CN111465871B - 用于确定到对象的距离的系统和方法 - Google Patents

用于确定到对象的距离的系统和方法 Download PDF

Info

Publication number
CN111465871B
CN111465871B CN201880080106.3A CN201880080106A CN111465871B CN 111465871 B CN111465871 B CN 111465871B CN 201880080106 A CN201880080106 A CN 201880080106A CN 111465871 B CN111465871 B CN 111465871B
Authority
CN
China
Prior art keywords
light
charge storage
time window
predetermined time
amount
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
Application number
CN201880080106.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN111465871A (zh
Inventor
F·格恩斯
D·范德克
R·派森
J·范登波什
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.)
Xenomatix NV
Original Assignee
Xenomatix NV
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
Priority claimed from EP18165804.8A external-priority patent/EP3550329A1/en
Application filed by Xenomatix NV filed Critical Xenomatix NV
Publication of CN111465871A publication Critical patent/CN111465871A/zh
Application granted granted Critical
Publication of CN111465871B publication Critical patent/CN111465871B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection

Landscapes

  • 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)
  • Optical Radar Systems And Details Thereof (AREA)
CN201880080106.3A 2017-12-15 2018-12-17 用于确定到对象的距离的系统和方法 Active CN111465871B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
EP17207878 2017-12-15
EP17207878.4 2017-12-15
EP18165804.8A EP3550329A1 (en) 2018-04-04 2018-04-04 System and method for determining a distance to an object
EP18165804.8 2018-04-04
PCT/EP2018/085353 WO2019115839A1 (en) 2017-12-15 2018-12-17 System and method for determining a distance to an object

Publications (2)

Publication Number Publication Date
CN111465871A CN111465871A (zh) 2020-07-28
CN111465871B true CN111465871B (zh) 2024-10-11

Family

ID=65003355

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880080106.3A Active CN111465871B (zh) 2017-12-15 2018-12-17 用于确定到对象的距离的系统和方法

Country Status (6)

Country Link
US (1) US10768301B2 (enExample)
EP (1) EP3625589B1 (enExample)
JP (1) JP7253556B2 (enExample)
KR (1) KR102677519B1 (enExample)
CN (1) CN111465871B (enExample)
WO (1) WO2019115839A1 (enExample)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3392674A1 (en) * 2017-04-23 2018-10-24 Xenomatix NV A pixel structure
US11366225B2 (en) * 2017-12-29 2022-06-21 NewSight Imaging Ltd. Active-pixel sensor array
US11067673B2 (en) * 2018-05-17 2021-07-20 Cmos Sensor, Inc. Sensor, apparatus for lidar application and method of background cancellation
JP6970703B2 (ja) * 2019-03-18 2021-11-24 株式会社東芝 電子装置および方法
CN109975821B (zh) * 2019-03-25 2021-05-14 Oppo广东移动通信有限公司 控制方法及装置、飞行时间组件、存储介质和计算机设备
JP7401211B2 (ja) * 2019-06-25 2023-12-19 ファナック株式会社 外光照度測定機能を備えた測距装置及び外光照度測定方法
EP3798673A1 (en) * 2019-09-25 2021-03-31 Xenomatix NV Method and device for determining distances to a scene
US11573302B2 (en) 2019-10-17 2023-02-07 Argo AI, LLC LiDAR system comprising a Geiger-mode avalanche photodiode-based receiver having pixels with multiple-return capability
DE112020006379T5 (de) * 2019-12-26 2022-11-17 Hamamatsu Photonics K.K. Distanzmessvorrichtung und Verfahren zum Betreiben vonDistanz-Messsensor
CN111580125B (zh) * 2020-05-28 2022-09-09 Oppo广东移动通信有限公司 飞行时间模组及其控制方法、电子设备
GB2597930B (en) * 2020-08-05 2024-02-14 Envisics Ltd Light detection and ranging
CN112255643B (zh) * 2020-11-03 2022-09-27 上海炬佑智能科技有限公司 ToF传感装置及其距离检测方法
CN112346036B (zh) * 2020-11-12 2024-09-27 北京理工大学 一种抗外界光干扰的固态面阵激光雷达标定装置及方法
US11679782B2 (en) * 2021-01-26 2023-06-20 Honda Research Institute Europe Gmbh Method, system and vehicle for assisting an operator of the vehicle in assessing a traffic situation with shared traffic space
GB2612284B (en) * 2021-02-02 2024-10-16 Leonardo Mw Ltd An active imaging system
EP4198556A1 (en) * 2021-12-17 2023-06-21 Nokia Technologies Oy Determining position of object by optical time-of-flight measurement with background light referencing
WO2024018458A1 (en) * 2022-07-17 2024-01-25 Newsight Imaging Ltd Method and apparatus for multi-range time of flight detection

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3159711A1 (en) * 2015-10-23 2017-04-26 Xenomatix NV System and method for determining a distance to an object

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1152261A1 (en) 2000-04-28 2001-11-07 CSEM Centre Suisse d'Electronique et de Microtechnique SA Device and method for spatially resolved photodetection and demodulation of modulated electromagnetic waves
JP3832441B2 (ja) 2002-04-08 2006-10-11 松下電工株式会社 強度変調光を用いた空間情報の検出装置
US6906302B2 (en) 2002-07-30 2005-06-14 Freescale Semiconductor, Inc. Photodetector circuit device and method thereof
US6888122B2 (en) 2002-08-29 2005-05-03 Micron Technology, Inc. High dynamic range cascaded integration pixel cell and method of operation
JP4235729B2 (ja) * 2003-02-03 2009-03-11 国立大学法人静岡大学 距離画像センサ
JP4280822B2 (ja) 2004-02-18 2009-06-17 国立大学法人静岡大学 光飛行時間型距離センサ
GB0405014D0 (en) 2004-03-05 2004-04-07 Qinetiq Ltd Movement control system
JP2007121116A (ja) * 2005-10-28 2007-05-17 Sharp Corp 光学式測距装置
EP1813964B1 (en) 2006-01-29 2010-09-15 Rafael-Armament Development Authority Ltd. LADAR with passive fibre-optical scanner
US7544945B2 (en) 2006-02-06 2009-06-09 Avago Technologies General Ip (Singapore) Pte. Ltd. Vertical cavity surface emitting laser (VCSEL) array laser scanner
JP5050719B2 (ja) * 2007-08-06 2012-10-17 株式会社デンソー 計測装置
JP5171158B2 (ja) 2007-08-22 2013-03-27 浜松ホトニクス株式会社 固体撮像装置及び距離画像測定装置
JP5356726B2 (ja) 2008-05-15 2013-12-04 浜松ホトニクス株式会社 距離センサ及び距離画像センサ
JP5585903B2 (ja) 2008-07-30 2014-09-10 国立大学法人静岡大学 距離画像センサ、及び撮像信号を飛行時間法により生成する方法
US8995485B2 (en) 2009-02-17 2015-03-31 Trilumina Corp. High brightness pulsed VCSEL sources
WO2010144616A1 (en) * 2009-06-09 2010-12-16 Mesa Imaging Ag System for charge-domain electron subtraction in demodulation pixels and method therefor
DE102009037596B4 (de) * 2009-08-14 2014-07-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Pixelstruktur, System und Verfahren zur optischen Abstandsmessung sowie Steuerschaltung für die Pixelstruktur
JP5211007B2 (ja) * 2009-10-07 2013-06-12 本田技研工業株式会社 光電変換素子、受光装置、受光システム及び測距装置
US8736818B2 (en) 2010-08-16 2014-05-27 Ball Aerospace & Technologies Corp. Electronically steered flash LIDAR
US9329035B2 (en) 2011-12-12 2016-05-03 Heptagon Micro Optics Pte. Ltd. Method to compensate for errors in time-of-flight range cameras caused by multiple reflections
US8686367B2 (en) 2012-03-01 2014-04-01 Omnivision Technologies, Inc. Circuit configuration and method for time of flight sensor
WO2014122714A1 (ja) 2013-02-07 2014-08-14 パナソニック株式会社 撮像装置及びその駆動方法
US8908063B2 (en) 2013-03-11 2014-12-09 Texas Instruments Incorporated Method and apparatus for a time-of-flight sensor with charge storage
US10497737B2 (en) 2013-05-30 2019-12-03 Caeleste Cvba Enhanced dynamic range imaging
WO2015004213A1 (en) 2013-07-09 2015-01-15 Xenomatix Bvba Surround sensing system
US20150260830A1 (en) 2013-07-12 2015-09-17 Princeton Optronics Inc. 2-D Planar VCSEL Source for 3-D Imaging
US9182490B2 (en) 2013-11-27 2015-11-10 Semiconductor Components Industries, Llc Video and 3D time-of-flight image sensors
US9874638B2 (en) 2014-03-06 2018-01-23 University Of Waikato Time of flight camera system which resolves direct and multi-path radiation components
JP6374690B2 (ja) * 2014-04-01 2018-08-15 キヤノン株式会社 撮像装置及びその制御方法、プログラム、記憶媒体
GB201407267D0 (en) 2014-04-24 2014-06-11 Cathx Res Ltd Underwater surveys
US9753140B2 (en) 2014-05-05 2017-09-05 Raytheon Company Methods and apparatus for imaging in scattering environments
US10612914B2 (en) 2014-08-08 2020-04-07 Cemb S.P.A. Vehicle equipment with scanning system for contactless measurement
WO2016076796A1 (en) 2014-11-12 2016-05-19 Heptagon Micro Optics Pte. Ltd. Optoelectronic modules for distance measurements and/or multi-dimensional imaging
US20160205378A1 (en) * 2015-01-08 2016-07-14 Amir Nevet Multimode depth imaging
JP6478725B2 (ja) 2015-03-09 2019-03-06 キヤノン株式会社 計測装置及びロボット
JP6531326B2 (ja) * 2015-03-10 2019-06-19 アルプスアルパイン株式会社 光学式検知装置
US20160295133A1 (en) 2015-04-06 2016-10-06 Heptagon Micro Optics Pte. Ltd. Cameras having a rgb-ir channel
JP6676866B2 (ja) 2015-05-28 2020-04-08 パナソニック株式会社 測距撮像装置及び固体撮像素子
CN204666814U (zh) * 2015-06-05 2015-09-23 杭州士兰微电子股份有限公司 积分电路及接近检测芯片
CN107533136B (zh) * 2015-06-24 2020-08-25 株式会社村田制作所 距离传感器
WO2017085916A1 (ja) * 2015-11-16 2017-05-26 パナソニックＩｐマネジメント株式会社 撮像装置、及びそれに用いられる固体撮像素子
US10663565B2 (en) * 2017-09-19 2020-05-26 Rockwell Automation Technologies, Inc. Pulsed-based time of flight methods and system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3159711A1 (en) * 2015-10-23 2017-04-26 Xenomatix NV System and method for determining a distance to an object

Also Published As

Publication number Publication date
US10768301B2 (en) 2020-09-08
EP3625589A1 (en) 2020-03-25
EP3625589B1 (en) 2020-11-18
WO2019115839A1 (en) 2019-06-20
CN111465871A (zh) 2020-07-28
JP2021507218A (ja) 2021-02-22
US20200124726A1 (en) 2020-04-23
KR20200096828A (ko) 2020-08-13
JP7253556B2 (ja) 2023-04-06
KR102677519B1 (ko) 2024-06-20

Similar Documents

Publication Publication Date Title
CN111465871B (zh) 用于确定到对象的距离的系统和方法
US11513199B2 (en) System and method for determining a distance to an object
US11029391B2 (en) System for determining a distance to an object
EP3365700B1 (en) System and method for determining a distance to an object
CN110546530B (zh) 一种像素结构
US10852400B2 (en) System for determining a distance to an object
US20200025894A1 (en) Method for subtracting background light from an exposure value of a pixel in an imaging array, and pixel for use in same
EP3550329A1 (en) System and method for determining a distance to an object

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
GR01 Patent grant
GR01 Patent grant