JP2013528790A - 環境を光学的に走査および測定する方法 - Google Patents
環境を光学的に走査および測定する方法 Download PDFInfo
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- 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
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S7/51—Display arrangements
-
- 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
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
Abstract
Description
|z2−z1|<zcirt
が適用される。このような場合、選択画素P0は、P1とP2との間を補間する値、すなわち、輝度および必要に応じて色で充填される。同様に、Zバッファの割り当てられたフィールド要素が、z1とz2との間の補間奥行きに設定される。補間は、平面Eにおける選択画素P0の画素P1とP2とからの距離に依存する。
|z2−z1|>zcirt
が適用される場合には、P1とP2が「異なる平面上に位置する」と想定される。そして、選択画素P0は、例えば、より遠隔にある画素P1およびP2の値、すなわち、輝度および必要に応じて色で充填され、より大きい奥行きz2またはz1をもつZバッファの割り当てフィールド要素で充填される。あるいは、より小さい奥行きz1またはz2をもつ画素P1またはP2の値および奥行きが転写される。隣接画素P1、P2・・・が2つより多い場合、大部分の(平均)値、すなわち、同一平面上に位置する隣接画素P1、P2・・・の(平均)値を転写することが可能である。
12 測定ヘッド
14 ベース
16 ミラー
17 発光素子
18 照射光ビーム
20 受光ビーム
21 光検出器
22 制御および評価装置
30 ディスプレイ装置
32 グラフィックカード
34 スクリーン
C10 レーザスキャナの中心
d 距離
E 平面
O 物体
P、P0、P1、P2 画素
V 観測点
X 測定点
z0、z1、z2 奥行き
zcrit 奥行きの閾値
Claims (10)
- 環境を光学的に走査し測定する方法であって、
レーザスキャナ(10)が、
発光素子(17)を用いて、照射光ビーム(18)を照射し、
光検出器(21)を用いて、受光ビーム(20)を受け取り、反射光ビームが、前記レーザスキャナ(10)の環境中にある物体(O)から反射されるかまたは拡散され、
制御および評価装置(22)を用いて、多数の測定点(X)について、少なくとも前記物体(O)から前記レーザスキャナ(10)の中心(C10)までの距離(d)を決定し、
少なくとも複数の測定点(X)を、ディスプレイ装置(30)に表示し、
このために、前記測定点(X)を平面(E)の画素(P)に割り当て、
前記測定点(X)の前記平面(E)までの距離を各奥行き(z0、z1、z2、・・・)に割り当て、
少なくとも前記測定点(X)に割り当てられた前記画素(P)の間の画素(P)を値で充填し、
画素(P0)を選択し、前記選択画素(P0)に隣接し、より小さい奥行き(z1、z2、・・・)を有する画素(P1、P2、・・・)を検索することによって、前記充填対象の画素(P)を、奥行き(z0、z1、z2、・・・)に応じて、前記隣接画素(P1、P2、・・・)の値とその奥行き(z1、z2、・・・)に従って充填する、方法。 - 請求項1に記載の方法であって、
表示対象である各測定点(X)を、平面(E)上の前記測定点Xの投影に対応する前記画素(P)に割り当て、
前記画素(P)を、最初は割り当てられた前記測定点(X)の値で充填し、最初に充填された前記画素(P)に割り当てられる奥行き(z)を、割り当てられた前記測定点(X)の平面(E)までの距離に設定する、方法。 - 請求項1または2に記載の方法であって、すでに充填された選択画素(P0)を、変更せずに維持する、方法。
- 前述の請求項のうちいずれかに記載の方法であって、前記選択画素(P0)に対する前記隣接画素(P1、P2、・・・)を連続的に検索し、
画素(P)がまだ充填されていない場合および/またはその奥行き(z1、z2、・・・)が前記選択画素(P0)の奥行き(z0)よりも大きい場合には、その画素(P)をスキップする、方法。 - 請求項4に記載の方法であって、いずれかの検索方向において、すでに充填された隣接画素(P1)であって、その奥行き(z1)が前記選択画素(P0)の奥行き(z0)よりも小さい隣接画素(P1)が発見された場合、まだ検索が行われていない方向へ方向の変更を行う、方法。
- 前述の請求項のうちいずれかに記載の方法であって、すでに充填されかつ奥行きが前記選択画素(P0)の奥行き(z0)よりも小さい、前記選択画素(P0)の前記隣接画素(P1、P2)が発見された後、前記隣接画素(P1、P2)の奥行き(z1、z2)間の差分が、奥行きの閾値(zcrit)未満であるかを確認する、方法。
- 請求項6に記載の方法であって、発見された前記隣接画素(P1、P2)の奥行き(z1、z2)間の差分が、奥行きの閾値(zcrit)未満の場合、
前記選択画素(P0)を、前記隣接画素(P1、P2)の値の間を補間する値で充填し、
前記選択画素(P0)の奥行き(z0)を、発見された前記隣接画素(P1、P2)の奥行き(z1、z2)間を補間する前記奥行き(z)に設定する、方法。 - 請求項6または7に記載の方法であって、発見された前記隣接画素(P1、P2)の奥行き(z1、z2)間の差分が、奥行きの閾値(zcrit)未満の場合、
前記選択画素(P0)を、奥行き(z1、z2)がより大きい前記隣接画素(P1、P2)の値で充填し、
前記選択画素(P0)の奥行き(z0)を、奥行き(z1、z2)がより大きい前記隣接画素(P1、P2)の奥行き(z)に設定する、方法。 - 前述の請求項のうちいずれかに記載の方法であって、
前記選択対象の画素(P0)を、時間的に並行して選択し、
および/または、充填を少なくとも2回行う、
方法。 - 前述の請求項のうちいずれかに記載の方法を実行する装置であって、前記装置は、
レーザスキャナ(10)であって、
発光素子(17)と、
できれば回転ミラー(16)と、
光検出器(21)と、
制御および評価装置(22)と、
を備えるレーザスキャナ(10)と、
ディスプレイ装置(30)と、を有し、
前記ディスプレイ装置(30)は、前記制御および評価装置(22)とスクリーン(34)とに接続されるグラフィックカード(32)を有し、
前記グラフィックカード(32)は、画素(P0)を選択し、より小さい奥行き(z1、z2、・・・)を有する前記選択画素(P0)の隣接画素(P1、P2、・・・)を検索し、前記選択画素(P0)を前記隣接画素(P1、P2、・・・)の値およびその奥行き(z1、z2、・・・)に従って充填する役割を果たす、装置。
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DE102010020952.2 | 2010-05-10 | ||
US36281010P | 2010-07-09 | 2010-07-09 | |
US61/362,810 | 2010-07-09 | ||
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JP2013528790A true JP2013528790A (ja) | 2013-07-11 |
JP5551306B2 JP5551306B2 (ja) | 2014-07-16 |
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JP2013506520A Expired - Fee Related JP5551306B2 (ja) | 2010-05-10 | 2011-04-01 | 環境を光学的に走査および測定する方法 |
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US (4) | US9329271B2 (ja) |
JP (1) | JP5551306B2 (ja) |
CN (1) | CN102893174B (ja) |
DE (1) | DE102010020925B4 (ja) |
GB (1) | GB2493483B (ja) |
WO (1) | WO2011141100A1 (ja) |
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JP5551306B2 (ja) | 2014-07-16 |
DE102010020925B4 (de) | 2014-02-27 |
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GB2493483B (en) | 2015-01-28 |
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US9678211B2 (en) | 2017-06-13 |
CN102893174A (zh) | 2013-01-23 |
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GB2493483A (en) | 2013-02-06 |
US20140022555A1 (en) | 2014-01-23 |
DE102010020925A1 (de) | 2011-11-10 |
US9835727B2 (en) | 2017-12-05 |
CN102893174B (zh) | 2014-12-24 |
WO2011141100A1 (en) | 2011-11-17 |
GB201220971D0 (en) | 2013-01-02 |
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