CN109507685A - The distance measuring method of the TOF sensor model of phong formula illumination model - Google Patents
The distance measuring method of the TOF sensor model of phong formula illumination model Download PDFInfo
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- CN109507685A CN109507685A CN201811197742.2A CN201811197742A CN109507685A CN 109507685 A CN109507685 A CN 109507685A CN 201811197742 A CN201811197742 A CN 201811197742A CN 109507685 A CN109507685 A CN 109507685A
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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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
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Abstract
The present invention relates to optics and TOF imaging fields, can accurately to predict in different illumination intensity, under the factors such as distance, the influence of noise on image sensor, optimal effect is obtained so as to adjust to reduce noise, TOF imaging sensor working mechanism and external factor can be simulated to its Imaging, to analyze noise and to be improved by being desirable with the model.For this purpose, of the invention, the distance measuring method of the TOF sensor model based on phong formula illumination model, steps are as follows: (1) first part is source model, simulates light and issues the actual effect for getting to object from light source；(2) second part is the illumination model based on phong formula；(3) Part III is sensor model, obtains range information by calculated phase.Present invention is mainly applied to TOF, and ranging occasion is imaged.
Description
Technical field
The present invention relates to optics and TOF imaging fields, pass on the basis of phong formula illumination model and according to practical TOF
Sensor imaging system establishes the behavioral scaling model of sensor.Concretely relate to the TOF sensing based on phong formula illumination model
The distance measuring method of device model.
Background technique
Imaging sensor is all the hot spot of human research all the time.But with the development of contemporary science and technology, the mankind
Requirement for traditional 2D imaging sensor is higher and higher, and not only expectation has higher resolution, and faster speed, bigger is dynamic
State range, the mankind more want to obtain the depth information of object, but 2D imaging technique is no longer satisfied the mankind now
Demand, so 3D imaging technique of having come into being.TOF algorithm based on continuous wave is simple and measurement accuracy is high, using compared with
More, main operational principle is the light that detection is emitted to object, the time difference between imaging sensor is re-reflected into, to calculate to obtain image
The distance between sensor and object.
Light source issues on light to object, and the light of object reflection is received by pixel, and the signal of pixel is read by reading circuit,
Range information is calculated to obtain through subsequent processing again.Usually in ToF sensor design, need first to establish phase according to working sensor mode
The software model answered, the feasibility of verificating sensor design scheme, traditional lambert's formula illumination model do not account for mirror-reflection
Influence the noise of pixel and the noise of reading circuit are mainly considered in phong model, wherein pixel as in terms of noise
Noise mainly consider shot noise because shot noise is a kind of intrinsic noise of pixel, have no idea by improve pixel
Structure is thoroughly eliminated or reduces it.Each number that these noises read sensor can all deviate ideal value, from
And the distance value calculated is caused to deviate actual value.
Summary of the invention
In order to overcome the deficiencies of the prior art, the present invention is directed to propose a kind of TOF noise based on phong formula illumination model point
Analysis method, the model can be predicted accurately in different illumination intensity, under the factors such as distance, the shadow of noise on image sensor
It rings, obtains optimal effect so as to adjust to reduce noise, it is desirable to TOF imaging sensor can be simulated using the model and worked
Mechanism and external factor are to its Imaging, to analyze noise and to be improved.For this purpose, the technical solution that the present invention takes
It is that the distance measuring method of the TOF sensor model of phong formula illumination model, steps are as follows:
(1) first part is source model, simulates light and issues the actual effect for getting to object from light source, using as follows
Formula:
Ib=I0·fD·cosα
Wherein I0For light source peak luminescence intensity, IbFor the total light intensity that light source is launched, fDFor customized range attenuation because
Number, α are the angle of emergent ray and normal, and obtained optical signal is transferred in next stage illumination model；
(2) second part is mainly consisted of three parts based on the illumination model of phong formula, and a part is environment light
Ie, second part is diffusing reflection light intensity Id, Part III is mirror-reflection light intensity Is, wherein
Ie=Ia·Ka
Id=Ip·Kd·(L·N)
Ls=Ip·Ks·(V·R)n
Wherein IaFor ambient light intensity, KaFor environment light scatter intensity, IpFor point light source light intensity, KdFor Diffusive intensity, L
For point-source light ray incidence vector, N is normal vector, KsFor mirror-reflection intensity, V is observer's angle vector, and R is that mirror surface is anti-
Vector is penetrated, n is specularity factor, and related with surface roughness, the n the big, and then surface is more smooth, and mirror-reflection intensity is with reflection
The increase decaying at angle is also faster, and in addition there are also a coefficient f before diffusing reflection and mirror-reflection intensity in total formulaDFor light
Line is with range attenuation coefficient, formula
Wherein D is distance, a0,a1,a2Respectively constant term, first order, the weighting coefficient of quadratic term, total light intensity I expression formula
For
Wherein Ii is the luminous intensity of i-th of light source, when being added on the basis of phong model in the case of multiple light sources
Between parameter t, to obtain the attenuation degree that light changes over time；And eliminate the environment light ingredient I in phong modele；
And it joined in the case of adduction allows to simulate multiple point light sources, the influence that sensor is imaged in distance factor；
(3) Part III is sensor model, and the TOF based on Sine Modulated is mainly to pass through the signal of detection transmitting and anti-
The phase difference between the signal come is emitted back towards to calculate distance, is shown below, wherein f is modulating frequency；
In order to obtain the phase difference for receiving light and emitting light, or perhaps the phase information for receiving light is obtained, needs to dock
It receives light and carries out four points of sampling, if the sine wave of transmitting are as follows:
S (t)=Asin (wt)
Wherein A is amplitude, and w is angular frequency, receives light and is
Wherein ArIt is the amplitude decayed after reflection, φ is phase difference, and B is the signal of bias light, is counted by sampling
Phase difference is calculated to obtain range information；
0 ° is sampled respectively, and 90 °, 180 °, 270 four points obtain the result of four phases sampling:
Wherein A1,A2,A3,A4The electron number that respectively four phases are collected into, so obtaining phase are as follows:
According to above formula range information can be obtained by calculated phase.
In practice, with 0 °, 90 °, 180 °, 270 ° of four points are that starting point starts to integrate, and the time of integral is sinusoidal signal
Half period noise is then added in sensor model: shot noise is that there is the quantum fluctuation of Poisson distribution rule to make an uproar
Sound, if a pixel generates N number of electronics after illumination, then exports a signal, then the letter for shot noise
The random noise for including in number can obey Poisson distribution~(0, N), and the value of signal is bigger, and the signal-to-noise ratio of signal is higher, otherwise more
Low, being added in a model using such rule to integrate obtained electron number N is the Poisson distribution random number of mean value as shot
Noise and using 10 electronics be the random number of the standardized normal distribution of variance as reading circuit noise, in this way analog light source
Etc. influence of the factors to shot noise and imaging.
The features of the present invention and beneficial effect are:
TOF noise analysis model based on phong formula illumination model can be more compared to traditional lambert's formula illumination model
It accurately simulates light and reaches sensor reflection experienced and refraction after light source sending, so that the ratio of optical attenuation is obtained,
And brought influence is imaged on sensor.
Detailed description of the invention:
Fig. 1 traditional lambert's illumination model.
The phong formula illumination model of Fig. 2 addition mirror-reflection.
The sensor shot-noise figure that Fig. 3 is obtained by model.
Specific embodiment
Technical solution proposed by the present invention is as follows:
(1) first part is source model, simulates light and issues the actual effect for getting to object from light source, using as follows
Formula:
Ib=I0·fD·cosα
Wherein I0For light source peak luminescence intensity, IbFor the total light intensity that light source is launched, fDFor customized range attenuation because
Number, α are the angle of emergent ray and normal, and obtained optical signal is transferred in next stage illumination model；
(2) second part is mainly consisted of three parts based on the illumination model of phong formula, and a part is environment light
Ie, second part is diffusing reflection light intensity Id, Part III is mirror-reflection light intensity Is, wherein
Ie=Ia·Ka
Id=Ip·Kd·(L·N)
Is=Ip·Ks·(V·R)n
Wherein IaFor ambient light intensity, KaFor environment light scatter intensity, IpFor point light source light intensity, KdFor Diffusive intensity, L
For point-source light ray incidence vector, N is normal vector, KsFor mirror-reflection intensity, V is observer's angle vector, and R is that mirror surface is anti-
Vector is penetrated, n is specularity factor, and related with surface roughness, the n the big, and then surface is more smooth, and mirror-reflection intensity is with reflection
The increase decaying at angle is also faster, and in addition there are also a coefficient f before diffusing reflection and mirror-reflection intensity in total formulaDFor light
Line is with range attenuation coefficient, formula
Wherein D is distance, a0,a1,a2Respectively constant term, first order, the weighting coefficient of quadratic term；
So total light intensity I expression formula is
Wherein IiIn the case of multiple light sources, the luminous intensity of i-th of light source, on the basis of phong model in this model
On joined time parameter t, allow to obtain the attenuation degree that light changes over time；And it eliminates in phong model
Environment light ingredient Ie, because environment light be visible light, and point light source sending be black light, both to influence of noise not
Together；And it joined in the case of adduction allows to simulate multiple point light sources, the influence that sensor is imaged in distance factor.
(3) Part III is sensor model, and the TOF based on Sine Modulated is mainly to pass through the signal of detection transmitting and anti-
The phase difference between the signal come is emitted back towards to calculate distance, is shown below, wherein f is modulating frequency.
In order to obtain the phase difference for receiving light and emitting light, or perhaps the phase information for receiving light is obtained, needs to dock
It receives light and carries out four points of sampling.
If the sine wave of transmitting are as follows:
S (t)=Asin (wt)
Wherein A is amplitude, and w is angular frequency.
Receiving light is
Wherein ArIt is the amplitude decayed after reflection, φ is phase difference, and B is the signal of bias light.It is counted by sampling
Phase difference is calculated to obtain range information.
0 ° of sampling respectively, 90 °, 180 °, 270 four points.Obtain the result of four phases sampling:
Wherein A1,A2,A3,A4The electron number that respectively four phases are collected into, it is clear that available phase are as follows:
According to above formula range information can be obtained by calculated phase.However in practice, it receives illumination and is mapped to figure
As generating photogenerated charge on sensor, the numerical value that sampling obtains each point of sine wave can not be directly obtained by photogenerated charge.Only
Have using the method integrated to photogenerated charge to sample, with 0 °, 90 °, 180 °, 270 ° of four points are opened for starting point
Begin integral, and the time of integral is the half period of sinusoidal signal.Then, noise is added in sensor model: shot noise is
Quantum fluctuation noise with Poisson distribution rule, for shot noise, if a pixel generates N number of electricity after illumination
Then son exports a signal, then the random noise for including in the signal can obey Poisson distribution~(0, N).The value of signal
Bigger, the signal-to-noise ratio of signal is higher, otherwise lower, is added in a model with such rule to integrate obtained electron number N and be
The Poisson distribution random number of mean value is made as shot noise and by the random number of the standardized normal distribution of variance of 10 electronics
For reading circuit noise, in this way influence of the factors such as analog light source to shot noise and imaging.
Meanwhile separating ambient visible light signal and infrared signal that the second level passes in sensor model, point
Not Chan Sheng Poisson distribution random number using as visible light shot noise and infrared light shot noise.
As can be seen that mirror-reflection is not added for traditional Lambert's model, so that light from the comparison of Fig. 1 and Fig. 2
Decaying reduces, and has certain influence to last result, and after joined mirror-reflection based on phong formula illumination model, with reality
Border light attenuation is consistent, so that this model is more bonded actual conditions, more can accurately predict influence of noise.
Phong illumination model is the first influential Luminescence model proposed in reality pictures, which only examines
Object is considered to the reflex of direct illumination, it is believed that environment light is constant, does not account for reflected light mutual between object, object
Between reflected light only use environment light representations.Phong illumination model belongs to simple illumination model.
TOF is writing a Chinese character in simplified form for Time of flight, is literal translated as the meaning of flight time.So-called time-of-flight method 3D imaging,
It is then to receive the light returned from object with sensor by continuously transmitting light pulse to target, passes through flying for detecting optical pulses
Row (round-trip) time obtains object distance.
Wherein, Diffusive intensity KdWith mirror-reflection intensity KsIt is and the relationship for 1, in general smooth object
Surface, mirror-reflection is stronger, then KsBigger, vice versa；And reflection of ambient light intensity KaThen generally take 0.2 or so, and environment light
Intensity IaIt is then point light source light intensity Ip0.02~0.2 between；And due to light intensity as range attenuation is more serious, then can use away from
From attenuation factor fDIt is larger, it more tallies with the actual situation in this way.
Claims (2)
1. a kind of distance measuring method of the TOF sensor model of phong formula illumination model, characterized in that steps are as follows:
(1) first part is source model, simulates light and issues the actual effect for getting to object from light source, using following public affairs
Formula:
Ib=I0·fD·cosα
Wherein I0For light source peak luminescence intensity, IbFor the total light intensity that light source is launched, fDFor customized range attenuation factor, α
For the angle of emergent ray and normal, and obtained optical signal is transferred in next stage illumination model；
(2) second part is mainly consisted of three parts based on the illumination model of phong formula, and a part is environment light Ie, the
Two parts are diffusing reflection light intensity Id, Part III is mirror-reflection light intensity Is, wherein
Ie=Ia·Ka
Id=Ip·Kd·(L·N)
Is=Ip·Ks·(V·R)n
Wherein IaFor ambient light intensity, KaFor environment light scatter intensity, IpFor point light source light intensity, KdFor Diffusive intensity, L is point light
Source light incidence vector, N are normal vector, KsFor mirror-reflection intensity, V is observer's angle vector, and R is mirror-reflection arrow
Amount, n is specularity factor, and related with surface roughness, the n the big, and then surface is more smooth, and mirror-reflection intensity is with angle of reflection
It is also faster to increase decaying, in addition there are also a coefficient f before diffusing reflection and mirror-reflection intensity in total formulaDFor light with
Range attenuation coefficient, formula are
Wherein D is distance, a0,a1,a2Respectively constant term, first order, the weighting coefficient of quadratic term, total light intensity I expression formula are
Wherein IiIn the case of multiple light sources, time parameter is added on the basis of phong model in the luminous intensity of i-th of light source
T, to obtain the attenuation degree that light changes over time；And eliminate the environment light ingredient I in phong modele；
And it joined in the case of adduction allows to simulate multiple point light sources, the influence that sensor is imaged in distance factor；
(3) Part III is sensor model, and the TOF based on Sine Modulated is mainly to pass through the signal of detection transmitting and be reflected back
The phase difference between signal come calculates distance, is shown below, and wherein f is modulating frequency；
In order to obtain reception light and emit the phase difference of light, or perhaps the phase information for receiving light is obtained, needed to reception light
Four points of sampling are carried out, if the sine wave of transmitting are as follows:
S (t)=Asin (wt)
Wherein A is amplitude, and w is angular frequency, receives light and is
Wherein ArIt is the amplitude decayed after reflection, φ is phase difference, and B is the signal of bias light, calculates phase by sampling
Potential difference is to obtain range information；
0 ° is sampled respectively, and 90 °, 180 °, 270 four points obtain the result of four phases sampling:
Wherein A1,A2,A3,A4The electron number that respectively four phases are collected into, so obtaining phase are as follows:
Range information is obtained by calculated phase according to above formula.
2. the distance measuring method of the TOF sensor model of phong formula illumination model as described in claim 1, characterized in that in reality
In border, with 0 °, 90 °, 180 °, 270 ° of four points are that starting point starts to integrate, and the time of integral is the half period of sinusoidal signal, are connect
, noise is added in sensor model: shot noise is the quantum fluctuation noise with Poisson distribution rule, is made an uproar for shot
For sound, if a pixel generates N number of electronics after illumination, then export a signal, then include in the signal with
Machine noise can obey Poisson distribution~(0, N), and the value of signal is bigger, and the signal-to-noise ratio of signal is higher, otherwise lower, with such rule
It is the Poisson distribution random number of mean value as shot noise and with 10 that rule, which is added in a model to integrate obtained electron number N,
Electronics is the random number of the standardized normal distribution of variance as reading circuit noise, and the factors such as analog light source in this way make an uproar to shot
The influence of sound and imaging.
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