CN115657052A - ITOF ranging system and method, device and equipment for determining relative precision of ITOF ranging system - Google Patents
ITOF ranging system and method, device and equipment for determining relative precision of ITOF ranging system Download PDFInfo
- Publication number
- CN115657052A CN115657052A CN202110768215.8A CN202110768215A CN115657052A CN 115657052 A CN115657052 A CN 115657052A CN 202110768215 A CN202110768215 A CN 202110768215A CN 115657052 A CN115657052 A CN 115657052A
- Authority
- CN
- China
- Prior art keywords
- ambient light
- historical
- data
- signal data
- relative
- 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
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
- 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
Abstract
The invention provides an ITOF ranging system and a method, a device and equipment for determining relative precision thereof, wherein the method comprises the following steps: acquiring the electric charge amount corresponding to the optical signal reflected by the object to be detected; calculating ambient light data and sampling signal data from the amount of charge; calculating relative precision according to the ambient light data, the sampling signal data and a preset relative precision calculation rule; wherein the preset relative accuracy calculation rule is obtained according to the following steps: obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data; and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule. The invention can judge and eliminate the performance of the distance measurement result of the ITOF distance measurement system in real time, and only 3D points with smaller noise are reserved in the output depth data, thereby improving the overall 3D point cloud effect.
Description
Technical Field
The invention relates to the technical field of optics, in particular to an ITOF (integrated time of flight) distance measuring system and a method, a device and equipment for determining relative accuracy of the ITOF distance measuring system.
Background
When the distance measuring system is used for measuring the distance, the relative accuracy is an important index. The relative accuracy can feed back the size of the noise measured on the 3D surface of the measured object. When the relative precision is high, the restored 3D point cloud on the surface of the measured object is smooth and has low noise. And when the relative accuracy is low, namely the 3D point fluctuation of the surface of the measured object is very large, the point is considered as an invalid point and needs to be eliminated.
In the prior art, when relative accuracy is obtained, calculation needs to be performed by obtaining multi-frame 3D point cloud data in advance, and the relative accuracy cannot be obtained in a single frame in real time, so that whether some points are low in relative accuracy and large in fluctuation value cannot be judged in a single frame image, and further, the points with low relative accuracy and large fluctuation value cannot be eliminated in real time.
Disclosure of Invention
In order to solve the problems in the prior art, embodiments of the present invention provide an ITOF ranging system, and a method, an apparatus, and a device for determining relative accuracy thereof.
In order to achieve the above purpose, the technical solution of the embodiment of the present invention is implemented as follows:
an ITOF ranging system comprising: the system comprises a transmitter, a collector and a processing circuit;
the transmitter configured to transmit a signal beam;
the collector is configured to collect a reflected light signal reflected back by an object;
the processing circuit is connected with the emitter and the collector and used for acquiring the electric charge amount corresponding to the optical signal reflected by the object to be detected, determining environment light data and sampling signal data according to the electric charge amount, and calculating relative precision according to the environment light data, the sampling signal data and a preset relative precision calculation rule;
wherein the preset relative precision calculation rule is obtained according to the following steps:
obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data;
and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
Further, the processing circuit is further configured to calculate a distance value of the object to be measured, determine whether the relative accuracy of the distance value exceeds a preset relative accuracy threshold, and shield the distance value if the relative accuracy of the distance value exceeds the preset relative accuracy threshold.
Further, the preset relative precision calculation rule is a function model, and the function model is:
wherein, C s Sampling the signal data; c n Is ambient light data; a, b, c and d are all parameters; and R is relative precision.
The embodiment of the invention also adopts another technical scheme that:
a method for determining the relative accuracy of an ITOF ranging system comprises the following steps:
acquiring the electric charge quantity corresponding to the optical signal reflected by the object to be detected;
calculating ambient light data and sampled signal data from the amount of charge;
calculating relative precision according to the ambient light data, the sampling signal data and a preset relative precision calculation rule;
wherein the preset relative accuracy calculation rule is obtained according to the following steps:
obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data;
and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
Further, the preset relative precision calculation rule is a function model, and the function model is as follows:
wherein, C s Sampling the signal data; c n Is ambient light data; a, b, c and d are all parameters; and R is relative precision.
Further, still include:
calculating the resolution according to the ambient light data, the sampling signal data and a preset resolution calculation rule;
and calculating the relative precision of the ranging system according to the resolution.
Further, obtaining the relative accuracy of the distance measurement corresponding to the historical ambient light data and the historical sampling signal data includes:
obtaining a target distance measurement value, a target actual distance value and a target distance measurement average value;
and calculating the relative precision of distance measurement according to the target distance measurement value, the target actual distance value and the target distance measurement average value.
The calculating of ambient light data and sampled signal data from the amount of charge includes:
fitting the electric charge quantity to obtain a sine wave fitting curve corresponding to the optical signal;
and determining the ambient light data and the sampling signal data according to the sine wave fitting curve.
The other technical scheme of the embodiment of the invention is as follows:
an apparatus for determining relative accuracy of an ITOF ranging system, comprising:
the first acquisition unit is used for acquiring the electric charge amount corresponding to the optical signal reflected by the object to be measured;
a first processing unit for calculating ambient light data and sampling signal data from the amount of charge;
the second processing unit is used for calculating the relative precision according to the ambient light data, the sampling signal data and a preset relative precision calculation rule;
wherein the preset relative precision calculation rule is obtained according to the following steps:
obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data;
and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
The embodiment of the invention also adopts another technical scheme that:
an apparatus for determining relative accuracy of an ITOF ranging system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for determining relative accuracy of an ITOF ranging system according to the above-mentioned embodiments when executing the computer program.
Compared with the prior art, the embodiment of the invention obtains the electric charge quantity corresponding to the optical signal reflected by the object to be measured; calculating ambient light data and sampling signal data from the amount of charge; and calculating the relative precision of the single frame in real time according to the ambient light data, the sampling signal data and a preset relative precision calculation rule. Therefore, the performance of the ranging result of the ITOF ranging system can be judged and eliminated in real time, and only 3D points with small noise are reserved in the output depth data, so that the overall 3D point cloud effect is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
For a better understanding and practice, the present invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram illustrating an ITOF ranging system in accordance with an exemplary embodiment of the present invention;
fig. 2 is a flowchart illustrating a method for determining the relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention;
FIG. 3 is a flowchart illustrating steps S104-S105 of a method for determining the relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating a device for determining the relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention;
fig. 5 is a schematic diagram of a device for determining the relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, fig. 1 is a schematic diagram illustrating an ITOF ranging system according to an exemplary embodiment of the present invention, the ITOF ranging system including: the system comprises a transmitter, a collector and a processing circuit;
a transmitter 11 configured to transmit a signal beam;
the processing circuit 13 is connected with the emitter and the collector, and is configured to acquire an electric charge amount corresponding to an optical signal reflected by an object to be measured, calculate ambient light data and sampling signal data according to the electric charge amount, and calculate relative accuracy according to the ambient light data, the sampling signal data and a preset relative accuracy calculation rule; wherein the preset relative accuracy calculation rule is obtained according to the following steps:
obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data;
and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
Specifically, the emitter 11 is configured to emit a signal beam 30 to the object 20 to be measured, and an optical signal 40 reflected by the object to be measured is received by the collector; emitter 11 and collector 12 may be disposed on a substrate, specifically, on the same substrate, or on different substrates.
Generally, the image sensor 121 comprises at least one pixel, each pixel comprising at least one tap (tap for storing and reading or discharging charge signals generated by incident photons under control of a corresponding electrode), such as 2 taps, which are sequentially switched in a certain order within a single frame period (or within a single exposure time) to collect corresponding light signals to receive the light signals and convert them into electrical signals, reading the charge signal data.
In an alternative embodiment, each pixel comprises at least one tap for storing and reading out or draining the electrical signal generated by the incident photon under control of the respective electrode, the ambient light data and the sampled signal data being calculated from the amount of charge accumulated by the tap over the integration time.
The processing circuit 13 may be a stand-alone dedicated circuit, such as a dedicated SOC chip, an FPGA chip, an ASIC chip, etc. including a CPU, a memory, a bus, etc., or may include a general-purpose processing circuit, such as when the ITOF distance measuring system is integrated into an intelligent terminal, such as a mobile phone, a television, a computer, etc., the processing circuit of the terminal may be at least a part of the control and processor.
In an alternative embodiment, the processing circuit 13 is configured to provide a modulation signal (emission signal) required when the light source emits the laser, and the light source emits a pulse light beam to the object to be measured under the control of the modulation signal; further, the processing circuit 13 also supplies a demodulation signal (acquisition signal) of a tap in each pixel of the image sensor 121, and the tap acquires the amount of electric charge generated by the optical signal reflected back by the object to be measured under the control of the demodulation signal.
In an optional embodiment, the processing circuit 13 is further configured to calculate a distance value of the object to be measured, determine whether the relative accuracy of the distance value exceeds a preset relative accuracy threshold, and mask the distance value if the relative accuracy of the distance value exceeds the preset relative accuracy threshold.
An embodiment of a method for determining the relative accuracy of the ITOF ranging system, according to which the processing circuit 13 calculates the relative accuracy of the ranging system, will be described in detail later.
Referring to fig. 2, fig. 2 is a flowchart illustrating a method for determining relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention, where the method is performed by a device for determining relative accuracy of a ranging system (hereinafter referred to as a device), and includes the following steps:
s101: and acquiring the electric charge amount corresponding to the optical signal reflected by the object to be measured.
In this implementation, the distance measuring system is an ITOF distance measuring system, the collector of which comprises an image sensor comprising a plurality of pixels, each pixel comprising at least one tap for storing and reading or discharging an electrical signal generated by an incident photon under control of a respective electrode, ambient light data and sampled signal data being calculable from the amount of charge accumulated by the tap over an integration time.
S102: ambient light data and sampling signal data are calculated from the amount of charge.
The device calculates ambient light data and sampled signal data based on the amount of charge.
In an alternative embodiment, each pixel comprises 3 taps, collects the reflected light signal over an integration time and outputs a charge a 1-3 Wherein two taps are used for collecting the reflected light signal, the amount of charge A collected by the two taps 1 、A 2 Representing the sampled signal data, another tap for collecting the ambient light signal, and the amount of charge A collected by this tap 3 Characterizing ambient light data.
In an optional embodiment, when each pixel comprises a plurality of taps, the sine waveform of the reflected signal collected by the collector can be fitted according to the output charge amount of the plurality of taps, and the device fits the charge amount to obtain a sine wave fitting curve corresponding to the optical signal; and determining the ambient light data and the sampling signal data according to the sine wave fitting curve. For example, the fitted sinusoid is: and y = a + b + cost + c sint, and determining the amplitude and the direct current quantity according to the fitted curve, wherein the amplitude is used for representing the sampled signal data, and the direct current quantity is used for representing the ambient light data.
In an alternative embodiment, the amplitude of the sine wave fit curve is
A direct current value of
Then, the sampled signal data is represented as
Ambient light data is represented as
S103: and calculating the relative precision according to the ambient light data, the sampling signal data and a preset relative precision calculation rule.
The device calculates the relative accuracy according to the ambient light data, the sampled signal data and a preset relative accuracy calculation rule. The device stores preset relative precision calculation rules in advance, namely: and calculating the relative accuracy according to the corresponding relation between the ambient light data and the relative accuracy and the corresponding relation between the sampled signal data and the relative accuracy.
In this embodiment, the preset relative precision calculation rule is not specifically limited, and when the preset relative precision calculation rule is a function model, the preset relative precision calculation rule may be a function model in multiple forms, for example, the preset relative precision calculation rule may be the following function model:
wherein, C s Sampling the signal data; c n Is ambient light data; a, b, c and d are all parameters; and R is relative precision.
The preset relative precision calculation rule can also be a function model as follows:
wherein, C s Sampling the signal data; c n Is ambient light data; a, b, c and d are all parameters; f denotes the focal length of the lens of the collector.
In an alternative embodiment, the resolution may be calculated first, and the device calculates the resolution according to the ambient light data, the sampled signal data, and the preset resolution calculation rule. And calculating the relative precision of the ranging system according to the resolution. In particular, the device may calculate the relative accuracy of the ranging system from the resolution and a preset triple standard deviation law. According to the triple standard deviation law, the relationship between the resolution and the relative accuracy is as follows:
R＝1/3×E Resolution
wherein R is the relative accuracy, E Resolution Is the resolution.
In order to obtain an accurate calculation result of relative precision, a function model of a preset calculation rule of relative precision can be obtained by fitting or training the sampling data. Before performing the calculation, a fitting function may be constructed to fit a function model for calculating relative accuracy, and before step S103, steps S104 to S105 may also be included, as shown in fig. 3, steps S104 to S105 specifically include the following:
s104: and obtaining historical ambient light data, historical sampling signal data and the relative ranging precision corresponding to the historical ambient light data and the historical sampling signal data.
The device obtains historical ambient light data, historical sampled signal data, and obtains resolutions corresponding to the historical ambient light data and the historical sampled signal data. The historical ambient light data, the historical sampling signal data, and the distance measurement relative precision corresponding to both the historical ambient light data and the historical sampling signal data can be used as a group of calibration data, and a preset relative precision calculation rule is obtained by obtaining a plurality of groups of calibration data for fitting. Here, the historical ambient light data and the historical sampling signal data are only names defined as above, and indicate ambient light data and sampling signal data sampled a plurality of times, not past, historical meanings.
Specifically, the historical ambient light data and the historical sampling signal data can be acquired by using a simulation experiment method, and the incident angle cos θ of the light beam and the ambient light illumination I can be changed AL Reflectivity, object to be measuredAnd the distance L and other parameters influencing the relative precision of distance measurement are continuously measured for each point for multiple times to obtain a group of calibration data.
In an optional embodiment, the relative accuracy of the distance measurement is obtained by a pre-calibration method, and the device calculates the relative accuracy of the distance measurement by obtaining a target distance measurement value, a target actual distance value and a target distance measurement average value. Specifically, assume that the target point is set to a distance L from the TOF ranging system m (M =1,2,3 \8230;, M), for example, L is set when M =1 1 L is set when =1m, m =2 2 L is set when =1.1m, m =3 3 =1.3m, \8230. Wherein L is 1 When the target actual distance value is obtained, continuously measuring for n times to obtain a target distance measured value l 1 Ln, ambient light data C being obtained during each measurement nn And sampling signal data C sn Calculating the standard deviation between the measured target distance value and the actual target distance value for n times to obtain the relative distance measurement precision, calculating the average value of the historical ambient light data and the historical sampling signal data of the n times of measurement, and obtaining the target point L 1 A set of calibration data. The process of obtaining the relative calculation precision after n times of measurement is as follows:
in one embodiment, it is assumed that the pixel of the image sensor includes 3 taps, which are set to be activated at different times within a single cycle time T and collect the background light signal I within 0T/3 time respectively 0 Collecting optical signals I at T/3-2T/3 1 Collecting optical signals I at 2T/3-T 2 . Or collecting optical signals I within 0-T/3 time 1 T/3-2T/3 collection optical signal I 2 2T/3-T acquisition of background light signal I 0 From this, the distance can be calculated as:
where c is the speed of light, about 3X 10 8 m/s, then calculating the target distance measured value d of the ith measurement of n consecutive measurements i And the average value d of the target distance measurements measured n times, the resolution of the ranging system is:
wherein di represents the distance value obtained by the ith measurement, and the test times are from 1 to n for n times.
The average of n measurements is shown,
can be expressed as:
generally, according to the triple standard deviation law, the resolution is related to the relative accuracy of the range finding as,
R＝1/3×E Resolution
then the relative precision of the distance measurement is calculated after n times of sampling, and a group of calibration data can be obtained by calculating the average value of the historical ambient light data and the historical sampling signal data for n times.
And in the process of continuing sampling, parameters such as the incident angle, the ambient light illumination or the reflectivity and the like can be adjusted, and the sampling process is repeated to obtain multiple groups of calibration data. It can be understood that only one of the influencing parameters may be adjusted, or multiple parameters may be adjusted at the same time, the size of the parameter may be randomly adjusted by using a mode for generating a random number, or the size of the parameter may be adjusted according to a certain rule, for example, according to an adjustment mode from small to large or from large to small, and a specific adjustment mode is not limited in this application.
S105: and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
The equipment constructs a fitting function according to historical ambient light data, historical sampling signal data and distance measurement relative precision, a common fitting method is a least square curve fitting method, a polynomial can be fitted in MATLAB through polyfit, and a preset relative precision calculation rule can be obtained after the fitting function is obtained.
The method comprises the steps of obtaining the electric charge amount corresponding to an optical signal reflected by an object to be detected; determining ambient light data and sampling signal data from the amount of charge; and calculating the relative precision of the single frame in real time according to the ambient light data, the sampling signal data and a preset relative precision calculation rule, and shielding the distance value if the relative precision exceeds a preset precision threshold value. Therefore, performance judgment and elimination of the ranging result can be carried out in real time, and only 3D points with small noise are reserved in the output depth data, so that the overall 3D point cloud effect is improved.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a device for determining relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention. The included units are used for executing steps in the embodiments corresponding to fig. 2 and fig. 3, and refer to the related description in the embodiments corresponding to fig. 2 and fig. 3. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 4, the apparatus 4 for determining the relative accuracy of the ranging system includes:
a first obtaining unit 410, configured to obtain an amount of charge corresponding to an optical signal reflected by an object to be measured;
a first processing unit 420 for calculating ambient light data and sampling signal data according to the amount of charge;
and a second processing unit 430, configured to calculate the relative accuracy according to the ambient light data, the sampled signal data, and a preset relative accuracy calculation rule.
Further, the second processing unit 430 is specifically configured to:
calculating the resolution according to the ambient light data, the sampling signal data and a preset resolution calculation rule;
and calculating the relative precision of the ranging system according to the resolution.
Further, the second processing unit 430 is specifically configured to:
and calculating the relative precision of the ranging system according to the resolution and a preset triple standard deviation law.
Further, still include:
the second acquisition unit is used for acquiring historical ambient light data, historical sampling signal data and the relative distance measurement precision corresponding to the historical ambient light data and the historical sampling signal data;
and the third processing unit is used for constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
Further, still include:
the third acquisition unit is used for acquiring a target distance measurement value, a target actual distance value and a target distance measurement average value;
and the fourth processing unit is used for calculating the relative precision of distance measurement according to the target distance measurement value, the target actual distance value and the target distance measurement average value.
Further, the second processing unit 430 is specifically configured to:
fitting the electric charge quantity to obtain a sine wave fitting curve corresponding to the optical signal;
and determining the ambient light data and the sampling signal data according to the sine wave fitting curve.
Referring to fig. 5, fig. 5 is a schematic diagram of a device for determining relative accuracy of an ITOF ranging system according to an exemplary embodiment of the present invention. As shown in fig. 5, the determining apparatus 5 of the relative accuracy of the ITOF ranging system of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50, such as a program for determining the relative accuracy of a ranging system. The processor 50, when executing the computer program 52, implements the steps in the above-described embodiments of the method for determining the relative accuracy of the ITOF ranging system, such as the steps S101 to S103 shown in fig. 2. Alternatively, the processor 50, when executing the computer program 52, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 410 to 430 shown in fig. 4.
Illustratively, the computer program 52 may be partitioned into one or more modules/units, which are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program 52 in the determining device 5 of the relative accuracy of the ITOF ranging system. For example, the computer program 52 may be divided into a first acquisition module, a first processing module, and a second processing module, each functioning as:
the first acquisition module is used for acquiring the electric charge amount corresponding to the optical signal reflected by the object to be detected;
a first processing module for calculating ambient light data and sampled signal data from the amount of charge;
and the second processing module is used for calculating the relative precision according to the ambient light data, the sampling signal data and a preset relative precision calculation rule.
The relative accuracy determining apparatus 5 of the ITOF ranging system may include, but is not limited to, a processor 50 and a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of the determining device 5 of the relative accuracy of the ITOF ranging system, and does not constitute a limitation of the determining device 5 of the relative accuracy of the ITOF ranging system, and may include more or less components than those shown, or combine some components, or different components, for example, the determining device 5 of the relative accuracy of the ITOF ranging system may further include an input-output device, a network access device, a bus, etc.
The Processor 50 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 51 may be an internal storage unit of the determining apparatus 5 for the relative accuracy of the ITOF ranging system, such as a hard disk or a memory of the determining apparatus 5 for the relative accuracy of the ranging system. The memory 51 may also be an external storage device of the determining device 5 for determining the relative accuracy of the ITOF ranging system, for example, 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 determining device 5 for determining the relative accuracy of the ITOF ranging system. Further, the memory 51 may also include both an internal memory unit of the determining device 5 of the relative accuracy of the ITOF ranging system and an external memory device. The memory 51 is used for storing the computer program and other programs and data needed by the determining device of the relative accuracy of the ITOF ranging system. The memory 51 may also be used to temporarily store data that has been output or is to be output.
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. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.
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 invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are only illustrative, and for example, the division of the modules or units is only one type of logical function division, and other division manners may be available in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. 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 position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated module/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 flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. 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: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, read-Only Memory (ROM), random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice. The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (10)
1. An ITOF ranging system, comprising: the system comprises a transmitter, a collector and a processing circuit;
the transmitter configured to transmit a signal beam;
the collector is configured to collect a reflected light signal reflected back by an object;
the processing circuit is connected with the emitter and the collector and used for acquiring the electric charge amount corresponding to the optical signal reflected by the object to be detected, determining environment light data and sampling signal data according to the electric charge amount, and calculating relative precision according to the environment light data, the sampling signal data and a preset relative precision calculation rule;
wherein the preset relative precision calculation rule is obtained according to the following steps:
obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data;
and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
2. The range finding system of claim 1, wherein the processing circuit is further configured to calculate a distance value of the object to be measured, determine whether the relative accuracy of the distance value exceeds a preset relative accuracy threshold, and mask the distance value if the relative accuracy exceeds the preset relative accuracy threshold.
3. The ITOF ranging system according to claim 1 or 2, wherein the predetermined relative accuracy calculation rule is a function model, the function model being:
wherein, C s Sampling the signal data; c n Is ambient light data; a, b, c and d are all parameters; and R is relative precision.
4. A method for determining relative accuracy of an ITOF ranging system is characterized by comprising the following steps:
acquiring the electric charge quantity corresponding to the optical signal reflected by the object to be detected;
calculating ambient light data and sampling signal data from the amount of charge;
calculating relative precision according to the environment light data, the sampling signal data and a preset relative precision calculation rule;
wherein the preset relative accuracy calculation rule is obtained according to the following steps:
obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data;
and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
5. The ITOF ranging system relative accuracy determining method of claim 4, wherein the predetermined relative accuracy calculation rule is a function model, and the function model is:
wherein, C s Sampling the signal data; c n Is ambient light data; a, b, c and d are all parameters; and R is relative precision.
6. The method of determining the relative accuracy of an ITOF ranging system of claim 4, further comprising:
calculating the resolution according to the ambient light data, the sampling signal data and a preset resolution calculation rule;
and calculating the relative precision of the ranging system according to the resolution.
7. The method for determining the relative accuracy of the ITOF ranging system according to claim 4, wherein obtaining the relative accuracy of the range corresponding to the historical ambient light data and the historical sampled signal data comprises:
obtaining a target distance measurement value, a target actual distance value and a target distance measurement average value;
and calculating the relative precision of distance measurement according to the target distance measurement value, the target actual distance value and the target distance measurement average value.
8. The method of determining the relative accuracy of an ITOF ranging system of claim 4, wherein said calculating ambient light data and sampled signal data based on said amount of charge comprises:
fitting the electric charge quantity to obtain a sine wave fitting curve corresponding to the optical signal;
and determining the ambient light data and the sampling signal data according to the sine wave fitting curve.
9. An apparatus for determining relative accuracy of an ITOF ranging system, comprising:
the first acquisition unit is used for acquiring the electric charge amount corresponding to the optical signal reflected by the object to be measured;
a first processing unit for calculating ambient light data and sampling signal data from the amount of charge;
the second processing unit is used for calculating the relative precision according to the ambient light data, the sampling signal data and a preset relative precision calculation rule;
wherein the preset relative precision calculation rule is obtained according to the following steps:
obtaining historical ambient light data, historical sampling signal data and distance measurement relative precision corresponding to the historical ambient light data and the historical sampling signal data;
and constructing a fitting function according to the historical ambient light data, the historical sampling signal data and the distance measurement relative precision to obtain a preset relative precision calculation rule.
10. An ITOF ranging system relative accuracy determining apparatus comprising a memory, a processor and a computer program stored in said memory and executable on said processor, wherein said processor when executing said computer program implements a method of determining the relative accuracy of an ITOF ranging system as claimed in any one of claims 4 to 8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110768215.8A CN115657052A (en) | 2021-07-07 | 2021-07-07 | ITOF ranging system and method, device and equipment for determining relative precision of ITOF ranging system |
| PCT/CN2021/130120 WO2023279620A1 (en) | 2021-07-07 | 2021-11-11 | Itof ranging system, and method, apparatus, and device for determining relative accuracy thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110768215.8A CN115657052A (en) | 2021-07-07 | 2021-07-07 | ITOF ranging system and method, device and equipment for determining relative precision of ITOF ranging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115657052A true CN115657052A (en) | 2023-01-31 |
Family
ID=84801261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110768215.8A Pending CN115657052A (en) | 2021-07-07 | 2021-07-07 | ITOF ranging system and method, device and equipment for determining relative precision of ITOF ranging system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115657052A (en) |
| WO (1) | WO2023279620A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117161413B (en) * | 2023-11-02 | 2024-03-15 | 成都飞机工业（集团）有限责任公司 | Device and method for repairing 3D printing defects in real time |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6773724B2 (en) * | 2018-06-13 | 2020-10-21 | ファナック株式会社 | Distance measuring device that outputs accuracy information |
| JP2020173128A (en) * | 2019-04-09 | 2020-10-22 | ソニーセミコンダクタソリューションズ株式会社 | Ranging sensor, signal processing method, and ranging module |
| CN109975793B (en) * | 2019-04-25 | 2021-03-12 | 苏州玖物互通智能科技有限公司 | Calibration method of laser two-dimensional distance measurement sensor |
| CN110673153A (en) * | 2019-10-29 | 2020-01-10 | 炬佑智能科技(苏州)有限公司 | Time-of-flight sensor and distance measuring method thereof |
| CN111882616B (en) * | 2020-09-28 | 2021-06-18 | 李斯特技术中心（上海）有限公司 | Method, device and system for correcting target detection result, electronic equipment and storage medium |
| CN112532970B (en) * | 2020-10-26 | 2022-03-04 | 奥比中光科技集团股份有限公司 | Tap non-uniformity correction method and device of multi-tap pixel sensor and TOF camera |
-
2021
- 2021-07-07 CN CN202110768215.8A patent/CN115657052A/en active Pending
- 2021-11-11 WO PCT/CN2021/130120 patent/WO2023279620A1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023279620A1 (en) | 2023-01-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| WO2021008209A1 (en) | Depth measurement apparatus and distance measurement method | |
| CN110187355B (en) | Distance measurement method and depth camera | |
| CN100461216C (en) | Techniques for modifying image field data | |
| CN111045029B (en) | Fused depth measuring device and measuring method | |
| KR20170134502A (en) | Depth imaging device, method and application | |
| CN113533256B (en) | Method, device and equipment for determining spectral reflectivity | |
| CN103379294B (en) | Image processing equipment, the picture pick-up device with this equipment and image processing method | |
| CN111708039A (en) | Depth measuring device and method and electronic equipment | |
| CN112114324A (en) | Distance measuring method and device, terminal equipment and storage medium | |
| CN109788216A (en) | For the anti-interference method of TOF, device and TOF sensor chip | |
| CN113034567A (en) | Depth truth value acquisition method, device and system and depth camera | |
| CN115657052A (en) | ITOF ranging system and method, device and equipment for determining relative precision of ITOF ranging system | |
| CN104089607A (en) | Normal case photography forest metrology method through common digital camera | |
| WO2022241942A1 (en) | Depth camera and depth calculation method | |
| CN113409379B (en) | Method, device and equipment for determining spectral reflectivity | |
| CN113406654B (en) | ITOF (integrated digital imaging and optical imaging) distance measuring system and method for calculating reflectivity of measured object | |
| CN113052890A (en) | Depth truth value acquisition method, device and system and depth camera | |
| CN106405566A (en) | High-measurement-precision laser radar distance measurement method | |
| CN115131215A (en) | Image correction method and screen-off system | |
| CN113504542B (en) | Distance measuring system and method, device and equipment for calculating reflectivity of measured object | |
| CN113514842A (en) | Distance measuring method, system and device | |
| CN105717502A (en) | High speed laser distance measuring device based on linear array CCD and method | |
| CN110426729A (en) | Single event bearing calibration, image rebuilding method, device and computer storage medium | |
| CN115657056A (en) | Distance measurement system and method, device and equipment for determining relative precision of distance measurement system | |
| CN111311690B (en) | Calibration method and device of depth camera, terminal and computer storage medium |
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 |