WO2014180553A1 - Système à temps de vol muni de dispositifs de réception à temps de vol séparés les uns des autres dans l'espace et procédé de mesure de l'espacement d'un objet - Google Patents

Système à temps de vol muni de dispositifs de réception à temps de vol séparés les uns des autres dans l'espace et procédé de mesure de l'espacement d'un objet Download PDF

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Publication number
WO2014180553A1
WO2014180553A1 PCT/EP2014/001188 EP2014001188W WO2014180553A1 WO 2014180553 A1 WO2014180553 A1 WO 2014180553A1 EP 2014001188 W EP2014001188 W EP 2014001188W WO 2014180553 A1 WO2014180553 A1 WO 2014180553A1
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WO
WIPO (PCT)
Prior art keywords
time
flight
distance
receiving devices
transmitting device
Prior art date
Application number
PCT/EP2014/001188
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German (de)
English (en)
Inventor
Yosef Dalbah
Original Assignee
Audi Ag
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 Audi Ag filed Critical Audi Ag
Publication of WO2014180553A1 publication Critical patent/WO2014180553A1/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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio 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
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles

Definitions

  • the present invention relates to a time-of-flight system with spatially separated time-of-flight receiving devices and a method for measuring the distance of an object.
  • Devices and methods for distance determination often work according to the time-of-flight principle (transit time principle), whereby a signal emitted by a transmitting device (emitted) is reflected at an object and the reflected signal is detected by the receiving device immediately adjacent to the transmitting device. Based on the speed and the duration of the signal, the distance of the object from the receiving device can be determined.
  • time-of-flight principle transmission time principle
  • Time-of-flight cameras contain three essential components: an active illumination device, an imaging sensor device and a receiver optics.
  • the active illumination device emits modulated light, for example in the near infrared range.
  • Light that strikes an object or surface is reflected back to the camera and projected onto the image sensor using the receiving optics.
  • By correlating emitted and received signals it is possible to calculate for each pixel the distance of the illuminated object / scene from the sensor.
  • Time-of-flight cameras provide two different pieces of information for each pixel, the intensity (amplitude, gray value) and the distance (distance value, depth value) from the camera.
  • the acquired information then yields, for example, (an) amplitude image (s) and / or distance image (s), or such images can be generated from the information obtained.
  • a time-of-flight sensor is a matrix consisting of distance sensors made using traditional CMOS technology. Therefore, imaging and 3-D measurement capabilities with electronics such as analog-to-digital Converters, etc. are combined. All the "intelligence" of the time-of-flight sensor, including the distance calculation for each pixel, is integrated into the chip. Therefore, time-of-flight pixels are sometimes called "smart pixels.”
  • the resulting 3D information can then be further used and / or further processed in various ways.
  • a PMD sensor has a single or usually multi-cell array of PMD detector elements and a receiving optics.
  • the construction and operation of the various time-of-flight devices is known to those skilled in the art and / or can be found in the literature (for example, DE 197 04 496 A1, EP 1 777 747 A1, US Pat. No. 6,587,186 B2).
  • EP 2 306 426 A1 relates to a device for detecting vehicles on a traffic surface, having at least one time-of-flight camera interacting with an associated light transmitter for generating distance images of the traffic area and a time-of-flight Camera connected evaluation device for the detection of vehicles in the distance images.
  • a preferred embodiment of the device has at least two time-of-flight cameras cooperating with associated light transmitters for generating different distance images of the traffic surface, which are connected to a common evaluation device, wherein the light transmitters differ only in time. of-flight camera emitting detectable light.
  • a camera system with at least two 3D time-of-flight cameras, in particular PMD cameras, and an active illumination is known, wherein the two 3D time-of-flight cameras, preferably for Achieving a stereo effect, staggered to each other.
  • a method is known from this publication, in the distance and amplitude images of the first and second 3D time-of-flight cameras are detected and evaluated.
  • WO 2007/054359 A2 describes a device for monitoring a spatial area, in particular for securing a danger zone of an automated system, with a lighting device which at least temporarily emits light signals into the spatial area.
  • a first image pickup unit is for picking up a first image of the space area, the image pickup unit having an image sensor with a plurality of pixels.
  • An evaluation unit is designed to determine by means of transit time measurement a distance value for at least one spatial area point located in the spatial area and imaged on at least one pixel.
  • a test device is configured to compare at least a first and a second image in order to detect a faulty distance value.
  • a time-of-flight system for measuring the distance of an object which has a transmitting device for emitting modulated (eg intensity-modulated) electromagnetic radiation and at least two time-of-flight receiving devices each having a receiving optical system.
  • the time-of-flight receiving devices are designed for simultaneously receiving the modulated electromagnetic radiation emitted by the transmitting device and reflected by the object and arranged at different positions relative to the object.
  • the time-of-flight system has a control device, which is set up to operate the transmitting device, so that modulated electromagnetic radiation is emitted by the transmitting device, and the modulation signal for the electromagnetic radiation with each of the at least two times -of-flight receivers to synchronize.
  • the control device is configured to calculate the distance of the object from at least one of the time-of-flight receiving devices by at least one post-corrected geometric correction of the depth value of at least one of the time-of-flight receiving devices, which by means of Transmitting device emitted and reflected by the object modulated electromagnetic radiation is obtained.
  • the time-of-flight system is characterized in that the control device is further adapted to measure the distance (c) of the object from at least one of the time-of-flight receiving devices on the basis of the distance d
  • the transmitting device (active illumination) is located in the immediate vicinity of the receiving optics.
  • the electromagnetic radiation In order to enable a correct determination of the phase difference between emitted and received modulated electromagnetic radiation (often light signal), the electromagnetic radiation must be modulated synchronously with the time-of-flight sensor (sensor chip).
  • time-of-flight system which may be, for example, a PMD system
  • at least two time-of-flight receiving devices are arranged at different locations, and the exact distance data is determined by at least one post-geometric correction of the depth value obtained by at least one of the time-of-flight receiving devices.
  • time-of-flight receiving devices of the time-of-flight system Due to the freely selectable positioning of the time-of-flight receiving devices of the time-of-flight system, there is no need to accommodate the transmitting device and the time-of-flight receiving devices in a common space.
  • the positioning of the time-of-flight receiving devices can be selected such that the detection of the object to be detected or of the objects to be detected is as optimal as possible.
  • 3D data acquisition from different angles is made possible by a plurality of time-of-flight receiving devices (time-of-flight cameras), and the 3D distance data can be obtained synchronized in time by a plurality of time-of-flight receiving devices , This allows easy merging of the 3D Point data of multiple time-of-flight receiving devices.
  • the time-of-flight system according to the invention is designed to determine the distance of an object in an environment of a vehicle.
  • the present invention also includes a method for measuring the distance of an object by means of a time-of-flight system with a transmitting device for emitting modulated electromagnetic radiation, and at least two time-of-flight receiving devices, each with a receiving optics, wherein the at least two time-of-flight receiving devices are arranged at different positions relative to the object, and wherein the time-of-flight receiving devices are designed to simultaneously receive the modulated electromagnetic radiation emitted by the transmitting device and reflected by the object, and one Control device, which is set up to operate the transmitting device, so that the transmitting device emits a modulated electromagnetic radiation, and to synchronize the modulation signal for the electromagnetic radiation with each of the at least two time-of-flight receiving devices.
  • the distance of the object from at least one of the time-of-flight receiving devices is calculated by at least one post-corrected geometric correction of the depth value of at least one of the time-of-flight receiving devices by means of the control device emitted and reflected by the object modulated electromagnetic radiation is obtained.
  • the inventive method is characterized in that by the control device, the distance (c) of the object from at least one of
  • Time-of-flight receiving devices based on the distance d with
  • At least one first and second spatial model are determined from the distance images of the at least two time-of-flight receiving devices.
  • a third spatial model is determined from the stereoscopically evaluated amplitude images of the at least two time-of-flight receiving devices.
  • a common spatial model is determined on the basis of all determined spatial models.
  • the figure shows schematically the time-of-flight system according to the invention as well as a distance measurement of an object that can be carried out with it.
  • the time-of-flight system according to the invention has a transmitting device 1 for emitting modulated electromagnetic radiation (transmission signals, light signals). Furthermore, the time-of-flight system according to the invention has at least two time-of-flight receiving devices 2, 2 ', each with a receiving optics 3, 3', the time-of-flight receiving devices 2, 2 for simultaneously receiving the emitted from the transmitting device 1 and reflected by the object 4 modulated electromagnetic radiation formed are. The at least two time-of-flight receiving devices 2, 2 'are arranged at different positions relative to the object 4.
  • the time-of-flight system has a control device 5, which is connected to the transmitting device 1 and the time-of-flight receiving devices 2, 2 ', and which is adapted to operate the transmitting device 1, so that from the transmitting device 1 a modulated electromagnetic radiation is emitted. Furthermore, the control device 5 is set up to synchronize the modulation signal for the electromagnetic radiation with each of the at least two time-of-flight receiving devices 2, 2 '.
  • a plurality of time-of-flight receiving devices 2, 2 'and a transmitting device 1 can be used without faulty measurements occurring due to the superposition of light signals.
  • control device 5 is set up to adjust the distance of the object 4 from at least one of the time-of-flight receiving devices 2, 2 'by at least one trailing geometric correction of the depth value of at least one of the time-of-flight receiving devices 2, 2 ', which is obtained by means of the modulated electromagnetic radiation emitted by the transmitting device 1 and reflected by the object 4.
  • time-of-flight sensors time-of-flight sensors
  • Each time-of-flight sensor receives electromagnetic radiation from only one and the same source. From the known position of the radiation source and the intrinsic calibration of the receiving optics 3, 3 ', the true distance for each time-of-flight sensor can be determined from the measured.
  • time-of-flight cameras may experience distortion in the image. These are typical, for example, for optics with an opening angle of more than 45 °.
  • the optical imaging properties of a camera can be described with mathematical models. The process of determining the parameters of this model is called intrinsic calibration. In the case of an extrinsic calibration, however, the position and orientation of a camera relative to a determines their coordinate system, such as the mounting position of a camera in a vehicle.
  • An intrinsic calibration of a camera is not absolutely necessary, for example, for conventional visual hodometry (based on mono- or stereo camera systems), but in many cases it can serve to improve the accuracy and / or reduce the necessary computational effort.
  • the simplest model is represented by the perspective image. However, no distortions are considered in this model, although in practice they may even occur in simple optics. Therefore, the Bouguet model is typically used.
  • the Bouguet model can be used in practice in many cases because it is an extended perspective model that can also be used to model distortions to a certain extent. For distortions that occur with wide-angle lenses or omnidirectional cameras (up to 180 °), but the Bouguet model is not suitable. For such applications, Scaramuzza has developed a model that models such images very well.
  • Each pixel of a time-of-flight distance image can be assigned a solid angle based on the known optical imaging properties of the receiving optics (receiving lens). Since the position of the transmitting device 1 (radiation source, light source) is known relative to the receiving optics 3, 3 ', the object distance can be determined geometrically from the total distance covered by the electromagnetic radiation (of the light). This will be explained in more detail with reference to the figure.
  • the distance b and b 'from the receiving optics 3, 3' and the angles ⁇ , a 'between the direction vector of a pixel of the time-of-flight sensors 2, 2' (determined on the basis of the optical imaging properties of the lens) and the direction vector to the transmitting device 1 (light source) are known.
  • the distance of an object to a time-of-flight receiving device is explained only on the basis of the placeholders a, b, c and the angle ⁇ .
  • the same procedure results, only with correspondingly changed values a, b ', c', ⁇ '; a, b ", c", a ", etc.
  • the distance d which is defined, is calculated. is as a + c
  • the object distance can be geometrically determined from the total distance traveled by the radiation.
  • a time-of-flight system according to the invention in which the transmitting device 1 is arranged in the immediate vicinity of one of the time-of-flight receiving devices 2, 2 ', that is, for example, the design of a time-of-flight system according to the State of the art, a correction of the depth values only for the time-of-flight receiving device 3, 3 'is required, which has a greater distance from the transmitting device 1.
  • the transmitting device 1 and the at least two time-of-flight receiving devices 2, 2 ' are arranged spatially separated from one another.
  • the transmitting device 1 and the receiving devices 3, 3 'do not form a common, comparatively large unit, but a plurality of small units, so that they can be housed / mounted much easier in / on a device, such as at appropriate locations in / on a motor vehicle.
  • the transmitting device 1 in a motor vehicle in an upper region of the windscreen or in a central region of the front end and the time-of-flight receiving devices 2, 2 'with their receiving optics 3, 3' in the front headlights or the outside mirrors arranged be.
  • safety aspects must be taken into account in the transmitting device 1; for example, a transmitting device 1 with a comparatively high transmitting power, which may in principle be hazardous to health, should be mounted with respect to the height and / or the opening angle such that none of the transmitting device 1, for example emitted radiation hits the eyes of humans.
  • a transmitting device 1 may be mounted at a low point of a device, such as in the range of about 1 cm to about 1 m above the ground.
  • the distance between the transmitting device 1 and the at least two time-of-flight receiving devices 2, 2 'can have any suitable size and can be from about 20 cm to several meters (for example 20 cm, 30 cm, 40 cm, 50 cm, 60 cm, 70 cm, 80 cm, 90 cm, 1, 0 m, 1, 1 m,
  • the transmitting device 1 and the at least two time-of-flight receiving devices 2, 2 ' are spatially separated from each other and the control device 5 is adapted to the distance of the object 4 from the at least two time-of-flight receiving devices 2, 2 'by each a subsequent geometric correction of the depth values of each of the at least two time-of-flight receiving devices 2, 2' to be calculated by the means of the transmitting device 1 and from the object 4 reflected modulated electromagnetic radiation can be obtained.
  • the aperture angle of the transmitter may be of any suitable size, for example between about 10 ° and 80 ° (for example 10 °, 15 °, 20 °, 25 °, 30 °, 35 °, 40 °, 45 °, 50 °, 60 °, 65 °, 70 °, 75 ° or 80 °).
  • a transmitting device 1 is intended to illuminate only a narrow solid angle, an opening angle in the range of approximately 10 ° to 30 ° is sufficient, and if a transmitting device 1 should illuminate a larger solid angle, an opening angle in the range of approximately 35 ° to 80 ° can be selected ,
  • a transmitting device 1 with a comparatively small opening angle can be used, for example, for illuminating a long range of a device, and a transmitting device 1 with a larger opening angle can be used, for example, for illuminating a near zone of a device.
  • a preferred example of a device is a motor vehicle.
  • the opening angle of the time-of-flight receiving means 2, 2 ' is not particularly limited and may have any suitable value, for example, an angle in the range of 40 ° to 80 °. If more than one time-of-flight system according to the invention is present in a device, the opening or detection angle of the time-of-flight receiving devices 2, 2 'should be selected so that as far as possible no radiation is received through it is sent by a non-to the time-of-flight system belonging transmitter.
  • the control device 5 may be developed such that it controls the transmitting devices and the time-of-flight receiving devices of several time-of-flight systems such that a clear assignment of the radiation emitted by the transmitting devices is ensured by the individual time-of-flight receiving devices.
  • the transmitting devices of the various time-of-flight systems can be operated alternately.
  • the transmitting device of each time-of-flight system emits electromagnetic radiation from the time-of-flight receiving devices of the other time-of-flight systems / time-of-flight systems can not be received.
  • the transmitting device 1 is designed to emit modulated (for example intensity-modulated) electromagnetic radiation (transmission signals) with a wavelength in the range from 00 nm to 1 mm.
  • the specified wavelength range encompasses the range of infrared radiation (about 780 nm to 1 mm), visible light (about 380 nm to 780 nm) and ultraviolet radiation (about 100 nm to 380 nm).
  • the transmitter can emit transmit signals at any suitable wavelength.
  • the inventive time-of-flight system and the inventive method is not limited to the generation and use of optical transmission signals and thus light waves.
  • the transmitting device 1 and the time-of-flight receiving devices 2, 2 ' can also be those which emit or detect microwaves or radar beams.
  • the transmitting devices 1 in the form of a laser, a diode and diode arrays , Fluorescent lamp, microwave transmitter and / or radar transmitter.
  • the control device 5 can be connected, for example, to a communication bus of a device, such as a CAN bus of a motor vehicle.
  • the time-of-flight system according to the invention can be designed in a preferred manner for determining the distance of an object 4 in an environment of a motor vehicle.
  • the transmitting device 1 and the at least two receiving devices 2, 2 ' can in principle be arranged at any desired, suitable positions of a motor vehicle.
  • the positioning of the components of the time-of-flight system according to the invention can be selected such that the illumination with the electromagnetic radiation and the detection of the object (s) is as optimal as possible.
  • better / more accurate measurement results can be obtained than is the case with solutions according to the prior art.
  • the inventive method for measuring the distance of an object makes use of a time-of-flight system (for example a PMD system) with a transmitting device 1 for emitting modulated electromagnetic radiation and at least two time-of-flight receiving devices 2, 2 'with each one receiving optics 3, 3 ', wherein the at least two time-of-flight receiving devices 2, 2' are arranged at different positions relative to the object 4.
  • the at least two time-of-flight receiving devices 2, 2 ' are designed to simultaneously receive the modulated electromagnetic radiation emitted by the transmitting device 1 and reflected by the object 4.
  • the time-of-flight system has a control device 5, which is connected to the transmitting device 1 and the at least two time-of-flight receiving devices 2, 2 '.
  • the transmitting device 1 transmits controlled modulated electromagnetic radiation by the control device 5.
  • the control device 5 is set up to synchronize the modulation signal for the electromagnetic radiation with each of the at least two time-of-flight receiving devices 2, 2 '.
  • the transmitting device 1 and the at least two time-of-flight receiving devices 2, 2 ' are spatially separated from each other and by means of the control device 5 the distance of the object 4 from the at least two time -of-flight receiving means 2, 2 'are each calculated by means of a subsequent geometric correction of the depth values of each of the at least two time-of-flight receiving devices 2, 2' which are emitted by the transmitting device 1 and reflected by the object 4 modulated electromagnetic radiation can be obtained.
  • distance and / or amplitude images of the at least two time-of-flight reception devices 2, 2 ' can be detected and can be obtained from the distance images of the at least two time-of-flight reception devices 2, 2 'at least a first and second spatial model are determined, from the stereoscopically evaluated amplitude images of the at least two time-of-flight receiving devices 2, 2', a third spatial model can be determined, and / or based on all determined spatial models, a common spatial model can be determined ,
  • time-of-flight receiving devices 2, 2 ' are advantageous, for example, when complex objects with undercuts and shadowing are to be detected.
  • geometric correction of the obtained depth values does not require that the time-of-flight receiving devices 2, 2 'be arranged on a common axis, but can be mounted on any suitable position of a device, such as a motor vehicle without detriment to the accuracy of the distance determination.
  • the time-of-flight system according to the invention and the method according to the invention are based on a runtime method.
  • a transmitting device 1 transmits its signals at a known signal speed into an environment. If the emitted signals are reflected at an object 4 within the environment acted upon by the signals, such as, for example, on a motor vehicle in front or on a stationary obstacle. The reflected signals are received by the time-of-flight receivers 2, 2 '.
  • the transit time of the transmitted and reflected signals is proportional to the distance between the object 4 and each of the time-of-flight receivers 2, 2 '.
  • the modulation signal for the electromagnetic radiation and the time-of-flight receiving devices 2, 2 'or the time-of-flight sensors contained therein are or are synchronized, erroneous measurements are avoided. And by the geometric correction of the depth values provided according to the invention, an error-free distance determination is achieved.
  • the evaluated signals can be interpreted, visualized, used and / or further processed in any way known to a person skilled in the art.
  • all suitable devices known to a person skilled in the art for example hardware and software can be used. These may be part of the time-of-flight system according to the invention or separate therefrom.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

L'invention concerne un système à temps de vol permettant de mesurer l'espacement d'un objet. Ledit système comprend un dispositif d'émission (1) émettant un rayonnement électromagnétique modulé, au moins deux dispositifs de réception à temps de vol (2, 2') munis chacun d'une optique de réception (3, 3'), les dispositifs de réception à temps de vol (2, 2') étant réalisés pour recevoir simultanément le rayonnement électromagnétique modulé émis par le dispositif d'émission (1) et réfléchi par l'objet (4), et les deux dispositifs de réception à temps de vol (2, 2') étant agencés en des positions différentes par rapport à l'objet (4). Le système comprend également un dispositif de commande (5) qui est configuré pour faire fonctionner le dispositif d'émission (1) de telle sorte que le dispositif d'émission (1) émette un rayonnement électromagnétique modulé, et que le signal de modulation du rayonnement électromagnétique soit synchronisé avec chacun des deux dispositifs de réception à temps de vol (2, 2') ou plus, le dispositif de commande (5) étant par ailleurs configuré pour calculer l'espacement entre l'objet (4) et au moins un des deux dispositifs de réception à temps de vol (2, 2') par au moins une correction géométrique ultérieure d'une valeur de profondeur d'au moins un des dispositifs de réception à temps de vol (2, 2') obtenue au moyen du rayonnement électromagnétique modulé émis par le dispositif d'émission (1) et réfléchi par l'objet (4). L'invention concerne également un procédé associé.
PCT/EP2014/001188 2013-05-08 2014-05-05 Système à temps de vol muni de dispositifs de réception à temps de vol séparés les uns des autres dans l'espace et procédé de mesure de l'espacement d'un objet WO2014180553A1 (fr)

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DE102013007886.5 2013-05-08
DE102013007886.5A DE102013007886B3 (de) 2013-05-08 2013-05-08 Time-of-Flight-System mit räumlich voneinander getrennten Time-of-Flight-Empfangseinrichtungen und Verfahren zur Abstandsmessung von einem Objekt

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