AU2017337124B2 - Real time calibration for time-of-flight depth measurement - Google Patents

Real time calibration for time-of-flight depth measurement Download PDF

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Publication number
AU2017337124B2
AU2017337124B2 AU2017337124A AU2017337124A AU2017337124B2 AU 2017337124 B2 AU2017337124 B2 AU 2017337124B2 AU 2017337124 A AU2017337124 A AU 2017337124A AU 2017337124 A AU2017337124 A AU 2017337124A AU 2017337124 B2 AU2017337124 B2 AU 2017337124B2
Authority
AU
Australia
Prior art keywords
light
measurement
calibration
target object
pixel array
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
AU2017337124A
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English (en)
Other versions
AU2017337124A1 (en
Inventor
David Cohen
Shai MAZOR
Assaf PELLMAN
Erez Tadmor
Giora Yahav
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.)
Magic Leap Inc
Original Assignee
Magic Leap Inc
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 Magic Leap Inc filed Critical Magic Leap Inc
Publication of AU2017337124A1 publication Critical patent/AU2017337124A1/en
Application granted granted Critical
Publication of AU2017337124B2 publication Critical patent/AU2017337124B2/en
Ceased legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • 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—3D imaging with simultaneous measurement of time-of-flight at a 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
AU2017337124A 2016-09-30 2017-10-02 Real time calibration for time-of-flight depth measurement Ceased AU2017337124B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662402770P 2016-09-30 2016-09-30
US62/402,770 2016-09-30
PCT/US2017/054719 WO2018064658A1 (en) 2016-09-30 2017-10-02 Real time calibration for time-of-flight depth measurement

Publications (2)

Publication Number Publication Date
AU2017337124A1 AU2017337124A1 (en) 2019-04-18
AU2017337124B2 true AU2017337124B2 (en) 2022-08-04

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
AU2017337124A Ceased AU2017337124B2 (en) 2016-09-30 2017-10-02 Real time calibration for time-of-flight depth measurement

Country Status (9)

Country Link
US (2) US10762651B2 (OSRAM)
EP (1) EP3519852B1 (OSRAM)
JP (2) JP6882461B2 (OSRAM)
KR (1) KR102505237B1 (OSRAM)
CN (1) CN110402397B (OSRAM)
AU (1) AU2017337124B2 (OSRAM)
CA (1) CA3037988A1 (OSRAM)
IL (1) IL265659B (OSRAM)
WO (1) WO2018064658A1 (OSRAM)

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US10762651B2 (en) 2016-09-30 2020-09-01 Magic Leap, Inc. Real time calibration for time-of-flight depth measurement
US10923515B2 (en) 2017-12-13 2021-02-16 Magic Leap, Inc. Global shutter pixel circuit and method for computer vision applications
CN111512574B (zh) 2017-12-21 2023-04-11 奇跃公司 用于校准增强现实设备的方法
JP7418340B2 (ja) 2018-03-13 2024-01-19 マジック リープ， インコーポレイテッド 機械学習を使用した画像増強深度感知
JP7082404B2 (ja) * 2018-06-26 2022-06-08 国立大学法人静岡大学 距離計測装置
JP6717887B2 (ja) * 2018-07-12 2020-07-08 ファナック株式会社 距離補正機能を有する測距装置
CN110868507B (zh) * 2018-08-27 2024-12-10 宁波舜宇光电信息有限公司 带有泛光灯的电子设备及其装配方法
WO2020055619A1 (en) * 2018-09-16 2020-03-19 Nephelai Research Llc Calibration of a depth sensing array using color image data
WO2020068377A1 (en) 2018-09-25 2020-04-02 Nephelai Research Llc Enhanced depth mapping using visual inertial odometry
CN109067951A (zh) * 2018-10-31 2018-12-21 Oppo广东移动通信有限公司 电子装置
EP3657203A1 (de) * 2018-11-22 2020-05-27 Hexagon Technology Center GmbH Elektrooptischer entfernungsmesser und entfernungsmessverfahren
CN118033607A (zh) * 2018-12-12 2024-05-14 美国亚德诺半导体公司 飞行时间深度成像系统的内置校准
US11423572B2 (en) * 2018-12-12 2022-08-23 Analog Devices, Inc. Built-in calibration of time-of-flight depth imaging systems
CN112492139B (zh) * 2018-12-24 2021-10-15 华为技术有限公司 摄像组件及电子设备
CN111580117A (zh) * 2019-02-19 2020-08-25 光宝电子(广州)有限公司 飞时测距感测系统的控制方法
CN114365482A (zh) * 2019-03-25 2022-04-15 华为技术有限公司 一种基于Dual Camera+TOF的大光圈虚化方法
TWI748460B (zh) * 2019-06-21 2021-12-01 大陸商廣州印芯半導體技術有限公司 飛時測距裝置及飛時測距方法
EP3816657B1 (en) * 2019-10-29 2024-04-24 Hexagon Technology Center GmbH Multi-beam measuring device for 3d scanning of an environment having seamlessly stacked reception modules
CN112924979B (zh) * 2019-11-20 2024-03-01 北京小米移动软件有限公司 Tof模组的多路径光线测试设备、深度误差测量方法及系统
CN111024368B (zh) * 2019-12-06 2022-02-11 炬佑智能科技(苏州)有限公司 Tof相机杂散光检测装置及检测方法
US12066545B2 (en) * 2020-03-24 2024-08-20 Magic Leap, Inc. Power-efficient hand tracking with time-of-flight sensor
US11582436B2 (en) * 2020-07-17 2023-02-14 Shenzhen GOODIX Technology Co., Ltd. Passive three-dimensional image sensing based on chromatic focal differentiation
US20240067094A1 (en) * 2020-12-28 2024-02-29 Koito Manufacturing Co., Ltd. Gating camera, vehicle sensing system, and vehicle lamp
JP2023122396A (ja) * 2022-02-22 2023-09-01 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
US20230316554A1 (en) * 2022-03-30 2023-10-05 Analog Devices, Inc. Miniaturized phase calibration apparatus for time-of-flight depth camera
US20240210536A1 (en) * 2022-12-23 2024-06-27 Intel Corporation Time of flight distance determinations

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Also Published As

Publication number Publication date
KR102505237B1 (ko) 2023-02-28
CN110402397B (zh) 2023-03-03
EP3519852A4 (en) 2019-10-16
US20180096489A1 (en) 2018-04-05
JP2021113828A (ja) 2021-08-05
JP6882461B2 (ja) 2021-06-02
IL265659B (en) 2022-04-01
US20210004975A1 (en) 2021-01-07
EP3519852A1 (en) 2019-08-07
KR20190054167A (ko) 2019-05-21
WO2018064658A1 (en) 2018-04-05
IL265659A (en) 2019-05-30
EP3519852B1 (en) 2022-03-23
JP2019529931A (ja) 2019-10-17
CA3037988A1 (en) 2018-04-05
CN110402397A (zh) 2019-11-01
JP7130813B2 (ja) 2022-09-05
US10762651B2 (en) 2020-09-01
US11587245B2 (en) 2023-02-21
AU2017337124A1 (en) 2019-04-18

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MK14 Patent ceased section 143(a) (annual fees not paid) or expired