WO2003054579A1 - Procede et dispositif pour produire des images-distances 3d - Google Patents

Procede et dispositif pour produire des images-distances 3d Download PDF

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Publication number
WO2003054579A1
WO2003054579A1 PCT/DE2001/004618 DE0104618W WO03054579A1 WO 2003054579 A1 WO2003054579 A1 WO 2003054579A1 DE 0104618 W DE0104618 W DE 0104618W WO 03054579 A1 WO03054579 A1 WO 03054579A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
pixel
charges
image
charge
Prior art date
Application number
PCT/DE2001/004618
Other languages
German (de)
English (en)
Inventor
Wilfried SCHRÖDER
Ernst Forgber
Gerhard RÖH
Original Assignee
Astrium Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Astrium Gmbh filed Critical Astrium Gmbh
Priority to AU2002229472A priority Critical patent/AU2002229472A1/en
Priority to PCT/DE2001/004618 priority patent/WO2003054579A1/fr
Publication of WO2003054579A1 publication Critical patent/WO2003054579A1/fr

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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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • 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
    • G01S17/88—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
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • the invention relates to a method and a device for generating 3D distance images.
  • a color-coded SD image recognition method is known from DE 44 47 117 C1, in which the three-dimensional position of the object points is calculated from the color distributions of the object points from two images, which are obtained by recording the object with light pulses generated by light intensity modulators, one of the light intensity modulators is switched to transmission in one picture and the other light intensity modulator in the other picture is driven with a suitable time delay.
  • modulated light beams of different wavelengths are emitted onto the object and a light switch or light intensity modulator connected upstream of an image detector is actuated in such a way that the instantaneous modulation value of a reflected light beam detected thereby is a function of the different spatial position of the illuminated object point.
  • pulsed operation continuous periodic operation with suitably selected phase shifts of the light intensity modulators is also possible.
  • a method and a device are known from WO 99/34235, in which the object is briefly exposed, for example with laser diodes.
  • An image sensor with high light sensitivity is used to record the image, which can be read out in a pixel-resolution manner and can be read out at will, and has an integration time that can be set for each pixel.
  • the measured values for calculating the distance pixels are recorded sequentially and therefore at different times, the spatial configuration of the scene to be measured may have changed in the meantime.
  • the invention is therefore based on the object of providing a method and a device for generating SD distance images which can be recorded in particularly short time intervals and with a significantly lower light output.
  • the invention is intended to provide a method and a device for generating 3D distance images, with which all the measurement values required for generating distance image points can be obtained in particularly short time intervals by the scattering of a single laser pulse.
  • the invention is also intended to create a method and a device for generating SD distance images, in which all measured values for a distance image point can be obtained in the same light-sensitive cell.
  • This task is solved with a method for generating 3D distance images from the following steps: Emitting a light pulse in the direction of an object of a scenery to be imaged; Imaging an object on a light-sensitive and spatially resolving sensor, the cells of which generate charges corresponding to the exposure and registration of the light pulses scattered back from the various object points within a time interval M, which is dimensioned and shifted in time relative to the start of the light pulse transmission such that the backscatter pulses for everyone Pixels are completely or partially detected depending on their running time, - storing the charges generated during a first subinterval (M of the time interval (M) in a first line memory assigned to the relevant pixel as well as during a second subinterval subsequent to the first subinterval (M) (M 2 ) of the time interval M generated charges in a charge memory assigned to the same pixel, and calculating a 3D distance image from the charges stored for each pixel in the first and second charge memories.
  • the object is further achieved with a device for carrying out the method with the following combination of features, a light source for emitting a light pulse in the direction of an object to be imaged
  • a time interval which is dimensioned and shifted in time relative to the start of the light pulse transmission in such a way that the backscattered pulses for each pixel are recorded in whole or in part depending on their transit time
  • - at least first and second Charge stores which are each assigned to the cells of the sensor, for storing charges generated by the cell in question during a first subinterval (M) and during a second subinterval (M 2 ) of the time interval (M) following the first subinterval (M x ) , - and means for calculating a 3D distance image from the charges stored for each pixel in the associated charge stores.
  • the invention is therefore based on the knowledge that by using an image-resolving optoelectronic sensor, the individual image points of which are provided with a plurality of charge stores, an extremely fast device for obtaining distance images can be created with simultaneous complete use of the energy of the emitted light pulses, with all measured values can be obtained with a light pulse to determine the distance image.
  • One advantage of this solution is that the light energy emitted can be reduced to a minimum in the interest of eye safety through its optimal use. In addition, no mechanically moving parts are required.
  • Another advantage of this solution is that, if necessary, the shooting processes can be repeated at short intervals, so that multiple exposures and charge integrations are possible during the taking of an image. Even with multiple exposures, no calculation errors can occur due to temporal sequences, since the accumulated partial signals are error-free relative to one another.
  • a third charge storage device is assigned to each light-sensitive cell in order to correct the influence of stray light on the measurement signals obtained, so that an environmental image can be generated that contains these stray light components.
  • 1 is a schematic representation of a basic structure for generating 3D images according to the invention
  • 2 shows a schematic representation of a first memory architecture of a sensor
  • FIG. 3 shows a schematic illustration of a first generation of different partial images
  • FIG. 5 different diagrams for calculating a standardized quantity Q as a measure of the distance
  • FIG. 6 shows a schematic illustration of a second generation of different partial images
  • Fig. 7 is a schematic representation of a second memory architecture of a sensor.
  • Figure 1 shows schematically the structure with which distance images (3D images) are obtained according to the invention.
  • Light pulses 2 are emitted from a light source 1 onto an object 3 (or a scenery), which are reflected there.
  • the light pulse 2 with a correspondingly reduced identity, returns as a scattered light pulse 4 to a recording camera 5 and falls there through a lens 6 onto an optoelectronic, pixel-resolving element
  • the intensity values detected by the sensor are evaluated with a signal evaluation device 8 in the manner described below, and a distance image (3D image) is calculated therefrom.
  • the light source 1 is preferably a structural component of the camera 5.
  • FIG. 2 shows the basic architecture and organization of the pixel-resolving optoelectronic sensor 7.
  • the light-sensitive cells are arranged or organized in rows (index i) and columns (index j) according to the geometry of the 3D image to be generated.
  • the distance image (3D image) is calculated from two partial images, an environmental image possibly also being determined and taken into account when calculating the distance image.
  • both partial images are generated.
  • the light pulse is reflected at different object points 10, 11, 12 of the object, which have different distances z within a range between a minimum distance z min and a maximum distance z ,, ⁇ from the light source 1.
  • the backscattered ones are Light pulses 4 are detected within a first time interval M> L (FIG. 4d), ie the camera 5 is activated synchronously with the emission of the light pulses 2 at a time t x for the first time interval M.
  • the length and the temporal position of the first interval M is advantageously chosen such that the light pulses scattered at the relevant object points 10, 11, 12 depend on their transit time, ie on the distance of the object points from the light source, within the first time interval M can be completely captured.
  • Figure 3b shows the time interval M and two subintervals M ⁇ and M 2 and schematically the temporal position of the backscattered light pulses.
  • the light backscattered from the object point 10 is completely detected in the first subinterval M x .
  • the backscattered light of the object point 11 partly falls into the first subinterval M and partly into the second subinterval M 2 , while the light backscattered from the object point 12 is no longer detected in the first subinterval M x , but falls completely into the second subinterval M 2 ,
  • the charges generated during the detection are collected in charge detectors S 1D of the detector, the charges generated in the first subinterval M x in S ⁇ (FIG.
  • the detection process can be for all light-sensitive cells Z 1D of the detector can be carried out simultaneously, with only a single emitted light pulse being required to obtain all the data required for calculating the distance image if the intensity is sufficient.
  • the light echo intensity detected as a charge can be used within a partial interval M or the total interval M of the detector pixel in question. If, for example, the charges q x: 1 in the charge store S 1D1 are normalized with the charges q ⁇ : 2 in the charge store S 1D2 , then a size can be obtained for the pixel ij, which represents a measure of the transit time of the light pulse and so that the distance of the corresponding object point to the detector represents.
  • a size can be obtained for each pixel that is independent of the transit time of the light pulse for all objects in the measurement interval and can thus serve as a gray-scale pixel.
  • the object to be displayed is exposed to an intense stray light such as sunlight, it is furthermore advantageous or depending on the intensity relationships between the light pulse and stray light to generate an environmental image that contains these stray light components (FIG. 4a) and is used to correct the partial images.
  • the environmental light is detected for each pixel during a second time interval K according to FIG. 4c, that is to say the charges generated in each light-sensitive cell Z 13 during the second time interval K are stored in the third charge range S.- 3 assigned to the cell in question ,
  • the time interval K for the acquisition of the environmental light image is advantageously chosen such that stray light components of the light pulse from objects outside the scene under consideration have no or only a negligible influence and are as close as possible to the interval M in order to represent the environmental light conditions applicable at that time as precisely as possible to ensure.
  • the time interval K is preferably set immediately before the emission of the light pulse (FIG. 4c).
  • the intensity of the light pulse is sufficient, the entire amount of information for a distance image is obtained with a light pulse in a time interval of, for example, 50 ns.
  • a light pulse in a time interval of, for example, 50 ns.
  • the optoelectronic sensor in order to improve the signal-to-noise ratio, it is possible to repeat this process several times and to accumulate the charges generated by several light pulses in the charge stores of the light-sensitive cells. For example, when using laser diodes with a duty cycle of 1% as the light source, a pulse length of 10 ns and an image frequency of 100 Hz, it is possible to accumulate the charges of 10,000 light pulses. The exact value depends on the readout time of the optoelectronic sensor.
  • Each pixel of the distance image is then calculated from the respective first to third charge stores of each light-sensitive cell.
  • FIG. 5 shows two possible ways of calculating a quantity Q from the contents q 1Dk of the charge store S ⁇ : k , which is monotonously dependent on the distance of the respective object point.
  • 5a and 5b are the charges registered in the subintervals M. and M 2 and the charges q 11 l q captured in the charge stores S 13l / S 1-2 . -2 displayed depending on the distance of the object point.
  • FIG. 5c shows the charge q 1D3 which is collected in the charge store S. 3 during the interval K. In the interval K there is no echo of the incident light pulse, only ambient light is registered.
  • the inverse function of Q (z) has to be used, which can be done, for example, via a lookup table operation.
  • the gray image which is independent of the distance, can be calculated from the sum of the charges q 13l and q.- 2 for each pixel.
  • FIG. 3c shows schematically the decline in backscattered identity with increasing distance of the object points 10, 11, 12 and an exemplary division of the measurement interval into three sub-intervals M 1 ', M''and M 2 .
  • FIG. 6a An object 11 (FIG. 6a), which is illuminated by a light pulse 2, generates the backscattered light pulse 4, which is detected by each light-sensitive cell Z.
  • ⁇ during the interval M and in the n sub-intervals M x - M n (FIG. 6b) depending on the arrival time at the detector either charges or no charges are generated.
  • the charges obtained during each subinterval are transferred to the associated charge stores S 1Dk of the photosensitive cell Z 13 .
  • Figure 7 shows schematically the architecture of the corresponding sensor.
  • a check is carried out to determine whether the memory contents exceed a threshold value and whether there is a signal. If this is the case, the value 1 is assigned to all such memories and the value 0 to all other memories.
  • the distance for each pixel can then be determined from the known duration of the partial intervals and the phase reference for the emission of the light pulse by determining the first memory of each pixel, the content of which exceeds the threshold value (FIG. 7).
  • the threshold value can, for example, be set to a constant value for all pixels or can be dynamically adapted to the scenery for each pixel.
  • z (E ⁇ :) is the distance in the pixel E 13
  • k 1 is the index of the first memory of the corresponding light-sensitive cell, the signal of which is above the threshold value
  • z represents the change in distance belonging to the duration of the subintervals.
  • this embodiment of the invention has the following advantages:
  • the light generated with the light pulses is fully used. Furthermore, the three image types mentioned above are each obtained at the same location, that is to say at the same image points of the optoelectronic sensor, so that the image points of the distance image are calculated from charge densities that represent or depict identical object points and that no parallax errors occur. Since the three types of images mentioned can be obtained essentially simultaneously, that is to say from a single incident light pulse, the respective charges also relate to identical spatial configurations.

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  • 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)

Abstract

L'invention concerne un procédé et un dispositif pour produire des images-distances 3D qui sont calculées à partir d'une première et d'une seconde image partielle et, éventuellement, d'une image de l'environnement. Selon l'invention, on utilise un capteur optoélectronique résolvant les points d'image, qui comporte une pluralité de cellules photosensibles qui sont respectivement associées à un pixel de l'image 3D. Au moins deux mémoires à couplage de charge sont, à leur tour, associées à chaque cellule photosensible, les charges des deux images partielles étant stockées dans ces mémoires. Lesdites images partielles sont produites sensiblement simultanément pour les mêmes directions, de sorte que l'image-distance 3D peut être calculée sur la base d'images partielles présentant la même configuration spatiale, sans erreur de parallaxe.
PCT/DE2001/004618 2001-12-06 2001-12-06 Procede et dispositif pour produire des images-distances 3d WO2003054579A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
AU2002229472A AU2002229472A1 (en) 2001-12-06 2001-12-06 Method and device for producing 3d range images
PCT/DE2001/004618 WO2003054579A1 (fr) 2001-12-06 2001-12-06 Procede et dispositif pour produire des images-distances 3d

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/DE2001/004618 WO2003054579A1 (fr) 2001-12-06 2001-12-06 Procede et dispositif pour produire des images-distances 3d

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WO2003054579A1 true WO2003054579A1 (fr) 2003-07-03

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009078002A1 (fr) * 2007-12-19 2009-06-25 Microsoft International Holdings B.V. Caméra 3d et procédés de déclenchement correspondants
EP3644094A1 (fr) 2018-10-26 2020-04-29 Sick Ag Caméra temps de vol 3d et procédé de détection de données d'image tridimensionnelles

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000019705A1 (fr) * 1998-09-28 2000-04-06 3Dv Systems, Ltd. Mesure de distances a l'aide d'une camera
US20010024271A1 (en) * 2000-03-17 2001-09-27 Olympus Optical Co., Ltd Distance measurement apparatus and distance measuring

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2000019705A1 (fr) * 1998-09-28 2000-04-06 3Dv Systems, Ltd. Mesure de distances a l'aide d'une camera
US20010024271A1 (en) * 2000-03-17 2001-09-27 Olympus Optical Co., Ltd Distance measurement apparatus and distance measuring

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009078002A1 (fr) * 2007-12-19 2009-06-25 Microsoft International Holdings B.V. Caméra 3d et procédés de déclenchement correspondants
CN102099703A (zh) * 2007-12-19 2011-06-15 微软国际控股私有有限公司 3d照相机及其选通方法
EP3644094A1 (fr) 2018-10-26 2020-04-29 Sick Ag Caméra temps de vol 3d et procédé de détection de données d'image tridimensionnelles
DE102018126841A1 (de) 2018-10-26 2020-04-30 Sick Ag 3D-Lichtlaufzeitkamera und Verfahren zur Erfassung dreidimensionaler Bilddaten

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