JP6773724B2 - 精度情報を出力する測距装置 - Google Patents
精度情報を出力する測距装置 Download PDFInfo
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- JP6773724B2 JP6773724B2 JP2018112665A JP2018112665A JP6773724B2 JP 6773724 B2 JP6773724 B2 JP 6773724B2 JP 2018112665 A JP2018112665 A JP 2018112665A JP 2018112665 A JP2018112665 A JP 2018112665A JP 6773724 B2 JP6773724 B2 JP 6773724B2
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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
- G01S17/89—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
- 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
-
- 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
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- 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
- G01S7/497—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Description
11 発光部
12 受光部
13 距離算出部
14 発光・撮像タイミング制御部
15 拡散板
16 光学系
17 受光素子
20 増幅部
21 A/D変換部
22 バッファメモリ
23 サチュレーション判定部
24 光強度算出部
25 光強度不足判定部
26 精度算出部
27 精度判定部
28 バッファメモリ
29 出力制御部
30 アプリケーション
31 距離補正部
O 物体
L1 測定光
L2 入射光
Q1〜Q4 第1電荷〜第4電荷
Et1〜Et4 撮像タイミング
Claims (5)
- 測定対象空間に照射される測定光を発光する発光部と、前記測定対象空間からの入射光に応じた電荷を蓄積する複数の受光素子と、前記測定光の発光タイミングに対して90°ずつ位相が遅延した複数のタイミングで前記受光素子毎に電荷を蓄積させ、前記蓄積した各電荷量に基づいて画素毎に観測方向にある物体までの距離を算出する距離算出部と、を備え、算出した前記距離を出力する測距装置であって、
前記複数のタイミングで蓄積した各電荷量をそれぞれQ 1 、Q 2 、Q 3 、Q 4 とした場合に、Q 1 +Q 3 とQ 2 +Q 4 の差分を受光強度でスケール調整して画素毎に前記距離の精度を算出する精度算出部を備え、算出した前記精度が外部へ出力されることを特徴とする測距装置。 - 前記複数のタイミングは、前記発光タイミングに対して、0°、90°、180°、270°の4種のタイミングである、請求項1に記載の測距装置。
- さらに、前記精度が規定の精度を満たさない場合に精度不良と判定する精度判定部を備え、前記距離算出部は前記精度不良と判定された画素について前記距離の代わりに前記精度不良を示す特異値を出力する、請求項1又は2に記載の測距装置。
- 前記特異値は、前記電荷を蓄積する間に発生した、ランダムノイズ、物体移動、外光変化、及びA/D変換による量子化誤差のうち少なくとも1つに起因する精度不良を示す、請求項3に記載の測距装置。
- さらに、前記精度に基づいて前記距離を補正する距離補正部を備える、請求項1から4のいずれか一項に記載の測距装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018112665A JP6773724B2 (ja) | 2018-06-13 | 2018-06-13 | 精度情報を出力する測距装置 |
US16/412,429 US11693093B2 (en) | 2018-06-13 | 2019-05-15 | Distance-measuring apparatus that outputs precision information |
DE102019004031.7A DE102019004031B4 (de) | 2018-06-13 | 2019-06-06 | Abstandsmessvorrichtung, die Genauigkeitsinformation ausgibt |
CN201910503102.8A CN110596727B (zh) | 2018-06-13 | 2019-06-11 | 输出精度信息的测距装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018112665A JP6773724B2 (ja) | 2018-06-13 | 2018-06-13 | 精度情報を出力する測距装置 |
Publications (2)
Publication Number | Publication Date |
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JP2019215260A JP2019215260A (ja) | 2019-12-19 |
JP6773724B2 true JP6773724B2 (ja) | 2020-10-21 |
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JP2018112665A Active JP6773724B2 (ja) | 2018-06-13 | 2018-06-13 | 精度情報を出力する測距装置 |
Country Status (4)
Country | Link |
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US (1) | US11693093B2 (ja) |
JP (1) | JP6773724B2 (ja) |
CN (1) | CN110596727B (ja) |
DE (1) | DE102019004031B4 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR3079041A1 (fr) * | 2018-03-14 | 2019-09-20 | Stmicroelectronics (Grenoble 2) Sas | Procede de determination de la distance separant un objet et un systeme de detection optique, et systeme correspondant |
JP2019211231A (ja) * | 2018-05-31 | 2019-12-12 | 株式会社日立エルジーデータストレージ | 距離画像生成カメラ及び距離画像生成方法 |
WO2021234932A1 (ja) * | 2020-05-22 | 2021-11-25 | 株式会社ブルックマンテクノロジ | 距離画像撮像装置及び距離画像撮像方法 |
CN112153319B (zh) * | 2020-09-02 | 2023-02-24 | 芋头科技(杭州)有限公司 | 基于视频通信技术的ar信息显示方法和装置 |
CN112213711A (zh) * | 2020-09-28 | 2021-01-12 | 上海数迹智能科技有限公司 | 一种tof相机的校准方法 |
JP7120365B1 (ja) * | 2021-03-23 | 2022-08-17 | 株式会社リコー | 撮像装置、撮像方法および情報処理装置 |
CN115657052A (zh) * | 2021-07-07 | 2023-01-31 | 奥比中光科技集团股份有限公司 | 一种itof测距系统及其相对精度的确定方法、装置、设备 |
Family Cites Families (16)
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US6925195B2 (en) * | 2002-05-28 | 2005-08-02 | Eastman Kodak Company | Stabilization of three-dimensional images in a scannerless range imaging system |
US7408627B2 (en) * | 2005-02-08 | 2008-08-05 | Canesta, Inc. | Methods and system to quantify depth data accuracy in three-dimensional sensors using single frame capture |
JP5665159B2 (ja) * | 2007-02-23 | 2015-02-04 | パナソニックIpマネジメント株式会社 | 距離画像センサ |
JP4895304B2 (ja) | 2007-09-26 | 2012-03-14 | 富士フイルム株式会社 | 測距方法および装置 |
JP5448617B2 (ja) * | 2008-08-19 | 2014-03-19 | パナソニック株式会社 | 距離推定装置、距離推定方法、プログラム、集積回路およびカメラ |
JP5760168B2 (ja) | 2009-07-17 | 2015-08-05 | パナソニックIpマネジメント株式会社 | 空間情報検出装置 |
JP6193227B2 (ja) | 2011-07-12 | 2017-09-06 | サムスン エレクトロニクス カンパニー リミテッド | ブラー処理装置及び方法 |
EP2594959B1 (en) * | 2011-11-17 | 2017-01-04 | Heptagon Micro Optics Pte. Ltd. | System and method for multi TOF camera operation using phase hopping |
DE102013207654B4 (de) | 2012-05-21 | 2021-12-23 | pmdtechnologies ag | Lichtlaufzeitkamerasystem |
DE102014204423B4 (de) | 2014-03-11 | 2021-06-02 | pmdtechnologies ag | Lichtlaufzeitkamerasystem |
JP2016035398A (ja) * | 2014-08-01 | 2016-03-17 | パナソニックIpマネジメント株式会社 | 測距装置および測距方法 |
JP6520053B2 (ja) * | 2014-11-06 | 2019-05-29 | 株式会社デンソー | 光飛行型測距装置 |
US10795005B2 (en) * | 2014-12-09 | 2020-10-06 | Intersil Americas LLC | Precision estimation for optical proximity detectors |
JP6696349B2 (ja) * | 2016-08-10 | 2020-05-20 | 株式会社デンソー | 光飛行型測距装置および光飛行型測距の異常検出方法 |
JP2018036102A (ja) * | 2016-08-30 | 2018-03-08 | ソニーセミコンダクタソリューションズ株式会社 | 測距装置、および、測距装置の制御方法 |
JP6333921B2 (ja) * | 2016-11-09 | 2018-05-30 | ファナック株式会社 | 撮像装置及び撮像方法 |
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2018
- 2018-06-13 JP JP2018112665A patent/JP6773724B2/ja active Active
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2019
- 2019-05-15 US US16/412,429 patent/US11693093B2/en active Active
- 2019-06-06 DE DE102019004031.7A patent/DE102019004031B4/de active Active
- 2019-06-11 CN CN201910503102.8A patent/CN110596727B/zh active Active
Also Published As
Publication number | Publication date |
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CN110596727B (zh) | 2023-08-25 |
US20190383906A1 (en) | 2019-12-19 |
US11693093B2 (en) | 2023-07-04 |
DE102019004031B4 (de) | 2024-02-01 |
DE102019004031A1 (de) | 2019-12-19 |
JP2019215260A (ja) | 2019-12-19 |
CN110596727A (zh) | 2019-12-20 |
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