JP2018136309A - Lidarシステムにより3dシーンを取得する方法及びlidarシステム - Google Patents
Lidarシステムにより3dシーンを取得する方法及びlidarシステム 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
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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
- G01S17/02—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
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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
- 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
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
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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
- 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
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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
- 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
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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
- 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
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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
- 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
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- Engineering & Computer Science (AREA)
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- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
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Abstract
Description
a) 選択されたピクセルまでの距離を決定する要素,
b) 3Dシーン内のピクセルを選択する要素,
c) (レーザー)光源。
"Performance modeling of miniaturized flash-imaging lidars for future Mars exploration missions", Alexandre Pollini, Jacques Haesler, Valentin Mitev, Joao Pereira do Carmo, Paper 66403, International Conference on Space Optics 2014。
ミラー配置の偏向(又は振れ角)の決定は、(x-y,仰角-方位角のような)空間解像度の増加を許容する。提案されるミラー配置の場合、小さな慣性に起因して、偏向(即ち、実際の値)は、設定角度サイズ(即ち、ターゲット値)に実質的に等しくされることが可能である。更にミラー配置の偏向は測定されることも可能であり、即ち、実際の値は、例えば、光学的な偏向判定又は容量性の偏向判定を行うことにより、決定されることが可能である。
2 3Dシーン
3 送信機
4 受信機
5 レーザー光源
6 ミラー配置
7 入力パルス
8 偏向デバイス
9 偏向デバイス
10 データ処理デバイス
11 照射光学系
12 マトリクス・センサー
13 表面
14 光センサー
14a 光センサー
15 感度及び時間測定デバイス
16 取得デバイス
17 光点
18 点群
19 ピクセル
20 円
21 ダイアグラム
22 曲線
23 ライン
n 数
t 時間
t(m) 平均値
α 放射角度
Claims (10)
- LIDARシステムにより3Dシーンを取得する方法であって、LIDARシステムは、送信機及び受信機に加えて、前記送信機と前記3Dシーンとの間に配置されるピボット運動可能なミラー配置を含み、前記送信機はレーザー光源として動作し、受信機は、照射光学系と、表面上に分散される光センサーとを有するマトリクス・センサーとして構成され、3Dシーンの点群のピクセルにおいて空間的に決定される方法で反射される光点は、前記送信機の光パルスと前記ミラー配置のピボット運動とにより生成され、これらの各光点から入力信号が前記光センサーにより取得され、前記光点の前記マトリクス・センサーまでの距離は、光伝搬時間の測定に基づいて決定され、
複数の光センサーを含む光点のずれた焦点の入力信号が、前記照射光学系により表示され、隣接する光センサーの前記入力信号が互いに比較されることを特徴とする方法。 - 前記3Dシーン中の個々の1つの光点の空間的な指定は、前記ミラー配置に関する前記光パルスの放射角度に基づいて決定される、ことを特徴とする請求項1に記載の方法。
- 前記放射角度は、前記ミラー配置の偏向デバイスの位置に基づいて決定される、ことを特徴とする請求項2に記載の方法。
- 複数の光センサーにより取得される個々の光点の伝搬時間の差は、互いに比較され評価される、ことを特徴とする請求項1ないし3のうちの何れか1項に記載の方法。
- 前記LIDARシステムの時間測定は、前記伝搬時間の差の比較によって補正される、ことを特徴とする請求項4に記載の方法。
- 複数の光センサーにより取得される個々の光点の光強度が互いに比較される、ことを特徴とする請求項1ないし5のうちの何れか1項に記載の方法。
- 前記光センサーの横方向の分解能とは独立して、前記光センサーの光強度から、最大光強度の中心点が決定される、ことを特徴とする請求項6に記載の方法。
- 前記光センサーのノイズは、前記光センサーに影響を及ぼす光点の光強度によって軽減される、ことを特徴とする請求項6又は7に記載の方法。
- 光パルスを放出する送信機と、前記光パルスの放射角度を取得及び設定する偏向デバイスを有するピボット運動可能なミラー配置と、マトリクス・センサーとして構成され且つ表面上で横向きに分散した複数の光センサーを有する受信機と、照射光学系とを有し、前記照射光学系は、点群のピクセルにより反射される前記光点を、焦点がずれた形式で前記マトリクス・センサーの表面に投影する、ことを特徴とする請求項1ないし8のうちの何れか1項に記載の方法を実現するLIDARシステム。
- 焦点がずれる程度は調節可能である、ことを特徴とする請求項9に記載のLIDARシステム。
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DE102016124594.1 | 2016-12-16 | ||
DE102016124594.1A DE102016124594A1 (de) | 2016-12-16 | 2016-12-16 | Verfahren zur Erfassung einer 3D-Szene mittels eines LIDAR-Systems und LIDAR-System hierzu |
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EP3736602B1 (de) * | 2019-05-06 | 2021-06-23 | Hexagon Technology Center GmbH | Automatisches auffinden von zielmarken |
US11733043B2 (en) | 2019-05-06 | 2023-08-22 | Hexagon Technology Center Gmbh | Automatic locating of target marks |
DE102019124141A1 (de) * | 2019-09-09 | 2021-03-11 | pmdtechnologies ag | Lichtlaufzeitkamerasystem |
CN112639514B (zh) * | 2020-07-07 | 2024-02-23 | 深圳市速腾聚创科技有限公司 | 激光接收装置、激光雷达及智能感应设备 |
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