FR3103301B1 - Procédé de détection de pics d’intensité de faisceau lumineux réfléchi de manière spéculaire - Google Patents

Procédé de détection de pics d’intensité de faisceau lumineux réfléchi de manière spéculaire Download PDF

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Publication number
FR3103301B1
FR3103301B1 FR1912866A FR1912866A FR3103301B1 FR 3103301 B1 FR3103301 B1 FR 3103301B1 FR 1912866 A FR1912866 A FR 1912866A FR 1912866 A FR1912866 A FR 1912866A FR 3103301 B1 FR3103301 B1 FR 3103301B1
Authority
FR
France
Prior art keywords
light beam
intensity
vector
reflected light
specularly reflected
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.)
Active
Application number
FR1912866A
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English (en)
Other versions
FR3103301A1 (fr
Inventor
Boris Lugez
Thomas Meneyrol
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.)
Continental Autonomous Mobility Germany GmbH
Original Assignee
Continental Automotive France SAS
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 Continental Automotive France SAS filed Critical Continental Automotive France SAS
Priority to FR1912866A priority Critical patent/FR3103301B1/fr
Priority to US17/767,630 priority patent/US11815626B2/en
Priority to PCT/EP2020/082549 priority patent/WO2021099395A1/fr
Publication of FR3103301A1 publication Critical patent/FR3103301A1/fr
Application granted granted Critical
Publication of FR3103301B1 publication Critical patent/FR3103301B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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
    • 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
    • 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
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G01S7/4876—Extracting wanted echo signals, e.g. pulse detection by removing unwanted signals
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • 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
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Signal Processing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Photometry And Measurement Of Optical Pulse Characteristics (AREA)

Abstract

La présente invention concerne un procédé d’identification d’au moins un pic d’intensité de faisceau lumineux réfléchi de manière spéculaire comprenant : a. une étape (E1) de détection d’au moins un pic d’intensité de faisceau lumineux présent dans une première image prise à l’instant t ; b. une étape (E2) de calcul d’un vecteur normal (N) à une surface en chaque point de la première image associé à un pic d’intensité détecté à l’étape (E1) ; c. une étape (E3) de calcul d’un vecteur (L) de la direction du faisceau lumineux incident en chaque point de la première image prise à l’instant (t) associé à un pic d’intensité détecté à l’étape (E1) ; d. une étape (E4) de détermination de la colinéarité entre le vecteur normal (N) et le vecteur (L) de la direction du faisceau lumineux incident afin d’identifier un pic d’intensité de faisceau lumineux réfléchi de manière spéculaire. Figure pour abrégé : Figure 3
FR1912866A 2019-11-19 2019-11-19 Procédé de détection de pics d’intensité de faisceau lumineux réfléchi de manière spéculaire Active FR3103301B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
FR1912866A FR3103301B1 (fr) 2019-11-19 2019-11-19 Procédé de détection de pics d’intensité de faisceau lumineux réfléchi de manière spéculaire
US17/767,630 US11815626B2 (en) 2019-11-19 2020-11-18 Method for detecting intensity peaks of a specularly reflected light beam
PCT/EP2020/082549 WO2021099395A1 (fr) 2019-11-19 2020-11-18 Procédé de détection de pics d'intensité de faisceau lumineux réfléchi de manière spéculaire

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1912866A FR3103301B1 (fr) 2019-11-19 2019-11-19 Procédé de détection de pics d’intensité de faisceau lumineux réfléchi de manière spéculaire
FR1912866 2019-11-19

Publications (2)

Publication Number Publication Date
FR3103301A1 FR3103301A1 (fr) 2021-05-21
FR3103301B1 true FR3103301B1 (fr) 2021-12-03

Family

ID=70978006

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1912866A Active FR3103301B1 (fr) 2019-11-19 2019-11-19 Procédé de détection de pics d’intensité de faisceau lumineux réfléchi de manière spéculaire

Country Status (3)

Country Link
US (1) US11815626B2 (fr)
FR (1) FR3103301B1 (fr)
WO (1) WO2021099395A1 (fr)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5003166A (en) * 1989-11-07 1991-03-26 Massachusetts Institute Of Technology Multidimensional range mapping with pattern projection and cross correlation
DE4304344A1 (de) * 1993-02-13 1994-08-18 Leuze Electronic Gmbh & Co Verfahren zum Eliminieren des spiegelnden Anteils einer von einem Objekt reflektierten Lichtstrahlung
JP2004239886A (ja) * 2002-12-11 2004-08-26 Fuji Xerox Co Ltd 三次元画像撮像装置および方法
US6987257B2 (en) * 2003-01-28 2006-01-17 Honeywell International Inc. Attitude determination system and method
US20070268366A1 (en) * 2006-05-17 2007-11-22 Ramesh Raskar System and method for sensing geometric and photometric attributes of a scene with multiplexed illumination and solid state optical devices
JP4999763B2 (ja) * 2007-07-31 2012-08-15 パナソニック株式会社 撮像装置、撮像方法、プログラム、記録媒体、および集積回路
JP5647118B2 (ja) * 2008-07-29 2014-12-24 マイクロソフト インターナショナル ホールディングス ビイ．ヴイ． 撮像システム
US10302768B2 (en) * 2016-05-09 2019-05-28 Microsoft Technology Licensing, Llc Multipath signal removal in time-of-flight camera apparatus

Also Published As

Publication number Publication date
WO2021099395A1 (fr) 2021-05-27
FR3103301A1 (fr) 2021-05-21
US20230243923A1 (en) 2023-08-03
US11815626B2 (en) 2023-11-14

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