CN107743590B - 用于使用飞行时间传感器来执行曝光估计的方法及设备 - Google Patents

用于使用飞行时间传感器来执行曝光估计的方法及设备 Download PDF

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CN107743590B
CN107743590B CN201680033889.0A CN201680033889A CN107743590B CN 107743590 B CN107743590 B CN 107743590B CN 201680033889 A CN201680033889 A CN 201680033889A CN 107743590 B CN107743590 B CN 107743590B
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target object
exposure
flash
distance
exposure level
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CN107743590A (zh
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卢应辰
丁恒州
鲁本·曼纽尔·维拉尔德
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Qualcomm Inc
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Qualcomm Inc
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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
    • G01S17/88—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
    • 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
    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • 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
    • 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
    • G01S7/483—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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Studio Devices (AREA)
  • Measurement Of Optical Distance (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Focusing (AREA)
  • Stroboscope Apparatuses (AREA)
  • Automatic Focus Adjustment (AREA)
  • Exposure Control For Cameras (AREA)
CN201680033889.0A 2015-06-25 2016-04-26 用于使用飞行时间传感器来执行曝光估计的方法及设备 Active CN107743590B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14/750,209 US9638791B2 (en) 2015-06-25 2015-06-25 Methods and apparatus for performing exposure estimation using a time-of-flight sensor
US14/750,209 2015-06-25
PCT/US2016/029345 WO2016209359A1 (en) 2015-06-25 2016-04-26 Methods and apparatus for performing exposure estimation using a time-of-flight sensor

Publications (2)

Publication Number Publication Date
CN107743590A CN107743590A (zh) 2018-02-27
CN107743590B true CN107743590B (zh) 2021-05-07

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Country Link
US (1) US9638791B2 (enExample)
EP (1) EP3314299B1 (enExample)
JP (1) JP6756747B2 (enExample)
KR (1) KR102604336B1 (enExample)
CN (1) CN107743590B (enExample)
BR (1) BR112017027969B1 (enExample)
WO (1) WO2016209359A1 (enExample)

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WO2020196257A1 (ja) * 2019-03-27 2020-10-01 パナソニックＩｐマネジメント株式会社 測距方法、測距装置、及び、プログラム
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JP6805448B2 (ja) * 2019-04-23 2020-12-23 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ 制御装置、撮像システム、移動体、制御方法、及びプログラム
CN110346780A (zh) * 2019-07-31 2019-10-18 炬佑智能科技(苏州)有限公司 飞行时间传感相机及其局部检测精度调整方法
JP7120181B2 (ja) * 2019-08-22 2022-08-17 トヨタ自動車株式会社 物体認識装置
WO2021046768A1 (zh) * 2019-09-11 2021-03-18 华为技术有限公司 一种目标物的反射率计算方法、装置及相关设备
US11070738B2 (en) * 2019-10-02 2021-07-20 Qualcomm Incorporated Infrared-assisted pre-flash
US11159737B2 (en) 2019-10-14 2021-10-26 Google Llc Exposure change control in low light environments
CN111679289B (zh) * 2020-05-13 2023-05-05 奥比中光科技集团股份有限公司 一种深度计算系统、方法及计算机可读存储介质
US12135565B2 (en) 2020-06-26 2024-11-05 Tusimple, Inc. Adaptive sensor control
CN113928307A (zh) 2020-06-29 2022-01-14 图森有限公司 自动泊车技术
CN114697560B (zh) * 2020-12-31 2024-09-06 浙江舜宇智能光学技术有限公司 基于tof成像系统的主动曝光方法及曝光时间的计算方法
JP2023036384A (ja) * 2021-09-02 2023-03-14 ソニーセミコンダクタソリューションズ株式会社 固体撮像装置
US11630211B1 (en) * 2022-06-09 2023-04-18 Illuscio, Inc. Systems and methods for LiDAR-based camera metering, exposure adjustment, and image postprocessing
CN115524714A (zh) * 2022-09-08 2022-12-27 奥比中光科技集团股份有限公司 iTOF深度测量系统及深度测量方法
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CN115714918B (zh) * 2022-09-20 2025-04-01 深圳奥芯微视科技有限公司 一种基于tof传感器的曝光时间设置方法及相关装置
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BR112017027969A2 (pt) 2018-08-28
WO2016209359A1 (en) 2016-12-29
JP6756747B2 (ja) 2020-09-16
KR102604336B1 (ko) 2023-11-20
EP3314299B1 (en) 2024-09-18
JP2018528633A (ja) 2018-09-27
US9638791B2 (en) 2017-05-02
BR112017027969B1 (pt) 2023-04-18
EP3314299A1 (en) 2018-05-02
KR20180019606A (ko) 2018-02-26
US20160377708A1 (en) 2016-12-29
CN107743590A (zh) 2018-02-27

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