CN111352098B - Temperature drift calibration method and system for ToF camera - Google Patents
Temperature drift calibration method and system for ToF camera Download PDFInfo
- Publication number
- CN111352098B CN111352098B CN202010106261.7A CN202010106261A CN111352098B CN 111352098 B CN111352098 B CN 111352098B CN 202010106261 A CN202010106261 A CN 202010106261A CN 111352098 B CN111352098 B CN 111352098B
- Authority
- CN
- China
- Prior art keywords
- tof camera
- temperature drift
- temperature
- calibrated
- tof
- 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.)
- Active
Links
Images
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
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The invention provides a temperature drift calibration method and system for a ToF camera, which comprises the following steps: adjusting the temperature by using a temperature control jig to change the environmental temperature of a ToF camera sample in the ToF camera to be calibrated; acquiring the environmental temperature of a ToF camera sample by using a temperature sensor, and obtaining a temperature drift coefficient set by using the temperature drift coefficient of each ToF camera; acquiring a temperature drift coefficient set for calibration from the temperature drift coefficient set, wherein the temperature drift coefficient in the temperature drift coefficient set for calibration enables the ToF camera in a preset proportion in the ToF camera sample to meet preset measurement accuracy; obtaining the measurement precision of the ToF camera to be calibrated under each temperature drift coefficient in the temperature drift coefficient set for calibration; and selecting a temperature drift coefficient which enables the measurement precision of the ToF camera to accord with the preset measurement precision, and calibrating the ToF camera. The calibration reliability and the measurement precision of the ToF camera to be calibrated during mass production are improved.
Description
Technical Field
The invention relates to the technical field of temperature drift calibration, in particular to a method and a system for calibrating the temperature drift of a ToF camera.
Background
Time of Flight (ToF) ranging techniques calculate the distance to a target object by calculating the Time difference or phase difference between the Time a light beam is emitted from being transmitted to being received via reflection from the target object to obtain depth data information of the target object. Depth cameras based on the ToF ranging technology are gradually mature and have been applied in the fields of three-dimensional measurement, gesture control, robot navigation, security, monitoring and the like.
But currently, ToF cameras have some systematic errors, such as those due to signal ripple, pixel process, signal delay, and temperature variation. The temperature has a great influence on the measurement accuracy of the ToF camera, the temperature response characteristics are different due to the difference of batches of electronic components of different ToF cameras, and the temperature characteristic deviation of different camera modules is often great due to the deviation of raw materials of components or the deviation of module assembly processes and the like in the temperature drift calibration process of large batches of ToF cameras. Therefore, when a temperature drift coefficient is used to perform temperature drift calibration on all ToF cameras, it is difficult to ensure that the precision of all ToF cameras meets the requirement, and further, the subsequent measurement of the calibrated ToF cameras is inaccurate.
The above background disclosure is only for the purpose of assisting understanding of the concept and technical solution 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
The invention provides a method and a system for calibrating the temperature drift of a ToF camera, aiming at solving the existing problems.
In order to solve the above problems, the technical solution adopted by the present invention is as follows:
a temperature drift calibration method of a ToF camera comprises the following steps: s1: controlling the temperature control jig to adjust the temperature so as to change the environmental temperature of a ToF camera sample selected from ToF cameras to be calibrated; s2: controlling a temperature sensor to acquire the environmental temperature of the ToF camera sample, and acquiring the temperature drift coefficient of each ToF camera in the ToF camera sample to obtain a temperature drift coefficient set; s3: acquiring a temperature drift coefficient set for calibration from the temperature drift coefficient set, wherein the temperature drift coefficient in the temperature drift coefficient set for calibration enables a preset proportion of the ToF cameras in the ToF camera samples to meet preset measurement accuracy; s4: acquiring the measurement precision of the ToF camera to be calibrated except the ToF camera sample under each temperature drift coefficient in the temperature drift coefficient set for calibration; and selecting a temperature drift coefficient which enables the measurement precision of the ToF camera to accord with the preset measurement precision, and calibrating the ToF camera.
In an embodiment of the present invention, the temperature drift coefficient of the ToF camera is obtained according to different measured distances of the ToF camera sample to the same actual distance under different environmental temperatures. The relationship between the ambient temperature and the measured distance is one-to-one. The temperature drift coefficient in the temperature drift coefficient set for calibration comprises at least one temperature drift coefficient. And when the temperature drift coefficient of the ToF camera to be calibrated, which enables the measurement precision of the ToF camera to meet the preset measurement precision, is more than one, selecting the corresponding temperature drift coefficient with the highest measurement precision to calibrate the ToF camera. And when the measurement precision of the to-be-calibrated ToF camera under each temperature drift coefficient in the temperature drift coefficient set for calibration is smaller than the preset measurement precision, the to-be-calibrated ToF camera is unqualified.
In another embodiment of the present invention, step S3 is preceded by: presetting the value of the preset proportion and/or the preset measurement precision.
In yet another embodiment of the present invention, the ToF camera sample is selected from the ToF cameras to be calibrated in a random selection manner. The measurement accuracy is calculated according to the following formula:
where D1 is the ideal measured distance and D2 is the actual measured distance.
The invention further provides a temperature drift calibration system of the ToF camera, which comprises: the temperature control jig is used for adjusting the temperature so as to change the environmental temperature of the ToF camera to be calibrated; the temperature sensor is respectively connected with the ToF camera and the control and processing module and is used for transmitting the environmental temperature of the ToF camera to the control and processing module; the control and processing module is configured to perform the method as described in any of the above.
The invention has the beneficial effects that: the temperature drift coefficients for calibration are selected to calibrate other ToF cameras to be calibrated respectively except for the samples, and the temperature drift coefficients of the ToF cameras to be calibrated are screened to enable all the ToF cameras to be calibrated to accord with preset measurement precision.
Drawings
Fig. 1 is a schematic diagram of a temperature drift calibration system of a ToF camera according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a temperature drift calibration method of a ToF camera in an embodiment of the invention.
Fig. 3 is a schematic diagram of another temperature drift calibration method for a ToF camera according to an 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. In addition, the connection may be for either a fixing function or a circuit connection function.
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 is a schematic structural diagram of a temperature drift calibration system 10 of a ToF camera according to an embodiment of the present invention. The temperature drift calibration system 10 is used for calibrating a large batch of ToF cameras to be calibrated, and comprises a temperature control jig 11, a temperature sensor 14 and a control and processing module 13. The temperature control jig 11 is used for adjusting the temperature to change the environmental temperature of the ToF camera 12 to be calibrated; the temperature sensor 14 is respectively connected to the ToF camera 12 to be calibrated and the control and processing module 13, and is configured to transmit the ambient temperature of the ToF camera 12 to be calibrated to the control and processing module 13; the control and processing module 13 is configured to obtain an ambient temperature of a ToF camera sample selected from the ToF camera 12 to be calibrated, obtain different measurement distances obtained by measuring the same actual distance at different ambient temperatures, further obtain a temperature drift coefficient of each ToF camera in the ToF camera sample to form a temperature drift coefficient set, and obtain a temperature drift coefficient set for calibration from the temperature drift coefficient set, where the temperature drift coefficients in the temperature drift coefficient set for calibration enable ToF cameras in the ToF camera sample in a predetermined proportion to meet a preset measurement accuracy; and obtaining the measurement precision of each temperature drift coefficient of the rest ToF cameras to be calibrated in the temperature drift coefficient set for calibration, and screening out the temperature drift coefficients for calibrating the ToF cameras to be calibrated according to the comparison between the measurement precision and the preset measurement precision.
It is understood that, when there is a predetermined ratio beyond which the measurement accuracy of the ToF camera at each temperature drift coefficient in the set of temperature drift coefficients used for calibration does not satisfy the preset measurement accuracy, a part of the ToF camera may be discarded, that is, the part of the ToF camera is not used for subsequent measurement, so as to improve the overall measurement accuracy.
The temperature drift calibration method and the temperature drift calibration system of the ToF camera can improve the speed and the accuracy of temperature drift calibration of large-scale ToF cameras.
In one embodiment, the control and processing module 13 obtains a one-to-one correspondence relationship between the environmental temperature and the measurement distance according to different measurement distances of the selected ToF camera samples at different environmental temperatures, and forms a temperature drift coefficient set by using the temperature drift coefficients of each ToF camera in the ToF camera samples according to the correspondence relationship between the environmental temperature and the measurement distance of the ToF camera samples. And acquiring a temperature drift coefficient set for calibration from the temperature drift coefficient set, wherein the temperature drift coefficient in the temperature drift coefficient set for calibration enables the ToF camera with a preset proportion in the ToF camera sample to meet preset measurement accuracy. In an embodiment of the present invention, for example, the predetermined ratio is 90%, the temperature drift coefficients in the temperature drift coefficient set selected for calibration are such that at least 90% of ToF cameras in the ToF camera sample satisfy the preset measurement accuracy.
In the embodiment of the invention, the specific preset proportion can be set according to the actual situation; the preset measurement accuracy can also be set according to specific situations.
It is understood that ToF cameras outside the predetermined proportion of the ToF camera sample can be used for subsequent measurements using the temperature drift coefficient calculated from the corresponding relationship between the ambient temperature and the measured distance. The number of the temperature drift coefficients in the temperature drift coefficient set for calibration can be selected according to the difference of the temperature characteristics between the ToF cameras. If the temperature drift characteristics of the ToF cameras are less different, selecting one temperature drift coefficient; if the temperature drift coefficient characteristics of the plurality of ToF cameras are different greatly, a plurality of temperature drift coefficients can be selected, the temperature drift coefficients are respectively input into the ToF camera to be calibrated except the sample to obtain the measurement accuracy of the ToF camera to be calibrated under the temperature drift coefficients respectively, the measurement accuracy is compared with the predicted measurement accuracy to screen out the proper temperature drift coefficient, and the screened temperature drift coefficient is used for calibrating the ToF camera to be calibrated.
For ease of understanding, the following description is given with specific examples. Assuming that there are 100 ToF cameras to be calibrated, the temperature control fixture 11 adjusts the temperature to change the ambient temperature of the ToF camera to be calibrated, for example, the temperature range is 10-50 ℃, the real distance from the ToF camera to the white wall for testing is 500mm, and the distance of the ToF camera is kept unchanged during testing. The temperature control jig 11 controls the environmental temperature of the ToF camera to rise to 10 ℃, and the temperature is kept for 5min, and then the measurement distance of the ToF camera at the temperature is obtained. Similarly, the temperature control jig 11 controls the environmental temperature of the ToF camera to rise to 20 ℃, and the temperature is kept constant for 5min, and then the measurement distance of the ToF camera at the temperature is obtained. It will be understood that this can be divided intoThe measurement distances of the ToF cameras at 10 ℃, 20 ℃, 30 ℃, 40 ℃ and 50 ℃ are respectively obtained, so that linear curves between the measurement distances and the temperature changes of the ToF cameras can be obtained, 100 ToF cameras have 100 curves, and the slope of each linear curve is a temperature drift coefficient. At each temperature, a maximum testing distance d is corresponding to a certain precision rangemaxAnd a minimum test distance dminAt a test distance dmaxAnd a test distance dminA plurality of temperature drift coefficients can be selected between the ranges. For example, within a certain accuracy range, the maximum test distance d corresponding to 100 ToF cameras at 30 ℃maxAnd a minimum test distance dminAt a maximum test distance dmaxAnd a minimum test distance dminThree temperature drift coefficients are selected among the ranges, namely T1, T2 and T3. It is understood that the ToF camera can be covered in a predetermined ratio under the temperature drift coefficients T1, T2, T3. Based on this, when a large batch of ToF cameras are calibrated, the temperature drift coefficient of each ToF camera does not need to be obtained by performing the above processing on all ToF cameras to be calibrated. Only ToF camera samples selected from all ToF cameras immediately need to be calculated to obtain a temperature drift coefficient set, the temperature drift coefficient set used for calibration is selected from the temperature drift coefficient set, and the temperature drift coefficients in the temperature drift coefficient set used for calibration enable the ToF cameras in the ToF camera samples in a preset proportion to meet preset measurement accuracy. Since the samples are taken at any time, there is a certain representativeness that can be applied to all ToF cameras to be calibrated.
In an embodiment of the present invention, if the temperature drift characteristics of the ToF cameras have a large difference, the selected temperature drift coefficient set for calibration includes three temperature drift coefficients, i.e., three values, i.e., a large value, a medium value, and a small value, can be selected from the temperature drift coefficients of the ToF camera samples. For example, if the temperature drift coefficient of the ToF camera sample has a value from 10 to 100, the selected satisfactory temperature drift coefficients are 20, 50, and 80. In another embodiment of the present invention, if the temperature drift characteristics of the ToF cameras have small differences, one temperature drift coefficient may be selected, for example, the value of the temperature drift coefficient of the ToF camera sample is 40 to 60, and the selected temperature drift coefficient meeting the requirement is 50.
The control and processing module 13 inputs temperature drift coefficients T1, T2, and T3 to the ToF camera to be calibrated, which is outside the ToF camera sample, respectively, to obtain the measurement accuracy of the ToF camera to be calibrated under T1, T2, and T3, respectively, and selects the temperature drift coefficient of the ToF camera to be calibrated, which is not greater than the preset standard, according to the measurement accuracy and the preset standard. The measurement accuracy of the ToF camera to be calibrated is determined according to a ratio of an ideal measurement distance to an actual measurement distance, for example, the ideal measurement distance is D1, and the actual measurement distance is D2, so that the measurement accuracy of the ToF camera to be calibrated can be obtained according to the formula (1). The preset standard is usually set according to requirements, for example, the preset standard is set to be 1%, the ideal measurement distance of the ToF camera to be calibrated is 500mm, and the actual measurement distance is 510mm, according to the formula (1), the measurement accuracy of the ToF camera can be obtained to be 2%, and then the ToF camera to be calibrated is determined to be unqualified.
Where D1 is the ideal measured distance and D2 is the actual measured distance.
Assuming that the measurement accuracy of 30% of the plurality of ToF cameras to be calibrated is not greater than a preset standard when the temperature drift coefficient is T1, keeping the temperature drift coefficient T1 for the 30% ToF cameras to be calibrated, and deleting the temperature drift coefficients T2 and T3; similarly, the measurement accuracy of the rest ToF camera to be calibrated under T1, T2 and T3 in sequence is obtained and compared with the preset standard respectively, so as to keep the temperature drift coefficient of which the measurement accuracy is not more than the preset standard. It can be understood that if the measurement accuracy of the ToF camera to be calibrated under T1, T2, and T3 is not greater than the preset standard, the temperature drift coefficient that makes the measurement accuracy the highest is reserved; and if the measurement accuracy of the ToF cameras to be calibrated under the conditions of T1, T2 and T3 is greater than a preset standard, the ToF cameras to be calibrated are considered to be unqualified.
It can be understood that a temperature drift coefficient set for calibration, which includes a plurality of temperature drift coefficients, may be selected from ToF camera samples as required, and reliability and measurement accuracy of calibration of the ToF camera to be calibrated during mass production may be improved by multiple times of temperature drift calibration.
Fig. 2 is a flowchart of a method for calibrating a temperature drift of a ToF camera according to an embodiment of the present invention, which includes the following steps:
s1, controlling the temperature control jig to adjust the temperature so as to change the environmental temperature of the ToF camera sample selected from the ToF cameras to be calibrated;
s2, controlling a temperature sensor to acquire the environmental temperature of the ToF camera samples, and acquiring the temperature drift coefficient of each ToF camera in the ToF camera samples according to the measurement distance of the ToF camera samples under different environmental temperatures to obtain a temperature drift coefficient set;
specifically, the temperature drift coefficient of each ToF camera in the ToF camera sample is obtained according to the relation between the ambient temperature of the ToF camera sample and the measured distance, and the relation between the ambient temperature and the measured distance is in one-to-one correspondence. These temperature drift coefficients constitute a set of temperature drift coefficients.
S3, acquiring a temperature drift coefficient set for calibration from the temperature drift coefficient set, wherein the temperature drift coefficient in the temperature drift coefficient set for calibration enables the ToF camera in the ToF camera sample in a preset proportion to meet preset measurement accuracy;
s4, acquiring the measurement precision of the ToF camera to be calibrated except the ToF camera sample under each temperature drift coefficient in the temperature drift coefficient set for calibration; and selecting a temperature drift coefficient which enables the measurement precision of the ToF camera to accord with the preset measurement precision, and calibrating the ToF camera.
Specifically, each temperature drift coefficient in a plurality of temperature drift coefficient sets for calibration is input to the ToF camera to be calibrated respectively to obtain the measurement accuracy of the ToF camera to be calibrated under each temperature drift coefficient.
Specifically, the temperature drift coefficients of the ToF camera to be calibrated are screened out according to the comparison of the measurement precision of the ToF camera to be calibrated under each temperature drift coefficient in the temperature drift coefficient set for calibration with the preset measurement precision, and the ToF camera to be calibrated is calibrated by using the screened temperature drift coefficients.
As mentioned above, when there is more than one temperature drift coefficient screened out, the temperature drift coefficient with the highest measurement accuracy is selected to calibrate the ToF camera.
In an embodiment of the present invention, it is understood that, when the measurement accuracy of the ToF camera to be calibrated at each temperature drift coefficient in the set of temperature drift coefficients for calibration is less than the preset measurement accuracy, the ToF camera to be calibrated is rejected.
As shown in fig. 3, in another embodiment of the present invention, step S3 is preceded by:
presetting the value of the preset proportion and/or the preset measurement precision.
It should be understood that fig. 3 is only an example, and in a specific embodiment, the value of the predetermined ratio and/or the predetermined measurement accuracy may be set before step S1, between steps S1 and S2, or between steps S2 and S3, and only needs to be set before the temperature drift coefficient set for calibration is obtained from the temperature drift coefficient set.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (10)
1. A temperature drift calibration method of a ToF camera is characterized by comprising the following steps:
s1: controlling the temperature control jig to adjust the temperature so as to change the environmental temperature of a ToF camera sample selected from ToF cameras to be calibrated;
s2: controlling a temperature sensor to acquire the environmental temperature of the ToF camera sample, and acquiring the temperature drift coefficient of each ToF camera in the ToF camera sample to obtain a temperature drift coefficient set;
s3: acquiring a temperature drift coefficient set for calibration from the temperature drift coefficient set, wherein the temperature drift coefficient in the temperature drift coefficient set for calibration enables a preset proportion of the ToF cameras in the ToF camera samples to meet preset measurement accuracy;
s4: acquiring the measurement precision of the ToF camera to be calibrated except the ToF camera sample under each temperature drift coefficient in the temperature drift coefficient set for calibration; and selecting a temperature drift coefficient which enables the measurement precision of the ToF camera to be calibrated to accord with the preset measurement precision, and calibrating the ToF camera to be calibrated.
2. The method according to claim 1, wherein the temperature drift coefficient of the ToF camera to be calibrated is obtained according to the different measurement distances of the ToF camera sample to the same actual distance under different environmental temperatures.
3. The ToF camera temperature drift calibration method according to claim 2, wherein the relationship between the environmental temperature and the measured distance is one-to-one.
4. The ToF camera temperature drift calibration method according to claim 1, wherein the temperature drift coefficients in the set of temperature drift coefficients used for calibration comprise at least one temperature drift coefficient.
5. The method for calibrating the temperature drift of the ToF camera according to claim 1, wherein when the measurement accuracy of the ToF camera to be calibrated is more than one temperature drift coefficient of the ToF camera to be calibrated, which corresponds to the preset measurement accuracy, the temperature drift coefficient with the highest measurement accuracy is selected to calibrate the ToF camera to be calibrated.
6. The temperature drift calibration method of the ToF camera according to claim 1, wherein the ToF camera to be calibrated is rejected when the measurement accuracy of the ToF camera to be calibrated at each temperature drift coefficient in the set of temperature drift coefficients for calibration is less than the preset measurement accuracy.
7. The temperature drift calibration method for the ToF camera according to any one of claims 1 to 6, wherein the step S3 is preceded by the steps of:
presetting the value of the preset proportion and/or the preset measurement precision.
8. The method for calibrating the temperature drift of the ToF camera according to any one of claims 1 to 6, wherein the ToF camera sample is selected from the ToF camera to be calibrated by a random selection method.
9. The method for calibrating temperature drift of a ToF camera according to any one of claims 1 to 6, wherein the measurement accuracy is calculated according to the following formula:
where D1 is the ideal measured distance and D2 is the actual measured distance.
10. A temperature drift calibration system of a ToF camera is characterized by comprising:
the temperature control jig is used for adjusting the temperature so as to change the environmental temperature of the ToF camera to be calibrated;
the temperature sensor is respectively connected with the ToF camera and the control and processing module and is used for transmitting the environmental temperature of the ToF camera to the control and processing module;
the control and processing module for performing the method according to any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010106261.7A CN111352098B (en) | 2020-02-21 | 2020-02-21 | Temperature drift calibration method and system for ToF camera |
| PCT/CN2020/077864 WO2021164058A1 (en) | 2020-02-21 | 2020-03-04 | Temperature drift calibration method and system for tof camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010106261.7A CN111352098B (en) | 2020-02-21 | 2020-02-21 | Temperature drift calibration method and system for ToF camera |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111352098A CN111352098A (en) | 2020-06-30 |
| CN111352098B true CN111352098B (en) | 2021-11-19 |
Family
ID=71192376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010106261.7A Active CN111352098B (en) | 2020-02-21 | 2020-02-21 | Temperature drift calibration method and system for ToF camera |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111352098B (en) |
| WO (1) | WO2021164058A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112270712A (en) * | 2020-09-08 | 2021-01-26 | 奥比中光科技集团股份有限公司 | Temperature drift calibration method and system based on depth camera module |
| CN112653881B (en) * | 2020-09-24 | 2023-05-09 | 深圳福鸽科技有限公司 | 3D image self-adjusting method and system and 3D image depth processing method and system |
Family Cites Families (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19821873C2 (en) * | 1998-05-15 | 2000-07-13 | Inst Werkzeugmaschinen Und Bet | Process for reducing the influence of temperature changes on industrial robots |
| GB0227098D0 (en) * | 2002-11-20 | 2002-12-24 | Bae Systems Plc | Method of calibrating bias drift with temperature for a vibrating structure gyroscope |
| GB2455596B (en) * | 2007-12-12 | 2012-02-29 | Transense Technologies Plc | Method of calibrating temperature compensated sensors |
| CN103377298B (en) * | 2012-04-24 | 2016-08-03 | 富士通株式会社 | The method and apparatus of Selection parameter |
| CN103017729A (en) * | 2012-11-20 | 2013-04-03 | 王振兴 | Method for improving precision of laser range finder |
| US9638799B2 (en) * | 2012-11-21 | 2017-05-02 | Nikon Corporation | Scan mirrors for laser radar |
| CN105180205B (en) * | 2015-08-14 | 2017-08-25 | 中国神华能源股份有限公司 | Oxygen-enriched combusting smoke circulating system control method |
| CN106123924B (en) * | 2016-08-23 | 2018-10-30 | 新纳传感系统有限公司 | A kind of temperature-compensation method of gyroscope |
| CN106679817B (en) * | 2016-12-23 | 2019-08-09 | 武汉星网光测科技有限公司 | A method of for Calibration of Infrared Thermal Imager |
| US11119112B2 (en) * | 2017-08-02 | 2021-09-14 | Samsung Electronics Co., Ltd. | Method for compensating gyroscope drift on an electronic device |
| CN109754425B (en) * | 2017-11-01 | 2023-07-28 | 浙江舜宇智能光学技术有限公司 | Calibration equipment and calibration method of TOF (time of flight) camera module |
| CN109756652B (en) * | 2017-11-01 | 2021-02-05 | 浙江舜宇智能光学技术有限公司 | TOF camera module and manufacturing method thereof |
| CN109974976B (en) * | 2017-12-28 | 2021-09-21 | 舜宇光学（浙江）研究院有限公司 | Multi-temperature calibration system and multi-temperature calibration method |
| CN108711167A (en) * | 2018-05-15 | 2018-10-26 | 深圳奥比中光科技有限公司 | Depth Imaging system and its temperature error bearing calibration |
| CN109801321B (en) * | 2018-12-21 | 2020-10-20 | 杭州蓝芯科技有限公司 | TOF camera depth calibration method based on programmable delay line |
| CN109903345B (en) * | 2019-04-09 | 2023-04-25 | 歌尔光学科技有限公司 | Depth module calibration method, calibration device and computer readable storage medium |
| CN110260991B (en) * | 2019-06-06 | 2020-09-08 | 武汉高德智感科技有限公司 | Method and device for adaptively acquiring temperature drift data compensation quantity |
| CN110470227B (en) * | 2019-08-07 | 2020-08-25 | 上海交通大学 | Temperature self-adaptive compensation method for laser displacement sensor |
-
2020
- 2020-02-21 CN CN202010106261.7A patent/CN111352098B/en active Active
- 2020-03-04 WO PCT/CN2020/077864 patent/WO2021164058A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021164058A1 (en) | 2021-08-26 |
| CN111352098A (en) | 2020-06-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111352098B (en) | Temperature drift calibration method and system for ToF camera | |
| CN110296773B (en) | Method for calibrating short-branch temperature measuring equipment by using dry body temperature calibrator | |
| CN111579081B (en) | Infrared temperature measurement method, device and equipment | |
| CN109343076B (en) | Distance calibration method and distance measuring device | |
| CN109945992B (en) | Calibration method of electronic tag with temperature sensor | |
| CN111307293A (en) | Infrared human body temperature measurement system and temperature measurement method thereof | |
| CN115917272A (en) | Externally mounted temperature calibration device for improving temperature accuracy of thermal camera and temperature measurement system using the same | |
| CN116202656A (en) | Method and system for batch calibration of semiconductor temperature sensors | |
| US20190277969A1 (en) | Time-to-digital converter, lidar system and device | |
| CN116087967A (en) | Correction method and device of laser ranging sensor and laser ranging sensor | |
| KR20170088218A (en) | Device and Method for Gas Concentration Measurement using Infrared Sensors | |
| CN110307904A (en) | A kind of temperature measuring equipment and temp measuring method of infrared thermal imaging camera lens | |
| CN104289259A (en) | Pipet calibration method based on machine vision | |
| CN110617889B (en) | High-stability testing method applied to synthetic aperture microwave radiometer | |
| CN110807813B (en) | TOF module calibration method, device and system | |
| CN111024237A (en) | Non-contact wide-temperature-difference infrared temperature measuring method | |
| CN111457940A (en) | Method and system for testing ranging performance of vehicle-mounted multiband stereoscopic vision sensor | |
| CN106679592A (en) | Angle calibration device and method | |
| CN103675020B (en) | Electronic package emissivity detection system | |
| CN109781017A (en) | A kind of quick calibrating method of fibre-optical freezing sensor | |
| US6677745B2 (en) | Test apparatus for parallel testing a number of electronic components and a method for calibrating the test apparatus | |
| CN105258767A (en) | High precision weighing system of electronic balance | |
| CN104101418A (en) | Electronic analytical balance trace loading and drift discrimination method | |
| CN112213711A (en) | Calibration method of TOF camera | |
| CN115097479A (en) | Time difference of flight ranging module and temperature drift compensation method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 11-13 / F, joint headquarters building, high tech Zone, 63 Xuefu Road, Yuehai street, Nanshan District, Shenzhen, Guangdong 518000 Applicant after: Obi Zhongguang Technology Group Co., Ltd Address before: 12 / F, joint headquarters building, high tech Zone, 63 Xuefu Road, Nanshan District, Shenzhen, Guangdong 518000 Applicant before: SHENZHEN ORBBEC Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |