DK2359593T3 - Systemer og fremgangsmåder til tredimensionel billeddannelse med høj opløsning - Google Patents

Systemer og fremgangsmåder til tredimensionel billeddannelse med høj opløsning Download PDF

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Publication number
DK2359593T3
DK2359593T3 DK09832369.4T DK09832369T DK2359593T3 DK 2359593 T3 DK2359593 T3 DK 2359593T3 DK 09832369 T DK09832369 T DK 09832369T DK 2359593 T3 DK2359593 T3 DK 2359593T3
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Denmark
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image
light pulse
light
scene
images
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DK09832369.4T
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English (en)
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Paul S Banks
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Tetravue Inc
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
    • 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
    • G01S17/88—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
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • 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
    • G01S7/484—Transmitters
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/296—Synchronisation thereof; Control thereof

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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)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Studio Devices (AREA)
  • Measurement Of Optical Distance (AREA)
  • Optical Modulation, Optical Deflection, Nonlinear Optics, Optical Demodulation, Optical Logic Elements (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Stereoscopic And Panoramic Photography (AREA)

Claims (14)

1. Tredimensionelt billeddannelsessystem (500), omfattende: et belysnings-undersystem (510) omfattende en transmissionslinse (512), hvor belysnings-undersystemet er indrettet til at udsende en lysimpuls med en divergens, der er tilstrækkelig til at bestråle en scene; et sensor-undersystem (520) omfattende: en modtagelinse (521), der har et synsfelt og er indrettet til at optage en del af den lysimpuls, der reflekteres eller spredes af scenen, hvor modtagelinsen er forbundet med og reagerer på en styreenhed, hvor styreenheden er indrettet til at justere modtagelinsens synsfelt delvist på basis af den lysimpuls, der overføres af transmissionslinsen (512); en modulator (524), der er indrettet til at modulere, som en tidsfunktion, en intensitet af delen af den modtagne lysimpuls for at danne en moduleret modtaget lysimpulsdel; og mindst et billeddannelsessensorarray (528, 529), der er indrettet til at generere et første billede som reaktion på den modtagne lysimpulsdel og et andet billede som reaktion på den modulerede modtagne lysimpulsdel; og et processor-undersystem (540), der er indrettet til at tilvejebringe et tredimensionelt billede på basis af pixel intensiteter af det første og andet billede, hvor mindst et af det første og andet billede indeholder et område med maksimal intensitet, hvor billeddannelsessensorarrayet har en mætningsgrænse, og hvor systemet er indrettet til at forbedre et dynamisk område af det tredimen-sionelle billede ved at forøge en energi af lysimpulsen, således at området med maksimal intensitet ligger over mætningsgrænsen for billeddannelsessensorarrayet.
2. System ifølge krav 1, hvor det mindst ene billeddannelsessensorarray omfatter et første og et andet særskilt array af lyssensorer.
3. System ifølge krav 1, hvor det mindst ene billeddannelsessensorarray omfatter et enkelt array af lyssensorer.
4. System ifølge krav 1, hvor divergensen er mellem 1 og 180 grader.
5. System ifølge krav 1, hvor divergensen er mellem 5 og 40 grader.
6. System ifølge krav 1, hvor belysnings-undersystemet omfatter en laser med lav kohærens (511), der er indrettet til at generere lysimpulser, der indeholder et tilstrækkeligt antal af rumlige modi for at frembringe et ensartet rumligt profil.
7. System ifølge krav 1, hvor lysimpulsen indeholder en bølgelængde på mellem 1400 nm og 2500 nm.
8. System ifølge krav 1, hvor modulatoren omfatter en Pockels-celle.
9. System ifølge krav 1, hvor processor-undersystemet omfatter en styreenhed (541), der er indrettet til at sende et kontrolsignal til modulatoren, hvor modulatoren er indrettet til at modulere lysimpulsdelen monotont som en funktion af tid som reaktion på kontrolsignalet.
10. System ifølge krav 1, hvor det mindst ene billeddannelsessensorarray omfatter mindst et FPA (Focal Plane Array), der omfatter en flerhed af pixels, og yderligere omfattende et filter med en flerhed af områder, hvor hvert område er placeret foran en pixel og er indrettet til at svække lys, der transmitteres til denne pixel, på en forudbestemt måde.
11. System ifølge krav 1, hvor sensor-undersystemet yderligere omfatter et bredbånds- eller multibånds-billeddannelsessystem, hvor billeddannelses-undersystemet omfatter: en billedsensor (532), der er indrettet til at tilvejebringe et bredbånds- eller multibåndsbillede af scenen; og en optik (531), der er indrettet til at dirigere en del af det modtagne lys til bil-ledsensoren.
12. System ifølge krav 1, hvor processor-undersystemet er indrettet til: at anvise belysnings-undersystemet til at udsende en flerhed af lysimpulser; at justere en timing af modulatoren, således at moduleringen begynder på et forskelligt tidspunkt for hver lysimpuls fra flerheden af lysimpulser; at tilvejebringe en flerhed af tredimensionelle billeder svarende til hver lysimpuls fra flerheden af lysimpulser; og at tilvejebringe et forbedret tredimensionelt billede på basis af flerheden af tre-dimensionelle billeder, hvor det forbedrede tredimensionelle billede svarer til et større afstandsvindue end et afstandsvindue for et hvilket som helst fra flerheden af tredimensionelle billeder.
13. Fremgangsmåde til tredimensionel billeddannelse, omfattende: at justere et synsfelt (FOV) af en modtagelinse i et sensor-undersystem (520) delvist på basis af en forudbestemt divergens af en lysimpuls, der skal overføres af en transmissionslinse (512), hvor den forudbestemte divergens af lysimpulsen er tilstrækkelig til at bestråle en scene; at udsende lysimpulsen fra et belysnings-undersystem (510) omfattende transmissionslinsen; at modtage, ved modtagelinsen, en del af den lysimpuls, der reflekteres eller spredes af scenen; at modulere, med en modulator, den modtagne lysimpulsdel som en tidsfunktion for at danne en moduleret modtaget lysimpulsdel; og at generere et første billede svarende til den modtagne lysimpulsdel; at generere et andet billede svarende til den modulerede modtagne lysimpulsdel; og at tilvejebringe et tredimensionelt billede af scenen på basis af pixelintensiteter af det første og andet billede, hvor mindst et af det første og det andet billede indeholder et område med maksimal intensitet, hvor billeddannelsessensor-arrayet anvendes for at generere det første og det andet billede, og hvor bil-leddannelsessensorarrayet har en mætningsgrænse, og at forbedre et dynamisk område af det tredimensionelle billede ved at forøge en energi af lysimpulsen, således at området med maksimal intensitet ligger over mætningsgrænsen for billeddannelsessensorarrayet.
14. Fremgangsmåde ifølge krav 13, hvor genereringen af det første billede omfatter at tilføje det andet billede til et tredje billede.
DK09832369.4T 2008-11-25 2009-11-25 Systemer og fremgangsmåder til tredimensionel billeddannelse med høj opløsning DK2359593T3 (da)

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US11778808P 2008-11-25 2008-11-25
US12109608P 2008-12-09 2008-12-09
US16641309P 2009-04-03 2009-04-03
PCT/US2009/065940 WO2010068499A1 (en) 2008-11-25 2009-11-25 Systems and methods of high resolution three-dimensional imaging

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US (6) US8471895B2 (da)
EP (2) EP3396416A1 (da)
JP (4) JP5485288B2 (da)
CN (1) CN102292980B (da)
DK (1) DK2359593T3 (da)
HU (1) HUE039300T2 (da)
WO (1) WO2010068499A1 (da)

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