JP6882461B2 - 飛行時間深度測定のためのリアルタイム較正 - Google Patents

飛行時間深度測定のためのリアルタイム較正 Download PDF

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Publication number
JP6882461B2
JP6882461B2 JP2019517427A JP2019517427A JP6882461B2 JP 6882461 B2 JP6882461 B2 JP 6882461B2 JP 2019517427 A JP2019517427 A JP 2019517427A JP 2019517427 A JP2019517427 A JP 2019517427A JP 6882461 B2 JP6882461 B2 JP 6882461B2
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light
optical
feedback
pixel array
region
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JP2019529931A5 (enExample
JP2019529931A (ja
Inventor
デイビッド コーエン，
デイビッド コーエン，
アッサーフ ペルマン，
アッサーフ ペルマン，
ジャイ マゾール，
ジャイ マゾール，
エレツ タドモール，
エレツ タドモール，
ジオラ ヤハブ，
ジオラ ヤハブ，
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Magic Leap Inc
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Magic Leap Inc
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Priority to JP2021078354A priority Critical patent/JP7130813B2/ja
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • 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
    • 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
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing 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
    • G01S7/48—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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)
  • Length Measuring Devices By Optical Means (AREA)
JP2019517427A 2016-09-30 2017-10-02 飛行時間深度測定のためのリアルタイム較正 Active JP6882461B2 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021078354A JP7130813B2 (ja) 2016-09-30 2021-05-06 飛行時間深度測定のためのリアルタイム較正

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662402770P 2016-09-30 2016-09-30
US62/402,770 2016-09-30
PCT/US2017/054719 WO2018064658A1 (en) 2016-09-30 2017-10-02 Real time calibration for time-of-flight depth measurement

Related Child Applications (1)

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JP2021078354A Division JP7130813B2 (ja) 2016-09-30 2021-05-06 飛行時間深度測定のためのリアルタイム較正

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JP2019529931A JP2019529931A (ja) 2019-10-17
JP2019529931A5 JP2019529931A5 (enExample) 2020-09-24
JP6882461B2 true JP6882461B2 (ja) 2021-06-02

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JP2019517427A Active JP6882461B2 (ja) 2016-09-30 2017-10-02 飛行時間深度測定のためのリアルタイム較正
JP2021078354A Active JP7130813B2 (ja) 2016-09-30 2021-05-06 飛行時間深度測定のためのリアルタイム較正

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US (2) US10762651B2 (enExample)
EP (1) EP3519852B1 (enExample)
JP (2) JP6882461B2 (enExample)
KR (1) KR102505237B1 (enExample)
CN (1) CN110402397B (enExample)
AU (1) AU2017337124B2 (enExample)
CA (1) CA3037988A1 (enExample)
IL (1) IL265659B (enExample)
WO (1) WO2018064658A1 (enExample)

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AU2018386190A1 (en) 2017-12-13 2020-06-04 Magic Leap, Inc. Global shutter pixel circuit and method for computer vision applications
US10854165B2 (en) 2017-12-21 2020-12-01 Magic Leap, Inc. Method for calibrating an augmented reality device
CN111837144B (zh) 2018-03-13 2024-07-26 奇跃公司 使用机器学习的增强图像深度感测
JP7082404B2 (ja) * 2018-06-26 2022-06-08 国立大学法人静岡大学 距離計測装置
JP6717887B2 (ja) * 2018-07-12 2020-07-08 ファナック株式会社 距離補正機能を有する測距装置
CN110868507B (zh) * 2018-08-27 2024-12-10 宁波舜宇光电信息有限公司 带有泛光灯的电子设备及其装配方法
CN112689776B (zh) * 2018-09-16 2024-08-23 苹果公司 使用彩色图像数据校准深度感测阵列
CN112740065B (zh) 2018-09-25 2024-06-25 苹果公司 成像装置、用于成像的方法和用于深度映射的方法
CN109067951A (zh) * 2018-10-31 2018-12-21 Oppo广东移动通信有限公司 电子装置
EP3657203A1 (de) * 2018-11-22 2020-05-27 Hexagon Technology Center GmbH Elektrooptischer entfernungsmesser und entfernungsmessverfahren
DE102019134142A1 (de) * 2018-12-12 2020-06-18 Analog Devices, Inc. Eingebaute kalibrierung von laufzeittiefenbildgebungssystemen
US11423572B2 (en) * 2018-12-12 2022-08-23 Analog Devices, Inc. Built-in calibration of time-of-flight depth imaging systems
CN109451228B (zh) 2018-12-24 2020-11-10 华为技术有限公司 摄像组件及电子设备
CN111580117A (zh) * 2019-02-19 2020-08-25 光宝电子(广州)有限公司 飞时测距感测系统的控制方法
EP3930321B1 (en) * 2019-03-25 2025-04-23 Huawei Technologies Co., Ltd. Large aperture blurring method based on dual camera + tof
CN112114322A (zh) * 2019-06-21 2020-12-22 广州印芯半导体技术有限公司 飞时测距装置及飞时测距方法
EP3816657B1 (en) * 2019-10-29 2024-04-24 Hexagon Technology Center GmbH Multi-beam measuring device for 3d scanning of an environment having seamlessly stacked reception modules
CN112924979B (zh) * 2019-11-20 2024-03-01 北京小米移动软件有限公司 Tof模组的多路径光线测试设备、深度误差测量方法及系统
CN111024368B (zh) * 2019-12-06 2022-02-11 炬佑智能科技(苏州)有限公司 Tof相机杂散光检测装置及检测方法
US12066545B2 (en) * 2020-03-24 2024-08-20 Magic Leap, Inc. Power-efficient hand tracking with time-of-flight sensor
US11582436B2 (en) * 2020-07-17 2023-02-14 Shenzhen GOODIX Technology Co., Ltd. Passive three-dimensional image sensing based on chromatic focal differentiation
US20240067094A1 (en) * 2020-12-28 2024-02-29 Koito Manufacturing Co., Ltd. Gating camera, vehicle sensing system, and vehicle lamp
JP2023122396A (ja) * 2022-02-22 2023-09-01 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
US20230316554A1 (en) * 2022-03-30 2023-10-05 Analog Devices, Inc. Miniaturized phase calibration apparatus for time-of-flight depth camera
US20240210536A1 (en) * 2022-12-23 2024-06-27 Intel Corporation Time of flight distance determinations

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Publication number Publication date
CA3037988A1 (en) 2018-04-05
KR20190054167A (ko) 2019-05-21
AU2017337124A1 (en) 2019-04-18
IL265659B (en) 2022-04-01
US20210004975A1 (en) 2021-01-07
KR102505237B1 (ko) 2023-02-28
IL265659A (en) 2019-05-30
CN110402397A (zh) 2019-11-01
EP3519852A1 (en) 2019-08-07
US10762651B2 (en) 2020-09-01
WO2018064658A1 (en) 2018-04-05
EP3519852B1 (en) 2022-03-23
US20180096489A1 (en) 2018-04-05
CN110402397B (zh) 2023-03-03
US11587245B2 (en) 2023-02-21
JP7130813B2 (ja) 2022-09-05
JP2021113828A (ja) 2021-08-05
AU2017337124B2 (en) 2022-08-04
JP2019529931A (ja) 2019-10-17
EP3519852A4 (en) 2019-10-16

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