CN113748359A - 基于连续波测距的补偿方法、装置和激光雷达 - Google Patents
基于连续波测距的补偿方法、装置和激光雷达 Download PDFInfo
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- CN113748359A CN113748359A CN202080004308.7A CN202080004308A CN113748359A CN 113748359 A CN113748359 A CN 113748359A CN 202080004308 A CN202080004308 A CN 202080004308A CN 113748359 A CN113748359 A CN 113748359A
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- 238000000034 method Methods 0.000 title claims abstract description 54
- 238000002310 reflectometry Methods 0.000 claims abstract description 128
- 239000011159 matrix material Substances 0.000 claims abstract description 38
- 238000005259 measurement Methods 0.000 claims abstract description 8
- 238000013507 mapping Methods 0.000 claims description 37
- 230000015654 memory Effects 0.000 claims description 28
- 230000006870 function Effects 0.000 claims description 22
- 238000004590 computer program Methods 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 4
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- 230000005540 biological transmission Effects 0.000 description 5
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- 238000004519 manufacturing process Methods 0.000 description 3
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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
- G01S7/4808—Evaluating distance, position or velocity data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
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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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
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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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
本申请公开了一种基于连续波测距的补偿方法、装置和激光雷达。本申请通过物体的反射率自适应的选择目标DRNU校准补偿矩阵对接收单元探测到的物体的距离进行补偿，解决相关技术中使用固定的DRNU校准补偿矩阵进行距离补偿带来的测距精度不高的问题，因此可以提高测距的精度。
Description
PCT国内申请，说明书已公开。
Claims (11)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/081755 WO2021189439A1 (zh) | 2020-03-27 | 2020-03-27 | 基于连续波测距的补偿方法、装置和激光雷达 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113748359A true CN113748359A (zh) | 2021-12-03 |
| CN113748359B CN113748359B (zh) | 2024-04-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080004308.7A Active CN113748359B (zh) | 2020-03-27 | 2020-03-27 | 基于连续波测距的补偿方法、装置和激光雷达 |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US20230017188A1 (zh) |
| CN (1) | CN113748359B (zh) |
| WO (1) | WO2021189439A1 (zh) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116660873A (zh) * | 2023-08-01 | 2023-08-29 | 佛山市兴颂机器人科技有限公司 | 一种激光传感器的精度补偿方法、装置、设备及存储介质 |
| CN116755100A (zh) * | 2023-08-17 | 2023-09-15 | 深圳市速腾聚创科技有限公司 | 激光雷达设备及其测距调节方法 |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113866779A (zh) * | 2020-06-30 | 2021-12-31 | 上海商汤智能科技有限公司 | 点云数据的融合方法、装置、电子设备及存储介质 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109143252A (zh) * | 2018-08-08 | 2019-01-04 | 合肥泰禾光电科技股份有限公司 | Tof深度相机距离校准的方法及装置 |
| CN109581399A (zh) * | 2018-12-29 | 2019-04-05 | 西南技术物理研究所 | 一种大动态范围厘米级精度激光测距方法 |
| CN109889809A (zh) * | 2019-04-12 | 2019-06-14 | 深圳市光微科技有限公司 | 深度相机模组、深度相机、深度图获取方法以及深度相机模组形成方法 |
| CN109917355A (zh) * | 2019-03-04 | 2019-06-21 | 合肥嘉东光学股份有限公司 | 激光雷达距离误差补偿系统 |
| WO2019245719A1 (en) * | 2018-06-21 | 2019-12-26 | Oyla, Inc | Device and method of optical range imaging |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109597054B (zh) * | 2018-12-21 | 2023-06-02 | 宁波傲视智绘光电科技有限公司 | 激光雷达的标定方法 |
| CN209676383U (zh) * | 2019-04-12 | 2019-11-22 | 深圳市光微科技有限公司 | 深度相机模组、深度相机、移动终端以及成像装置 |
| CN110807811B (zh) * | 2019-09-20 | 2022-04-12 | 炬佑智能科技(苏州)有限公司 | 对不同反射率物体的深度补偿方法及tof相机 |
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2020
- 2020-03-27 WO PCT/CN2020/081755 patent/WO2021189439A1/zh active Application Filing
- 2020-03-27 CN CN202080004308.7A patent/CN113748359B/zh active Active
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2022
- 2022-09-23 US US17/951,188 patent/US20230017188A1/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019245719A1 (en) * | 2018-06-21 | 2019-12-26 | Oyla, Inc | Device and method of optical range imaging |
| CN109143252A (zh) * | 2018-08-08 | 2019-01-04 | 合肥泰禾光电科技股份有限公司 | Tof深度相机距离校准的方法及装置 |
| CN109581399A (zh) * | 2018-12-29 | 2019-04-05 | 西南技术物理研究所 | 一种大动态范围厘米级精度激光测距方法 |
| CN109917355A (zh) * | 2019-03-04 | 2019-06-21 | 合肥嘉东光学股份有限公司 | 激光雷达距离误差补偿系统 |
| CN109889809A (zh) * | 2019-04-12 | 2019-06-14 | 深圳市光微科技有限公司 | 深度相机模组、深度相机、深度图获取方法以及深度相机模组形成方法 |
Non-Patent Citations (1)
| Title |
|---|
| 胡康哲: ""TOF深度成像系统的研究与实现"", 《中国优秀硕士学位论文全文数据库（电子期刊） 信息科技辑》, no. 07, pages 70 - 77 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116660873A (zh) * | 2023-08-01 | 2023-08-29 | 佛山市兴颂机器人科技有限公司 | 一种激光传感器的精度补偿方法、装置、设备及存储介质 |
| CN116660873B (zh) * | 2023-08-01 | 2023-11-03 | 佛山市兴颂机器人科技有限公司 | 一种激光传感器的精度补偿方法、装置、设备及存储介质 |
| CN116755100A (zh) * | 2023-08-17 | 2023-09-15 | 深圳市速腾聚创科技有限公司 | 激光雷达设备及其测距调节方法 |
| CN116755100B (zh) * | 2023-08-17 | 2024-02-02 | 深圳市速腾聚创科技有限公司 | 激光雷达设备及其测距调节方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021189439A1 (zh) | 2021-09-30 |
| CN113748359B (zh) | 2024-04-09 |
| US20230017188A1 (en) | 2023-01-19 |
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