CN1253636A - 远心光阑3维照相机及方法 - Google Patents

远心光阑3维照相机及方法 Download PDF

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CN1253636A
CN1253636A CN96196354A CN96196354A CN1253636A CN 1253636 A CN1253636 A CN 1253636A CN 96196354 A CN96196354 A CN 96196354A CN 96196354 A CN96196354 A CN 96196354A CN 1253636 A CN1253636 A CN 1253636A
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G·雅哈
G·I·伊丹
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3DV Systems Ltd
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    • 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
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    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
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    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • 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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    • 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
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    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
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    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
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    • G—PHYSICS
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    • 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
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Abstract

用于产生指示场景中物体的距离的图象的装置,包括:一个调制的射线源,它把射线对准场景;远心光阑光学系统,它接收由场景反射来的射线,并且将该射线水平校正;一个调制器,它调制经水平校正的射线;一个检测器,它检测由调制的水平校正射线形成的图象;一个处理器,它形成图象,该图象带有指示从该装置到物体的距离的强度值的分布,并且对应于检测图象的强度分布。

Description

远心光阑3维照相机及方法
                 发明领域与背景
本发明涉及三维照相机(camera)，更确切地说，涉及精确判定到场景中各个物体和物体各部分的距离的系统。
已经知道有各种技术用于产生场景的三维图象，即，除了指示场景中物体的横向范围，还指示了由某一参考点，例如照相机位置，到该物体或物体的一部分的相对或绝对距离的二维图象。
通常至少有三种基本技术用于产生这种图象。一种技术中，激光或类似的射线源用于向场景中的特定点发射一个脉冲。检测反射脉冲，并将所经历的时间除以2，用来估计到该点的距离。为了获得场景中不同点的距离，用此源向场景中连续的点发射一系列脉冲，以扫描场景。
然而，在另一种技术中，不是通过测量经过的时间，而是通过测量相移，来估计距离。在此，整个场景或场景的一部分也必须以一次一点的方式扫描。
在第三种技术中，也涉及扫描，用至少一个单个的射线源和相应的检测器，利用三角测量技术判定场景中特定点的距离，该检测器具有适当的光学结构，以一种与被测物体距离有关的方式作用于反射光。
以上所述的三种技术的主要缺点在于都需要逐点地，或逐线地扫描，以判定场景中各物体的距离。这种扫描极大地增加了系统的帧象周期，要求昂贵的扫描设备，必须使用快速，功能强的计算装置和复杂的编程。
因此人们普遍认为需要一种方法和系统，而且这种方法和系统能够便利地实现，此方法和系统在不需要扫描和复杂的技术能力的情况下，可以快速，容易地判定场景中各点的距离。
                        发明概要
按照本发明，提供一种远心光阑系统，用于产生指示到场景中各物体的距离的图象，该系统包括：(a)射线源，用于把源射线对准场景；(b)检测器，用于检测由场景中物体反射来的射线强度；(c)源调制器，用于调制射线源；(d)平行校正由场景中物体反射来的一部分射线的装置；(e)反射射线调制器，用于调制由场景中物体反射来的准直射线，反射射线调制器是从包括声光设备和电光设备的组中选出的；(f)源调制器控制装置，用于控制源调制器；以及(g)反射射线调制器控制装置，用于控制检测器调制器。
按照本发明的一个优选实施方案，源调制器控制装置与检测器调制器控制装置同时控制源调制器与检测器调制器。
按照以下描述的本发明优选实施方案的另一特征，源射线的调制器与反射射线的调制器分别用于交替地堵住与开启或者交替地启动与关闭源射线和反射射线。
仍按照所述优选实施方案的另一特征，射线源是可见光源，例如激光，检测器包括照相胶片或摄像机传感器，例如电荷耦合的装置(CCD)。
仍按照另一特征，该方法还包括处理由场景中物体反射来的射线强度，以判定物体的距离，在最优实施方案中，还包括将在一个相对连续的辐射与检测期间检测到的强度和在源与检测器调制期间检测到的强度比较。
仍按照本发明，提供一种方法，用于产生指示到场景中各物体的距离，该方法包括：(a)用射线源把源射线对准场景；(b)检测由场景中物体反射来的射线强度；(c)用射线源调制器调制射线源；(d)平行校正由场景中物体反射来的一部分射线；(e)调制由场景中物体反射来的平行射线，反射射线的调制由调制装置完成，该调制装置是从包括声光设备和电光设备的组中选出的；(f)控制源调制器；以及(g)控制检测器调制器。
按照另一特征，该方法还包括处理由场景中物体反射来的射线强度。
在一个优选实施方案中，处理包括将在一个相对连续的辐射与检测期间检测到的强度和在源与检测器调制期间检测到的强度比较。
本发明通过提供一处不需昂贵而且耗时的场景扫描就可以快速容易地判定场景中各部分的距离的方法和系统，从而成功地解决了现在所知的构造的缺点。
                     附图简述
在此，发明仅以示例形式，参考附图描述，其中：
图1A所示为按照本发明的系统和方法的一种可能构造。
图1B所示为按照本发明的系统和方法的第二种可能构造。
图2所示为可能用于本发明的系统和方法的典型的调制方案。
图3所示为可能采用的另一种调制方案。
图4所示为可用于增强按照本发明的系统和方法的精度的另一种调制方案。
                    优选方案的描述
本发明是一种可用于判定场景，尤其是相当近的场景的各部分的距离的系统和方法。
按照本发明的系统和方法的原理与操作，参考附图描述，可能能更好地理解。
现参考附图，图1A和图1B所示为按照本发明的系统的两个示例性构造。
参考图1A的系统，射线源10把射线对准所观测的场景11。为示例起见，图示的场景包括一个三维物体，在此参考物体各部分，相对远和近分别用“A”和“B”表示。所用射线可以是任何适当的射线，它对所测距离来说有适当的波长，还具有其他适当的特性，这一点从后面的讨论中会更清楚。对大部分应用，射线是可见的或红外射线，例如激光射线或频闪光。
系统还包括检测器12，用于检测由场景中的物体反射来的射线强度。被测射线是源射线中照射到场景中的物体上，并且反射回检测器12的那部分射线。所用检测器可以是任何适当的检测器，它具有适当的分辨率和适当的灰度等级，该检测器包括但不限于照相胶片照相机，电子照相机和摄像机，例如CCD照相机。
系统包括射线源调制器，图示标号为16，用于调制射线源10或源射线。系统还包括检测器调制器18，用于调制送往检测器12的反射射线。
在此所用的“调制”，旨在包括操作等级的任何变化，或者射线源10或源射线与/或反射射线的任何操作参数，还包括但不限于射线源10或源射线与检测器12或反射射线交替地堵住或开启以及交替地启动或关闭。
各种装置可用于调制射线源10或源射线与反射射线。例如，可用一个适当的光阑17或类似元件周期性地堵住源射线。
可用于调制射线源10的其他装置包括各种高频电子调制装置，用于周期性地关闭射线源10与/或检测器12。图1所示的源调制器16是用于解释用电子学方法启动和关闭射线源10的有关概念。
可以设想各种用于调制检测器12的装置，包括类似于上述的调制射线源10的装置。最好反射射线借助于各种电光调制器来调制，例如KDP(KH2PO4)或其他任何具有调制或转换光的能力的电光晶体，或具有快速精确调制能力或者最好有选通能力的铌酸锂与液晶。
注意，当在说明书或权利要求中涉及射线源调制器或者射线源的调制时，应理解为涉及射线源本身的调制与/或源射线的调制。
按照本发明的系统包括微型光阑40，由物体11反射来的一些射线可以通过它。通过光阑40的射线然后再用至少一个平行校正的物体透镜42进行平行校正。光阑40基本上位于平行校正物体透镜42的焦点上。
平行的射线然后通过一个适当的声光装置或电光晶体，例如KDP18，它用于调制或选通装置。
从KDP18出来的调制射线通过至少一个图象透镜44，该透镜将调制射线通过出口光阑46，该光阑基本上位于图象透镜44的焦点上。通过出口光阑46的射线然后照射到适当的检测器，例如CCD传感器12上。
最后，按照本发明的系统包括控制源调制器16和检测器调制器18的机构。最好用于控制源调制器16和检测器调制器18的机构以协调方式运行，或者，更好一些，采用同一机构20，以便于同时控制源调制器16和检测器调制器18。
同时控制可能是同步的，以便于射线源10和检测器12的操作以相同方式在同一时间，即同步地完成。然而，同时控制不限于这种同步控制，许多其他的控制也是可能的。例如，不以任何方式限制本发明的范围，在堵住和开启控制的情况下，在每个周期内射线源10和检测器12打开的持续时间可以不同，与/或在每个周期内检测器12的开启可以滞后于射线源10的开启。
按照本发明的系统还包括一个适当的处理器22，它分析由检测器12检测到的射线强度，并且判定与被测场景中各物体及物体各部分的距离。处理器22的操作在后面有详细解释。
按照本发明的系统的一种变化在图1B中描述。图1B的结构与图1A有若干不同，其主要之处在于图1B中源和反射射线的调制由KDP18完成。图1B的构造的这一特点决定了系统构造的一些变化。因此，射线源10现由侧边输入到KDP18。束分离器50用于将源射线中的重要部分折射到物体11，并且能使从物体11来的反射射线在到达CCD传感器12的途中，通过KDP18。控制KDP18的调制的机构20′也做了修改，因为只有一个装置需要调制，而不是象图1A的构造中两个分开的装置需同步控制。
在操作中，按照本发明的典型系统，它用激光作射线源，用CCD传感器作检测器，利用同步切换来调制源和检测器，该系统以如下方式操作。射线源(例如激光)10或源射线被调制，KDP18以与源射线调制同步的方式调制通过它的反射射线。在图1B的构造中，KDP18既调制源射线，又调制反射射线。
一类方波调制如图2所示，符号“CCD”用于表示反射射线通过KDP18时的调制。因此，在每个周期，激光10和反射射线都是在时间段“a”上是激活的，在时间段“b”上是关闭的。时间段“a”和“b”可以是相等的或不相等的。选择激光10的波长及时间段“a”，以便于从激光10发出的光能够到达所感兴趣的最远物体，并且能够反射回CCD12。
时间段“a”的选取以一个简单例子说明。假设图1A和1B中被测场景到源或检测器的最大距离大约为50米，即物体A和B离检测器和源的距离都在50米以内，从源出发的光到达最远物体，再返回检测器，在穿过100米的距离所花时间为0.33微秒。因此，时间段“a”应大约为0.33微秒。
按照本发明的系统和方法基于这种思想，即在每个周期内，近物体把光反射到检测器持续的时间比远物体要长。在每个周期内，被检测的反射光持续时间的不同，在检测器上就转化为不同的强度或灰度等级。因此，例如，如果假定物体B上的某一点到源与/或检测器的距离为几米，物体A上的一点要比物体B上的远一点。那么从B上的点反射的光在检测周期的激活部分(见图2)到达检测器的时间相对早一些，并且检测器连续接收此光，直到在检测周期的激活部分结束时检测器被关闭。由B上的点反射的光在时间“a”连续地到达检测器，该时间“a”对应于辐射时间(见图2上的点划线)。但是这些反射射线当处于检测器被关闭或堵住的时间之外的部分是不会被检测器接收到的，也不会对由检测器相应的像素表示的强度有影响。
相比较而言，从物体A上的点反射的光在检测周期的激活部分到达检测器要迟一些，而也将连续地被检测器接收，直到检测器关闭。
结果，从物体B上的点反射的光被接收的时间要比物体A上的点反射的光长(见图2阴影区)。检测器满足：在每个周期每个像素灰度等级的强度对应于在每个周期被该像素接收的射线的持续时间。因此，强度或灰度等级可以转换为物体上点的相对或绝对距离。
如上所述，例子中所述及图2所表示的同步开/关操作不是唯一可能的操作模式。其他调制也可以采用。例如，射线源与/或检测器可以如图3所示被谐波调制。
为了避免获得来自不感兴趣的区域的远处物体的错误信号，可能希望增加源/检测器关闭的持续时间“b”，以便于从不感兴趣的远处物体来的反射射线大部分是在检测器开闭期间到达检测器的，因此不会影响由检测器相应像素检测的强度。因而，适当选取时间段“b”可以确保只有来自希望检测区域以内的物体的反射射线在每个特殊期间内被接收，因此使强度图象的描述容易些。
很容易理想，在某一应用中，场景中各种物体的不同部分可以有不同的反射率。反射率的不同导致物体的各部分有不同的色彩、结构和角度。因此，与源/检测器距离相同的两点可能被检测为具有不同的强度。如上所述，可能导致基于强度的距离指示错误。
可能很容易对不同的被测物体或物体的不同部分的反射率做补偿。众所周知，通过检测器的像素连续接收来自场景中某一部分的射线而检测的强度与所测场景那部分的反射率成正比，与所测场景那部分与检测器之间的距离平方成反比。
很容易看出，当脉冲射线源，如上所述的那些射线源被采用时，通过检测器的像素连续接收来自场景中某一部分的射线而检测的强度与所测场景那部分的反射率成正比，而与所测场景那部分与检测器之间的距离的三次方成反比。
因此，为了补偿不同发射性的影响，可以既采用连续发射，也采用脉冲发射。这种周期的一个示例见图4。其中射线源和检测器激活的时间相同长，以为场景中的物体提供连续强度。源和检测器周期性地被关闭，并且源和检测器是脉冲式的，与参考基本实施方案描述的方式相同，采用一个或多个，最好一串脉冲。
在周期的脉冲部分，检测的使用如上所述。然而，除此而外，在周期的长激活期间，连续检测是用来校正，或归一化距离，并且补偿反射率的不同。补偿可以用任何便利的方法来完成，例如，连续期间的每个像素的强度，除以脉冲期间同一像素的强度，两者的商与由该像素所测的区域的距离成正比。
尽管本发明只提供了有限的几个实施方案，但应当理解本发明的变化、修改及其它应用也是可以的。

Claims (7)

1.用于产生指示到场景中物体的距离的图象的装置，包括：
一个调制的射线源，它把射线对准场景；
一个远心光阑光学系统，它接收由场景反射来的射线，并且将该射线准直化；
一个调制器，它调制经准直的射线；
一个检测器，它检测由调制的准直射线形成的图象；及
一个处理器，它形成图象，该图象带有指示从该装置到物体的距离的强度值的分布，它对应于检测图象的强度分布。
2.按照权利要求1的装置，其中源和检测器是瞄准的。
3.按照权利要求2的装置，其中射线源包括一个连续的射线源，它与被测的射线以同一调制器调制。
4.用于产生指示场景中物体的距离的图象的装置，包括：
一个调制的射线源，它把射线沿一条轴对准场景；
一个远心光阑光学系统，它接收由场景反射来的射线，并且将该射线沿所述轴准直；
一个调制器，它调制经准直的射线；
一个检测器，它检测由调制的准直射线形成的图象；
一个处理器，它形成图象，该图象带有指示从该装置到物体的距离的强度值的分布，并且对应于检测图象的强度分布。
5.按照以上任一权利要求的装置，包括一个聚焦透镜，它接收调制的准直射线并在检测器上聚焦。
6.按照权利要求1-4之任一个的装置，其中调制器是一个KDP调制器。
7.按照权利要求1-4之任一个的装置，其中调制器是一个声光装置。
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