FR2998666B1 - Procede de production d'images avec information de profondeur et capteur d'image - Google Patents

Procede de production d'images avec information de profondeur et capteur d'image Download PDF

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Publication number
FR2998666B1
FR2998666B1 FR1261270A FR1261270A FR2998666B1 FR 2998666 B1 FR2998666 B1 FR 2998666B1 FR 1261270 A FR1261270 A FR 1261270A FR 1261270 A FR1261270 A FR 1261270A FR 2998666 B1 FR2998666 B1 FR 2998666B1
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FR
France
Prior art keywords
distance
sensor
image
time
train
Prior art date
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Application number
FR1261270A
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English (en)
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FR2998666A1 (fr
Inventor
Pierre Fereyre
Bruno Diasparra
Vincent Prevost
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.)
Teledyne e2v Semiconductors SAS
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e2v Semiconductors SAS
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Filing date
Publication date
Priority to FR1261270A priority Critical patent/FR2998666B1/fr
Application filed by e2v Semiconductors SAS filed Critical e2v Semiconductors SAS
Priority to EP13789585.0A priority patent/EP2926162A1/fr
Priority to CA2892659A priority patent/CA2892659A1/fr
Priority to JP2015543396A priority patent/JP6320406B2/ja
Priority to PCT/EP2013/073844 priority patent/WO2014082864A1/fr
Priority to CN201380069412.4A priority patent/CN104884972A/zh
Priority to US14/647,492 priority patent/US9699442B2/en
Publication of FR2998666A1 publication Critical patent/FR2998666A1/fr
Application granted granted Critical
Publication of FR2998666B1 publication Critical patent/FR2998666B1/fr
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Classifications

    • 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
    • H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
    • 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
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • 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
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • 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
    • G01S7/483—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
    • 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
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074—Stereoscopic image analysis
    • H04N2013/0081—Depth or disparity estimation from stereoscopic image signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Studio Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Focusing (AREA)

Abstract

L'invention concerne la production d'images associant à chaque point de l'image une profondeur, c'est-à-dire une distance entre le point observé et la caméra qui produit l'image. Une source lumineuse émet N trains d'impulsions lumineuses. Pour chaque train de rang i = 1 à N, on intègre les charges pendant un court créneau temporel de durée Tint qui commence avec un décalage temporel ti par rapport à l'impulsion, ce décalage temporel représentant un temps de trajet de l'impulsion lumineuse entre la source lumineuse et le capteur après une réflexion sur un point placé à distance di du capteur. Le décalage temporel ti est le même pour toutes les impulsions lumineuses du ième train d'impulsions mais les décalages temporels ti pour les N trains sont différents les uns des autres pour correspondre à différentes distances par rapport au capteur. On accumule les charges photo générées par les impulsions d'un même train ; puis on lit la charge accumulée pour produire une image de rang i représentant les pixels situés à la distance di. L'observation d'une scène comporte la production de N images différentes grâce auxquelles on peut associer une distance à chaque pixel. Figure de l’abregé / Figure 1.
FR1261270A 2012-11-27 2012-11-27 Procede de production d'images avec information de profondeur et capteur d'image Active FR2998666B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1261270A FR2998666B1 (fr) 2012-11-27 2012-11-27 Procede de production d'images avec information de profondeur et capteur d'image
CA2892659A CA2892659A1 (fr) 2012-11-27 2013-11-14 Procede de production d'images avec information de profondeur et capteur d'image
JP2015543396A JP6320406B2 (ja) 2012-11-27 2013-11-14 深さ情報および画像センサにより画像を生成する方法
PCT/EP2013/073844 WO2014082864A1 (fr) 2012-11-27 2013-11-14 Procede de production d'images avec information de profondeur et capteur d'image
EP13789585.0A EP2926162A1 (fr) 2012-11-27 2013-11-14 Procede de production d'images avec information de profondeur et capteur d'image
CN201380069412.4A CN104884972A (zh) 2012-11-27 2013-11-14 利用深度信息和图像传感器来产生图像的方法
US14/647,492 US9699442B2 (en) 2012-11-27 2013-11-14 Method for producing images with depth information and image sensor

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1261270A FR2998666B1 (fr) 2012-11-27 2012-11-27 Procede de production d'images avec information de profondeur et capteur d'image

Publications (2)

Publication Number Publication Date
FR2998666A1 FR2998666A1 (fr) 2014-05-30
FR2998666B1 true FR2998666B1 (fr) 2022-01-07

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
FR1261270A Active FR2998666B1 (fr) 2012-11-27 2012-11-27 Procede de production d'images avec information de profondeur et capteur d'image

Country Status (7)

Country Link
US (1) US9699442B2 (fr)
EP (1) EP2926162A1 (fr)
JP (1) JP6320406B2 (fr)
CN (1) CN104884972A (fr)
CA (1) CA2892659A1 (fr)
FR (1) FR2998666B1 (fr)
WO (1) WO2014082864A1 (fr)

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Also Published As

Publication number Publication date
EP2926162A1 (fr) 2015-10-07
US20150319422A1 (en) 2015-11-05
WO2014082864A1 (fr) 2014-06-05
CN104884972A (zh) 2015-09-02
CA2892659A1 (fr) 2014-06-05
JP6320406B2 (ja) 2018-05-09
FR2998666A1 (fr) 2014-05-30
US9699442B2 (en) 2017-07-04
JP2016506492A (ja) 2016-03-03

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