CN116615670A - 测距系统 - Google Patents

测距系统 Download PDF

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Publication number
CN116615670A
CN116615670A CN202180088417.6A CN202180088417A CN116615670A CN 116615670 A CN116615670 A CN 116615670A CN 202180088417 A CN202180088417 A CN 202180088417A CN 116615670 A CN116615670 A CN 116615670A
Authority
CN
China
Prior art keywords
ranging
processing circuit
blank area
group data
point group
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
CN202180088417.6A
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English (en)
Chinese (zh)
Inventor
加藤弓子
松延徹
稻田安寿
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.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Intellectual Property Management 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 Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Publication of CN116615670A publication Critical patent/CN116615670A/zh
Pending legal-status Critical Current

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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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [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
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • 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
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/564—Depth or shape recovery from multiple images from contours
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/593—Depth or shape recovery from multiple images from stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
CN202180088417.6A 2021-01-13 2021-11-09 测距系统 Pending CN116615670A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2021003203 2021-01-13
JP2021-003203 2021-01-13
PCT/JP2021/041251 WO2022153653A1 (ja) 2021-01-13 2021-11-09 測距システム

Publications (1)

Publication Number Publication Date
CN116615670A true CN116615670A (zh) 2023-08-18

Family

ID=82447137

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180088417.6A Pending CN116615670A (zh) 2021-01-13 2021-11-09 测距系统

Country Status (5)

Country Link
US (1) US20230341558A1 (https=)
EP (1) EP4279957A4 (https=)
JP (1) JPWO2022153653A1 (https=)
CN (1) CN116615670A (https=)
WO (1) WO2022153653A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118602986A (zh) * 2024-08-07 2024-09-06 成都航宇汇智科技有限公司 一种三维表面轮廓测量方法

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KR102847126B1 (ko) * 2021-01-18 2025-08-14 가부시키가이샤 신가와 위치 제어 장치, 위치 제어 방법, 위치 제어 프로그램을 저장한 기록 매체 및 본딩 장치
CN115457133B (zh) * 2022-09-16 2025-12-23 长春工程学院 一种基于外形框架优先的三维点云数据存储方法
JP7762431B2 (ja) * 2022-09-30 2025-10-30 Ｄｏｌｐｈｉｎ株式会社 物体検出システム、物体検出方法及びプログラム
JP2024095068A (ja) * 2022-12-28 2024-07-10 日立Astemo株式会社 車載処理装置及び物体認識方法
US20240371035A1 (en) * 2023-05-01 2024-11-07 Qualcomm Incorporated Camera and lidar cross-sensor calibration
CN117036464B (zh) * 2023-07-27 2025-12-02 浙江工业大学 基于实例分割技术的单目视觉引导agv避障测距方法和装置
GB2640277A (en) * 2024-04-10 2025-10-15 V Nova Int Ltd Determining a location of a point
GB2637804A (en) * 2024-04-10 2025-08-06 V Nova Int Ltd Determining a point of a three-dimensional representation of a scene

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JP5057734B2 (ja) * 2006-09-25 2012-10-24 株式会社トプコン 測量方法及び測量システム及び測量データ処理プログラム
US9322646B2 (en) * 2010-04-09 2016-04-26 The Trustees Of The Stevens Institute Of Technology Adaptive mechanism control and scanner positioning for improved three-dimensional laser scanning
JP5462093B2 (ja) * 2010-07-05 2014-04-02 株式会社トプコン 点群データ処理装置、点群データ処理システム、点群データ処理方法、および点群データ処理プログラム
IE86364B1 (en) * 2012-06-11 2014-03-26 Actionphoto Internat As Closed loop 3D video scanner for generation of textured 3D point cloud
JP2018124271A (ja) 2017-01-31 2018-08-09 パナソニックＩｐマネジメント株式会社 撮像システム
JP7058277B2 (ja) * 2017-09-26 2022-04-21 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ 再構成方法および再構成装置
US11194994B2 (en) * 2017-12-20 2021-12-07 X Development Llc Semantic zone separation for map generation
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118602986A (zh) * 2024-08-07 2024-09-06 成都航宇汇智科技有限公司 一种三维表面轮廓测量方法

Also Published As

Publication number Publication date
EP4279957A4 (en) 2024-06-19
US20230341558A1 (en) 2023-10-26
EP4279957A1 (en) 2023-11-22
WO2022153653A1 (ja) 2022-07-21
JPWO2022153653A1 (https=) 2022-07-21

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