JPWO2020030916A5 - - Google Patents
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- JPWO2020030916A5 JPWO2020030916A5 JP2021506286A JP2021506286A JPWO2020030916A5 JP WO2020030916 A5 JPWO2020030916 A5 JP WO2020030916A5 JP 2021506286 A JP2021506286 A JP 2021506286A JP 2021506286 A JP2021506286 A JP 2021506286A JP WO2020030916 A5 JPWO2020030916 A5 JP WO2020030916A5
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- 238000005286 illumination Methods 0.000 claims description 37
- 230000003287 optical Effects 0.000 claims description 11
- 230000000875 corresponding Effects 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 7
- 229910001285 shape-memory alloy Inorganic materials 0.000 claims description 4
- 230000001419 dependent Effects 0.000 claims description 3
- 230000003044 adaptive Effects 0.000 claims description 2
- 239000000969 carrier Substances 0.000 claims description 2
- 230000000737 periodic Effects 0.000 claims 1
- 230000002123 temporal effect Effects 0.000 description 1
Description
センサの視野への言及は、センサ及び任意の関連の光学要素の視野をいうこともある。
なお、本発明には、以下の態様が含まれることを付記する。
〔態様１〕
シーンの３次元表現を生成する際に使用する装置であって、
マルチピクセルセンサ及び光源を備え、前記センサの視野にわたって空間的に不均一な強度を有する照明を出射するように配置されたタイム・オブ・フライト（ＴｏＦ）撮像カメラシステムと、
前記センサの前記視野の少なくとも一部にわたって前記照明を移動させることによって前記表現の生成を可能とするための作動機構と
を備える前記装置。
〔態様２〕
前記空間的に不均一な強度は、ピーク出射強度が実質的に一定であり及び／又は該ピーク出射強度が最大レベルの少なくとも５０％である一組の領域に対応する、態様１に記載の装置。
〔態様３〕
前記一組の領域が所与の瞬間に前記センサの前記視野の１％～５０％をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の１０％超で５０％未満、４０％未満、３０％未満又は２０％未満をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の２０％超で５０％未満、４０％未満又は３０％未満をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の３０％超で５０％未満又は４０％未満をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の４０％超で５０％未満をともに覆う、態様２に記載の装置。
〔態様４〕
前記作動機構は、前記照明を前記センサの前記視野の少なくとも一部にわたって走査パターンで移動させる、態様２又は３に記載の装置。
〔態様５〕
前記走査パターンは、前記照明を前記センサの前記視野の少なくとも一部にわたって１つの軸に沿って移動させることを含む、態様４に記載の装置。
〔態様６〕
前記走査パターンは、出射される前記照明を前記シーンの少なくとも一部にわたって２つの軸に沿って移動させることを備える、態様４に記載の装置。
〔態様７〕
前記走査パターンのサイクル中に前記移動によって前記領域が前記センサの前記視野の７５％超、９０％超又は実質的に全域を覆うように、前記一組の領域が配置された、態様５又は６に記載の装置。
〔態様８〕
前記走査パターンのサイクル中に前記移動が前記センサの前記視野の同じ部分を２回以上覆う領域を回避するように、前記一組の領域が配置された、態様５～７のいずれか一項に記載の装置。
〔態様９〕
前記移動は、前記不均一な強度における特定の点に、前記走査パターンのサイクル中に前記センサの前記視野の幅又は高さの５０％未満、４０％未満、３０％未満、２０％未満、１０％未満又は５％未満だけ移動させる、態様５～８のいずれか一項に記載の装置。
〔態様１０〕
前記一組の領域は前記センサの前記視野の少なくとも１つの方向において周期性を有し、前記移動は、前記不均一な強度における特定の点に、前記少なくとも１つの方向における前記周期性の略逆数だけ移動させる、態様５～９のいずれか一項に記載の装置。
〔態様１１〕
出射された前記照明が、円形ビーム形状を有する光ビームであり、光の平行縞のパターンからなり、又は光のドット若しくは円のパターンからなる、態様１～１０のいずれか一項に記載の装置。
〔態様１２〕
前記表現を生成する所与の瞬間における前記一組の領域内の視野を有する、前記センサの画素のみからの情報を用いるように構成された、態様２～１１のいずれか一項に記載の装置。
〔態様１３〕
前記出射された照明は、前記一組の領域の全体にわたって実質的に同じ時間変動を有する、態様２～１２のいずれか一項に記載の装置。
〔態様１４〕
前記出射された照明は、高頻度で変動され、比較的低頻度で反復的に前記視野にわたって移動される、態様１３に記載の装置。
〔態様１５〕
前記作動機構は、前記出射された照明を前記シーンにおける独立した位置に移動させる、態様１～１４のいずれか一項に記載の装置。
〔態様１６〕
前記作動機構は、前記出射された照明を前記シーンの少なくとも一部にわたって連続的に移動させる、態様１～１５のいずれか一項に記載の装置。
〔態様１７〕
前記作動機構は、少なくとも１つの形状記憶合金（ＳＭＡ）アクチュエータワイヤを備える、態様１～１６のいずれか一項に記載の装置。
〔態様１８〕
前記光源は、アレイ状に配置された複数のレーザを備える、態様１～１７のいずれか一項に記載の装置。
〔態様１９〕
前記複数のレーザが、垂直共振器面発光レーザ（ＶＣＳＥＬ）アレイに対応する、態様１８に記載の装置。
〔態様２０〕
前記複数のレーザからの照明を前記センサの前記視野の割合に対応する単一のビームに合焦させる合焦レンズを備える態様１８又は１９に記載の装置。
〔態様２１〕
複数のマイクロレンズであって、各マイクロレンズは前記複数のレーザの１つからの照明を複数のビームの１つに合焦させるように構成され、前記複数のビームの各々が前記センサの前記視野の割合に対応する、複数のマイクロレンズを備える態様１８又は１９に記載の装置。
〔態様２２〕
前記ビーム又は前記複数のビームの各々を更なる複数のビームに分割するように構成された光学要素を備える態様２０又は２１に記載の装置。
〔態様２３〕
態様２０に従属する場合に、前記更なる複数のビームが扇パターンに対応する、態様２２に記載の装置。
〔態様２４〕
前記作動機構は、前記複数のレーザ及び１以上の更なる光学要素を備えるサブモジュールを少なくとも１つの軸に関してティルトさせるように構成された、態様１８～２３のいずれか一項に記載の装置。
〔態様２５〕
前記作動機構は、前記照明を前記センサの前記視野の前記少なくとも一部にわたって移動させるために、レーザの前記アレイに少なくとも実質的に平行な平面内で１以上の直交方向に移動可能な少なくとも１つのレンズを備える、態様１８～２３のいずれか一項に記載の装置。
〔態様２６〕
前記少なくとも１つのレンズは、ボールレンズに対応する、態様２５に記載の装置。
〔態様２７〕
態様２１に従属する場合に、前記少なくとも１つのレンズは、前記複数のマイクロレンズに対応する、態様２５に記載の装置。
〔態様２８〕
前記少なくとも１つのレンズの移動の０．０２５度／μｍ超の角度だけ前記照明の方向を変化させるように構成された、態様２５～２７のいずれか一項に記載の装置。
〔態様２９〕
前記作動機構は、前記出射された照明をステアリングするために少なくとも１つのティルト用ミラーを備える、態様１８～２３のいずれか一項に記載の装置。
〔態様３０〕
前記作動機構は、前記出射された照明をステアリングするために少なくとも一対の回転可能プリズムを備える、態様１８～２３のいずれか一項に記載の装置。
〔態様３１〕
前記作動機構は、前記照明をステアリングするための適応ビームステアリング機構を備える、態様１～３０のいずれか一項に記載の装置。
〔態様３２〕
前記ＴｏＦ撮像カメラシステム又は光学カメラが、前記シーンの最初の走査を実行して前記シーン内の１以上の対象の被写体を識別するように構成された、態様１～３１のいずれか一項に記載の装置。
〔態様３３〕
シーンの３次元表現を生成する際に使用する方法であって、
タイム・オブ・フライト（ＴｏＦ）撮像カメラシステムを用いて、反射光を受光するのに用いられるセンサの視野にわたって空間的に不均一な強度を有する照明を出射するステップと、
作動機構を用いて、前記センサの前記視野の少なくとも一部にわたって前記照明を移動させることによって前記表現の生成を可能とするステップと
を備える方法。
〔態様３４〕
態様３３に記載の方法を実施するプロセッサ制御コードを保持する非一時的データキャリア。
References to the field of view of the sensor may also refer to the field of view of the sensor and any associated optical elements.
It should be noted that the present invention includes the following aspects.
[Aspect 1]
A device for use in generating a three-dimensional representation of a scene, comprising:
a time-of-flight (ToF) imaging camera system comprising a multi-pixel sensor and a light source arranged to emit illumination having a spatially non-uniform intensity over the sensor's field of view;
an actuation mechanism for enabling generation of the representation by moving the illumination across at least a portion of the field of view of the sensor;
The device comprising:
[Aspect 2]
2. The apparatus of aspect 1, wherein the spatially non-uniform intensity corresponds to a set of regions where the peak exit intensity is substantially constant and/or where the peak exit intensity is at least 50% of a maximum level. .
[Aspect 3]
said set of areas together covering between 1% and 50% of said field of view of said sensor at a given moment, optionally said set of areas covering more than 10% of said field of view of said sensor at a given moment together covering less than 50%, less than 40%, less than 30% or less than 20% of the field of view of the sensor at a given moment; % or less than 30% together, optionally said set of regions together covering more than 30% and less than 50% or less than 40% of said field of view of said sensor at a given moment, optionally 3. The apparatus of aspect 2, wherein the pair of regions together cover more than 40% and less than 50% of the field of view of the sensor at a given moment.
[Aspect 4]
4. The apparatus of aspects 2 or 3, wherein the actuation mechanism moves the illumination in a scanning pattern across at least a portion of the field of view of the sensor.
[Aspect 5]
5. The apparatus of aspect 4, wherein the scanning pattern includes moving the illumination along one axis over at least a portion of the field of view of the sensor.
[Aspect 6]
5. The apparatus of aspect 4, wherein the scanning pattern comprises moving the emitted illumination along two axes over at least a portion of the scene.
[Aspect 7]
Aspect 5 or 6, wherein said set of regions are arranged such that said movement causes said regions to cover more than 75%, more than 90%, or substantially all of said field of view of said sensor during a cycle of said scanning pattern. The apparatus described in .
[Aspect 8]
8. Aspects 5-7, wherein the set of areas are arranged such that the movement avoids areas that cover the same portion of the field of view of the sensor more than once during a cycle of the scan pattern. Apparatus as described.
[Aspect 9]
The movement is less than 50%, less than 40%, less than 30%, less than 20%, less than 10%, less than 50%, less than 40%, less than 30%, less than 20%, less than 10% of the width or height of the field of view of the sensor during a cycle of the scan pattern to a particular point in the non-uniform intensity. 9. The device of any one of aspects 5-8, wherein the device moves less than 5% or less than 5%.
[Aspect 10]
The set of regions has a periodicity in at least one direction of the field of view of the sensor, and the movement is approximately the inverse of the periodicity in the at least one direction to a particular point in the non-uniform intensity. 10. Apparatus according to any one of aspects 5-9, wherein the device moves only
[Aspect 11]
11. The apparatus of any one of aspects 1-10, wherein the emitted illumination is a light beam having a circular beam shape, consisting of a pattern of parallel stripes of light, or consisting of a pattern of dots or circles of light. .
[Aspect 12]
12. Apparatus according to any one of aspects 2-11, configured to use information only from pixels of said sensor having a field of view within said set of regions at a given moment to generate said representation. .
[Aspect 13]
13. The apparatus of any one of aspects 2-12, wherein the emitted illumination has substantially the same temporal variation across the set of regions.
[Aspect 14]
14. The apparatus of aspect 13, wherein the emitted illumination is frequently varied and relatively infrequently repetitively moved across the field of view.
[Aspect 15]
15. The apparatus of any one of aspects 1-14, wherein the actuation mechanism moves the emitted illumination to independent positions in the scene.
[Aspect 16]
16. The apparatus of any one of aspects 1-15, wherein the actuation mechanism continuously moves the emitted illumination over at least a portion of the scene.
[Aspect 17]
17. The apparatus of any one of aspects 1-16, wherein the actuation mechanism comprises at least one shape memory alloy (SMA) actuator wire.
[Aspect 18]
18. The apparatus of any one of aspects 1-17, wherein the light source comprises a plurality of lasers arranged in an array.
[Aspect 19]
19. The apparatus of aspect 18, wherein the plurality of lasers corresponds to a vertical cavity surface emitting laser (VCSEL) array.
[Aspect 20]
20. Apparatus according to aspect 18 or 19, comprising a focusing lens for focusing illumination from said plurality of lasers into a single beam corresponding to a fraction of said field of view of said sensor.
[Aspect 21]
a plurality of microlenses, each microlens configured to focus illumination from one of said plurality of lasers into one of a plurality of beams, each of said plurality of beams corresponding to said field of view of said sensor; 20. Apparatus according to aspect 18 or 19, comprising a plurality of microlenses corresponding to a proportion of .
[Aspect 22]
22. Apparatus according to aspect 20 or 21, comprising an optical element configured to split each of said beam or said plurality of beams into a further plurality of beams.
[Aspect 23]
23. Apparatus according to aspect 22, when dependent on aspect 20, wherein the further plurality of beams corresponds to a fan pattern.
[Aspect 24]
24. The apparatus of any one of aspects 18-23, wherein the actuation mechanism is configured to tilt a sub-module comprising the plurality of lasers and one or more further optical elements about at least one axis.
[Aspect 25]
The actuation mechanism comprises at least one movable in one or more orthogonal directions in a plane at least substantially parallel to the array of lasers to move the illumination across the at least a portion of the field of view of the sensor. 24. A device according to any one of aspects 18-23, comprising a lens.
[Aspect 26]
26. The apparatus of aspect 25, wherein the at least one lens corresponds to a ball lens.
[Aspect 27]
26. The apparatus of aspect 25, when dependent on aspect 21, wherein the at least one lens corresponds to the plurality of microlenses.
[Aspect 28]
28. The apparatus of any one of aspects 25-27, configured to change the direction of the illumination by an angle of movement of the at least one lens greater than 0.025 degrees/μm.
[Aspect 29]
24. The apparatus of any one of aspects 18-23, wherein the actuation mechanism comprises at least one tilting mirror for steering the emitted illumination.
[Aspect 30]
24. The apparatus of any one of aspects 18-23, wherein the actuation mechanism comprises at least one pair of rotatable prisms for steering the emitted illumination.
[Aspect 31]
31. The apparatus according to any one of aspects 1-30, wherein said actuation mechanism comprises an adaptive beam steering mechanism for steering said illumination.
[Aspect 32]
32. Aspect 1-31, wherein the ToF imaging camera system or optical camera is configured to perform an initial scan of the scene to identify one or more objects of interest within the scene. device.
[Aspect 33]
A method for use in generating a three-dimensional representation of a scene, comprising:
using a time-of-flight (ToF) imaging camera system to emit illumination having spatially non-uniform intensity over the field of view of the sensor used to receive the reflected light;
enabling generation of the representation by moving the illumination across at least a portion of the field of view of the sensor using an actuation mechanism;
How to prepare.
[Aspect 34]
34. A non-transitory data carrier carrying processor control code for implementing the method of aspect 33.
Claims (20)
マルチピクセルセンサ及び光源を備え、前記センサの視野にわたって空間的に不均一な強度を有する照明を出射するように配置されたタイム・オブ・フライト（ＴｏＦ）撮像カメラシステムと、
前記センサの前記視野の少なくとも一部にわたって前記照明を移動させることによって前記表現の生成を可能とするための作動機構と
を備える前記装置。 A device for use in generating a three-dimensional representation of a scene, comprising:
a time-of-flight (ToF) imaging camera system comprising a multi-pixel sensor and a light source arranged to emit illumination having a spatially non-uniform intensity over the sensor's field of view;
and an actuation mechanism for enabling generation of the representation by moving the illumination over at least a portion of the field of view of the sensor.
選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の１％～５０％をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の１０％超で５０％未満、４０％未満、３０％未満又は２０％未満をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の２０％超で５０％未満、４０％未満又は３０％未満をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の３０％超で５０％未満又は４０％未満をともに覆い、選択的に、前記一組の領域が所与の瞬間に前記センサの前記視野の４０％超で５０％未満をともに覆う、請求項１に記載の装置。 said spatially non-uniform intensity corresponds to a set of regions where the output intensity is substantially constant and/or a set of regions where the output intensity is at least 50% of a maximum level;
Optionally, said set of areas together cover 1% to 50% of said field of view of said sensor at a given moment; optionally said set of areas covers said field of view of said sensor at any given moment. together covering more than 10% but less than 50%, less than 40%, less than 30% or less than 20% of the field of view of said sensor, optionally said set of regions covering more than 50% of said field of view of said sensor at any given moment. %, less than 40% or less than 30% together, optionally said set of regions together covering more than 30% and less than 50% or less than 40% of said field of view of said sensor at a given moment; 2. The device of claim 1 , optionally wherein said pair of regions together cover more than 40% and less than 50% of said field of view of said sensor at a given moment.
選択的に、前記走査パターンは、前記照明を前記センサの前記視野の少なくとも一部にわたって１つの軸に沿って移動させることを含む、又は、前記走査パターンは、出射される前記照明を前記シーンの少なくとも一部にわたって２つの軸に沿って移動させることを備え、
選択的に、前記走査パターンのサイクル中に前記移動によって前記領域が前記センサの前記視野の７５％超、９０％超又は実質的に全域を覆うように、前記一組の領域が配置され、
選択的に、前記走査パターンのサイクル中に前記移動が前記センサの前記視野の同じ部分を２回以上覆う領域を回避するように、前記一組の領域が配置され、
選択的に、前記移動は、前記不均一な強度における特定の点に、前記走査パターンのサイクル中に前記センサの前記視野の幅又は高さの５０％未満、４０％未満、３０％未満、２０％未満、１０％未満又は５％未満だけ移動させる、かつ／又は、前記一組の領域は前記センサの前記視野の少なくとも１つの方向において周期性を有し、前記移動は、前記不均一な強度における特定の点に、前記少なくとも１つの方向における前記周期性の略逆数だけ移動させる、請求項２に記載の装置。 the actuation mechanism moves the illumination in a scanning pattern across at least a portion of the field of view of the sensor ;
Optionally, said scanning pattern includes moving said illumination along at least a portion of said field of view of said sensor along one axis; comprising moving at least in part along two axes ;
optionally, said set of regions are arranged such that said movement causes said regions to cover more than 75%, more than 90% or substantially all of said field of view of said sensor during a cycle of said scan pattern ;
optionally, said set of regions are arranged such that said movement avoids regions where said movement covers the same portion of said field of view of said sensor more than once during a cycle of said scanning pattern ;
Optionally, said movement is less than 50%, less than 40%, less than 30%, less than 20%, less than 50%, less than 40%, less than 30%, less than 20% of the width or height of said field of view of said sensor during a cycle of said scanning pattern to a particular point in said non-uniform intensity. %, less than 10%, or less than 5%, and/or said set of regions is periodic in at least one direction of said field of view of said sensor, said movement causing said uneven intensity 3. The apparatus of claim 2 , wherein a particular point in is moved by approximately the reciprocal of said periodicity in said at least one direction.
選択的に、出射された前記照明は、高頻度で変動され、比較的低頻度で反復的に前記視野にわたって移動される、請求項２～５のいずれか一項に記載の装置。 the emitted illumination has substantially the same time variation across the set of regions ;
An apparatus according to any one of claims 2 to 5, optionally wherein the emitted illumination is varied frequently and moved across the field of view repetitively relatively infrequently.
選択的に、前記複数のレーザが、垂直共振器面発光レーザ（ＶＣＳＥＬ）アレイに対応する、請求項１～８のいずれか一項に記載の装置。 The light source comprises a plurality of lasers arranged in an array ,
Apparatus according to any preceding claim , optionally wherein said plurality of lasers corresponds to a Vertical Cavity Surface Emitting Laser (VCSEL) array.
複数のマイクロレンズであって、各マイクロレンズは前記複数のレーザの１つからの照明を複数のビームの１つに合焦させるように構成され、前記複数のビームの各々が前記センサの前記視野の割合に対応する、前記複数のマイクロレンズと
を備え、
選択的に、前記装置は、前記ビーム又は前記複数のビームの各々を更なる複数のビームに分割するように構成された光学要素を備え、
選択的に、前記更なる複数のビームが扇パターンに対応する、請求項９に記載の装置。 a focusing lens that focuses illumination from the plurality of lasers into a single beam corresponding to a fraction of the field of view of the sensor ;
a plurality of microlenses, each microlens configured to focus illumination from one of said plurality of lasers into one of a plurality of beams, each of said plurality of beams corresponding to said field of view of said sensor; the plurality of microlenses corresponding to a proportion of
with
optionally, said apparatus comprises an optical element configured to split each of said beam or said plurality of beams into a further plurality of beams ;
10. The apparatus of claim 9 , optionally wherein said further plurality of beams correspond to a fan pattern.
前記作動機構は、前記照明を前記センサの前記視野の前記少なくとも一部にわたって移動させるために、前記アレイ状のレーザに少なくとも実質的に平行な平面内で１以上の方向に移動可能な少なくとも１つの光学要素を備える、請求項１に記載の装置。The actuation mechanism comprises at least one movable in one or more directions in a plane at least substantially parallel to the array of lasers to move the illumination across the at least a portion of the field of view of the sensor. 11. The device of claim 1, comprising an optical element.
選択的に、前記少なくとも１つのレンズは、ボールレンズに対応する、請求項１２に記載の装置。 the at least one optical element is at least one lens;
13. The apparatus of claim 12 , optionally wherein said at least one lens corresponds to a ball lens .
タイム・オブ・フライト（ＴｏＦ）撮像カメラシステムを用いて、反射光を受光するのに用いられるセンサの視野にわたって空間的に不均一な強度を有する照明を出射するステップと、
作動機構を用いて、前記センサの前記視野の少なくとも一部にわたって前記照明を移動させることによって前記表現の生成を可能とするステップと
を備える方法。 A method for use in generating a three-dimensional representation of a scene, comprising:
using a time-of-flight (ToF) imaging camera system to emit illumination having spatially non-uniform intensity over the field of view of the sensor used to receive the reflected light;
using an actuation mechanism to move the illumination across at least a portion of the field of view of the sensor to enable generation of the representation.
前記作動機構は、少なくとも１つの光学要素を備え、the actuation mechanism comprises at least one optical element;
前記方法は、前記作動機構を用いて、前記アレイ状のレーザに少なくとも実質的に平行な平面内で１以上の方向に前記少なくとも１つの光学要素を移動させることにより、前記照明を前記センサの前記視野の少なくとも一部にわたって移動させ、それにより、前記表現の生成を可能とする、請求項１８に記載の方法。The method uses the actuation mechanism to move the at least one optical element in one or more directions in a plane that is at least substantially parallel to the array of lasers, thereby directing the illumination to the sensor. 19. The method of claim 18, moving across at least part of a field of view, thereby enabling generation of the representation.
19. A non-transitory data carrier carrying processor control code configured to cause the apparatus of claim 1 to perform the method of claim 18 .
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