CN113514842A - Distance measuring method, system and device - Google Patents

Distance measuring method, system and device Download PDF

Info

Publication number
CN113514842A
CN113514842A CN202110249083.8A CN202110249083A CN113514842A CN 113514842 A CN113514842 A CN 113514842A CN 202110249083 A CN202110249083 A CN 202110249083A CN 113514842 A CN113514842 A CN 113514842A
Authority
CN
China
Prior art keywords
histogram
time
target
interval
time interval
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.)
Pending
Application number
CN202110249083.8A
Other languages
Chinese (zh)
Inventor
金宇
梅小露
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.)
Aocheng Information Technology Shanghai Co ltd
Original Assignee
Aocheng Information Technology Shanghai Co ltd
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
Application filed by Aocheng Information Technology Shanghai Co ltd filed Critical Aocheng Information Technology Shanghai Co ltd
Priority to CN202110249083.8A priority Critical patent/CN113514842A/en
Publication of CN113514842A publication Critical patent/CN113514842A/en
Priority to PCT/CN2022/080518 priority patent/WO2022188884A1/en
Pending legal-status Critical Current

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
    • 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
    • G01S17/02—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
    • G01S17/14—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
    • 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
    • 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
    • G01S7/491—Details of non-pulse systems
    • G01S7/493—Extracting wanted echo signals

Abstract

The application is suitable for the technical field of distance measurement, and provides a distance measurement method, which comprises the following steps: in the embodiment of the application, the distance measuring device acquires an initial histogram corresponding to a photon signal; the initial histogram includes a first number of first time intervals; resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval; and acquiring the peak position of the target histogram, and calculating the target flight time of the photon signal according to the peak position. If the time interval is set to be too small, the storage capacity of the histogram does not need to be increased, the design cost of the system does not need to be increased, the system resources are saved, the system cost is reduced, and errors in the measured distance are avoided.

Description

Distance measuring method, system and device
Technical Field
The present application belongs to the field of distance measurement technologies, and in particular, to a distance measurement method, system, and apparatus.
Background
A distance measurement may be performed on a target using a Time of Flight (TOF) principle to obtain a depth image including a depth value of the target, and a distance measurement system based on the Time of Flight principle has been widely used in the fields of consumer electronics, unmanned driving, AR/VR, and the like. A distance measuring system based on the time-of-flight principle generally comprises an emitter and a collector, the field of view of a target is illuminated by a pulsed light beam emitted by the emitter and a reflected light beam is collected by the collector, and the distance of the object is calculated by calculating the time-of-flight of the light beam received from the emission to the reflection. The time-to-digital converter (TDC) is used for recording the flight time from emission to collection of photons and generating a photon signal, searching a corresponding time interval in a histogram circuit by using the photon signal, adding 1 to a photon counting value in the time interval, counting a photon counting histogram corresponding to the time signal after a large number of repeated pulse detections are carried out, determining a pulse peak position in the histogram, and calculating the distance of an object according to the flight time corresponding to the pulse peak position.
The size of the time interval in the histogram can affect the ranging resolution and accuracy of the distance measurement system, and the resolution and accuracy can be significantly improved when the time interval is smaller. However, since the number of time intervals is set according to the maximum measurement distance of the system, if the time intervals are set too small, the number required increases, the storage capacity of the histogram increases, the design cost of the system increases, and an error in the measurement distance may occur.
Disclosure of Invention
The embodiment of the application provides a distance measuring method, a distance measuring system and a distance measuring device, and the problems that if the number of required time intervals is increased, the storage capacity of a histogram is increased, the design cost of the system is increased, and errors in the measured distance can be caused are solved.
In a first aspect, an embodiment of the present application provides a distance measurement method, including:
acquiring an initial histogram corresponding to the photon signal; the initial histogram includes a first number of first time intervals;
resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval;
and acquiring the peak position of the target histogram, and calculating the target flight time of the photon signal according to the peak position.
Further, the resampling the initial histogram to obtain a target histogram includes:
obtaining a first sampling rate of the initial histogram and a second sampling rate of the target histogram, and calculating a ratio between the second sampling rate and the first sampling rate;
calculating a second time interval from the ratio and the first time interval, and a second number from the ratio and the first number;
and performing data reconstruction according to the second time interval, the second quantity and the initial histogram to obtain a target histogram.
Further, the reconstructing data according to the second time interval, the second number, and the initial histogram to obtain a target histogram includes:
changing the first time intervals of the first quantity into second time intervals of the second quantity to obtain a first histogram;
and inputting the first histogram into a preset filter for convolution operation to obtain a target histogram.
Further, the preset filter includes a third number of sub-filters, where the third number is a ratio between the second sampling rate and the first sampling rate, and the amplitude spectra of the sub-unit impulse responses of all the sub-filters are the same as the amplitude spectrum of the emission light pulse corresponding to the photon signal.
Further, the changing the first number of first time intervals to the second number of second time intervals to obtain a first histogram includes:
taking two adjacent first time intervals as an extension interval;
inserting n-1 second time intervals in each extension interval, and adjusting the size of the first time interval to the size of the second time interval to obtain a first histogram, wherein n is the ratio.
Further, the photon count value of the second time interval inserted into the extension interval is 0, or the photon count value of the second time interval inserted into the extension interval is the photon count value of the first time interval or the photon count value of the last time interval in the extension interval.
Further, said calculating a target time of flight of said photon signal from said peak position comprises:
respectively selecting a fifth number of second time intervals from two sides by taking the second time interval corresponding to the peak position as a center, and determining a sampling interval;
and calculating the target flight time of the photon signal according to the sampling interval.
Further, said calculating a target time of flight of said photon signal according to said sampling interval comprises:
acquiring the flight time and the photon number corresponding to the time interval in the sampling interval;
and calculating the target flight time of the photon signal according to the flight time, the photon number and a preset centroid calculation rule.
In a second aspect, an embodiment of the present application provides a distance measuring apparatus, including:
the first processing unit is used for acquiring an initial histogram corresponding to the photon signal; the initial histogram includes a first number of first time intervals;
the second processing unit is used for resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval;
and the third processing unit is used for acquiring the peak position of the target histogram and calculating the target flight time of the photon signal according to the peak position.
Further, the second processing unit is specifically configured to:
obtaining a first sampling rate of the initial histogram and a second sampling rate of the target histogram, and calculating a ratio between the second sampling rate and the first sampling rate;
calculating a second time interval from the ratio and the first time interval, and a second number from the ratio and the first number;
and performing data reconstruction according to the second time interval, the second quantity and the initial histogram to obtain a target histogram.
Further, the second processing unit is specifically configured to:
changing the first time intervals of the first quantity into second time intervals of the second quantity to obtain a first histogram;
and inputting the first histogram into a preset filter for convolution operation to obtain a target histogram.
Further, the preset filter includes a third number of sub-filters, where the third number is a ratio between the second sampling rate and the first sampling rate, and the amplitude spectra of the sub-unit impulse responses of all the sub-filters are the same as the amplitude spectrum of the emission light pulse corresponding to the photon signal.
Further, the second processing unit is specifically configured to:
taking two adjacent first time intervals as an extension interval;
and (n-1) second time intervals are inserted in each extension interval, the size of the first time interval is adjusted to the size of the second time interval, a first histogram is obtained, and n is the ratio.
Further, the photon count value of the second time interval inserted into the extension interval is 0, or the photon count value of the second time interval inserted into the extension interval is the photon count value of the first time interval or the photon count value of the last time interval in the extension interval.
Further, the third processing unit is specifically configured to:
respectively selecting a fifth number of second time intervals from two sides by taking the second time interval corresponding to the peak position as a center, and determining a sampling interval;
and calculating the target flight time of the photon signal according to the sampling interval.
Further, the third processing unit is specifically configured to:
acquiring the flight time and the photon number corresponding to the time interval in the sampling interval;
and calculating the target flight time of the photon signal according to the flight time, the photon number and a preset centroid calculation rule.
In a third aspect, an embodiment of the present application provides a distance measurement system, including: the device comprises a transmitter, a collector and a distance measuring device;
the emitter is used for emitting a pulse beam to a target to be measured;
the collector is used for collecting photons in the pulsed light beam reflected by the target to be detected and generating photon signals;
the distance measuring device is configured to implement the distance measuring method according to the first aspect, and calculate the target flight time of the photon signal.
In a fourth aspect, an embodiment of the present application provides a distance measuring apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the distance measuring method according to the first aspect when executing the computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the distance measurement method according to the first aspect.
In the embodiment of the application, the distance measuring device acquires an initial histogram corresponding to a photon signal; the initial histogram includes a first number of first time intervals; resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval; and acquiring the peak position of the target histogram, and calculating the target flight time of the photon signal according to the peak position. When the time interval is set too small through resampling treatment, the storage capacity of the histogram does not need to be increased, the design cost of the system does not need to be increased, the system resources are saved, the system cost is reduced, and meanwhile, the error generated during distance measurement can also be reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a distance measuring method according to a first embodiment of the present application;
FIG. 2 is a schematic diagram of an initial histogram in a distance measurement method according to a first embodiment of the present application;
fig. 3 is a schematic diagram of a filter in a distance measurement method according to a first embodiment of the present application;
FIG. 4 is a schematic view of a distance measuring system provided in a second embodiment of the present application;
FIG. 5 is a schematic view of a distance measuring device according to a third embodiment of the present application;
fig. 6 is a schematic view of a distance measuring device according to a fourth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic flow chart of a distance measuring method according to a first embodiment of the present application. An implementation subject of the distance measuring method in this embodiment is a distance measuring apparatus. The distance measuring method as shown in fig. 1 may include:
s101: acquiring an initial histogram corresponding to the photon signal; the initial histogram includes a first number of first time intervals.
The distance measuring device controls the emitter to emit pulse beams towards the target area, part of the pulse beams reflected by the target are incident to the collector, and the collector collects photons in the reflected pulse beams and generates photon signals containing the flight time of the photons.
When the distance measuring device includes a TDC circuit and a histogram circuit, the distance measuring device receives the photon signal and generates an initial histogram from the photon signal, the initial histogram including a first number of first time intervals. And each time interval comprises a count value of the photons collected by the collector in the time period.
As shown in fig. 2, fig. 2 is a schematic diagram of an initial histogram in the present application. The initial histogram may be referred to as detection data, which represents the temporal distribution of photons collected by the collector during the detection period. The initial histogram includes a first number of first time intervals 301 having a size t 1. The number of time intervals is proportional to the time of flight of the maximum detection range, and if the time of flight of the maximum detection range is t, the first number is t/t 1.
Typically, the time interval is of a magnitude of tens to hundreds of picoseconds. The photon signals in the echo beam are distributed in a plurality of continuous time intervals in the histogram, the time of the time interval at the peak position is selected as the flight time of the pulse beam, and the middle amount of the time interval is generally selected as the time of the time interval. For example, in one embodiment of the present invention, assuming that the size t1 of the first time interval is 100ps, the number of first time intervals in the initial histogram is 30, and the maximum detection range of the system is 3 ns.
In another embodiment, the distance measuring device does not include a TDC circuit and a histogram circuit, the distance measuring device may be a remote server, and the distance measuring device directly obtains an initial histogram corresponding to the photon signal.
S102: resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, and the second time interval is less than the first time interval.
The distance measuring device performs resampling processing on the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number and the second time interval is less than the first time interval. That is, the target histogram is sampled at a rate greater than the initial histogram.
The distance measuring device performs resampling processing on the initial histogram to obtain a target histogram with a higher sampling rate, and then needs to reduce a sampling time interval, that is, a plurality of smaller second time intervals are expanded on the basis of the first time interval, and needs to perform data reconstruction on the expanded second time intervals according to positions and data of the first time intervals, and the resampling step includes two parts of expansion and reconstruction, and finally obtains the target histogram.
Specifically, the distance measuring device acquires a first sampling rate of the initial histogram and a second sampling rate of the target histogram, and calculates a ratio between the second sampling rate and the first sampling rate; a second time interval is calculated from the ratio and the first time interval, and a second number is calculated from the ratio and the first number. For example, assuming that the sampling rate of the target histogram to be resampled is n times of the initial histogram, the size of the second time interval is set to 1/n of the first time interval, i.e., t2 is t1/n, and the second number of the corresponding second time intervals is n times of the first time interval. In one embodiment of the present invention, assuming that n is 4, the size of the second time interval of the target histogram is 25ps, and the number of the second time intervals in the target histogram is 120.
And then, the distance measuring device carries out data reconstruction according to the second time interval, the second quantity and the initial histogram to obtain a target histogram.
Specifically, a first histogram is obtained by changing a first number of first time intervals into a second number of second time intervals; and inputting the first histogram into a preset filter for convolution operation to obtain a target histogram.
In one embodiment, the first histogram may be obtained in the following manner. Taking two adjacent first time intervals as an extension interval; and inserting n-1 second time intervals in each extension interval, and adjusting the size of the first time interval to the size of the second time interval to obtain a first histogram, wherein n is a ratio.
The specific resampling process is to select two adjacent first time intervals as an extension interval, insert n-1 second time intervals between the two first time intervals in each extension interval, reduce the two first time intervals to the size of the second time interval and keep the photon count values in the two time intervals unchanged, and finally, in each extension interval, the inserted n-1 second time intervals do not contain photon count values, that is, the photon count value of the second time interval inserted in the extension interval is 0.
In one embodiment, the time intervals are inserted in the same manner as described above, that is, two adjacent first time intervals are selected as one extension interval, n-1 second time intervals are inserted between the two first time intervals in each extension interval, the two first time intervals are reduced to the size of the second time interval, the photon count values in the two time intervals are kept unchanged, and finally the n-1 second time intervals are inserted in each extension interval.
Further, the photon count value inserted into the second time interval of the extension interval is the photon count value of the first time interval or the photon count value of the last time interval in the extension interval. Or, calculating the weight photon counting value of the photon counting value in the first and last time intervals in each extension interval under a certain weight, and taking the weight photon counting value as the photon counting value in n-1 second time intervals inserted in the extension interval, wherein the calculation formula is as follows:
Ci＝αCi1+(1-α)Cin
wherein, CiRepresenting a second photon count value, C, in the ith extension intervali1A photon count value, C, representing a first time interval within the ith extension intervalinThe photon count value representing the last time interval in the ith extension interval, and α is the applied weight.
After the expansion is finished, reconstruction processing needs to be carried out on the time intervals by adopting a filtering reconstruction method, the first histogram is input into a preset filter to carry out convolution operation, photon counting values in the time intervals are recovered, and a target histogram is obtained. Therefore, on one hand, noise photons are effectively filtered, on the other hand, the photon counting value also needs to be corrected to obtain a target histogram with a higher signal-to-noise ratio, and the filter can be a low-pass filter and is beneficial to improving the accuracy of searching for the peak position.
In the process of data reconstruction, in order to improve the accuracy of data reconstruction, the amplitude spectrums of the sub-unit impulse responses of all the sub-filters are the same as the amplitude spectrum of the transmitted light pulse corresponding to the photon signal.
In addition, in the process of data reconstruction, in order to improve the speed of data reconstruction, the number of time intervals after the first histogram is obtained is increased, and a polyphase filter can be used for processing, wherein the preset filter comprises a third number of sub-filters, and the third number is the ratio between the second sampling rate and the first sampling rate.
Specifically, the coefficient of the filter is designed according to the characteristics of the transmitted pulse light beam, so that the output signal component of the first histogram passing through the filter is as strong as possible, the out-of-band noise of the signal is suppressed, and the influence of the noise is reduced, namely, the unit impulse response amplitude spectrum of the filter is designed to be consistent with the amplitude spectrum of the transmitted light pulse. The impulse response function h (t) of the filter is:
Figure BDA0002965218480000101
where s (t) is a pulse signal, and the impulse response function h (t) of the filter is the image s (t) of the pulse signal0-t) but shifted in time by t0，t0Is the time when the output signal-to-noise ratio is maximum.
The number of time intervals in the expanded first histogram is increased, at this time, the histogram is reconstructed by using the filter to obtain a target histogram with a higher signal-to-noise ratio, for example, when the number of second time intervals in the target histogram to be finally obtained is 120, the filter needs to perform convolution calculation with each time interval in sequence to obtain a more accurate photon count value, 120 times of convolution operation are required, and the operation time is greatly increased. In one embodiment of the invention, therefore, a filter is designed with a polyphase structure, the unit impulse response magnitude spectrum of the filter is designed to be identical to the magnitude spectrum of the transmitted light pulse, the filter includes n sub-filters, n is set according to the expansion multiple of the target histogram to the initial histogram, the coefficients (impulse response functions) of each sub-filter are h1, h2, h3, …, hn, respectively, i.e. the sub-unit impulse response magnitude spectrum of each sub-filter is only a part of the unit impulse response magnitude spectrum of the polyphase structure filter.
Fig. 3 is a schematic diagram of a filter with a polyphase structure, as shown in fig. 3. And in the process of reconstructing data of the target histogram, inputting the first histogram into a filter with a multiphase structure, wherein each sub-filter in the filter with the multiphase structure only processes part of second time intervals of the output of the first histogram after serial shift according to the coefficient of each sub-filter. For example, x (i) indicates the second time interval output after serial shift, i indicates the serial number of the second time interval output, i is 1, 2, 3, …, n, for the first sub-filter, only the second time interval represented by x (1), x (5), x (9) … x (n-3) in the first histogram is processed, for the second sub-filter, only the second time interval represented by x (2), x (6), x (10) … x (n-2) in the first histogram is processed, for the third sub-filter, only the second time interval represented by x (3), x (7), x (11) … x (n-1) in the first histogram is processed, for the fourth sub-filter, only the second time interval denoted by x (4), x (8), x (12) … x (n) in the first histogram is processed. The four sub-filters synchronously carry out convolution calculation, so that the operation speed is greatly increased.
If the inserted n-1 second time intervals do not contain photon counting values in the process of expansion, the time intervals output after the operation of each sub-filter are directly and sequentially arranged in sequence to reconstruct a target histogram with a higher signal-to-noise ratio for calculating the flight time.
If the inserted n-1 second time intervals contain photon counting values in the process of expansion, post-processing is needed, namely, a delay accumulation circuit is needed to be connected behind each sub-filter and used for outputting the signal yn(i) Is subjected to time delay accumulation processing to be used as a new output signal y'n(i) That is, the photon count value in each time interval needs to be subjected to a delay accumulation process to generate a new photon count value as the photon count value in the time interval in the target histogram. Specifically, the calculation formula is as follows:
y'1(i)＝y1(i)+y2(i-1)+y3(i-1)+...+yn(i-1)
y'2(i)＝y1(i)+y2(i)+y3(i-1)+...+yn(i-1)
y'3(i)＝y1(i)+y2(i)+y3(i)+...+yn(i-1)
...
y'n(i)＝y1(i)+y2(i)+y3(i)+...+yn(i)
wherein, yn' (i) denotes a new photon count value after the delay accumulation process, and i denotes a time intervalA serial number.
S103: and acquiring the peak position of the target histogram, and calculating the target flight time of the photon signal according to the peak position.
The distance measuring device obtains the peak position of the target histogram, can search the peak position in the target histogram by adopting a direct peak searching method, and calculates the target flight time of the photon signal according to the peak position.
Specifically, the target flight time of the photon signal may be calculated according to the peak position in a manner that the distance measuring device selects a fifth number of second time intervals to both sides, respectively, with a second time interval corresponding to the peak position as a center, and determines the sampling interval. That is, a fifth number of second time intervals may be selected to form a sampling interval around the second time interval, and the magnitude of the fifth number is determined according to the pulse duration of the pulsed light beam. In the first histogram, the number of time intervals in the target histogram occupied by the echo signal can be calculated from the pulse duration, which is equal to the pulse duration divided by the size of the second time interval.
In one embodiment of the invention, assuming that the pulse duration is 0.5ns and the size of the second time interval is 25ps, the number of second time intervals occupied by the echo signal is 20. And selecting 10 second time intervals respectively from the left and right sides of the second time interval of the peak position to form a sampling interval, and calculating the target flight time according to the sampling interval.
Preferably, for the accuracy of the calculation, it may be considered to add a certain margin to each of the left and right sides, for example, 12 second time intervals are selected from each of the left and right sides to form the sampling interval.
After the sampling interval is determined, the distance measuring device calculates the target flight time of the photon signal according to the sampling interval. Specifically, the distance measuring device acquires the flight time and the photon number corresponding to the time interval in the sampling interval; and calculating the target flight time of the photon signal according to the flight time, the photon number and a preset centroid calculation rule.
The specific calculation formula of the preset centroid calculation rule is as follows:
Figure BDA0002965218480000121
where T represents the target time of flight, TkRepresents the time of flight corresponding to the kth time interval, CkDenotes the number of photons contained in the kth time interval, k denotes the number of time intervals, j denotes the number of time intervals corresponding to the peak position, and m denotes the fifth selected number of second time intervals.
In one embodiment of the present invention, the number of m is 10.
It is understood that the above embodiments are only schematic illustrations, and any method of processing the histogram to calculate the target time of flight of the photon signal is within the inventive concept of the present invention.
In one embodiment, the presence of at least one echo signal in the initial histogram, influenced by the device or environment, does not allow the detection of bimodal and multimodal positions by directly finding the peak positions. For example, when a protective cover is arranged in the distance measurement system, the protective cover is made of transparent glass generally, when a transmitter transmits a pulse beam to pass through the protective cover and project to a target field of view, part of the pulse beam enters the collector after being reflected by the protective cover, and finally an echo signal is formed in an initial histogram, wherein two echo signals exist in the initial histogram.
For example, under the influence of rain and fog weather or the like or the surface of the system is sticky with water, an error echo signal is generated before the real echo of the target, and a plurality of echo signals also exist. Or when the glass exists in the collected target or the target behind the glass is collected, most of the transmitted pulse beams can penetrate through the glass to irradiate the target due to the reflectivity and the transmittance of the glass, but a part of the pulse beams are still reflected by the glass to form reflected beams which are incident into the collector, and two echo signals are formed in the initial histogram.
Then, the received waveform representing the reflected light beam drawn according to the target histogram can be processed to construct a fitting function, the abscissa representing time is set, the ordinate representing the photon count value is processed to calculate the extreme point of the function, and the time interval corresponding to the abscissa corresponding to the extreme point is the peak position.
In one embodiment, a slope minimum point in the fitting function is calculated, and a time interval corresponding to an abscissa of the minimum point is a peak position. In one embodiment, the fitted function is derived and then zero crossing detection, i.e. the intersection of the derived function with the abscissa, is performed to determine the peak position.
In the embodiment of the application, the distance measuring device acquires an initial histogram corresponding to a photon signal; the initial histogram includes a first number of first time intervals; resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval; and acquiring the peak position of the target histogram, and calculating the target flight time of the photon signal according to the peak position. When the time interval is set too small through resampling treatment, the storage capacity of the histogram does not need to be increased, the design cost of the system does not need to be increased, the system resources are saved, the system cost is reduced, and meanwhile, errors generated during distance measurement can also be reduced.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Referring to fig. 4, fig. 4 is a schematic view of a distance measuring system according to a second embodiment of the present application. A distance measurement system in this embodiment includes: the device comprises a transmitter 11, a collector 12 and a distance measuring device 13; wherein emitter 11 includes a light source 111 composed of one or more lasers for emitting a pulsed light beam 30 toward target 20, at least a portion of the pulsed light beam is reflected by the target to form a reflected light beam 40 back to collector 12, collector 12 includes a pixel array 121 composed of a plurality of pixels for collecting photons in reflected light beam 40 and outputting a photon signal, and distance measuring device 13 synchronizes trigger signals of emitter 11 and collector 12 to calculate a flight time required for the photons in the light beam from emitting to receiving.
And the emitter is used for emitting the pulse beams to the target to be measured. The transmitter 11 includes a light source 111, a transmitting optical element 112, a driver 113, and the like. In one embodiment, light source 111 is a VCSEL array light source chip that generates multiple VCSEL light sources on a monolithic semiconductor substrate to form. The light source 111 can emit a pulsed light beam outwards under the control of the distance measuring device 13 at a frequency (pulse) that is set according to the measured distance and that is projected onto the target scene via the emission optical element 112 to form an illumination spot.
And the collector is used for collecting photons in the pulse periodic light beam reflected by the target to be detected and generating a photon signal. The collector 12 includes a pixel array 121, a filtering unit 122, a receiving optical element 123, and the like, the receiving optical element 123 images the spot beam reflected by the target onto the pixel array 121, the pixel array 121 includes a plurality of photon-collecting pixels, which may be one of APD, SPAD, SiPM, and the like, which collect photons, and the condition that the pixel array 121 collects photons is regarded as a photon detection event and outputs a photon signal.
In one embodiment, the pixel array 121 includes a plurality of SPADs that can respond to an incident single photon and output a photon signal indicative of the respective arrival time of the received photon at each SPAD. Typically, a readout circuit (not shown) including one or more of a signal amplifier, a time-to-digital converter (TDC), a digital-to-analog converter (ADC), and the like is further included, which is connected to the pixel array. These circuits can be integrated with the pixels as part of the acquisition and also as part of the distance measuring device 13.
The distance measuring device is used for realizing the distance measuring method in the first embodiment and obtaining the target flight time of the photon. The distance measuring device 13 is used for processing and calculating the flight time of the photons from emission to reception, and further calculating the distance information of the target.
In one embodiment, the distance measuring device 13 includes a TDC circuit and a histogram circuit, the TDC circuit receives the photon signal to determine the flight time of the photon from emission to collection, generates a time code representing the flight time information, finds a corresponding position in the histogram circuit using the time code, and adds "1" to a value stored at the corresponding position of the histogram circuit, and constructs a histogram according to the position of the histogram circuit as a time bin. The distance measurement method as described in the first embodiment is then implemented to obtain the target time of flight of the photons.
In another embodiment, the distance measuring device 13 does not include a TDC circuit and a histogram circuit, and the distance measuring device 13 may be a remote server, and the remote server obtains an initial histogram corresponding to the photon signal and then implements the distance measuring method as described in the first embodiment to obtain the target flight time of the photon.
Referring to fig. 5, fig. 5 is a schematic view of a distance measuring device according to a third embodiment of the present application. The units are included for performing the steps in the corresponding embodiment of fig. 1. Please refer to fig. 1 for the related description of the corresponding embodiment. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to the drawings, a distance measuring apparatus includes:
a first processing unit 510, configured to obtain an initial histogram corresponding to the photon signal; the initial histogram includes a first number of first time intervals;
a second processing unit 520, configured to perform resampling processing on the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval;
a third processing unit 530, configured to obtain a peak position of the target histogram, and calculate a target flight time of the photon signal according to the peak position.
Further, the second processing unit 520 is specifically configured to:
obtaining a first sampling rate of the initial histogram and a second sampling rate of the target histogram, and calculating a ratio between the second sampling rate and the first sampling rate;
calculating a second time interval from the ratio and the first time interval, and a second number from the ratio and the first number;
and performing data reconstruction according to the second time interval, the second quantity and the initial histogram to obtain a target histogram.
Further, the second processing unit 520 is specifically configured to:
changing the first time intervals of the first quantity into second time intervals of the second quantity to obtain a first histogram;
and inputting the first histogram into a preset filter for convolution operation to obtain a target histogram.
Further, the preset filter includes a third number of sub-filters, where the third number is a ratio between the second sampling rate and the first sampling rate, and the amplitude spectra of the sub-unit impulse responses of all the sub-filters are the same as the amplitude spectrum of the emission light pulse corresponding to the photon signal.
Further, the second processing unit 520 is specifically configured to:
taking two adjacent first time intervals as an extension interval;
inserting n-1 second time intervals in each extension interval, and adjusting the size of the first time interval to the size of the second time interval to obtain a first histogram, wherein n is the ratio.
Further, the photon count value of the second time interval inserted into the extension interval is 0, or the photon count value of the second time interval inserted into the extension interval is the photon count value of the first time interval or the photon count value of the last time interval in the extension interval.
Further, the third processing unit 530 is specifically configured to:
respectively selecting a fifth number of second time intervals from two sides by taking the second time interval corresponding to the peak position as a center, and determining a sampling interval;
and calculating the target flight time of the photon signal according to the sampling interval.
Further, the third processing unit 530 is specifically configured to:
acquiring the flight time and the photon number corresponding to the time interval in the sampling interval;
and calculating the target flight time of the photon signal according to the flight time, the photon number and a preset centroid calculation rule.
Fig. 6 is a schematic view of a distance measuring device according to a fourth embodiment of the present application. As shown in fig. 6, the distance measuring device 6 of this embodiment includes: a processor 60, a memory 61 and a computer program 62, such as a distance measuring program, stored in said memory 61 and executable on said processor 60. The processor 60, when executing the computer program 62, implements the steps in the various distance measurement method embodiments described above, such as the steps 101 to 103 shown in fig. 1. Alternatively, the processor 60, when executing the computer program 62, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 510 to 530 shown in fig. 5.
Illustratively, the computer program 62 may be partitioned into one or more modules/units that are stored in the memory 61 and executed by the processor 60 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 62 in the distance measuring device 6. For example, the computer program 62 may be divided into a first processing unit, a second processing unit, and a third processing unit, and each unit has the following specific functions:
the first processing unit is used for acquiring an initial histogram corresponding to the photon signal; the initial histogram includes a first number of first time intervals;
the second processing unit is used for resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval;
and the third processing unit is used for acquiring the peak position of the target histogram and calculating the target flight time of the photon signal according to the peak position.
The distance measuring device may include, but is not limited to, a processor 60, a memory 61. It will be understood by those skilled in the art that fig. 6 is merely an example of the distance measuring device 6, and does not constitute a limitation of the distance measuring device 6, and may include more or less components than those shown, or some components may be combined, or different components, for example, the distance measuring device may further include an input-output device, a network access device, a bus, etc.
The Processor 60 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 61 may be an internal storage unit of the distance measuring device 6, such as a hard disk or a memory of the distance measuring device 6. The memory 61 may also be an external storage device of the distance measuring apparatus 6, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the distance measuring apparatus 6. Further, the distance measuring device 6 may also comprise both an internal storage unit and an external storage device of the distance measuring device 6. The memory 61 is used for storing the computer program and other programs and data required by the distance measuring device. The memory 61 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
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, 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.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A distance measuring method, characterized by comprising:
acquiring an initial histogram corresponding to the photon signal; the initial histogram includes a first number of first time intervals;
resampling the initial histogram to obtain a target histogram; the target histogram includes a second number of second time intervals; the second number is greater than the first number, the second time interval is less than the first time interval;
and acquiring the peak position of the target histogram, and calculating the target flight time of the photon signal according to the peak position.
2. The distance measurement method of claim 1 wherein said resampling said initial histogram to a target histogram comprises:
obtaining a first sampling rate of the initial histogram and a second sampling rate of the target histogram, and calculating a ratio between the second sampling rate and the first sampling rate;
calculating a second time interval from the ratio and the first time interval, and a second number from the ratio and the first number;
and performing data reconstruction according to the second time interval, the second quantity and the initial histogram to obtain a target histogram.
3. The distance measuring method according to claim 2, wherein said reconstructing data from said second time interval, said second number and said initial histogram to obtain a target histogram comprises:
changing the first time intervals of the first quantity into second time intervals of the second quantity to obtain a first histogram;
and inputting the first histogram into a preset filter for convolution operation to obtain a target histogram.
4. The distance measuring method of claim 3 wherein said preset filter comprises a third number of sub-filters, said third number being the ratio between said second sampling rate and said first sampling rate, the sub-unit impulse response magnitude spectra of all of said sub-filters taken together being the same as the magnitude spectrum of the emitted light pulse to which said photonic signal corresponds.
5. The distance measurement method of claim 3, wherein said changing said first number of first time intervals to said second number of second time intervals to obtain a first histogram comprises:
taking two adjacent first time intervals as an extension interval;
inserting n-1 second time intervals in each extension interval, and adjusting the size of the first time interval to the size of the second time interval to obtain a first histogram, wherein n is the ratio.
6. The distance measuring method of claim 5, wherein the photon count value of the second time interval inserted into the extension interval is 0, or the photon count value of the second time interval inserted into the extension interval is the photon count value of the first time interval or the photon count value of the last time interval in the extension interval.
7. The distance measurement method of claim 1 wherein said calculating a target time of flight of said photon signal from said peak location comprises:
respectively selecting a fifth number of second time intervals from two sides by taking the second time interval corresponding to the peak position as a center, and determining a sampling interval;
and calculating the target flight time of the photon signal according to the sampling interval.
8. The distance measurement method of claim 7, wherein said calculating a target time of flight of said photon signal from said sampling interval comprises:
acquiring the flight time and the photon number corresponding to the time interval in the sampling interval;
and calculating the target flight time of the photon signal according to the flight time, the photon number and a preset centroid calculation rule.
9. A distance measuring system, comprising: the device comprises a transmitter, a collector and a distance measuring device;
the emitter is used for emitting a pulse beam to a target to be measured;
the collector is used for collecting photons in the pulsed light beam reflected by the target to be detected and generating photon signals;
the distance measuring device for implementing the distance measuring method according to any one of claims 1 to 8, calculating a target time of flight of the photon signal.
10. A distance measuring device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 8 when executing the computer program.
CN202110249083.8A 2021-03-08 2021-03-08 Distance measuring method, system and device Pending CN113514842A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202110249083.8A CN113514842A (en) 2021-03-08 2021-03-08 Distance measuring method, system and device
PCT/CN2022/080518 WO2022188884A1 (en) 2021-03-08 2022-03-13 Distance measurement method, system and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110249083.8A CN113514842A (en) 2021-03-08 2021-03-08 Distance measuring method, system and device

Publications (1)

Publication Number Publication Date
CN113514842A true CN113514842A (en) 2021-10-19

Family

ID=78061177

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110249083.8A Pending CN113514842A (en) 2021-03-08 2021-03-08 Distance measuring method, system and device

Country Status (2)

Country Link
CN (1) CN113514842A (en)
WO (1) WO2022188884A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114637021A (en) * 2022-05-18 2022-06-17 四川吉埃智能科技有限公司 Sub-centimeter-level full-waveform laser radar ranging method and device
WO2022188884A1 (en) * 2021-03-08 2022-09-15 奥诚信息科技(上海)有限公司 Distance measurement method, system and device

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110312945A (en) * 2016-12-30 2019-10-08 爱丁堡大学董事会 Photon sensor device
CN110596722A (en) * 2019-09-19 2019-12-20 深圳奥锐达科技有限公司 System and method for measuring flight time distance with adjustable histogram
CN110596723A (en) * 2019-09-19 2019-12-20 深圳奥锐达科技有限公司 Method and system for measuring flight time distance during dynamic histogram drawing
CN110596724A (en) * 2019-09-19 2019-12-20 深圳奥锐达科技有限公司 Method and system for measuring flight time distance during dynamic histogram drawing
WO2020049203A1 (en) * 2018-09-05 2020-03-12 Consejo Superior De Investigaciones Científicas Method and device for detecting the peak of the compressed histogram of pixel values in high-resolution time-of-flight sensors
CN111413706A (en) * 2019-01-16 2020-07-14 爱贝欧汽车系统有限公司 Method and device for optical distance measurement
CN112255636A (en) * 2020-09-04 2021-01-22 奥诚信息科技(上海)有限公司 Distance measuring method, system and equipment
CN112255638A (en) * 2020-09-24 2021-01-22 奥诚信息科技(上海)有限公司 Distance measuring system and method
CN112255635A (en) * 2020-09-03 2021-01-22 奥诚信息科技(上海)有限公司 Distance measuring method, system and equipment

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110596725B (en) * 2019-09-19 2022-03-04 深圳奥锐达科技有限公司 Time-of-flight measurement method and system based on interpolation
CN113514842A (en) * 2021-03-08 2021-10-19 奥诚信息科技(上海)有限公司 Distance measuring method, system and device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110312945A (en) * 2016-12-30 2019-10-08 爱丁堡大学董事会 Photon sensor device
WO2020049203A1 (en) * 2018-09-05 2020-03-12 Consejo Superior De Investigaciones Científicas Method and device for detecting the peak of the compressed histogram of pixel values in high-resolution time-of-flight sensors
CN111413706A (en) * 2019-01-16 2020-07-14 爱贝欧汽车系统有限公司 Method and device for optical distance measurement
CN110596722A (en) * 2019-09-19 2019-12-20 深圳奥锐达科技有限公司 System and method for measuring flight time distance with adjustable histogram
CN110596723A (en) * 2019-09-19 2019-12-20 深圳奥锐达科技有限公司 Method and system for measuring flight time distance during dynamic histogram drawing
CN110596724A (en) * 2019-09-19 2019-12-20 深圳奥锐达科技有限公司 Method and system for measuring flight time distance during dynamic histogram drawing
CN112255635A (en) * 2020-09-03 2021-01-22 奥诚信息科技(上海)有限公司 Distance measuring method, system and equipment
CN112255636A (en) * 2020-09-04 2021-01-22 奥诚信息科技(上海)有限公司 Distance measuring method, system and equipment
CN112255638A (en) * 2020-09-24 2021-01-22 奥诚信息科技(上海)有限公司 Distance measuring system and method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022188884A1 (en) * 2021-03-08 2022-09-15 奥诚信息科技(上海)有限公司 Distance measurement method, system and device
CN114637021A (en) * 2022-05-18 2022-06-17 四川吉埃智能科技有限公司 Sub-centimeter-level full-waveform laser radar ranging method and device

Also Published As

Publication number Publication date
WO2022188884A1 (en) 2022-09-15

Similar Documents

Publication Publication Date Title
US11940324B2 (en) Systems and methods for efficient multi-return light detectors
CN112255636A (en) Distance measuring method, system and equipment
EP2198323B9 (en) Time delay estimation
WO2022188884A1 (en) Distance measurement method, system and device
CN112255638B (en) Distance measurement system and method
CN112924981B (en) Time-of-flight ranging method, system and equipment
CN110187355B (en) Distance measurement method and depth camera
US20200225333A1 (en) Method and device for optical distance measurement
EP3438692B1 (en) Sample-and-hold circuit for a lidar system
CN112817001B (en) Time-of-flight ranging method, system and equipment
CN112789522B (en) Target reflectivity calculation method and device and related equipment
CN101349756A (en) Laser distance measuring instrument and signal processing method thereof
CN113466836A (en) Distance measurement method and device and laser radar
EP3987305B1 (en) Direct time-of-flight depth sensor architecture and method for operating of such a sensor
WO2022241942A1 (en) Depth camera and depth calculation method
CN112255637B (en) Distance measuring system and method
CN112255635A (en) Distance measuring method, system and equipment
CN110471075A (en) Radar range finding method, apparatus and terminal device
CN115038989A (en) Distance measuring method and apparatus, electronic device, and storage medium
CN112630798A (en) Method and apparatus for estimating ground
CN116256767A (en) Laser radar flight time measurement method and system
WO2022160622A1 (en) Distance measurement method, device, and system
CN113406654A (en) ITOF (integrated digital imaging and optical imaging) distance measuring system and method for calculating reflectivity of measured object
CN115657052A (en) ITOF ranging system and method, device and equipment for determining relative precision of ITOF ranging system
FR2737578A1 (en) IMPULSE DOPPLER RADAR DEVICE WITH COMPLETE DETERMINATION OF TARGET SPEED VECTOR

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
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20211019