JP7220835B1 - 物体検知装置および物体検知方法 - Google Patents

物体検知装置および物体検知方法 Download PDF

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JP7220835B1
JP7220835B1 JP2022544426A JP2022544426A JP7220835B1 JP 7220835 B1 JP7220835 B1 JP 7220835B1 JP 2022544426 A JP2022544426 A JP 2022544426A JP 2022544426 A JP2022544426 A JP 2022544426A JP 7220835 B1 JP7220835 B1 JP 7220835B1
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object detection
pixel signal
image
exposure
light
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JPWO2023286542A5 (https=
JPWO2023286542A1 (https=
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哲郎 奥山
良直 河合
正樹 金丸
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Nuvoton Technology Corp Japan
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Nuvoton Technology Corp Japan
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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
    • G01S17/08—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
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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—Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [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
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/207—Image signal generators using stereoscopic image cameras using a single two-dimensional [2D] image sensor
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/254—Image signal generators using stereoscopic image cameras in combination with electromagnetic radiation sources for illuminating objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/80—Camera processing pipelines; Components thereof
    • H04N23/81—Camera processing pipelines; Components thereof for suppressing or minimising disturbance in the image signal generation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/10—Circuitry of solid-state image sensors [SSIS]; Control thereof for transforming different wavelengths into image signals
    • H04N25/11—Arrangement of colour filter arrays [CFA]; Filter mosaics
    • H04N25/13—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements
    • H04N25/131—Arrangement of colour filter arrays [CFA]; Filter mosaics characterised by the spectral characteristics of the filter elements including elements passing infrared wavelengths
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/703—SSIS architectures incorporating pixels for producing signals other than image signals
    • H04N25/705—Pixels for depth measurement, e.g. RGBZ

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
JP2022544426A 2021-07-16 2022-06-21 物体検知装置および物体検知方法 Active JP7220835B1 (ja)

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JP2021118091 2021-07-16
JP2021118091 2021-07-16
PCT/JP2022/024738 WO2023286542A1 (ja) 2021-07-16 2022-06-21 物体検知装置および物体検知方法

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JPWO2023286542A1 JPWO2023286542A1 (https=) 2023-01-19
JP7220835B1 true JP7220835B1 (ja) 2023-02-10
JPWO2023286542A5 JPWO2023286542A5 (https=) 2023-06-20

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US (1) US12529796B2 (https=)
EP (1) EP4372419A4 (https=)
JP (1) JP7220835B1 (https=)
CN (1) CN117616310A (https=)
TW (1) TW202323856A (https=)
WO (1) WO2023286542A1 (https=)

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Publication number Priority date Publication date Assignee Title
WO2024204561A1 (ja) * 2023-03-30 2024-10-03 ヌヴォトンテクノロジージャパン株式会社 物体検知装置、物体検知システム及び物体検知方法
WO2026029088A1 (ja) * 2024-08-01 2026-02-05 ヌヴォトンテクノロジージャパン株式会社 距離画像撮像装置及び駆動方法
US12323689B1 (en) * 2024-09-18 2025-06-03 SimpliSafe, Inc. Lighted camera apparatus

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04169805A (ja) * 1990-11-01 1992-06-17 Matsushita Electric Ind Co Ltd 三次元画像測定装置
JPH10253760A (ja) * 1997-03-10 1998-09-25 Hamamatsu Photonics Kk 距離測定装置
JPH11325823A (ja) * 1998-05-14 1999-11-26 Omron Corp 距離計測装置およびこれを用いた物体検出装置ならびに受光信号処理回路
WO2018110183A1 (ja) * 2016-12-14 2018-06-21 パナソニックＩｐマネジメント株式会社 撮像制御装置、撮像制御方法、プログラムおよび記録媒体
JP2018185179A (ja) * 2017-04-25 2018-11-22 株式会社リコー 測距装置、監視装置、３次元計測装置、移動体、ロボット及び測距方法
WO2020195755A1 (ja) * 2019-03-26 2020-10-01 パナソニックＩｐマネジメント株式会社 測距撮像システム、測距撮像方法、及びプログラム
WO2021005659A1 (ja) * 2019-07-05 2021-01-14 パナソニックセミコンダクターソリューションズ株式会社 情報処理システム、センサシステム、情報処理方法及びプログラム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007122508A (ja) 2005-10-28 2007-05-17 Secom Co Ltd 侵入検知装置
JP2012146132A (ja) 2011-01-12 2012-08-02 Osaka City Univ ３次元データと２次元データの統合方法及びこれを用いた見守りシステム、監視システム
US9170095B1 (en) * 2014-04-08 2015-10-27 Sony Corporation Distance detection device and method including dynamically adjusted frame rate
JP7531140B2 (ja) * 2018-12-06 2024-08-09 パナソニックＩｐマネジメント株式会社 距離情報取得装置、距離情報取得方法、およびプログラム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04169805A (ja) * 1990-11-01 1992-06-17 Matsushita Electric Ind Co Ltd 三次元画像測定装置
JPH10253760A (ja) * 1997-03-10 1998-09-25 Hamamatsu Photonics Kk 距離測定装置
JPH11325823A (ja) * 1998-05-14 1999-11-26 Omron Corp 距離計測装置およびこれを用いた物体検出装置ならびに受光信号処理回路
WO2018110183A1 (ja) * 2016-12-14 2018-06-21 パナソニックＩｐマネジメント株式会社 撮像制御装置、撮像制御方法、プログラムおよび記録媒体
JP2018185179A (ja) * 2017-04-25 2018-11-22 株式会社リコー 測距装置、監視装置、３次元計測装置、移動体、ロボット及び測距方法
WO2020195755A1 (ja) * 2019-03-26 2020-10-01 パナソニックＩｐマネジメント株式会社 測距撮像システム、測距撮像方法、及びプログラム
WO2021005659A1 (ja) * 2019-07-05 2021-01-14 パナソニックセミコンダクターソリューションズ株式会社 情報処理システム、センサシステム、情報処理方法及びプログラム

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US20240142628A1 (en) 2024-05-02
CN117616310A (zh) 2024-02-27
US12529796B2 (en) 2026-01-20
TW202323856A (zh) 2023-06-16
EP4372419A4 (en) 2024-11-13
EP4372419A1 (en) 2024-05-22
WO2023286542A1 (ja) 2023-01-19
JPWO2023286542A1 (https=) 2023-01-19

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