TWI791758B - Methods and systems with dynamic gain determination - Google Patents

Methods and systems with dynamic gain determination Download PDF

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TWI791758B
TWI791758B TW108104244A TW108104244A TWI791758B TW I791758 B TWI791758 B TW I791758B TW 108104244 A TW108104244 A TW 108104244A TW 108104244 A TW108104244 A TW 108104244A TW I791758 B TWI791758 B TW I791758B
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measurement
intensity
light
detector
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TW201935036A (en
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曹培炎
劉雨潤
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中國大陸商深圳源光科技有限公司
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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
    • H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
    • H01L27/144—Devices controlled by radiation
    • H01L27/1443—Devices controlled by radiation with at least one potential jump or surface barrier
    • 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
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    • 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
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    • G01S7/483—Details of pulse systems
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    • G01S7/4868—Controlling received signal intensity or exposure of sensor
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01L—SEMICONDUCTOR DEVICES NOT COVERED BY CLASS H10
    • H01L27/00—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate
    • H01L27/14—Devices consisting of a plurality of semiconductor or other solid-state components formed in or on a common substrate including semiconductor components sensitive to infrared radiation, light, electromagnetic radiation of shorter wavelength or corpuscular radiation and specially adapted either for the conversion of the energy of such radiation into electrical energy or for the control of electrical energy by such radiation
    • H01L27/144—Devices controlled by radiation
    • H01L27/146—Imager structures
    • H01L27/14601—Structural or functional details thereof
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Abstract

本文所公開的是一種方法，包括：在第一增益下得到目標場景的一部分所散射的光的強度的第一測量；在第一增益下基於所述部分所散射的光來得到所述部分的特性的第一測量；在第二增益下得到強度的第二測量；在第二增益下基於所述部分所散射的光來得到特性的第二測量；基於強度的第一測量和強度的第二測量在特性的第一測量與特性的第二測量之間進行選擇。 Disclosed herein is a method comprising: obtaining a first measurement of the intensity of light scattered by a portion of a target scene at a first gain; obtaining an intensity of light scattered by the portion at the first gain based on the light scattered by the portion A first measurement of the characteristic; a second measurement of the intensity is obtained at a second gain; a second measurement of the characteristic is obtained based on the light scattered by the portion at the second gain; a second measurement of the characteristic is obtained based on the first measurement of the intensity and the second measurement of the intensity The measurement selects between a first measurement of the characteristic and a second measurement of the characteristic.

Description

具有動態增益確定的方法和系統 Method and system with dynamic gain determination

本文的本公開涉及光檢測，特別是例如在鐳射雷達中用於測距和圖像形成的光檢測。 The present disclosure herein relates to light detection, particularly light detection for ranging and image formation, such as in lidar.

鐳射雷達將光用於檢測、測距和測繪。鐳射雷達可包括若干主要組件：光源、光學器件和檢測器。鐳射雷達可具有大範圍的應用。例如，自動駕駛車輛(例如無人駕駛汽車)可將鐳射雷達用於障礙檢測和碰撞避免，以安全地通過環境。鐳射雷達可安裝在自動駕駛車輛上，並且監測車輛周圍的環境。鐳射雷達可提供用於確定環境中的障礙物的存在、特性、位置和結構。 LiDAR uses light for detection, ranging and mapping. Lidar can include several major components: light source, optics, and detectors. LiDAR may have a wide range of applications. For example, autonomous vehicles such as self-driving cars can use lidar for obstacle detection and collision avoidance to safely navigate the environment. Lidar can be installed on self-driving vehicles and monitor the environment around the vehicle. LiDAR provides the ability to determine the presence, identity, location, and structure of obstacles in the environment.

本文所公開的是一種方法，包括：在第一增益下得到目標場景的一部分所散射的光的強度的第一測量；在第一增益下基於所述部分所散射的光來得到所述部分的特性的第一測量；在第二增益下得到強度的第二測量；在第二增益下基於所述部分所散射的光來得到特性的第二測量；基於強度的第一測量和強度的第二測量在特性的第一測量與特性的第二測量之間進行選擇。 Disclosed herein is a method comprising: obtaining a first measurement of the intensity of light scattered by a portion of a target scene at a first gain; obtaining an intensity of light scattered by the portion at the first gain based on the light scattered by the portion A first measurement of the characteristic; a second measurement of the intensity is obtained at a second gain; a second measurement of the characteristic is obtained based on the light scattered by the portion at the second gain; a second measurement of the characteristic is obtained based on the first measurement of the intensity and the second measurement of the intensity The measurement selects between a first measurement of the characteristic and a second measurement of the characteristic.

按照實施例，特性是所述部分與光源之間的距離的函數。 According to an embodiment, the characteristic is a function of the distance between said portion and the light source.

按照實施例，特性是光從光源傳播到所述部分的時間的函數。 According to an embodiment, the characteristic is a function of the time for light to travel from the light source to said portion.

按照實施例，在特性的第一測量與特性的第二測量之間進行選擇包括將強度的第一測量或強度的第二測量與檢測器的動態範圍進行比較。 According to an embodiment, selecting between the first measure of the characteristic and the second measure of the characteristic comprises comparing the first measure of intensity or the second measure of intensity with a dynamic range of the detector.

按照實施例，在特性的第一測量與特性的第二測量之間進行選擇包括將相對於檢測器的動態範圍的強度的第一測量與相對於檢測器的動態範圍的強度的第二測量進行比較。 According to an embodiment, selecting between the first measurement of the characteristic and the second measurement of the characteristic comprises comparing the first measurement of the intensity relative to the dynamic range of the detector with the second measurement of the intensity relative to the dynamic range of the detector Compare.

按照實施例，在特性的第一測量與特性的第二測量之間進行選擇包括確定強度的第一測量或強度的第二測量是否超出檢測器的動態範圍。 According to an embodiment, selecting between the first measurement of the characteristic and the second measurement of the characteristic comprises determining whether the first measurement of intensity or the second measurement of intensity exceeds the dynamic range of the detector.

按照實施例，該方法還包括生成目標場景的圖像，該圖像包括在特性的第一測量與特性的第二測量之間所選的特性的測量。 According to an embodiment, the method further comprises generating an image of the target scene, the image comprising a measure of the property selected between the first measure of the property and the second measure of the property.

按照實施例，強度的第一測量和強度的第二測量是數字信號。 According to an embodiment, the first measure of intensity and the second measure of intensity are digital signals.

按照實施例，光是鐳射。 According to an embodiment, the light is laser light.

按照實施例，光是紅外線。 According to an embodiment, the light is infrared.

本文所公開的是一種方法，包括：在第一增益下得到目標場景的一部分所散射的光的強度的第一測量；在第二增益下得到強度的第二測量；基於強度的第一測量和強度的第二測量來確定第三增益；在第三增益下基於所述部分所散射的光來得到所述部分的特性的測量。 Disclosed herein is a method comprising: obtaining a first measurement of the intensity of light scattered by a portion of a target scene at a first gain; obtaining a second measurement of the intensity at a second gain; based on the first measurement of the intensity and A third gain is determined from a second measurement of intensity; at the third gain a measure of a property of the portion is obtained based on light scattered by the portion.

按照實施例，特性是所述部分與光源之間的距離的函數。 According to an embodiment, the characteristic is a function of the distance between said portion and the light source.

按照實施例，特性是光從光源傳播到所述部分的時間的函數。 According to an embodiment, the characteristic is a function of the time for light to travel from the light source to said portion.

按照實施例，確定第三增益包括將強度的第一測量或強度的第二測量與檢測器的動態範圍進行比較。 According to an embodiment, determining the third gain comprises comparing the first measure of intensity or the second measure of intensity with a dynamic range of the detector.

按照實施例，確定第三增益包括將相對於檢測器的動態範圍的強度的第一測量與相對於檢測器的動態範圍的強度的第二測量進行比較。 According to an embodiment, determining the third gain comprises comparing the first measure of the intensity relative to the dynamic range of the detector with the second measure of the intensity relative to the dynamic range of the detector.

按照實施例，確定第三增益包括確定強度的第一測量或強度的第二測量是否超出檢測器的動態範圍。 According to an embodiment, determining the third gain comprises determining whether the first measurement of intensity or the second measurement of intensity exceeds the dynamic range of the detector.

按照實施例，該方法還包括生成目標場景的圖像，該圖像包括特性的測量。 According to an embodiment, the method further comprises generating an image of the target scene, the image including the measurement of the property.

按照實施例，強度的第一測量和強度的第二測量是數字信號。 According to an embodiment, the first measure of intensity and the second measure of intensity are digital signals.

按照實施例，光是鐳射。 According to an embodiment, the light is laser light.

按照實施例，光是紅外線。 According to an embodiment, the light is infrared.

本文所公開的是一種系統，包括：光源，配置成將光定向到目標場景的一部分；檢測器，配置成在第一增益下得到所述部分所散射的光的強度的第一測量，在第一增益下基於所述部分所散射的光來得到所述部分的特性的第一測量，在第二增益下得到強度的第二測量，並且在第二增益下基於所述部分所散射的光來得到特性的第二測量；以及處理器，配置成基於強度的第一測量和強度的第二測量在特性的第一測量與特性的第二測量之間進行選擇。 Disclosed herein is a system comprising: a light source configured to direct light to a portion of a target scene; a detector configured to obtain a first measurement of the intensity of light scattered by the portion at a first gain, at Obtaining a first measurement of a property of the portion at a gain based on light scattered by the portion, obtaining a second measurement of intensity at a second gain, and obtaining a second measurement of intensity based on light scattered by the portion at a second gain obtaining a second measure of the characteristic; and a processor configured to select between the first measure of the characteristic and the second measure of the characteristic based on the first measure of intensity and the second measure of intensity.

按照實施例，特性是所述部分與光源之間的距離的函數。 According to an embodiment, the characteristic is a function of the distance between said portion and the light source.

按照實施例，特性是光從光源傳播到所述部分的時間的函數。 According to an embodiment, the characteristic is a function of the time for light to travel from the light source to said portion.

按照實施例，處理器配置成通過將強度的第一測量或強度的第二測量與檢測器的動態範圍進行比較，在特性的第一測量與特性的第二測量之間進行選擇。 According to an embodiment, the processor is configured to select between the first measure of the characteristic and the second measure of the characteristic by comparing the first measure of intensity or the second measure of intensity with a dynamic range of the detector.

按照實施例，處理器配置成通過將相對於檢測器的動態範圍的強度的第一測量與相對於檢測器的動態範圍的強度的第二測量進行比較，在特性的第一測量與特性的第二測量之間進行選擇。 According to an embodiment, the processor is configured to compare the first measurement of the characteristic with the second measurement of the characteristic by comparing the first measurement of the intensity relative to the dynamic range of the detector with the second measurement of the intensity relative to the dynamic range of the detector. Choose between two measurements.

按照實施例，處理器配置成通過確定強度的第一測量或強度的第二測量是否超出檢測器的動態範圍，在特性的第一測量與特性的第二測量之間進行選擇。 According to an embodiment, the processor is configured to select between the first measurement of the characteristic and the second measurement of the characteristic by determining whether the first measurement of intensity or the second measurement of intensity exceeds the dynamic range of the detector.

按照實施例，處理器還配置成生成目標場景的圖像，該圖像包括在特性的第一測量與特性的第二測量之間所選的特性的測量。 According to an embodiment, the processor is further configured to generate an image of the target scene comprising a measure of the property selected between the first measure of the property and the second measure of the property.

按照實施例，強度的第一測量和強度的第二測量是數字信號。 According to an embodiment, the first measure of intensity and the second measure of intensity are digital signals.

按照實施例，光是鐳射。 According to an embodiment, the light is laser light.

按照實施例，光是紅外線。 According to an embodiment, the light is infrared.

本文所公開的是一種系統，包括：光源，配置成將光定向到目標場景的一部分；檢測器，配置成在第一增益下得到所述部分所散射的光的強度的第一測量，在第二增益下得到強度的第二測量；以及處理器，配置成基於強度的第一測量和強度的第二測量來確定第三增益；其中檢測器還配置成在第三增益下基於所述部分所散射的光來得到所述部分的特性的測量。 Disclosed herein is a system comprising: a light source configured to direct light to a portion of a target scene; a detector configured to obtain a first measurement of the intensity of light scattered by the portion at a first gain, at A second measurement of intensity is obtained at a second gain; and a processor configured to determine a third gain based on the first measurement of intensity and the second measurement of intensity; wherein the detector is further configured to obtain at a third gain based on the portion of the measured The scattered light is used to obtain measurements of the properties of the part.

按照實施例，特性是所述部分與光源之間的距離的函數。 According to an embodiment, the characteristic is a function of the distance between said portion and the light source.

按照實施例，特性是光從光源傳播到所述部分的時間的函數。 According to an embodiment, the characteristic is a function of the time for light to travel from the light source to said portion.

按照實施例，處理器配置成通過將強度的第一測量或強度的第二測量與檢測器的動態範圍進行比較，來確定第三增益。 According to an embodiment, the processor is configured to determine the third gain by comparing the first measure of intensity or the second measure of intensity with a dynamic range of the detector.

按照實施例，處理器配置成通過將相對於檢測器的動態範圍的強度的第一測量與相對於檢測器的動態範圍的強度的第二測量進行比較，來確定第三增益。 According to an embodiment, the processor is configured to determine the third gain by comparing the first measure of the intensity relative to the dynamic range of the detector with the second measure of the intensity relative to the dynamic range of the detector.

按照實施例，處理器配置成通過確定強度的第一測量或強度的第二測量是否超出檢測器的動態範圍，來確定第三增益。 According to an embodiment, the processor is configured to determine the third gain by determining whether the first measurement of intensity or the second measurement of intensity exceeds the dynamic range of the detector.

按照實施例，處理器還配置成生成目標場景的圖像，該圖像包括特性的測量。 According to an embodiment, the processor is further configured to generate an image of the target scene, the image including the measurement of the property.

按照實施例，強度的第一測量和強度的第二測量是數字信號。 According to an embodiment, the first measure of intensity and the second measure of intensity are digital signals.

按照實施例，光是鐳射。 According to an embodiment, the light is laser light.

按照實施例，光是紅外線。 According to an embodiment, the light is infrared.

100‧‧‧系統 100‧‧‧system

102‧‧‧光源 102‧‧‧Light source

104‧‧‧檢測器 104‧‧‧Detector

106‧‧‧光學器件 106‧‧‧Optical devices

108‧‧‧目標場景 108‧‧‧target scene

109‧‧‧處理器 109‧‧‧processor

C‧‧‧測量 C‧‧‧measurement

C1‧‧‧特性的第一測量 C1‧‧‧Characteristics of the first measurement

C2‧‧‧特性的第二測量 Second measurement of C2‧‧‧characteristics

G1‧‧‧第一增益 G1‧‧‧First Gain

G2‧‧‧第二增益 G2‧‧‧Second Gain

G3‧‧‧第三增益 G3‧‧‧The third gain

I1‧‧‧強度的第一測量 I1‧‧‧First measurement of intensity

I2‧‧‧強度的第二測量 I2‧‧‧Second measurement of intensity

DYM‧‧‧動態範圍 DYM‧‧‧Dynamic Range

圖1示意示出按照實施例的系統。 FIG. 1 schematically shows a system according to an embodiment.

圖2A示意示出按照實施例的方法。 FIG. 2A schematically shows a method according to an exemplary embodiment.

圖2B、圖2C、圖2D和圖2E各示意示出圖2A的方法的步驟的細節。 Figures 2B, 2C, 2D and 2E each schematically illustrate details of steps of the method of Figure 2A.

圖3A示意示出按照實施例的方法。 FIG. 3A schematically shows a method according to an embodiment.

圖3B、圖3C、圖3D和圖3E各示意示出圖3A的方法的步驟的細節。 Figures 3B, 3C, 3D and 3E each schematically illustrate details of steps of the method of Figure 3A.

圖1示意示出按照實施例的系統100。系統100可包括光源102、檢測器104和處理器109。 FIG. 1 schematically shows a system 100 according to an exemplary embodiment. System 100 may include light source 102 , detector 104 and processor 109 .

光源102可配置成將光定向到目標場景108的一部分(例如行或點)。光可以是鐳射。光可以是紅外線。光源102還可配置成沿一個或多個方向跨目標場景108來掃描光。定向到所述部分的光可通過所述部分所散射(例如反射)。所述部分所散射的光的一部分可由檢測器104來接收。系統100可具有光學器件106，其配置成在光被檢測器104所接收之前對所述部分所散射的光進行整形。 Light source 102 may be configured to direct light to a portion (eg, a row or point) of target scene 108 . The light can be a laser. The light can be infrared. Light source 102 may also be configured to scan light across target scene 108 in one or more directions. Light directed to the portion may be scattered (eg reflected) by the portion. A portion of the partially scattered light may be received by the detector 104 . System 100 may have optics 106 configured to shape the portion of the scattered light before the light is received by detector 104 .

檢測器104可配置成基於所述部分所散射的光來測量目標場景108的所述部分的特性。例如，特性可以是所述部分與光源102之間的距離的函數或者光在光源102與所述部分之間傳播的時間的函數。光源102可將光的脈衝定向到所述部分，並且檢測器104可使用源自脈衝的、被所述部分所散射的光的分數來測量特性。 The detector 104 may be configured to measure a characteristic of the portion of the target scene 108 based on the light scattered by the portion. For example, the characteristic may be a function of the distance between the part and the light source 102 or the time for light to travel between the light source 102 and the part. A light source 102 may direct a pulse of light to the portion, and a detector 104 may use the fraction of light resulting from the pulse that is scattered by the portion to measure a characteristic.

檢測器104可放大所述部分所散射的光。放大可採取光學放大的形式，例如使用光電倍增器，其中所述部分所散射的光被放大為更強光學信號(例如更密集的光)。放大可採取電放大的形式，例如使用光電檢測器將所述部分所散射的光轉換為電信號，並且使用電子放大器來放大電信號。放大的幅值可通過增益來表達。增益測量相對於輸入的放大的輸出。例如，增益可以是更強光學信號的強度與通過所述部分所散射並且被檢測器104所接收的光的強度的比率。例如，增益可以是電子放大器之後的電信號的幅值與電子放大器之前的電信號的幅值的比率。所述部分所散射的光的幅值可取決於許多因素，例如所述部分與光源102的距離。在示例中，所述部分所散射的光的幅值與距離的四次方成反 比。因此，所述部分所散射的光的幅值可處於跨越數量級的極大範圍中的任何位置。 Detector 104 may amplify the portion of the scattered light. Amplification may take the form of optical amplification, for example using a photomultiplier, where the portion of the scattered light is amplified into a stronger optical signal (eg denser light). Amplification may take the form of electrical amplification, for example using a photodetector to convert the partly scattered light into an electrical signal, and using an electronic amplifier to amplify the electrical signal. The magnitude of amplification can be expressed by gain. Gain measures the amplified output relative to the input. For example, gain may be the ratio of the intensity of the stronger optical signal to the intensity of light scattered by the portion and received by the detector 104 . For example, gain may be the ratio of the magnitude of the electrical signal after the electronic amplifier to the magnitude of the electrical signal before the electronic amplifier. The magnitude of light scattered by the portion may depend on many factors, such as the distance of the portion from the light source 102 . In an example, the magnitude of the light scattered by the portion is inversely proportional to the fourth power of the distance Compare. Thus, the magnitude of the light scattered by the fraction can be anywhere in an extremely large range spanning orders of magnitude.

處理器109(其可與檢測器104相集成)可處理來自檢測器104的數據，並且調整檢測器104。例如，處理器109可調整檢測器104的增益，以適應所述部分所散射的光的幅值的大範圍。例如，處理器109可調整檢測器104的增益，使得通過所述部分所散射並且被檢測器104所接收的光不會過於靠近檢測器104的動態範圍的邊界。例如，處理器109可在來自檢測器104的數據之間進行選擇。 Processor 109 (which may be integrated with detector 104 ) may process data from detector 104 and adjust detector 104 . For example, processor 109 may adjust the gain of detector 104 to accommodate a wide range of amplitudes of light scattered by the portion. For example, processor 109 may adjust the gain of detector 104 so that light scattered by the portion and received by detector 104 is not too close to the boundary of the dynamic range of detector 104 . For example, processor 109 may select between data from detector 104 .

圖2A示意示出按照實施例的方法。目標場景的所述部分所散射的光的強度的第一測量I1在第一增益G1下得到(例如採用檢測器104)。所述部分的特性的第一測量C1在第一增益G1下基於所述部分所散射的光來得到(例如採用檢測器104)。強度的第二測量I2在第二增益G2下得到(例如採用檢測器104)。特性的第二測量C2在第二增益G2下基於所述部分所散射的光來得到(例如採用檢測器104)。強度的測量I1和I2可處於相同時間或者略微不同的時間。I1和I2可以是作為時間的函數的強度的數位化波形。在不同增益G1和G2下，I1和I2可以是相當不同的，儘管它們是相同強度的測量。例如，如果增益選擇成使得強度靠近動態範圍的下邊界，則強度的測量(在這個示例中為I1)可具有大量化誤差；如果增益選擇成使得強度沒有靠近動態範圍的下邊界，則強度的測量(在這個示例中為I2)可具有小量化誤差。特性的測量C1和C2可通過測量作為時間(例如強度的峰值到達檢測器104的時間)的函數的強度來得到。如果量化誤差較大，則強度的峰值到達檢測器104的時間的誤差並且因而特性的測量的誤差也較大。特性的一個測量基於強度的第一測量I1和強度的第二測量I2在特性的第一測量C1與特性的第二測量C2之間來選擇(例如使用處理器109)。在這個示例中，選擇C2，因為I2具有比I1要小的量化誤差。 FIG. 2A schematically shows a method according to an exemplary embodiment. A first measurement I1 of the intensity of light scattered by said portion of the target scene is obtained at a first gain G1 (eg using the detector 104). A first measurement C1 of a property of the part is obtained based on the light scattered by the part at a first gain G1 (eg using the detector 104). A second measure I2 of intensity is obtained (eg using detector 104) at a second gain G2. A second measure C2 of the characteristic is obtained based on said part of the scattered light at a second gain G2 (eg using the detector 104). The measurements I1 and I2 of the intensities may be at the same time or at slightly different times. I1 and I2 may be digitized waveforms of intensity as a function of time. At different gains G1 and G2, I1 and I2 can be quite different, although they are measures of the same intensity. For example, if the gain is chosen such that the intensity is close to the lower boundary of the dynamic range, the measurement of intensity (I1 in this example) may have a large amount of quantization error; if the gain is chosen such that the intensity is not close to the lower boundary of the dynamic range, then the The measurement (I2 in this example) may have small quantization errors. Measures of the characteristics C1 and C2 may be obtained by measuring the intensity as a function of time (eg, the time at which the peak of the intensity reaches the detector 104). If the quantization error is large, the error in the time at which the peak of the intensity reaches the detector 104 and thus the measurement of the characteristic is also large. One measure of the characteristic is selected between the first measure of the characteristic C1 and the second measure of the characteristic C2 based on the first measure of intensity I1 and the second measure of intensity I2 (eg using the processor 109 ). In this example, C2 is chosen because I2 has a smaller quantization error than I1.

如圖2B示意所示，特性的第一測量C1與特性的第二測量C2之間的選擇可包括將I1或I2與檢測器104的動態範圍DYM進行比較。相對於動態範圍DYM的I1和I2分別通過“I1|DYM”和“I2|DYM”來表示。 As shown schematically in FIG. 2B , the selection between the first measurement C1 of the characteristic and the second measurement C2 of the characteristic may include comparing either I1 or I2 with the dynamic range DYM of the detector 104 . I1 and I2 relative to the dynamic range DYM are represented by "I1|DYM" and "I2|DYM", respectively.

如圖2C示意所示，特性的第一測量C1與特性的第二測量C2之間的選擇可包括將I1|DYM與I2|DYM進行比較。例如，如果I1|DYM處於動態範圍的10%並且I2|DYM處於90%，則應當選擇C2而不是C1。 As shown schematically in FIG. 2C , the selection between the first measure C1 of the characteristic and the second measure C2 of the characteristic may comprise comparing I1|DYM with I2|DYM. For example, if I1|DYM is at 10% of the dynamic range and I2|DYM is at 90%, then C2 should be chosen instead of C1.

如圖2D示意所示，特性的第一測量C1與特性的第二測量C2之間的選擇可包括確定I1或I2是否超出動態範圍。例如，如果I1|DYM處於動態範圍的10%並且I2|DYM處於100%(即，I2飽和)，則應當選擇C1而不是C2。 As shown schematically in FIG. 2D , the selection between the first measure C1 of the characteristic and the second measure C2 of the characteristic may include determining whether I1 or I2 is out of the dynamic range. For example, if I1|DYM is at 10% of the dynamic range and I2|DYM is at 100% (ie, I2 is saturated), then C1 should be chosen instead of C2.

如圖2E示意所示，可生成目標場景108的圖像999(例如目標場景中的每個點到光源的距離)，其中圖像包括在C1與C2之間所選的特性的一個測量。 As schematically shown in FIG. 2E , an image 999 of the target scene 108 (eg, the distance of each point in the target scene to a light source) may be generated, wherein the image includes a measurement of a characteristic selected between C1 and C2.

圖3A示意示出按照實施例的方法。目標場景的所述部分所散射的光的強度的第一測量I1在第一增益G1下得到(例如採用檢測器104)。強度的第二測量I2在第二增益G2下得到(例如採用檢測器104)。第三增益G3基於強度的第一測量I1和強度的第二測量I2來確定(例如使用處理器109)。例如，G3可基於I1和I2在G1與G2之間來選擇；G3可以是G1和G2的加權平均，其中權重基於I1和I2來確定。所述部分的特性的測量C在第三增益G3下基於所述部分所散射的光來得到(例如採用檢測器104)。強度的測量I1和I2可處於相同時間或者略微不同的時間。I1和I2可以是作為時間的函數的強度的數位化波形。在不同增益G1和G2下，I1和I2可以是相當不同的，儘管它們是相同強度的測量。例如，如果增益選擇成使得強度靠近動態範圍的下邊界，則強度的測量(在這個示例中為I1)可具有大量化誤差；如果增益選擇成使得強度沒有靠近動態範圍的下邊界， 則強度的測量(在這個示例中為I2)可具有小量化誤差。特性的測量C可通過測量作為時間(例如強度的峰值到達檢測器104的時間)的函數的強度來得到。 FIG. 3A schematically shows a method according to an embodiment. A first measurement I1 of the intensity of light scattered by said portion of the target scene is obtained at a first gain G1 (eg using the detector 104). A second measure I2 of intensity is obtained (eg using detector 104) at a second gain G2. The third gain G3 is determined (eg using the processor 109) based on the first measure I1 of intensity and the second measure I2 of intensity. For example, G3 may be selected between G1 and G2 based on I1 and I2; G3 may be a weighted average of G1 and G2, where the weights are determined based on I1 and I2. A measure C of the property of the part is obtained at a third gain G3 based on the light scattered by the part (eg using the detector 104). The measurements I1 and I2 of the intensities may be at the same time or at slightly different times. I1 and I2 may be digitized waveforms of intensity as a function of time. At different gains G1 and G2, I1 and I2 can be quite different, although they are measures of the same intensity. For example, if the gain is chosen such that the intensity is close to the lower boundary of the dynamic range, the measurement of intensity (I1 in this example) may have a large amount of quantization error; if the gain is chosen such that the intensity is not close to the lower boundary of the dynamic range, The measure of intensity (I2 in this example) may then have small quantization errors. A measure C of the characteristic may be obtained by measuring the intensity as a function of time (eg, the time at which the peak of the intensity reaches the detector 104).

如圖3B示意所示，確定第三增益G3可包括將I1或I2與檢測器104的動態範圍DYM進行比較。相對於動態範圍DYM的I1和I2分別通過“I1|DYM”和“I2|DYM”來表示。 As schematically shown in FIG. 3B , determining the third gain G3 may include comparing I1 or I2 with the dynamic range DYM of the detector 104 . I1 and I2 relative to the dynamic range DYM are represented by "I1|DYM" and "I2|DYM", respectively.

如圖3C示意所示，確定第三增益G3可包括將I1|DYM與I2|DYM進行比較。例如，如果I1|DYM處於動態範圍的10%並且I2|DYM處於90%，則當G3是G1和G2的加權平均時，G2應當具有比G1要大的權重。 As schematically shown in FIG. 3C , determining the third gain G3 may include comparing I1|DYM with I2|DYM. For example, if I1|DYM is at 10% of the dynamic range and I2|DYM is at 90%, then when G3 is the weighted average of G1 and G2, G2 should have a greater weight than G1.

如圖3D示意所示，確定第三增益G3可包括確定I1或I2是否超出動態範圍。例如，如果I1|DYM處於動態範圍的10%並且I2|DYM處於100%(即，I2飽和)，則當G3是G1和G2的加權平均時，G2應當具有比G1要小的權重。 As schematically shown in FIG. 3D , determining the third gain G3 may include determining whether I1 or I2 exceeds the dynamic range. For example, if I1|DYM is at 10% of the dynamic range and I2|DYM is at 100% (ie, I2 is saturated), then G2 should have less weight than G1 when G3 is the weighted average of G1 and G2.

如圖3E示意所示，可生成目標場景108的圖像998(例如目標場景中的每個點到光源的距離)，其中圖像包括在測量C。圖像998的點中的測量C不一定是在相同增益下。即，G3對不同的點可以是不同的。 As schematically shown in FIG. 3E , an image 998 of the target scene 108 (eg, the distance of each point in the target scene to the light source) may be generated, wherein the image is included in measurement C. The measurements C in the points of image 998 are not necessarily at the same gain. That is, G3 can be different for different points.

雖然本文公開了各個方面和實施例，但是其他方面和實施例將是本領域的技術人員清楚知道的。本文所公開的各個方面和實施例是為了便於說明而不是要進行限制，其中真實範圍和精神通過以下權利要求書來指示。 Although various aspects and embodiments are disclosed herein, other aspects and embodiments will be apparent to those skilled in the art. The various aspects and embodiments disclosed herein are by way of illustration and not limitation, with the true scope and spirit being indicated by the following claims.

108‧‧‧目標場景 108‧‧‧target scene

C1‧‧‧特性的第一測量 C1‧‧‧Characteristics of the first measurement

C2‧‧‧特性的第二測量 Second measurement of C2‧‧‧characteristics

G1‧‧‧第一增益 G1‧‧‧First Gain

G2‧‧‧第二增益 G2‧‧‧Second Gain

I1‧‧‧強度的第一測量 I1‧‧‧First measurement of intensity

I2‧‧‧強度的第二測量 I2‧‧‧Second measurement of intensity

Claims (40)

一種用於光檢測之方法，包括：使用具有一第一增益之一檢測器得到由一目標場景的一部分所散射的光的一強度的一第一測量；使用具有所述第一增益之所述檢測器基於所述部分所散射的所述光來得到所述部分的一特性的一第一測量；使用具有一第二增益之所述檢測器得到所述強度的一第二測量；使用具有所述第二增益之所述檢測器基於所述部分所散射的所述光來得到所述特性的一第二測量；基於所述強度的所述第一測量和所述強度的所述第二測量在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇。 A method for light detection comprising: obtaining a first measurement of an intensity of light scattered by a portion of a target scene using a detector having a first gain; using the detector having the first gain the detector obtains a first measurement of a property of the portion based on the light scattered by the portion; obtains a second measurement of the intensity using the detector with a second gain; obtains a second measurement of the intensity using the detector with the the detector of the second gain obtains a second measurement of the characteristic based on the light scattered by the portion; based on the first measurement of the intensity and the second measurement of the intensity A selection is made between the first measure of the property and the second measure of the property. 如申請專利範圍第1項之方法，其中，所述特性是所述部分與所述光之一源之間的一距離的一函數。 9. The method of claim 1, wherein said characteristic is a function of a distance between said portion and a source of said light. 如申請專利範圍第1項之方法，其中，所述特性是所述光從所述光之一源傳播(travel)到所述部分的一時間的一函數。 9. The method of claim 1, wherein said characteristic is a function of a time for said light to travel from said source of said light to said portion. 如申請專利範圍第1項之方法，其中在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇包括將所述強度的所述第一測量或所述強度的所述第二測量與所述檢測器的一動態範圍進行比較。 The method of claim 1, wherein selecting between said first measure of said characteristic and said second measure of said characteristic comprises combining said first measure of said intensity or said intensity The second measurement of is compared to a dynamic range of the detector. 如申請專利範圍第1項之方法，其中在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇包括將相對於所述檢測器的一動態範圍的所述強度的所述第一測量與相對於所述檢測器的所述動態範圍的所述強度的所述第二測量進行比較。 The method of claim 1, wherein selecting between said first measurement of said characteristic and said second measurement of said characteristic comprises comparing said The first measurement of intensity is compared to the second measurement of the intensity relative to the dynamic range of the detector. 如申請專利範圍第1項之方法，其中在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇包括確定所述強度的所述第一測量或所述強度的所述第二測量是否超出所述檢測器的一動態範圍。 The method of claim 1, wherein selecting between said first measure of said property and said second measure of said property comprises determining either said first measure of said intensity or said intensity whether the second measurement of is outside a dynamic range of the detector. 如申請專利範圍第1項之方法，還包括生成所述目標場景的一圖像，所述圖像包括在所述特性的所述第一測量與所述特性的所述第二測量之間所選的所述特性的一測量。 The method of claim 1, further comprising generating an image of said target scene, said image including a difference between said first measurement of said property and said second measurement of said property A measure of the selected characteristic. 如申請專利範圍第1項之方法，其中所述強度的所述第一測量和所述強度的所述第二測量是數字信號。 The method of claim 1, wherein said first measurement of said intensity and said second measurement of said intensity are digital signals. 如申請專利範圍第1項之方法，其中所述光是一雷射。 As the method of claim 1, wherein the light is a laser. 如申請專利範圍第1項之方法，其中所述光是紅外線。 As the method of claim 1, wherein the light is infrared. 一種用於光檢測之方法，包括：使用具有一第一增益之一檢測器得到由一目標場景的一部分所散射的光的一強度的一第一測量；使用具有一第二增益之所述檢測器得到所述強度的一第二測量；基於所述強度的所述第一測量和所述強度的所述第二測量來確定所述檢測器的一第三增益；使用具有所述第三增益之所述檢測器基於所述部分所散射的所述光來得到所述部分的一特性的一測量。 A method for light detection comprising: obtaining a first measurement of an intensity of light scattered by a portion of a target scene using a detector having a first gain; using said detecting detector having a second gain A second measurement of the intensity is obtained by the detector; a third gain of the detector is determined based on the first measurement of the intensity and the second measurement of the intensity; The detector obtains a measurement of a property of the portion based on the light scattered by the portion. 如申請專利範圍第11項之方法，其中所述特性是所述部分與所述光之一源之間的一距離的一函數。 11. The method of claim 11, wherein said characteristic is a function of a distance between said portion and a source of said light. 如申請專利範圍第11項之方法，其中所述特性是所述光從所述光之一源傳播到所述部分的一時間的一函數。 11. The method of claim 11, wherein said characteristic is a function of a time for said light to travel from said source of said light to said portion. 如申請專利範圍第11項之方法，其中確定所述第三增益包括將所述強度的所述第一測量或所述強度的所述第二測量與所述檢測器的一動態範圍進行比較。 The method of claim 11, wherein determining said third gain comprises comparing said first measurement of said intensity or said second measurement of said intensity to a dynamic range of said detector. 如申請專利範圍第11項之方法，其中確定所述第三增益包括將相對於所述檢測器的一動態範圍的所述強度的所述第一測量與相對於所述檢測器的所述動態範圍的所述強度的所述第二測量進行比較。 The method of claim 11, wherein determining said third gain comprises comparing said first measurement of said intensity relative to a dynamic range of said detector with said dynamic range relative to said detector The second measurement of the intensity of the range is compared. 如申請專利範圍第11項之方法，其中確定所述第三增益包括確定所述強度的所述第一測量或所述強度的所述第二測量是否超出所述檢測器的一動態範圍。 The method of claim 11, wherein determining said third gain comprises determining whether said first measurement of said intensity or said second measurement of said intensity exceeds a dynamic range of said detector. 如申請專利範圍第11項之方法，還包括生成所述目標場景的一圖像，所述圖像包括所述特性的所述測量。 The method of claim 11, further comprising generating an image of said target scene, said image including said measurement of said property. 如申請專利範圍第11項之方法，其中所述強度的所述第一測量和所述強度的所述第二測量是數字信號。 The method of claim 11, wherein said first measurement of said intensity and said second measurement of said intensity are digital signals. 如申請專利範圍第11項之方法，其中所述光是一雷射。 The method as claimed in claim 11, wherein the light is a laser. 如申請專利範圍第11項之方法，其中所述光是紅外線。 The method of claim 11, wherein the light is infrared. 一種用於光檢測之系統，包括：一光源，配置成將光定向到一目標場景的一部分；一檢測器，配置成：在一第一增益下得到所述部分所散射的光的一強度的一第一測量，在所述第一增益下基於所述部分所散射的所述光來得到所述部分的一特性的一第一測量，在一第二增益下得到所述強度的一第二測量，並且 在所述第二增益下基於所述部分所散射的所述光來得到所述特性的一第二測量；以及一處理器，配置成基於所述強度的所述第一測量和所述強度的所述第二測量在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇。 A system for light detection, comprising: a light source configured to direct light to a portion of a target scene; a detector configured to obtain an intensity of light scattered by the portion at a first gain a first measurement of a property of the portion based on the light scattered by the portion at the first gain, a second measurement of the intensity at a second gain measure, and obtaining a second measure of the characteristic based on the light scattered by the portion at the second gain; and a processor configured to obtain a second measure of the characteristic based on the first measure of the intensity and the measure of the intensity The second measurement selects between the first measurement of the characteristic and the second measurement of the characteristic. 如申請專利範圍第21項之系統，其中所述特性是所述部分與所述光源之間的一距離的一函數。 The system of claim 21, wherein said characteristic is a function of a distance between said portion and said light source. 如申請專利範圍第21項之系統，其中所述特性是所述光從所述光源傳播到所述部分的一時間的一函數。 21. The system of claim 21, wherein said characteristic is a function of a time for said light to travel from said light source to said portion. 如申請專利範圍第21項之系統，其中所述處理器配置成藉由將所述強度的所述第一測量或所述強度的所述第二測量與所述檢測器的一動態範圍進行比較，在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇。 The system of claim 21, wherein said processor is configured by comparing said first measurement of said intensity or said second measurement of said intensity to a dynamic range of said detector , to select between the first measure of the property and the second measure of the property. 如申請專利範圍第21項之系統，其中所述處理器配置成藉由將相對於所述檢測器的一動態範圍的所述強度的所述第一測量與相對於所述檢測器的所述動態範圍的所述強度的所述第二測量進行比較，在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇。 The system of claim 21, wherein said processor is configured by combining said first measurement of said intensity relative to a dynamic range of said detector with said The second measure of the intensity of the dynamic range is compared to select between the first measure of the characteristic and the second measure of the characteristic. 如申請專利範圍第21項之系統，其中所述處理器配置成藉由確定所述強度的所述第一測量或所述強度的所述第二測量是否超出所述檢測器的一動態範圍，在所述特性的所述第一測量與所述特性的所述第二測量之間進行選擇。 The system of claim 21, wherein said processor is configured to determine whether said first measurement of said intensity or said second measurement of said intensity exceeds a dynamic range of said detector by determining whether said first measurement of said intensity, A selection is made between the first measure of the property and the second measure of the property. 如申請專利範圍第21項之系統，其中所述處理器還配置成生成所述目標場景的一圖像，所述圖像包括在所述特性的所述第一測量與所述特性的所述第二測量之間所選的所述特性的一測量。 The system of claim 21, wherein said processor is further configured to generate an image of said target scene, said image including said first measurement of said characteristic and said A measurement of the characteristic selected between the second measurements. 如申請專利範圍第21項之系統，其中所述強度的所述第一測量和所述強度的所述第二測量是數字信號。 The system of claim 21, wherein said first measurement of said intensity and said second measurement of said intensity are digital signals. 如申請專利範圍第21項之系統，其中所述光是一雷射。 As the system of claim 21, wherein said light is a laser. 如申請專利範圍第21項之系統，其中所述光是紅外線。 The system of claim 21, wherein said light is infrared. 一種用於光檢測之系統，包括：一光源，配置成將光定向到一目標場景的一部分；一檢測器，配置成：在一第一增益下得到所述部分所散射的光的一強度的一第一測量，在一第二增益下得到所述強度的一第二測量；以及一處理器，配置成基於所述強度的所述第一測量和所述強度的所述第二測量來確定一第三增益；其中所述檢測器還配置成在所述第三增益下基於所述部分所散射的所述光來得到所述部分的一特性的一測量。 A system for light detection, comprising: a light source configured to direct light to a portion of a target scene; a detector configured to obtain an intensity of light scattered by the portion at a first gain a first measurement for obtaining a second measurement of the intensity at a second gain; and a processor configured to determine based on the first measurement of the intensity and the second measurement of the intensity a third gain; wherein the detector is further configured to obtain a measurement of a property of the portion at the third gain based on the light scattered by the portion. 如申請專利範圍第31項之系統，其中所述特性是所述部分與所述光源之間的一距離的一函數。 31. The system of claim 31, wherein said characteristic is a function of a distance between said portion and said light source. 如申請專利範圍第31項之系統，其中所述特性是所述光從所述光源傳播到所述部分的一時間的一函數。 31. The system of claim 31, wherein said characteristic is a function of a time for said light to travel from said light source to said portion. 如申請專利範圍第31項之系統，其中所述處理器配置成藉由將所述強度的所述第一測量或所述強度的所述第二測量與所述檢測器的一動態範圍進行比較，來確定所述第三增益。 The system of claim 31, wherein said processor is configured by comparing said first measurement of said intensity or said second measurement of said intensity to a dynamic range of said detector , to determine the third gain. 如申請專利範圍第31項之系統，其中所述處理器配置成藉由將相對於所述檢測器的一動態範圍的所述強度的所述第一測量與相對於所述檢測器的所述動態範圍的所述強度的所述第二測量進行比較，來確定所述第三增益。 The system of claim 31, wherein said processor is configured by combining said first measurement of said intensity relative to a dynamic range of said detector with said The second measure of the intensity of dynamic range is compared to determine the third gain. 如申請專利範圍第31項之系統，其中所述處理器配置成藉由確定所述強度的所述第一測量或所述強度的所述第二測量是否超出所述檢測器的一動態範圍，來確定所述第三增益。 The system of claim 31, wherein said processor is configured to determine whether said first measurement of said intensity or said second measurement of said intensity exceeds a dynamic range of said detector by determining whether said first measurement of said intensity, to determine the third gain. 如申請專利範圍第31項之系統，其中所述處理器還配置成生成所述目標場景的一圖像，所述圖像包括所述特性的所述測量。 The system of claim 31, wherein said processor is further configured to generate an image of said target scene, said image including said measurement of said characteristic. 如申請專利範圍第31項之系統，其中所述強度的所述第一測量和所述強度的所述第二測量是數字信號。 The system of claim 31, wherein said first measurement of said intensity and said second measurement of said intensity are digital signals. 如申請專利範圍第31項之系統，其中所述光是一雷射。 The system of claim 31, wherein the light is a laser. 如申請專利範圍第31項之系統，其中所述光是紅外線。 The system of claim 31, wherein said light is infrared.
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