CN111667537A - Optical fiber calibration device and method - Google Patents
Optical fiber calibration device and method Download PDFInfo
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- CN111667537A CN111667537A CN202010300491.7A CN202010300491A CN111667537A CN 111667537 A CN111667537 A CN 111667537A CN 202010300491 A CN202010300491 A CN 202010300491A CN 111667537 A CN111667537 A CN 111667537A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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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
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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
- 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
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Abstract
The invention provides an optical fiber calibration device and method, which are used for calibrating a TOF camera and comprise the following steps: the first optical fiber is used for transmitting the light beam of the TOF camera emission module to the first component; the first component is connected with the input ends of the optical fibers in the optical fiber group and used for receiving the light beams of the transmitting module and transmitting the light beams outwards through each optical fiber; a set of optical fibers comprising at least two optical fibers of different lengths for transmitting a light beam, each optical fiber comprising an input end and an output end; the second component is connected with the output ends of the optical fibers in the optical fiber group and used for respectively receiving the light beams transmitted by each optical fiber, transmitting the light beams to a receiving module of the TOF camera through a second optical fiber and sequentially generating optical signals; and the control and processor is used for calculating the flight time of the light beam based on the optical signals respectively so as to obtain the actual flight distance of the light beam, fitting a wiggling curve and calibrating the TOF camera.
Description
Technical Field
The invention relates to the technical field of optical fiber calibration, in particular to an optical fiber calibration device and method.
Background
Time of Flight (TOF) ranging techniques calculate the distance of a target object by calculating the Time difference or phase difference of a light beam from being transmitted to being received via reflection by the target object to obtain depth data information of the target object. The TOF-based ranging technology is beginning to be applied to the fields of three-dimensional measurement, gesture control, robot navigation, security and protection, monitoring and the like.
In the prior art, TOF depth cameras have mainly contained several sources of error: 1. a system error generated due to a modulation-demodulation signal deviation, which is called "wiggling" for short; 2. errors caused by variations in incident light intensity; 3. errors due to temperature variations; 4. errors due to different integration times. Therefore, in order to achieve higher accuracy of measurement, it is necessary to correct the error. In the error correction, the most complicated error correction is wiggling, and the conventional method usually adopts a guide rail method or a cattree for wiggling calibration, but the two methods are only suitable for short-distance TOF camera calibration, and for long-distance TOF calibration, the calibration equipment is large in size and low in efficiency, so that the practical application is not facilitated.
Patent application 201910169388.2 proposes a fiber calibration technique for calibrating different distances of a TOF camera using optical fibers of different lengths. The technology not only reduces the volume of the calibration equipment, but also improves the calibration efficiency. However, since the optical fibers of different lengths are eventually received by different camera pixels, this technique cannot avoid accuracy errors due to phase delays, pixel skew, etc. between different pixels.
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 an optical fiber calibration device and method for solving the existing problems.
In order to solve the above problems, the technical solution adopted by the present invention is as follows:
an optical fiber calibration device for calibrating a TOF camera, comprising a control and processor and, connected in series: the optical fiber comprises a first optical fiber, a first component, an optical fiber group, a second component and a second optical fiber; the first optical fiber is used for transmitting the light beam of the TOF camera emission module to the first component; the first component is connected with the input ends of the optical fibers in the optical fiber group and used for receiving the light beams of the emission module and transmitting the light beams outwards through each optical fiber; a set of optical fibers comprising at least two optical fibers of different lengths for transmitting said light beam, each of said optical fibers comprising said input end and said output end; the second component is connected with the output ends of the optical fibers in the optical fiber group and is used for respectively receiving the light beams transmitted by each optical fiber, transmitting the light beams to the receiving module of the TOF camera through the second optical fiber and sequentially generating optical signals; and the control and processor is connected with the emission module and the acquisition module of the TOF camera and used for calculating the flight time of the light beam based on the optical signal respectively so as to obtain the actual flight distance of the light beam, and calibrating the TOF camera by utilizing the theoretical optical path transmitted by the light beam and the corresponding actual flight distance of the light beam to fit a wiggling curve.
In one embodiment of the present invention, the first component is a first optical path switch for turning on or off the input end of each of the optical fibers; the second component is a second optical path switch for turning on or off the output end of each of the optical fibers. The first control switch controls the first component to switch on or off the input end of the optical fiber; and the second control switch controls the second component to switch on or off the output end of the optical fiber.
In yet another embodiment of the present invention, said first component is a fiber splitter for splitting energy of said light beam transmitted from said first optical fiber to each of said optical fibers; the second component is a second light path switch for switching on or off the output end of each optical fiber. Each of said optical fibres is provided with a control switch for allowing or blocking passage of said light beam through the input end of said optical fibre. The control and processor is connected with the first component and the second component; for: controlling the first component to switch on or off the input end of the optical fiber; and controlling the second component to switch on or off the output end of the optical fiber.
In yet another embodiment of the present invention, the optical system further comprises a diffuser located directly below the second optical fiber, and the light beam is irradiated to the diffuser through the second optical fiber to form a light spot larger than the light beam.
The invention also provides an optical fiber calibration method for calibrating the TOF camera, which comprises the following steps: s1: controlling the first component to receive the light beam of the TOF camera emission module transmitted by the first optical fiber; s2: controlling the first component to transmit the light beam outwards through each optical fiber in the optical fiber group respectively; s3: controlling a second component to respectively receive the light beams transmitted by each optical fiber, respectively transmit the light beams to a receiving module of the TOF camera through a second optical fiber and sequentially generate optical signals; s4: and respectively calculating the flight time of the light beam based on the optical signal to obtain the actual flight distance of the light beam, and fitting a wiggling curve by using the theoretical optical path transmitted by the light beam and the corresponding actual flight distance of the light beam to calibrate the TOF camera.
In one embodiment of the present invention, controlling the first component to transmit the light beam out through each of the optical fibers of the optical fiber group respectively comprises: transmitting the light beam received by the first component to each of the optical fibers; or, the energy of the light beam received by the first component is equally divided to each optical fiber.
The invention further provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a control and processor, carries out the steps of the method according to any of the above.
The invention has the beneficial effects that: a light beam emitted by a projection module of a TOF camera passes through a first optical fiber and is output to a second optical fiber from one optical fiber of an optical fiber group, and finally the light beam is irradiated into a receiving module of the TOF camera, and a wiggling curve is fitted based on a theoretical optical path transmitted by the light beam and the actual flying distance of the corresponding light beam to achieve calibration of the TOF camera, so that measurement errors caused by different pixel deviations can be solved.
Drawings
Fig. 1 is a schematic structural diagram of an optical fiber calibration apparatus in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of another optical fiber calibration apparatus in an embodiment of the present invention.
Fig. 3 is a schematic structural diagram of another optical fiber calibration apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an optical fiber calibration method according to an embodiment of the present 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 an optical fiber calibration apparatus according to an embodiment of the present invention. The optical fiber calibration device is used for calibrating a TOF camera and comprises: a first optical fiber 3, a first component 4, an optical fiber group 7, a second component 5, a second optical fiber 6, and a control and processor (not shown) connected to the emission module 1 and the collection module 2, respectively.
The emission module 1 comprises a light source 11 for emitting a light beam; the acquisition module 2 comprises an image sensor 21 consisting of a pixel array and is used for acquiring light beams and generating optical signals; a first component 4, one end of which is used for connecting a first optical fiber 3, the first optical fiber 3 is used for transmitting the light beam of the TOF camera emission module to the first component, and the other end of which is used for connecting the input ends of at least two optical fibers with different lengths in an optical fiber group 7 and respectively transmitting the received light beam outwards through each of the optical fibers; a second component 5, one end of which is used for connecting a second optical fiber 6, and the other end of which is used for connecting the output ends of at least two optical fibers with different lengths in an optical fiber group 7, respectively receiving the light beam transmitted by each optical fiber, transmitting the light beam to a receiving module of the TOF camera through the second optical fiber 6, and sequentially generating optical signals; the control and processor is used for executing the following functions: the control light source 11 emits a light beam to be transmitted to the first optical fiber 3, the light beam sequentially passes through optical fibers with different lengths and then is sequentially transmitted to the second optical fiber 6 to irradiate the image sensor 21 and sequentially generate optical signals, the light beam flight time is calculated based on the optical signals, the actual light beam flight distance of the light beam is obtained according to the following formula, a wiggling curve is fitted by using the theoretical optical path of light beam transmission and the actual light beam flight distance of the corresponding light beam, and the TOF camera is calibrated.
L＝ct/2 (1)
Where L is the actual beam flight distance, c is the speed of light, and t is the time of flight of light.
According to the invention, the light beams emitted by the projection module of the TOF camera pass through the first optical fiber and are output to the second optical fiber from one optical fiber of the optical fiber group respectively, and finally are irradiated into the receiving module of the TOF camera, and the wiggling curve is fitted based on the theoretical optical path transmitted by the light beams and the actual flying distance of the corresponding light beams respectively to realize calibration of the TOF camera, so that the measurement errors caused by different pixel deviations can be solved.
In one embodiment, the light source 11 emits a light beam to be vertically incident on the first optical fiber 3, and sequentially passes through the optical fiber group 7 comprising at least two optical fibers with different lengths and then sequentially transmits the light beam to the second optical fiber 6 to be vertically incident on the image sensor to generate an optical signal.
As shown in fig. 2, in one embodiment, the first component 4 is a first optical path switch 12 and the second component 5 is a second optical path switch 16. The light source 11 emits a light beam to the first optical fiber 3 and transmits the light beam to the first optical switch 12, and the first optical switch 12 is connected to the input ends of the three optical fibers with different lengths and is used for switching on/off the input ends of the optical fibers with different lengths; the second optical switch 16 is connected to the output ends of the three optical fibers with different lengths, and is used for switching on/off the output ends of the optical fibers with different lengths. The light beams pass through the optical fibers of different lengths in turn and are then transmitted to the second optical fiber 6 in turn to illuminate the image sensor 21 and in turn generate optical signals. The number of optical fibers here is merely exemplary, and it is in fact possible to arrange two or more fibers as the case may be. It is understood that, according to the calibration distance, the corresponding optical fiber is selectively turned on to transmit the light beam to the second optical fiber 6, here, the first optical path switch 12 and the second optical path switch 16 are connected to the control and processor to control the turning on/off of the corresponding optical fiber, and the first optical path switch 12 and the second optical path switch 16 are also connected to a control switch to control the turning on/off of the input and output of the corresponding optical fiber by the first optical path switch 12 and the second optical path switch 16, respectively.
In one embodiment of the invention, assuming a distance to be calibrated of 250mm, the light source 11 emits a light beam transmitted to the first optical fiber 3, since the light beam path is twice the calibration distance in the actual calibration, the sum of the lengths of the optical fiber 13, the first optical fiber 3 and the second optical fiber 6 is 500mm, when the light beam is transmitted to the first optical path switch 12, the first optical path switch 12 conducts the input end of the optical fiber 13, so that the light beam is transmitted through the optical fiber 13 to the second optical path switch 16, the second optical path switch 16 correspondingly turns on the output end of the optical fiber 13, so that the light beam is transmitted to the second optical fiber 13 through the optical fiber 13 to illuminate the image sensor 21 and generate an optical signal, the control and processor calculates the time of flight of the light beam based on the optical signal and calculates according to the formula (1) to obtain the actual flying distance of the light beam, and obtains the relationship between the actual flying distance of the light beam and the calibration distance.
In another embodiment of the invention, assuming a distance to be calibrated of 300mm, the light source 11 emits a light beam transmitted to the first optical fiber 3, since the light beam path is twice the calibration distance in actual calibration, the sum of the lengths of the optical fiber 14, the first optical fiber 3 and the second optical fiber 6 is 600mm, when the light beam is transmitted to the first optical path switch 12, the first optical path switch 12 conducts the input end of the optical fiber 14, so that the light beam is transmitted through the optical fiber 14 to the second optical path switch 16, the second optical path switch 16 correspondingly turns on the output end of the optical fiber 14, so that the light beam is transmitted through the optical fibre 14 to the second optical fibre 6 to illuminate the image sensor 21 and generate an optical signal, the control and processor calculating the time of flight of the light beam on the basis of the optical signal, and calculating according to the formula (1) to obtain the actual flight distance of the light beam, and obtaining the relation between the actual flight distance of the light beam and the calibration distance.
Similarly, the actual flight distance of the light beam when the light beam passes through the optical fiber 15 can be obtained, and the relationship between the actual flight distance of the light beam and the calibration distance can be obtained. When the number of the optical fibers is larger, the relation between the actual flight distance of the light beam and the calibration distance is obtained by the same method. It can be understood that the relationship between the actual flying distance of the plurality of light beams and the calibration distance can be obtained by the light beams passing through the optical fibers with different lengths, a wiggling curve can be fitted based on the relationship between the actual flying distance of the light beams and the calibration distance, the calibration distance is the theoretical optical path of light beam transmission, and the system error generated by the modulation-demodulation signal deviation in the TOF camera is corrected by using the wiggling curve.
In the above embodiment, the optical path switch is used to control the on/off of the input end and the output end of the optical fiber with different lengths, so that the light beam is transmitted through the optical fiber asynchronously, for example, the light beam can pass through one optical fiber with a certain length each time, and the calibration of the TOF camera is realized by fitting a wiggling curve based on the theoretical optical path of the light beam transmission and the actual flying distance of the corresponding light beam.
As shown in fig. 3, in one embodiment, the first component 4 is a fiber splitter 18 and the second component 5 is a second optical switch 16. The light source 11 emits a light beam to the first optical fiber 3 and transmits the light beam to the optical fiber splitter 18, the optical fiber splitter 18 is connected to the input ends of the optical fibers with different lengths, the light beam transmits the light beam to the optical fiber splitter 18, the energy of the light beam is equally divided into each optical fiber, and each optical fiber is connected with a switch to allow/block the light beam to pass through the input end of the optical fiber. The second optical switch 16 is connected to the output ends of the optical fibers of different lengths for turning on/off the output ends of the optical fibers of different lengths. The light beams pass through the optical fibers of different lengths in turn and are then transmitted to the second optical fiber 6 in turn to illuminate the image sensor 21 and in turn generate optical signals. It will be appreciated that the selection of the respective optical fiber to transmit the light beam to the second optical fiber 6 according to the calibrated distance may be controlled by connecting the optical fiber splitter 18 to the second optical path switch 16 to control the on/off of the respective optical fiber, or may be controlled by the switch of each optical fiber to control the on/off of the input end of the respective optical fiber, and the second optical path switch 16 is connected to a control switch to control the second optical path switch 16 to control the on/off of the output end of the respective optical fiber.
In one embodiment of the invention, assuming a distance to be calibrated of 250mm, the light source 11 emits a light beam transmitted to the first optical fiber 3, since the light beam path is twice the calibration distance in the actual calibration, the sum of the lengths of the optical fiber 13, the first optical fiber 3 and the second optical fiber 6 is 500mm, when the light beam is transmitted to the optical fiber splitter 18, the switch of the optical fiber 13 is turned on, so that the light beam is transmitted through the optical fiber 13 to the second optical path switch 16, the second optical path switch 16 correspondingly turns on the output end of the optical fiber 13, so that the light beam is transmitted through the optical fiber 13 to the second optical fiber 6 to illuminate the image sensor 21 and generate an optical signal, the control and processor calculates the time of flight of the light beam based on the optical signal, and calculating according to the formula (1) to obtain the actual flight distance of the light beam, and obtaining the relationship between the actual flight distance of the light beam and the calibration distance.
In another embodiment of the invention, assuming a distance to be calibrated of 300mm, the light source 11 emits a light beam transmitted to the first optical fiber 3, since the light beam path is twice the calibration distance in the actual calibration, the sum of the lengths of the optical fiber 14, the first optical fiber 3 and the second optical fiber 6 is 600mm, when the light beam is transmitted to the optical fiber splitter 18, the switch of the optical fiber 14 is turned on, so that the light beam is transmitted through the optical fiber 14 to the second optical path switch 16, the second optical path switch 16 correspondingly turns on the output end of the optical fiber 14, so that the light beam is transmitted through the optical fibre 14 to the second optical fibre 6 to illuminate the image sensor 21 and generate an optical signal, the control and processor calculating the time of flight of the light beam on the basis of the optical signal, and calculating according to the formula (1) to obtain the actual flight distance of the light beam, and obtaining the relation between the actual flight distance of the light beam and the calibration distance.
Similarly, the actual flight distance of the light beam when the light beam passes through the optical fiber 15 can be obtained, and the relationship between the actual flight distance of the light beam and the calibration distance can be obtained. When the number of the optical fibers is larger, the relation between the actual flight distance of the light beam and the calibration distance is obtained by the same method.
It can be understood that the relationship between the flight distances of a plurality of actual light beams and the calibration distance can be obtained by the light beams passing through the optical fibers with different lengths, a wiggling curve is fitted based on the relationship between the flight distances of the light beams and the calibration distance, the calibration distance is the theoretical optical path of light beam transmission, and the system error generated by the modulation-demodulation signal deviation in the TOF camera is corrected by using the wiggling curve.
The difference from the embodiment shown in fig. 2 is that in this embodiment, the optical fiber splitter is used to turn on or off the input end of the optical fiber, and besides passing through one optical fiber at a time, the optical fiber splitter can also equally split the energy of the received light beam according to the number of the optical fibers, so as to avoid too strong energy of the light beam irradiated to the TOF camera beam sensor.
In the above embodiment, the light beam finally passes through the second optical fiber 6 to illuminate the image sensor 21, and since the spot size of the light beam is very small, only a small portion of pixels of the image sensor 21 can collect the light beam signal, and the incident position is the same each time, so that the accuracy error caused by phase delay between different pixels, pixel deviation and the like can be avoided.
In one embodiment, the optical fiber calibration apparatus 100 further includes a diffuser 17, the diffuser 17 is located directly below the second optical fiber 6, and the light beam irradiated to the diffuser through the second optical fiber 6 can form a uniform light spot, the size of the light spot is larger than that of the light beam, and more pixels in the image sensor 21 can be covered. For example, the light beam passes through the second optical fiber 6 and is directly irradiated on the image sensor 21, which occupies 2 × 2 pixels of the image sensor 21, and then the light beam passes through the diffuser 17 and is collected by the image sensor 21, which may occupy 4 × 4 pixels. It is to be understood that the size of the light spot is merely illustrative and not limited to a particular size.
Based on the optical fiber calibration device in each embodiment, the application also provides a corresponding optical fiber calibration method. Fig. 4 shows a flowchart of an optical fiber calibration method according to an embodiment of the present invention, which includes the following steps:
s1: controlling the first component to receive the light beam of the TOF camera emission module transmitted by the first optical fiber;
s2: controlling the first component to transmit the light beam outwards through each optical fiber in the optical fiber group respectively;
s3: controlling a second component to respectively receive the light beams transmitted by each optical fiber, respectively transmit the light beams to a receiving module of the TOF camera through a second optical fiber and sequentially generate optical signals;
in one embodiment, the first component is a first optical path switch, and the second component is a second optical path switch, which is respectively connected to the input end and the output end of the optical fiber with different lengths, and is used for switching on/off the input end and the output end of the optical fiber with different lengths so as to enable the light beam to be transmitted to the second optical fiber through the corresponding optical fiber.
In one embodiment, the first component is a fiber splitter, the second component is a second optical path switch, which is respectively connected to the input end and the output end of the optical fibers with different lengths, the light beam passes through the fiber splitter to equally divide the energy of the light beam to each optical fiber, each optical fiber is respectively provided with a control switch, the control switch is used for allowing/blocking the light beam to pass through the input end of the optical fiber so that the light beam is transmitted to the second optical path switch, and the second optical path switch is used for switching on/off the output end of the optical fiber so that the light beam is transmitted to the second optical fiber through the corresponding optical fiber.
S4: and respectively calculating the flight time of the light beam based on the optical signal to obtain the actual flight distance of the light beam, and fitting a wiggling curve by using the theoretical optical path transmitted by the light beam and the corresponding actual flight distance of the light beam to calibrate the TOF camera.
Specifically, the control and processor calculates the beam flight time based on the optical signal, and calculates the actual flight distance of the beam according to the following formula.
L＝ct/2 (1)
Where c is the speed of light and t is the time of flight of light.
Embodiments of the present invention may comprise or utilize a special purpose or general-purpose computer including computer hardware, as discussed in greater detail below. Embodiments within the scope of the present invention also include physical and other computer-readable media for carrying or storing computer-executable instructions and/or data structures. Such computer-readable media can be any available media that can be accessed by a general purpose or special purpose computer system. The computer-readable medium storing the computer-executable instructions is a physical storage medium. Computer-readable media carrying computer-executable instructions are transmission media. Thus, by way of example, and not limitation, embodiments of the invention can include at least two distinct computer-readable media: physical computer-readable storage media and transmission computer-readable media.
The embodiment of the application also provides a control device, which comprises a control and processor and a storage medium for storing a computer program; wherein the control and processor, when executing said computer program, performs at least the method as described above.
Embodiments of the present application also provide a storage medium for storing a computer program, which when executed performs at least the method described above.
Embodiments of the present application further provide a control and processor, where the control and processor executes a computer program to perform at least the method described above.
The storage medium may be implemented by any type of volatile or non-volatile storage device, or combination thereof. Among them, the nonvolatile Memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an erasable Programmable Read-Only Memory (EPROM), an electrically erasable Programmable Read-Only Memory (EEPROM), a magnetic random Access Memory (FRAM), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical Disc, or a Compact Disc Read-Only Memory (CD-ROM); the magnetic surface storage may be disk storage or tape storage. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of illustration and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double data rate Synchronous Dynamic Random Access Memory (DDRSDRAM, Double DataRateSync Synchronous Random Access Memory), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous link Dynamic Random Access Memory (SLDRAM, Synchronous Dynamic Random Access Memory (SLDRAM), Direct Memory (DRMBER, Random Access Memory). The storage media described in connection with the embodiments of the invention are intended to comprise, without being limited to, these and any other suitable types of memory.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all the functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention may be essentially implemented or a part contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
The methods disclosed in the several method embodiments provided in the present application may be combined arbitrarily without conflict to obtain new method embodiments.
Features disclosed in several of the product embodiments provided in the present application may be combined in any combination to yield new product embodiments without conflict.
The features disclosed in the several method or apparatus embodiments provided in the present application may be combined arbitrarily, without conflict, to arrive at new method embodiments or apparatus embodiments.
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.
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. An optical fiber calibration device, which is used for calibrating a TOF camera, and comprises a control and processor and a controller, wherein the controller is connected with the processor in sequence: the optical fiber comprises a first optical fiber, a first component, an optical fiber group, a second component and a second optical fiber;
the first optical fiber is used for transmitting the light beam of the TOF camera emission module to the first component;
the first component is connected with the input ends of the optical fibers in the optical fiber group and used for receiving the light beams of the emission module and transmitting the light beams outwards through each optical fiber;
a set of optical fibers comprising at least two optical fibers of different lengths for transmitting said light beam, each of said optical fibers comprising said input end and said output end;
the second component is connected with the output ends of the optical fibers in the optical fiber group and is used for respectively receiving the light beams transmitted by each optical fiber, transmitting the light beams to the receiving module of the TOF camera through the second optical fiber and sequentially generating optical signals;
and the control and processor is connected with the emission module and the acquisition module of the TOF camera and used for calculating the flight time of the light beam based on the optical signal respectively so as to obtain the actual flight distance of the light beam, and calibrating the TOF camera by utilizing the theoretical optical path transmitted by the light beam and the corresponding actual flight distance of the light beam to fit a wiggling curve.
2. An optical fiber calibration device according to claim 1, wherein the first component is a first optical switch for turning on or off the input end of each of the optical fibers;
the second component is a second optical path switch for turning on or off the output end of each of the optical fibers.
3. The optical fiber calibration apparatus according to claim 2, further comprising:
the first control switch controls the first component to switch on or off the input end of the optical fiber;
and the second control switch controls the second component to switch on or off the output end of the optical fiber.
4. The apparatus according to claim 1, wherein said first component is a fiber splitter for splitting energy of said light beam transmitted from said first optical fiber to each of said optical fibers;
the second component is a second light path switch for switching on or off the output end of each optical fiber.
5. An optical fibre calibration device according to claim 4, wherein each of said optical fibres is provided with a control switch for allowing or blocking said light beam to pass through the input end of said optical fibre.
6. An optical fibre calibration device according to claim 2 or 4, wherein the control and processor is connected to the first and second components; for:
controlling the first component to switch on or off the input end of the optical fiber;
and controlling the second component to switch on or off the output end of the optical fiber.
7. An optical fibre calibration device according to any one of claims 1 to 5 further comprising a diffuser located directly below the second optical fibre, the beam being illuminated through the second optical fibre to the diffuser to form a spot larger than the beam.
8. An optical fiber calibration method is characterized by being used for calibrating a TOF camera and comprising the following steps:
s1: controlling the first component to receive the light beam of the TOF camera emission module transmitted by the first optical fiber;
s2: controlling the first component to transmit the light beam outwards through each optical fiber in the optical fiber group respectively;
s3: controlling a second component to respectively receive the light beams transmitted by each optical fiber, respectively transmit the light beams to a receiving module of the TOF camera through a second optical fiber and sequentially generate optical signals;
s4: and respectively calculating the flight time of the light beam based on the optical signal to obtain the actual flight distance of the light beam, and fitting a wiggling curve by using the theoretical optical path transmitted by the light beam and the corresponding actual flight distance of the light beam to calibrate the TOF camera.
9. A method for calibrating optical fibers according to claim 8, wherein controlling said first component to transmit said light beam out through each of said optical fibers of said optical fiber group respectively comprises:
transmitting the light beam received by the first component to each of the optical fibers;
or, the energy of the light beam received by the first component is equally divided to each optical fiber.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a control and processor, carries out the steps of the method according to claim 8 or 9.
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| CN111862232A (en) * | 2020-06-18 | 2020-10-30 | 深圳奥比中光科技有限公司 | Calibration method and device |
| CN112782676A (en) * | 2021-01-26 | 2021-05-11 | 奥比中光科技集团股份有限公司 | Optical fiber calibration system and method |
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