CN115598623A - Method for quickly searching target object by TOF sensor - Google Patents

Method for quickly searching target object by TOF sensor Download PDF

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CN115598623A
CN115598623A CN202211214264.8A CN202211214264A CN115598623A CN 115598623 A CN115598623 A CN 115598623A CN 202211214264 A CN202211214264 A CN 202211214264A CN 115598623 A CN115598623 A CN 115598623A
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exposure time
measurement
signal amplitude
exposure
sequence
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夏德喜
杨振华
徐小东
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Wuxi Keyang Electronic Technology Co ltd
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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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G01S7/4866—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak by fitting a model or function to the received signal
    • 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
    • G01S17/04—Systems determining the presence of a target
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/491—Details of non-pulse systems
    • G01S7/4912—Receivers
    • G01S7/4915—Time delay measurement, e.g. operational details for pixel components; Phase measurement

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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)
  • Measurement Of Optical Distance (AREA)

Abstract

The invention discloses a method for quickly searching a target object by a TOF sensor, which comprises the following steps: setting different local exposure time; starting exposure, and acquiring information of ITOF pixel points under different exposure times; calculating the information of each pixel point; estimating the optimal exposure time according to the pixel point sequence; the measurement is performed with a suitable exposure time. The invention has the beneficial effects that: according to the invention, through the processing of multi-sequence local exposure, the signal amplitude measurement of multiple groups of exposure time can be completed in a single measurement, the optimal exposure time can be deduced according to the multi-sequence signal amplitude, accurate distance information can be obtained by measuring with the optimal exposure time, the measurement in the whole dynamic range can be completed through 2 times of measurement, and the measurement frequency is greatly improved.

Description

一种TOF传感器快速寻找目标物体的方法A method for quickly finding target objects by TOF sensors

技术领域technical field

本发明涉及TOF测距技术领域,尤其是一种TOF传感器快速寻找目标物体的方法。The invention relates to the technical field of TOF ranging, in particular to a method for quickly finding a target object by a TOF sensor.

背景技术Background technique

ITOF测距是采用连续波(CW)的方式进行测量，在一定的连续时间内进行光子的收集，并转换为电信号。只有在采样到的电信号的幅度值达到一定程度才能判定为有效测量；ITOF ranging is measured by continuous wave (CW), and photons are collected in a certain continuous time and converted into electrical signals. Only when the amplitude value of the sampled electrical signal reaches a certain level can it be judged as a valid measurement;

测量距离以及被测物的反射率是影响测量时间的主要因素，测量距离越远，需要的测量时间就越长；被测物体的反射率越低，需要测量的时间就越长。传统的做法在测量的动态范围内，不断地改变单次的测量时间，以寻找到合适的信号幅度，完成距离测量，在信号幅度低的时候，通过逐次增大测量时间，来提高信号幅度值，在信号幅度高(受光过曝)的时候，通过逐次减少测量时间，来降低信号幅度值。The measurement distance and the reflectivity of the measured object are the main factors affecting the measurement time. The longer the measurement distance is, the longer the measurement time is; the lower the reflectivity of the measured object is, the longer the measurement time is. In the traditional method, within the dynamic range of the measurement, the single measurement time is constantly changed to find a suitable signal amplitude and complete the distance measurement. When the signal amplitude is low, the signal amplitude value is increased by gradually increasing the measurement time. , when the signal amplitude is high (overexposed by light), the signal amplitude value is reduced by gradually reducing the measurement time.

在这个遍历的过程中都是无效的测量，因此会大大降低测量频率，没有办法完成动态物体的快速测量。In the process of this traversal, the measurements are all invalid, so the measurement frequency will be greatly reduced, and there is no way to complete the fast measurement of dynamic objects.

因此，对于上述问题有必要提出一种TOF传感器快速寻找目标物体的方法。Therefore, it is necessary to propose a method for the TOF sensor to quickly find the target object for the above problems.

发明内容Contents of the invention

针对上述现有技术中存在的不足，本发明的目的在于提供一种TOF传感器快速寻找目标物体的方法，以解决上述问题。In view of the deficiencies in the above-mentioned prior art, the purpose of the present invention is to provide a method for the TOF sensor to quickly find the target object, so as to solve the above-mentioned problems.

一种TOF传感器快速寻找目标物体的方法，其方法步骤为：A method for quickly finding a target object by a TOF sensor, the method steps are:

S1、设定不同的局部曝光时间；S1. Setting different local exposure times;

S2、开启曝光，获取不同曝光时间下ITOF像素点的信息；S2. Turn on the exposure, and obtain the information of the ITOF pixels under different exposure times;

S3、计算各个像素点的信息；S3. Calculate the information of each pixel;

S4、根据像素点序列，估算最佳的曝光时间；S4. Estimating the best exposure time according to the pixel point sequence;

S5、以合适的曝光时间进行测量。S5. Perform measurement with an appropriate exposure time.

其中曝光时间序列设定：以行/列为单位，进行曝光时间序列设定；The exposure time series setting: set the exposure time series in units of rows/columns;

设定曝光时间的最大值为INTmax，最小值为INTmin，曝光时间序列分为 n组，The maximum value of the exposure time is set to INTmax, and the minimum value is INTmin, and the exposure time series is divided into n groups,

有效的信号幅度最大为AMPmax，最小为AMPmin；则信号幅度的有效范围记为AmpRate＝AMPmax/AMPmin；INTmax＝INTmin*(AmpRate^n)The maximum effective signal amplitude is AMPmax, and the minimum is AMPmin; then the effective range of signal amplitude is recorded as AmpRate=AMPmax/AMPmin; INTmax=INTmin*(AmpRate^n)

由此换算出各个曝光序列的时间常数。From this, the time constants of the individual exposure sequences are converted.

其中多序列曝光时间测量在TOF开启测量后，针对各行/列进行局部曝光时间控制，各行/列到达设定的时间后，则停止快门，不再接收光子；曝光时间设定序列参考Figure2局部快门曝光测量时间序列，在完成tn时间的测量后，则整个面阵的测量结束；由于整个序列是并行处理的，在时间上能更快地在整个动态范围内寻找到物体。Among them, the multi-sequence exposure time measurement is performed after the TOF measurement is started, and the local exposure time control is performed for each row/column. After each row/column reaches the set time, the shutter is stopped and no photons are received; the exposure time setting sequence refers to the partial shutter in Figure2 For the exposure measurement time series, after the measurement of the tn time is completed, the measurement of the entire area array ends; since the entire sequence is processed in parallel, objects can be found in the entire dynamic range faster in terms of time.

其中最佳曝光时间评估根据序列曝光得到不同的信号幅度，设定理想的信号幅度值为AMPsuitable，有效的信号幅度最大为AMPmax，最小为AMPmin。Among them, the optimal exposure time evaluation obtains different signal amplitudes according to the sequence exposure, and the ideal signal amplitude value is set to AMPsuitable, the effective signal amplitude is AMPmax at the maximum, and AMPmin at the minimum.

其中利用信号幅度对应表查询物体信息步骤为：The steps of using the signal amplitude correspondence table to query object information are:

(1)找到首次出现Ampn’>AMPmin的索引值(1) Find the index value where Ampn'>AMPmin appears for the first time

(2)根据当前的信号幅度Amp n’以及该档位的曝光时间INTn’推测理想的曝光时间，记为INTfine，计算式参考如下：(2) According to the current signal amplitude Amp n' and the exposure time INTn' of this gear, estimate the ideal exposure time, which is recorded as INTfine. The calculation formula is as follows:

INTfine＝Amp n’/AMPsuitable*INTn’Equation 1INTfine＝Amp n'/AMPsuitable*INTn'Equation 1

(3)根据推导出来的INTfine进行距离测量，则能够快速获取到物体的信息。(3) By performing distance measurement according to the derived INTfine, the information of the object can be obtained quickly.

其中距离测量的测距步骤：测量时采用HDR方式进行物体的测量，若物体没有发生位置改变，相对应的信号幅度亦不会变化；若物体移动则根据实际的测量参数计算出新的最优曝光时间，若物体距离变化很大，突入或者消失，则再次进行HDR的方式进行测量。Among them, the distance measurement step: the HDR method is used to measure the object during the measurement. If the position of the object does not change, the corresponding signal amplitude will not change; if the object moves, calculate the new optimal value according to the actual measurement parameters. Exposure time, if the distance of the object changes greatly, breaks in or disappears, it will be measured again in HDR mode.

与现有技术相比，本发明有益效果：本发明通过多序列局部曝光的处理，在单次测量中就可以完成多组曝光时间的信号幅度测量，根据多序列的信号幅度，从而推导出最佳的曝光时间，以最佳曝光时间进行测量则可以得到距离信息，通过2次测量就可以完成整个动态范围内的测量，极大程度上提升了测量频率。Compared with the prior art, the present invention has beneficial effects: the present invention can complete the signal amplitude measurement of multiple sets of exposure time in a single measurement through the processing of multi-sequence partial exposure, and deduce the most Optimal exposure time, distance information can be obtained by measuring with the optimal exposure time, and the measurement of the entire dynamic range can be completed through two measurements, which greatly improves the measurement frequency.

附图说明Description of drawings

图1是本发明的TOF传感器快速寻找目标物体的方法流程图；Fig. 1 is a flow chart of the method for quickly finding a target object by the TOF sensor of the present invention;

图2是本发明的像素点面阵设定示意图；Fig. 2 is a schematic diagram of pixel point array setting in the present invention;

图3是本发明的局部快门曝光测量时间序列示意图；Fig. 3 is a schematic diagram of the time series of partial shutter exposure measurement of the present invention;

图4是本发明的测距流程图。Fig. 4 is a flowchart of ranging in the present invention.

具体实施方式detailed description

需要说明的是，在不冲突的情况下，本发明中的实施例及实施例中的特征可以相互组合。It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting the invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以通过具体情况理解上述术语在本发明中的具体含义。In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.

以下结合附图对本发明的实施例进行详细说明，但是本发明可以由权利要求限定和覆盖的多种不同方式实施。The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways defined and covered by the claims.

如图1并结合图2至图4所示，一种TOF传感器快速寻找目标物体的方法，其方法步骤为：As shown in Figure 1 and combined with Figures 2 to 4, a method for quickly finding a target object with a TOF sensor, the method steps are:

S1、设定不同的局部曝光时间；S1. Setting different local exposure times;

S2、开启曝光，获取不同曝光时间下ITOF像素点的信息；S2. Turn on the exposure, and obtain the information of the ITOF pixels under different exposure times;

S3、计算各个像素点的信息；S3. Calculate the information of each pixel;

S4、根据像素点序列，估算最佳的曝光时间；S4. Estimating the best exposure time according to the pixel point sequence;

S5、以合适的曝光时间进行测量。S5. Perform measurement with an appropriate exposure time.

其中曝光时间序列设定：以行/列为单位，进行曝光时间序列设定；The exposure time series setting: set the exposure time series in units of rows/columns;

设定曝光时间的最大值为INTmax，最小值为INTmin，曝光时间序列分为 n组，The maximum value of the exposure time is set to INTmax, and the minimum value is INTmin, and the exposure time series is divided into n groups,

有效的信号幅度最大为AMPmax，最小为AMPmin；则信号幅度的有效范围记为AmpRate＝AMPmax/AMPmin；INTmax＝INTmin*(AmpRate^n)The maximum effective signal amplitude is AMPmax, and the minimum is AMPmin; then the effective range of signal amplitude is recorded as AmpRate=AMPmax/AMPmin; INTmax=INTmin*(AmpRate^n)

由此换算出各个曝光序列的时间常数。From this, the time constants of the individual exposure sequences are converted.

如下表1所示：As shown in Table 1 below:

Figure RE-GDA0003962031780000051
Figure RE-GDA0003962031780000051

曝光时间测量在TOF开启测量后，针对各行/列进行局部曝光时间控制，各行 /列到达设定的时间后，则停止快门，不再接收光子；曝光时间设定序列参考Figure 2局部快门曝光测量时间序列，在完成tn时间的测量后，则整个面阵的测量结束；由于整个序列是并行处理的，在时间上能更快地在整个动态范围内寻找到物体。Exposure time measurement After the TOF measurement is started, partial exposure time control is performed for each row/column. After each row/column reaches the set time, the shutter is stopped and photons are no longer received; exposure time setting sequence refers to Figure 2 partial shutter exposure measurement Time series, after the measurement of time t n is completed, the measurement of the entire area array ends; since the entire sequence is processed in parallel, objects can be found in the entire dynamic range faster in terms of time.

其中最佳曝光时间评估根据序列曝光得到不同的信号幅度，设定理想的信号幅度值为AMPsuitable，有效的信号幅度最大为AMPmax，最小为AMPmin。Among them, the optimal exposure time evaluation obtains different signal amplitudes according to the sequence exposure, and the ideal signal amplitude value is set to AMPsuitable, the effective signal amplitude is AMPmax at the maximum, and AMPmin at the minimum.

如下表2所示：As shown in Table 2 below:

序列sequence 信号幅度signal amplitude T1T1 AMP 1AMP 1 T2T2 AMP 2AMP 2 …… …… TnTn Amp nAmp n

其中利用信号幅度对应表查询物体信息步骤为：The steps of using the signal amplitude correspondence table to query object information are:

(1)找到首次出现Ampn’>AMPmin的索引值(1) Find the index value where Ampn'>AMPmin appears for the first time

(2)根据当前的信号幅度Amp n’以及该档位的曝光时间INTn’推测理想的曝光时间，记为INTfine，计算式参考如下：(2) According to the current signal amplitude Amp n' and the exposure time INTn' of this gear, estimate the ideal exposure time, which is recorded as INTfine. The calculation formula is as follows:

INTfine＝Amp n’/AMPsuitable*INTn’Equation 2INTfine＝Amp n'/AMPsuitable*INTn'Equation 2

(3)根据推导出来的INTfine进行距离测量，则能够快速获取到物体的信息。(3) By performing distance measurement according to the derived INTfine, the information of the object can be obtained quickly.

其中距离测量的测距步骤：测量时采用HDR方式进行物体的测量，若物体没有发生位置改变，相对应的信号幅度亦不会变化；若物体移动则根据实际的测量参数计算出新的最优曝光时间，若物体距离变化很大，突入或者消失，则再次进行HDR的方式进行测量。Among them, the distance measurement step: the HDR method is used to measure the object during the measurement. If the position of the object does not change, the corresponding signal amplitude will not change; if the object moves, calculate the new optimal value according to the actual measurement parameters. Exposure time, if the distance of the object changes greatly, breaks in or disappears, it will be measured again in HDR mode.

本发明通过多序列局部曝光的处理，在单次测量中就可以完成多组曝光时间的信号幅度测量，根据多序列的信号幅度，从而推导出最佳的曝光时间，以最佳曝光时间进行测量则可以得到距离信息，通过2次测量就可以完成整个动态范围内的测量，极大程度上提升了测量频率。Through the processing of multi-sequence local exposure, the present invention can complete the signal amplitude measurement of multiple sets of exposure time in a single measurement, and deduce the optimal exposure time according to the signal amplitude of multiple sequences, and measure with the optimal exposure time Then the distance information can be obtained, and the measurement in the entire dynamic range can be completed through two measurements, which greatly improves the measurement frequency.

以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related All technical fields are equally included in the scope of patent protection of the present invention.

Claims (6)

1. A method for quickly searching a target object by a TOF sensor is characterized by comprising the following steps: the method comprises the following steps:
s1, setting different local exposure time;
s2, starting exposure, and acquiring information of ITOF pixel points under different exposure times;
s3, calculating information of each pixel point;
s4, estimating the optimal exposure time according to the pixel point sequence;
and S5, measuring with proper exposure time.
2. The method for fast searching for the target object by the TOF sensor as claimed in claim 1, wherein: wherein the exposure time series setting: setting exposure time sequence by row/column unit; setting the maximum value of exposure time as INTmax and the minimum value as INTmin, wherein the exposure time sequence is divided into n groups, the maximum effective signal amplitude is AMPmax, and the minimum effective signal amplitude is AMPmin; the effective range of signal amplitude is denoted as AmpRate = AMPmax/AMPmin; INTmax = INTmin (Amprate ^ n)
The time constants of the individual exposure sequences are thus converted.
3. A method of TOF sensor fast finding a target object as claimed in claim 2 wherein: after TOF start measurement, local exposure time control is carried out on each row/column, and after each row/column reaches set time, a shutter is stopped and photons are not received any more; exposure time setting sequence referring to Figure 2 partial shutter exposure measurement time sequence, at completion t n After the time is measured, the measurement of the whole area array is finished; since the entire sequence is processed in parallel, objects can be found more quickly in time over the entire dynamic range.
4. A method of TOF sensor fast finding a target object as claimed in claim 3 wherein: the optimal exposure time evaluation obtains different signal amplitudes according to the sequence exposure, an ideal signal amplitude value is set to be AMPsuitable, the maximum effective signal amplitude is AMPmax, and the minimum effective signal amplitude is AMPmin.
5. The method for fast searching for the target object by the TOF sensor as claimed in claim 4, wherein: the step of inquiring the object information by using the signal amplitude correspondence table comprises the following steps:
(1) Finding an index value of the first appearing Ampn' > AMPmin;
(2) Presume the ideal exposure time according to the exposure time INTn 'of present signal amplitude Amp' and this gear, mark as INTfine;
(3) And distance measurement is carried out according to the deduced INTfine, so that the information of the object can be quickly obtained.
6. The method of claim 5, in which the TOF sensor is used to quickly find the target object: wherein the distance measuring step comprises: during measurement, an HDR mode is adopted for measuring the object, and if the position of the object is not changed, the corresponding signal amplitude is not changed; if the object moves, a new optimal exposure time is calculated according to actual measurement parameters, and if the object distance changes greatly and the object intrudes or disappears, the HDR mode is performed again for measurement.
CN202211214264.8A 2022-09-30 2022-09-30 Method for quickly searching target object by TOF sensor Withdrawn CN115598623A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117782314A (en) * 2024-02-26 2024-03-29 杭州宇称电子技术有限公司 Data optimization method of SPAD signal sensor and application thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117782314A (en) * 2024-02-26 2024-03-29 杭州宇称电子技术有限公司 Data optimization method of SPAD signal sensor and application thereof
CN117782314B (en) * 2024-02-26 2024-05-07 杭州宇称电子技术有限公司 Data optimization method of SPAD signal sensor and application thereof

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