WO2020006924A1 - Procédé et dispositif de mesure d'informations de profondeur basées sur un module à temps de vol (tof) - Google Patents

Procédé et dispositif de mesure d'informations de profondeur basées sur un module à temps de vol (tof) Download PDF

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Publication number
WO2020006924A1
WO2020006924A1 PCT/CN2018/110261 CN2018110261W WO2020006924A1 WO 2020006924 A1 WO2020006924 A1 WO 2020006924A1 CN 2018110261 W CN2018110261 W CN 2018110261W WO 2020006924 A1 WO2020006924 A1 WO 2020006924A1
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WIPO (PCT)
Prior art keywords
depth information
pixel
light pulse
light
light intensity
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PCT/CN2018/110261
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English (en)
Chinese (zh)
Inventor
宋林东
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歌尔股份有限公司
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Application filed by 歌尔股份有限公司 filed Critical 歌尔股份有限公司
Publication of WO2020006924A1 publication Critical patent/WO2020006924A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves

Definitions

  • An object of the present invention is to provide a depth information measurement method and device based on a TOF module with a large measurement range and high measurement accuracy.
  • the present invention adopts the following technical solutions:
  • a first aspect of the present invention provides a method for measuring depth information based on a TOF module, including:
  • the continuous emission periods of the light pulse signals of different light intensities are the same.
  • the minimum light intensity difference between the light pulse signal of each light intensity and the light pulse signal of other light intensity is equal.
  • the gray value of the pixel in the grayscale image corresponding to the light pulse signal of each light intensity is extracted, and the following judgments are made:
  • the depth information corresponding to the light pulse signal of each light intensity is used.
  • the average value of the depth information of the pixel in the point cloud image is used as the final depth information of the pixel;
  • the grayscale image corresponding to the light pulse signal of part of the light intensity is between the set overdarkness threshold and the overexposure threshold, the grayscale image corresponding to the light pulse signal of the other part of light intensity If the gray value of the pixel is less than the over-dark threshold or greater than the over-exposure threshold, the average value of the depth information of the pixel in the depth information point cloud image corresponding to the light pulse signal of the partial light intensity is used as the final depth information of the pixel.
  • a second aspect of the present invention provides a device for performing a depth information measurement method based on a TOF module provided by the first aspect of the present invention.
  • the device includes a TOF module and a data processing unit.
  • the data processing unit obtains the depth information output by the TOF module based on the light pulse signals of the respective light intensities and the corresponding reflected light signals, and obtains the depth information point cloud maps and gray scale maps corresponding to the light pulse signals of the respective light intensities; And according to the depth information point cloud image and gray scale image corresponding to the light pulse signal of each light intensity, the final depth information point cloud image is calculated as the depth information measurement result.
  • the technical scheme of the invention has a large measurement range and high measurement accuracy.
  • FIG. 1 shows a waveform diagram of a light pulse signal emitted by a conventional TOF module.
  • FIG. 2 is a schematic diagram illustrating a measurement range of a conventional TOF module.
  • FIG. 3 shows a flowchart of a depth information measurement method based on a TOF module according to an embodiment of the present invention.
  • FIG. 4 shows a waveform diagram of a pulse signal of a light emitted by a TOF module in a TOF module-based depth information measurement method according to an embodiment of the present invention.
  • an embodiment of the present invention provides a method for measuring depth information based on a TOF module, including:
  • the depth information measurement method based on the TOF module provided in this embodiment, because light pulse signals of different light intensities are emitted alternately, that is, light pulse signals of at least two different light intensities are emitted alternately, which can be based on multiple light pulses of different light intensities
  • the depth information measurement of the signal can greatly improve the measurement range of the TOF module.
  • the depth information point cloud map and gray scale map corresponding to the light pulse signals of multiple light intensity can also be integrated, and the calculation can be performed by means such as the mean value, which can greatly improve the measurement accuracy.
  • the minimum light intensity difference between the light pulse signals of each light intensity and the light pulse signals of other light intensity is equal.
  • the measurement range corresponding to the light pulse signal of each light intensity in the measurement range of the TOF module is evenly distributed, which can further ensure the accuracy of depth information measurement.
  • the specific use of several types of light pulse signals with different light intensities, the specific settings of the light intensity, the specific coverage of the TOF module, and the effective coverage of the TOF modules The overlap area of the coverage area can be set according to different actual conditions or actual needs such as TOF module performance and measurement accuracy requirements.
  • calculating the final depth information point cloud image as the depth information measurement result further includes:
  • the average value of the depth information of the pixel point in the depth information point cloud map corresponding to the light pulse signal of each light intensity is used as the final depth information of the pixel point;
  • the gray value of the pixel in the grayscale image corresponding to the light pulse signal of each light intensity is extracted, and the following judgments are made:

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

Abstract

L'invention concerne un procédé et un dispositif de mesure d'informations de profondeur basées sur un module à temps de vol (TOF). Ledit procédé consiste à : amener un module TOF à émettre de manière alternée des signaux d'impulsion optique de différentes intensités lumineuses ; acquérir des informations de profondeur délivrées en sortie par le module TOF sur la base des signaux d'impulsion optique d'intensités lumineuses variées et du signal optique réfléchi correspondant à ceux-ci, de façon à obtenir les cartes en nuage de points d'informations de profondeur et les cartes en niveaux de gris correspondant aux signaux d'impulsion optique d'intensités lumineuses variées ; et obtenir, au moyen d'un calcul et en fonction des cartes en nuage de points d'informations de profondeur et des cartes en niveaux de gris correspondant aux signaux d'impulsion optique d'intensités lumineuses variées, une carte de nuage de points d'informations de profondeur finale en tant que résultat de mesure d'informations de profondeur. L'invention possède les effets d'une grande plage de mesure et d'une précision de mesure élevée.
PCT/CN2018/110261 2018-07-04 2018-10-15 Procédé et dispositif de mesure d'informations de profondeur basées sur un module à temps de vol (tof) WO2020006924A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201810725027.5 2018-07-04
CN201810725027.5A CN108845332B (zh) 2018-07-04 2018-07-04 基于tof模组的深度信息测量方法及装置

Publications (1)

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WO2020006924A1 true WO2020006924A1 (fr) 2020-01-09

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CN (1) CN108845332B (fr)
WO (1) WO2020006924A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
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WO2022133544A1 (fr) * 2020-12-23 2022-06-30 Botanix Pharmaceuticals Limited Cannabinoïdes cbd et analogues de cannabinoïdes cbd

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CN109905175B (zh) * 2019-03-26 2021-02-05 Oppo广东移动通信有限公司 飞行时间组件的控制系统和终端
CN110764099A (zh) * 2019-05-24 2020-02-07 Oppo广东移动通信有限公司 一种飞行时间传感器及计算机可读存储介质
CN110794422B (zh) * 2019-10-08 2022-03-29 歌尔光学科技有限公司 一种含有tof成像模组的机器人数据采集系统及方法
CN111308484B (zh) * 2019-11-26 2022-03-22 歌尔光学科技有限公司 深度模组测距方法、装置、深度相机及移动终端
CN114071114A (zh) * 2022-01-17 2022-02-18 季华实验室 事件相机、深度事件点图获取方法、装置、设备及介质

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