JP2021165749A - 深さ情報抽出装置 - Google Patents
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- 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
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- 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
- G01S17/88—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
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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
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Abstract
【解決手段】本発明の一実施例に係る深さ情報抽出装置は、IR(InfraRed)光を出力する光出力部、前記光出力部から出力された後、物体から反射した光が入力される光入力部、前記物体を含む第1領域に光が照射されるように光の角度を調節した後、第2領域に光が照射されるように光の角度を調節する光調節部、そして前記第1領域に対して入力される光および前記第2領域に対して入力される光の中の少なくとも一つを利用して前記物体の動きを推定する制御部を含む。
【選択図】図1
Description
Claims (12)
- 赤外光を出力する光出力部と、
前記光出力部から出力された後、物体から反射した光が入力される光入力部と、
TOF技術を用いて、第1領域と第2領域の少なくとも一つの中の前記物体の深さ情報を抽出する制御部と、を備え、
光学素子が前記光出力部と前記物体との間に配置され、
前記光学素子は、前記光出力部から出力される前記赤外光を調節し、
前記物体を含む前記第1領域が出力赤外光で照射されるか、または、前記物体を含む前記第2領域が出力赤外光で照射されるように、前記光学素子の位置が調整可能に構成され、
前記第1領域は、前記第2領域より大きい、深さ情報抽出装置。 - 前記光学素子は、前記第1領域が出力赤外光で照射されるように出力赤外光の出射角度を調節し、その後、第2領域が出力赤外光で照射されるように出力赤外光の出射角度を調節する、請求項1に記載の装置。
- 前記制御部は、前記光出力部から出力された光が前記第2領域に照射され反射された後、前記光入力部に入力されるまでにかかる飛行時間を計算する、請求項2に記載の装置。
- 前記制御部は、第1時間で入力される光を利用して計算された第1飛行時間、前記第1時間以前に入力される光を利用して計算された第2飛行時間および第2時間以後に入力される光を利用して計算された第3飛行時間を利用して、前記第2領域内の深さ情報を抽出する、請求項3に記載の装置。
- 前記制御部は、前記第1飛行時間、前記第2飛行時間および前記第3飛行時間間の相対的な差を利用して前記第2領域内の深さ情報を抽出した後、抽出された深さ情報を補間(interpolation)技法を利用して補正する、請求項4に記載の装置。
- 前記光入力部はそれぞれが第1受信ユニットおよび第2受信ユニットを含む複数のピクセルを含み、
前記制御部は前記第1受信ユニットおよび前記第2受信ユニットに入力される光量の差を利用して前記飛行時間を計算する、請求項3に記載の装置。 - 前記光学素子に接続され、かつ、前記光学素子を駆動するアクチュエータをさらに備える、請求項1に記載の装置。
- 前記制御部は、推定された動きにもとづいて前記深さ情報を抽出する、請求項1に記載の装置。
- 前記制御部は、
前記光出力部、前記光学素子および前記光入力部の時間を制御するタイミング制御ユニットと、
前記光入力部を通じて入力された電気信号をデジタル信号に変換する変換ユニットと、
前記第2領域に対して時間に沿って順次入力される光の飛行時間を計算し、前記第2領域における動きを推定し、前記第2領域の深さ情報を抽出する信号処理ユニットと、を含む、請求項1に記載の装置。 - 前記光学素子はホログラフィック素子である、請求項1に記載の装置。
- 前記第1領域は前記物体を含む全体領域であり、前記第2領域は前記第1領域から抽出され、かつ、前記物体内の所定領域を含む部分領域である、請求項1に記載の装置。
- 前記光学素子の位置は、前記光出力部の光軸において調整可能に構成されている、請求項1に記載の装置。
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KR10-2014-0011596 | 2014-01-29 | ||
KR1020140011596A KR102117561B1 (ko) | 2014-01-29 | 2014-01-29 | 센서 모듈 및 이를 포함하는 3차원 영상 |
KR1020140011590A KR102106080B1 (ko) | 2014-01-29 | 2014-01-29 | 깊이 정보 추출 장치 및 방법 |
KR10-2014-0011590 | 2014-01-29 | ||
JP2020073440A JP6910499B2 (ja) | 2014-01-29 | 2020-04-16 | 深さ情報抽出装置および方法 |
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EP (1) | EP3101382A4 (ja) |
JP (3) | JP6693880B2 (ja) |
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CN106030239A (zh) | 2016-10-12 |
US20200408915A1 (en) | 2020-12-31 |
CN112180397A (zh) | 2021-01-05 |
JP2017505907A (ja) | 2017-02-23 |
EP3101382A1 (en) | 2016-12-07 |
JP7237114B2 (ja) | 2023-03-10 |
US10802148B2 (en) | 2020-10-13 |
CN106030239B (zh) | 2020-10-09 |
WO2015115797A1 (ko) | 2015-08-06 |
US20160349369A1 (en) | 2016-12-01 |
CN112180397B (zh) | 2023-07-25 |
US10338221B2 (en) | 2019-07-02 |
US20190277971A1 (en) | 2019-09-12 |
US11680789B2 (en) | 2023-06-20 |
EP3101382A4 (en) | 2017-08-30 |
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