histogram cell, and a detection cell processing circuit; and the gating circuit sends a gating signal to the reset quenching circuit, and controls the corresponding SPAD unit to work in a predefined time window so as to receive a part of echo signals reflected from the target area.
In some embodiments, the control and processing circuitry controls the laser to emit a laser beam toward the target area while sending control instructions to the gating circuitry according to a predefined time window.
In some embodiments, the SPAD unit outputs a response signal to the TDC, the TDC receives the response signal, measures a time interval between the emission of the laser beam and the detection of the SPAD signal, and inputs the time interval to the histogram unit, a histogram of photon distribution over time is constructed in the histogram unit, and the detection unit processing circuit receives the histogram and processes the histogram to output TOF values of pixels in a specified distance range.
In some embodiments, the detector cell includes a reset quenching circuit, a SPAD cell, a TDC, a histogram cell, a detection cell processing circuit, and a data selection circuit; the control and processing circuit controls the laser to emit laser beams towards the target area, controls and drives the SPAD unit to detect echo signals reflected from the target area and outputs response signals to the TDC, and the TDC measures the time interval from the emission of the laser beams to the detection of the signals by the SPAD unit after receiving the response signals.
In some embodiments, the control and processing circuit sends a control command to the data selection circuit according to a predefined time window, the data selection circuit screens the time interval measured in the TDC, and controls the TDC to output the specified time interval to the histogram unit to construct a histogram of photon distribution over time; the detection unit processing circuit receives the histogram, processes the histogram and outputs TOF values, and the control and processing circuit receives the TOF values output by the detection unit processing circuit to perform 3D imaging on scenes in a specified distance range in the target area.
The other technical scheme of the invention is as follows:
a method of time segmentation based 3D imaging comprising the steps of:
s1, controlling the laser to emit laser beams towards the target area;
s2, receiving a part of echo signals reflected from the target area through the detector unit, and outputting TOF values, wherein the part of echo signals are regulated and controlled according to a predefined time window;
and S3, generating a three-dimensional image of the scene in the appointed distance range according to the TOF value.
Preferably, in step S2, the control and processing circuit sends a control command to the gate control circuit according to the predefined time window, and the gate control circuit sends a gate control signal to the reset quenching circuit, so as to control the corresponding SPAD unit to operate within the predefined time window, thereby ensuring that the SPAD unit only receives the echo signal within the specified area range and triggers to output a response signal.
The invention also adopts the technical scheme that:
a method of time segmentation based 3D imaging comprising the steps of:
s10, emitting a laser beam towards a target area through a laser;
s11, controlling the detector unit to receive the echo signal reflected from the target area and output TOF value of a designated distance range; wherein the specified distance range is determined by a predefined time pane;
and S12, generating a three-dimensional image of the scene in the appointed distance range according to the TOF value.
Preferably, in step S11, the control and processing circuit controls and drives the SPAD unit to detect the echo signal reflected from the target region and output a response signal to the TDC, the TDC receives the response signal and then measures the time interval between the emission of the laser beam and the detection of the signal by the SPAD unit, the control and processing circuit sends a control command to the data selection circuit according to a predefined time window, the data selection circuit screens the time interval measured in the TDC, the TDC outputs a specified time interval to the histogram unit to construct a histogram of photon distribution over time, and the detection unit processing circuit receives and processes the histogram to output a TOF value:
the technical scheme of the invention has the beneficial effects that:
according to the invention, the required distance range is selected by adopting a time segmentation mode, so that the three-dimensional imaging of the scene in the specified distance range is realized, the data can be effectively utilized, and the efficiency of the imaging system is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of a 3D imaging system based on time segmentation according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a detector unit of a time segmentation based 3D imaging system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a detector unit of a time segmentation based 3D imaging system according to another embodiment of the present invention;
FIG. 4 is a flowchart illustration of a method of 3D imaging based on time segmentation according to yet another embodiment of the invention;
fig. 5 is a flowchart illustration of a method of 3D imaging based on time segmentation according to yet another embodiment of the invention.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. The connection may be for fixation or for circuit connection.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Fig. 1 shows a schematic diagram of a 3D imaging system based on time segmentation according to the present invention. The system 10 includes a laser 14, a detector unit 20, and control and processing circuitry 18. The TOF values detected by the imaging system have a one-to-one correspondence relationship with the distances, and if the detection start time and the detection end time corresponding to one TOF value are selected as a time window, all the TOF values in the time window correspond to a specified distance in the target area. Correspondingly, if the detector unit is controlled to output the specified TOF value according to the time window, 3D imaging of the scene within the specific distance range can be achieved. The determination of the TOF value can also be achieved by specifying the time value at which the detection starts and the time period width, among other things. Thus, in an embodiment of the invention, the control and processing circuitry 18 controls the 3D imaging system to image the specified distance range in a predefined time pane, obtaining a three-dimensional image of the region.
The laser 14 emits a laser beam toward a target area, and in some embodiments, a near infrared wavelength Vertical Cavity Surface Emitting Laser (VCSEL) is typically selected. The laser 14 is connected with a laser driver 12, the laser driver 12 drives the laser 14 to emit a laser beam, and the laser beam is collimated and converged by the first lens unit 16 and then irradiates a target area 26.
The detector unit 20 receives the echo signals reflected from the target region 26 and outputs TOF values between the target region 26 and the system 10 through a series of processes. The 3D imaging system further comprises a first and a second lens unit 16, 24, and a filter unit 22. The echo light beam reflected by the target region 26 is collected by the second lens unit 24, filtered by the filtering unit 22 to remove background light and stray light, and then enters the detector unit 20. In some embodiments, the filtering unit 22 includes a narrow band filter and a wide band filter, specifically selected according to the laser wavelength.
The first lens unit 16 and the second lens unit 24 collimate and converge the laser beam to optimize the laser beam, and may be a general optical lens or a convex lens, a concave lens, or a combination of various lenses. In some embodiments, the first lens unit 16 may also be a galvanometer, a scanning mirror, or the like, for deflecting the emitted light beam to effect scanning of the target area.
The control and processing circuitry 18 is connected to the laser driver 12 and the detector unit 20 for controlling the laser driver 12 to drive the laser 14 to emit a laser beam towards the target area 26; the control and processing circuit 18 is further configured to drive the detector unit 20 to receive the echo signals reflected from the target region 26, and control the detector 20 to perform corresponding processing according to a predefined time window to output TOF values, and receive the output TOF values to perform 3D imaging of a scene within a specified distance range within the target region.
Fig. 2 is a schematic block diagram of a detector unit 20 according to an embodiment of the present invention. The detector unit 20 comprises a gating circuit 201, a reset quenching circuit 202, a SPAD unit (single photon avalanche diode) 203, a TDC (time to digital converter) 204, a histogram unit 205, a detection unit processing circuit 206. In this embodiment, the gating circuit 201 generates a gating signal to control the SPAD unit 203 to be in an operating state to receive a part of the echo signal reflected from the target region, and the SPAD unit 203 may have only one SPAD or may be a detection array composed of a plurality of SPADs.
Control and processing circuit 18 controls laser 14 to emit a laser beam towards the target area while sending control instructions to gating circuit 201 according to a predefined time window. The gating circuit 201 sends a gating signal to the reset quenching circuit 202, controls the corresponding SPAD unit 203 to work in a predefined time window, and ensures that the SPAD unit 203 only receives echo signals in a specified area range and triggers to output response signals.
The gate control circuit 201 controls the working state of the SPAD unit 203, and ensures that the SPAD unit 203 receives a part of the echo signal reflected from the target area, i.e. only receives the echo signal reflected by the designated area range, so that the waste of data can be effectively reduced, the efficiency of the system is improved, and the working life of the SPAD can be effectively prolonged.
The SPAD unit 203 outputs a response signal to the TDC204, the TDC204 receives the response signal, measures a time interval between the emitted laser beam and the SPAD when the signal is detected, and inputs the time interval to the histogram unit 205, and constructs a histogram of photon distribution along with time in the histogram unit 205, wherein a fixed characteristic peak appears and the time interval corresponding to the characteristic peak is the TOF value of one pixel point in a specified distance range.
The detection unit processing circuit 206 processes and analyzes the histogram to output TOF values, and calculates intensity values of reflected light signals, quality of pixel points, and the like according to the histogram.
The control and processing circuit 18 receives the TOF value output by the detection unit processing circuit 206 to form a depth map of the specified distance range, receives the intensity value of the reflected light signal to form a gray scale map of the specified distance range, and combines the depth map and the gray scale map to reconstruct a three-dimensional image of the scene within the specified distance range.
In some embodiments, the TDC204 may include a coarse measurement TDC and a fine measurement TDC, where the coarse measurement TDC achieves coarse measurement of a time interval and the fine measurement TDC achieves fine measurement of the time interval, which may meet common requirements of range and precision, and improve the measurement efficiency of the system.
Fig. 3 is a schematic block diagram of a detector unit 20 according to another embodiment of the present invention. In this embodiment, detector cell 20 includes a reset quenching circuit 202, a SPAD cell 203, a TDC204, a histogram cell 205, a detection cell processing circuit 206, and a data selection circuit 207. In this embodiment, the SPAD unit 203 is always in an operating state, the SPAD unit 203 receives an echo signal reflected from a target region, and the SPAD unit 203 may have only one SPAD or may be a detection array composed of a plurality of SPADs. The data selection circuit 207 controls the detector unit to output TOF values specifying a distance range, which is determined by a predefined time window.
The control and processing circuitry 18 drives the laser 14 to emit a laser beam towards the target region, while the control drives the SPAD unit 34 to detect an echo signal reflected from the target region and output a response signal to the TDC204, the TDC204 receiving the response signal measuring the time interval between the emission of the laser beam and the detection of the signal by the SPAD unit.
The control and processing circuit 18 sends a control command to the data selection circuit 207 according to the predefined time window, and the data selection circuit 207 screens the time interval measured in the TDC204, and controls the TDC to output the specified time interval to the histogram unit 205 to construct a histogram of the distribution of photons over time. The detection unit processing circuit 206 receives the histogram, processes the histogram to output TOF values, and may output intensity values of reflected light signals, quality of pixel points, and the like.
The control and processing circuit 18 receives the TOF value output by the detection unit processing circuit 206 and the intensity value of the received light signal to form a depth map and a gray scale map, respectively, and reconstructs a three-dimensional image of the scene within a specified distance range by combining the depth map and the gray scale map.
In some embodiments, the TDC204 may include a coarse measurement TDC and a fine measurement TDC, where the coarse measurement TDC achieves coarse measurement of a time interval and the fine measurement TDC achieves fine measurement of the time interval, which may meet common requirements of range and precision, and improve the measurement efficiency of the system.
In this embodiment, by screening the data output by the TDC204, the data amount processed by the histogram unit 205 is reduced, and the efficiency of the system can be effectively improved.
Referring to fig. 4, another embodiment of the present invention is a time segmentation based 3D imaging method, including the steps of:
s1, controlling the laser to emit laser beams towards the target area;
specifically, a Vertical Cavity Surface Emitting Laser (VCSEL) of a near-infrared band is generally selected, the VCSEL is connected with a laser driver, and the laser driver is connected with a control and processing circuit. The control and processing circuit controls the laser driver to drive the laser to emit laser beams, and the beams are collimated and converged by the first lens unit and then irradiate a target area.
S2, receiving a part of echo signals reflected from the target area through the detector unit, and outputting TOF values, wherein the part of echo signals are regulated and controlled according to a predefined time window;
specifically, a gating circuit generates a gating signal to control the SPAD unit to be in an operating state to receive a part of echo signals reflected from a target area. It is understood that the SPAD unit can have only one SPAD, or can be a detection array composed of a plurality of SPADs.
In the embodiment of the invention, the control and processing circuit controls the laser to emit laser beams towards the target area, and simultaneously, the control instruction is sent to the gate control circuit according to the predefined time window, the gate control circuit sends a gate control signal to the reset quenching circuit to control the corresponding SPAD unit to work in the predefined time window, so that the SPAD unit is ensured to only receive echo signals in the specified area range and trigger to output response signals. The gate control circuit controls the working state of the SPAD unit, ensures that the SPAD unit receives a part of echo signals reflected from a target area, namely only receives the echo signals reflected by a specified area range, can effectively reduce the waste of data, improves the efficiency of the system, and can effectively prolong the service life of the SPAD.
The SPAD unit outputs a response signal to the TDC, the TDC receives the response signal, then the time interval between the emitted laser beam and the SPAD detected signal is measured, the time interval is input to the histogram unit, a histogram of photon distribution along with time is constructed in the histogram unit, a fixed characteristic peak appears, and the time interval corresponding to the characteristic peak is the TOF value of a pixel point in the specified distance range.
S3, generating a three-dimensional image of a scene in a specified distance range according to the TOF value;
and the control and processing circuit receives the TOF value, processes the TOF value to obtain a depth map of a specified distance range, receives the intensity value of the reflected light signal to form a gray scale map of the specified distance range, and reconstructs the gray scale map and the depth map to generate a three-dimensional image of a scene in the specified distance range.
As another embodiment of the present invention, referring to fig. 5, a time-segmentation-based 3D imaging method according to the present invention can be further implemented by the following method, including the steps of:
s10, emitting a laser beam towards a target area through a laser;
specifically, a Vertical Cavity Surface Emitting Laser (VCSEL) of a near-infrared band is generally selected, the VCSEL is connected with a laser driver, and the laser driver is connected with a control and processing circuit. The control and processing circuit controls the laser driver to drive the laser to emit laser beams, and the beams are collimated and converged by the first lens unit and then irradiate a target area.
S11, controlling the detector unit to receive the echo signal reflected from the target area and output TOF value of a designated distance range; wherein the specified distance range is determined by a predefined time pane;
specifically, the control and processing circuit controls and drives the SPAD unit to detect an echo signal reflected from a target area and output a response signal to the TDC, and the TDC measures a time interval from the emission of the laser beam to the detection of the signal by the SPAD unit after receiving the response signal. The control and processing circuit sends a control instruction to the data selection circuit according to a predefined time window, the data selection circuit screens the time interval measured in the TDC, the TDC is controlled to output the specified time interval to the histogram unit to construct a histogram of photon distribution along with time, and the detection unit processing circuit receives the histogram and processes the histogram to output the TOF value.
S12, generating a three-dimensional image of a scene in a specified distance range according to the TOF value;
the control and processing circuit receives TOF values output by the detection unit processing circuit to form a depth map, receives intensity values of the reflected light signals to form a gray scale map of a specified distance range, and combines the depth map and the gray scale map to reconstruct and generate a three-dimensional image of a scene in the specified distance range.
The invention selects the required distance range by adopting a time segmentation mode, thereby realizing the three-dimensional imaging of the scene in the appointed distance range. Therefore, data can be effectively utilized, and the efficiency of the imaging system is improved.
It is to be understood that when the imaging system of the present invention is embodied in a device or hardware, corresponding structural or component changes may be made to accommodate the needs, the nature of which still employs the imaging system of the present invention and, therefore, should be considered to be within the scope of the present invention. The foregoing is a more detailed description of the invention in connection with specific/preferred embodiments and is not intended to limit the practice of the invention to those descriptions. It will be apparent to those skilled in the art that various substitutions and modifications can be made to the described embodiments without departing from the spirit of the invention, and these substitutions and modifications should be considered to fall within the scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention.
In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the invention as defined by the appended claims.
Moreover, the scope of the present application is not intended to be limited to the particular embodiments of the process, machine, manufacture, composition of matter, means, methods and steps described in the specification. One of ordinary skill in the art will readily appreciate that the above-disclosed, presently existing or later to be developed, processes, machines, manufacture, compositions of matter, means, methods, or steps, that perform substantially the same function or achieve substantially the same result as the corresponding embodiments described herein may be utilized. Accordingly, the appended claims are intended to include within their scope such processes, machines, manufacture, compositions of matter, means, methods, or steps.
Claims (10)
1. A time segmentation based 3D imaging system, comprising:
a transmitter for transmitting a laser beam towards a target area;
the detector unit is used for receiving the echo signal reflected from the target area, processing the echo signal and outputting a TOF value of the target area;
and the control and processing circuit is used for controlling the detector unit to perform corresponding processing according to the predefined time window to output TOF values, and receiving the TOF values to perform 3D imaging on the scenes in the designated distance range in the target area.
2. The time-segmentation-based 3D imaging system of claim 1, characterized in that: the detector unit comprises a gate control circuit, a reset quenching circuit, an SPAD unit, a TDC, a histogram unit and a detection unit processing circuit; and the gating circuit sends a gating signal to the reset quenching circuit, and controls the corresponding SPAD unit to work in a predefined time window so as to receive a part of echo signals reflected from the target area.
3. The time-segmentation-based 3D imaging system of claim 2, characterized in that: the control and processing circuit controls the laser to emit a laser beam towards the target area, while sending control instructions to the gating circuit according to a predefined time window.
4. The time-segmentation-based 3D imaging system of claim 2, characterized in that: the SPAD unit outputs a response signal to the TDC, the TDC receives the response signal, then the time interval between the emitted laser beam and the SPAD detected signal is measured and input to the histogram unit, a histogram of photon distribution along with time is constructed in the histogram unit, and the detection unit processing circuit receives the histogram and processes the histogram to output TOF values of pixels in a specified distance range.
5. The time-segmentation-based 3D imaging system of claim 1, characterized in that: the detector unit comprises a reset quenching circuit, an SPAD unit, a TDC, a histogram unit, a detection unit processing circuit and a data selection circuit; the control and processing circuit controls the laser to emit laser beams towards the target area, controls and drives the SPAD unit to detect echo signals reflected from the target area and outputs response signals to the TDC, and the TDC measures the time interval from the emission of the laser beams to the detection of the signals by the SPAD unit after receiving the response signals.
6. The time-segmentation-based 3D imaging system of claim 5, characterized in that: the control and processing circuit sends a control instruction to the data selection circuit according to a predefined time window, the data selection circuit screens the time interval measured in the TDC and controls the TDC to output the specified time interval to the histogram unit to construct a histogram of photon distribution along with time; the detection unit processing circuit receives the histogram, processes the histogram and outputs TOF values, and the control and processing circuit receives the TOF values output by the detection unit processing circuit to perform 3D imaging on scenes in a specified distance range in the target area.
7. A method of 3D imaging based on time segmentation, characterized by: the method comprises the following steps:
s1, controlling the laser to emit laser beams towards the target area;
s2, receiving a part of echo signals reflected from the target area through the detector unit, and outputting TOF values, wherein the part of echo signals are regulated and controlled according to a predefined time window;
and S3, generating a three-dimensional image of the scene in the appointed distance range according to the TOF value.
8. The time-segmentation-based 3D imaging method according to claim 7, characterized in that: in step S2, the control and processing circuit sends a control instruction to the gate control circuit according to the predefined time window, and the gate control circuit sends a gate control signal to the reset quenching circuit, so as to control the corresponding SPAD unit in the predefined time window to operate, thereby ensuring that the SPAD unit only receives the echo signal in the specified area range and triggers the output of the response signal.
9. A method of time segmentation based 3D imaging comprising the steps of:
s10, emitting a laser beam towards a target area through a laser;
s11, controlling the detector unit to receive the echo signal reflected from the target area and output TOF value of a designated distance range; wherein the specified distance range is determined by a predefined time pane;
and S12, generating a three-dimensional image of the scene in the appointed distance range according to the TOF value.
10. The time-segmentation-based 3D imaging method according to claim 9, wherein in step S11, the control and processing circuit controls and drives the SPAD unit to detect the echo signal reflected from the target region and output the response signal to the TDC, the TDC receives the response signal and then measures the time interval from the emitting laser beam to the SPAD unit to detect the signal, the control and processing circuit sends a control command to the data selection circuit according to a predefined time window, the data selection circuit screens the time interval measured in the TDC, the TDC outputs the specified time interval to the histogram unit to construct a histogram of the photon distribution along with time, and the detection unit processes the histogram and processes the histogram to output the TOF value.
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