WO2023279755A1 - Procédé et appareil pour masquer des valeurs de distance d'ambiguïté d'un système de télémétrie, et dispositif - Google Patents

Procédé et appareil pour masquer des valeurs de distance d'ambiguïté d'un système de télémétrie, et dispositif Download PDF

Info

Publication number
WO2023279755A1
WO2023279755A1 PCT/CN2022/080528 CN2022080528W WO2023279755A1 WO 2023279755 A1 WO2023279755 A1 WO 2023279755A1 CN 2022080528 W CN2022080528 W CN 2022080528W WO 2023279755 A1 WO2023279755 A1 WO 2023279755A1
Authority
WO
WIPO (PCT)
Prior art keywords
distance value
signal
target
threshold
resolution
Prior art date
Application number
PCT/CN2022/080528
Other languages
English (en)
Chinese (zh)
Inventor
马宣
王兆民
武万多
周兴
黄源浩
肖振中
孙飞
Original Assignee
奥比中光科技集团股份有限公司
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 奥比中光科技集团股份有限公司 filed Critical 奥比中光科技集团股份有限公司
Publication of WO2023279755A1 publication Critical patent/WO2023279755A1/fr

Links

Images

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
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • 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

Definitions

  • the invention relates to the field of optical technology, in particular to a method, device and equipment for shielding fuzzy distance values of a ranging system.
  • the reflected light signal collected by the collector comes from the measured target outside the maximum range corresponding to the modulation frequency, it cannot be confirmed
  • the real distance of the measured target is in the distance period, that is, the k value cannot be confirmed, and the measured distance of the measured target is much smaller than the real distance. This phenomenon is called the distance ambiguity phenomenon of TOF ranging.
  • the modulation frequency is f
  • the distance value corresponding to an integer number of periods is called the fuzzy distance corresponding to the distance value at the current modulation frequency.
  • the existing methods to solve TOF distance ambiguity mainly include dual-frequency ranging to solve distance aliasing.
  • Dual-frequency ranging means to use two different frequencies to measure the same measured target, and determine the real distance through the two measurement results. .
  • the distance value of each target point needs to be continuously measured twice using two different frequencies, which will greatly reduce the measurement frame rate.
  • the traditional TOF ranging method uses a single frequency to measure the distance, and there will be a problem of ranging ambiguity. Therefore, how to solve the ranging blur problem without reducing the system frame rate is an urgent problem to be solved.
  • the embodiments of the present invention provide a method, device and equipment for shielding the fuzzy distance value of the ranging system.
  • a method for shielding an ambiguous distance value of a ranging system comprising:
  • the target distance value is a fuzzy distance value according to the electric signal and a preset threshold value, and shielding the fuzzy distance value.
  • the determining whether the target distance value is an ambiguous distance value according to the electrical signal and a preset threshold value, and shielding the ambiguous distance value includes:
  • the number of signal photons and the number of environmental photons are determined according to the electrical signal;
  • the target distance value is determined to be a fuzzy distance value according to the number of ambient photons, the number of signal photons and the resolution threshold, or, according to the number of signal photons and the preset threshold of photon numbers of signals, then mask the fuzzy distance value .
  • the fuzzy distance value mask the fuzzy distance value, including:
  • the target distance value is a fuzzy distance value, and shield the fuzzy distance value.
  • the target resolution of the object to be measured is calculated according to the following first function model or second function model,
  • the first function model is:
  • the second function model is:
  • C s is the number of signal photons
  • C n is the number of environmental photons
  • a, b, c, d, e are all parameters
  • f is the focal length of the lens of the collector
  • Resolution is the target resolution.
  • the emission pulse period of the signal beam is a first time
  • the effective collection time of the signal beam is a second time
  • the second time is less than the first time
  • the resolution threshold includes Preset quantitative resolution threshold
  • the target distance value Before determining whether the target distance value is a fuzzy distance value according to the electrical signal and the preset threshold value, and shielding the fuzzy distance value, it also includes:
  • a second resolution range determining the preset quantitative resolution threshold according to the first resolution range and the second resolution range.
  • the resolution threshold comprises a variable resolution threshold
  • the acquisition of the number of signal photons and the number of environmental photons it also includes:
  • the calculation of the mean value of ambient illuminance according to the number of signal photons and the number of ambient photons includes:
  • the calculation of the mean value of ambient light intensity according to the number of signal photons and the number of ambient photons at the target sampling point includes:
  • the pre-stored reflectance calculation rule is:
  • Re is the reflectivity of the measured object at any target sampling point
  • C ns is the number of signal photons at the target sampling point
  • TCSPC is the number of transmitted pulses in the prior single-frame measurement
  • ⁇ is the incident angle of light
  • L is the measurement distance of the measured object
  • P t is the peak power of the signal beam emitted by the light source
  • k 1 is the first preset coefficient.
  • the calculation rule of the pre-stored ambient light irradiance is:
  • I AL is the ambient light irradiance of any target sampling point;
  • C ns is the number of signal photons of the target sampling point;
  • C nn is the number of ambient photons of the target sampling point;
  • ⁇ is the incident angle of light;
  • f represents the focal length of the lens of the collector;
  • k 2 is the second preset coefficient, and
  • k 3 is the third preset coefficient.
  • the preset threshold is a preset ranging maximum value of the ranging system
  • the determining whether the target distance value is a fuzzy distance value according to the electrical signal and a preset threshold value, and shielding the fuzzy distance value includes:
  • the preset maximum distance measurement value of the distance measurement system if it is determined that the target distance value is greater than, or greater than or equal to the preset distance measurement maximum value, then determine that the target distance value is a fuzzy distance value, and block the Blur distance value.
  • the preset threshold is a resolution threshold
  • the determining whether the target distance value is a fuzzy distance value according to the electrical signal and a preset threshold value, and shielding the fuzzy distance value includes:
  • the target resolution of the object to be measured is calculated according to the following third function model or fourth function model,
  • the third function model is:
  • the fourth function model is:
  • C s is the sampling signal data
  • C n is the ambient light data
  • a, b, c, d, e are all parameters
  • f is the lens focal length of the collector
  • Resolution is the target resolution.
  • the resolution threshold includes a preset quantitative resolution threshold or a variable resolution threshold, and the variable resolution threshold is determined according to an average value of ambient light intensity.
  • the method further includes:
  • the calculating the mean ambient light intensity according to the sampled signal data and the ambient light data includes:
  • sampling signal data and ambient light data corresponding to different initial sampling points, and calculate the sampling resolution of each of the initial sampling points; if the sampling resolution of any of the initial sampling points is less than a preset sampling resolution threshold, or , the sampling resolution is less than or equal to the preset sampling resolution threshold, then mark the initial sampling point as a target sampling point; calculate the average ambient light intensity according to the sampling signal data and ambient light data of each target sampling point.
  • the calculation of the mean value of ambient light intensity according to the sampling signal data and ambient light data of each of the target sampling points includes:
  • the sampling ambient illuminance corresponding to the target sampling points is used to calculate the average ambient illuminance according to the sampling ambient illuminance corresponding to each target sampling point.
  • the pre-stored reflectance calculation rule is:
  • R e is the reflectivity of the measured object at any target sampling point
  • C s is the sampling signal data of the target sampling point
  • N is the number of exposures required by the tap in the integration time of single-frame measurement
  • ⁇ is the illumination Angle of incidence
  • L is the measurement distance of the measured object
  • P t is the peak power of the signal beam emitted by the light source
  • k 1 is the first preset coefficient
  • the calculation rule of the pre-stored ambient light irradiance is:
  • I AL is the ambient light irradiance of any target sampling point
  • C s is the sampling signal data of the target sampling point
  • C n is the ambient light data of the target sampling point
  • ⁇ is the incident angle of light
  • f represents the focal length of the lens of the collector
  • k 2 is the second preset coefficient
  • k 3 is the third preset coefficient.
  • the preset threshold is a preset sampling signal data threshold
  • the determining whether the target distance value is a fuzzy distance value according to the electrical signal and a preset threshold value, and shielding the fuzzy distance value includes:
  • sampling signal data according to the amount of charge corresponding to the light signal reflected back by the object to be measured, and if it is determined that the sampling signal data is less than, or less than or equal to, the threshold value of the sampling signal data, then determine that the target distance value is ambiguous Distance value, mask the fuzzy distance value.
  • a device for shielding an ambiguous distance value of a ranging system comprising:
  • an acquisition unit configured to acquire an electrical signal corresponding to the signal beam reflected by the object to be measured
  • a calculation unit configured to calculate a target distance value of the object to be measured according to the electrical signal
  • a processing unit configured to determine whether the target distance value is a fuzzy distance value according to the electrical signal and a preset threshold, and mask the fuzzy distance value.
  • a device for shielding an ambiguous distance value of a ranging system comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, when the processor executes the computer program, any of the foregoing is realized.
  • the method for shielding the fuzzy distance value of the ranging system described in the technical solution of an embodiment.
  • a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for shielding the ambiguous distance value of the ranging system described in the technical solution of any of the foregoing embodiments is implemented.
  • the present invention obtains the electrical signal corresponding to the signal beam reflected by the object to be measured; calculates the target distance value of the object to be measured according to the electrical signal; determines the target according to the target distance value and a preset threshold Whether the distance value is a fuzzy distance value, and mask the fuzzy distance value.
  • the invention solves the problem of shielding the fuzzy ranging value of the ranging system based on the preset threshold, realizes single-frequency ranging, improves the measurement frame rate, and solves the problem of blurring the ranging while increasing the system frame rate.
  • FIG. 1 is a schematic flowchart of a method for shielding ambiguous distance values of a ranging system according to an exemplary embodiment of the present invention
  • Fig. 2 is a schematic structural diagram of a device for shielding the fuzzy distance value of the ranging system shown in an exemplary embodiment of the present invention
  • Fig. 3 is a schematic diagram of a device for shielding fuzzy distance values of a ranging system provided by an exemplary embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of a method for shielding the fuzzy distance value of the ranging system shown in an exemplary embodiment of the present invention. The method is executed by a device for shielding the fuzzy distance value of the ranging system (hereinafter referred to as the device), Including the following steps:
  • S101 Obtain an electrical signal corresponding to the signal beam reflected by the object to be measured.
  • the transmitter emits a signal light beam, and the reflected light signal is reflected by the object to be measured to be received by the collector, and an electrical signal is output.
  • the device obtains the electrical signal corresponding to the signal beam reflected by the object to be measured.
  • the device calculates the target distance value of the object to be measured according to the electrical signal. It should be noted that there is no limitation on the calculation method of the target distance value in the embodiment of the present invention.
  • S103 Determine whether the target distance value is a fuzzy distance value according to the electrical signal and a preset threshold, and mask the fuzzy distance value.
  • the preset threshold is pre-stored in the device, where the preset threshold may be a resolution threshold, or a signal photon number threshold, etc., which will be described in detail in subsequent embodiments, and are not limited here.
  • the device determines whether the target distance value is a fuzzy distance value according to the target distance value and a preset threshold value, and if it is determined that the target distance value is a fuzzy distance value, then masks the fuzzy distance value.
  • the methods for judging whether the target distance value is an ambiguous distance value and whether shielding is required are different, and will be described in detail below .
  • the distance measuring system is a DTOF ranging system
  • the DTOF ranging system includes:
  • a transmitter configured to emit a signal beam whose pulse period is the first time toward the object to be measured
  • a collector configured to collect part of the signal light beam reflected back from the object to be measured and output an electrical signal, wherein the effective working time of the collector is a second time, and the second time is less than the first time;
  • the processing circuit is connected with the transmitter and the collector, and the processing circuit can also be built into the device for shielding the fuzzy distance value of the ranging system, so as to implement the method for shielding the fuzzy distance value of the ranging system in this application.
  • the emitter is used to emit light beams to the target area, and the light beams are emitted into the space of the target area to illuminate the target objects in the space, at least part of the emitted light beams are reflected by the target area to form reflected light beams, and at least part of the reflected light beams are collected by the collector Receiving;
  • the processing circuit is connected to the transmitter and the collector respectively, and the trigger signal of the transmitter and the collector is synchronized to calculate the time required for the light beam to be received from emission to reflection, that is, the flight time t between the emission beam and the reflection beam, Further, the distance D of the corresponding point on the target object can be calculated by the following formula:
  • the collector includes a pixel unit and the like.
  • a pixel unit includes a two-dimensional pixel array composed of a plurality of pixels.
  • the pixel unit is a pixel array composed of single-photon avalanche photodiodes (SPADs), which can respond to an incident single photon and output a signal indicating the corresponding arrival time of the received photon at each SPAD, using Such as time-correlated single photon counting (TCSPC) to realize the collection of weak light signals and the calculation of flight time.
  • TCSPC time-correlated single photon counting
  • a readout circuit composed of one or more of a signal amplifier, a time-to-digital converter (TDC), and a digital-to-analog converter (ADC) is also connected to the pixel unit.
  • TDC time-to-digital converter
  • ADC digital-to-analog converter
  • the collector includes a readout circuit
  • the readout circuit includes a TDC circuit and a histogram circuit
  • the TDC circuit is used to receive and calculate the time-of-flight information of the photon, and convert the time-of-flight information into a time code
  • the code is input into the histogram circuit to address the corresponding time bin (recorded as the unit time of the collector sampling), and to increase the photon count value in the corresponding time bin.
  • the count value draws a statistical histogram, which includes continuous time intervals (time bin) in the statistical histogram.
  • the abscissa of the histogram represents the flight time, and the ordinate represents the photon count value. / or signal photons.
  • the processing circuit calculates the number of environmental photons and the number of signal photons according to the histogram output by the histogram circuit; among them, the number of signal photons is the sampling signal, which is the number of photons in the signal beam reflected by the measured object collected by the collector, and the number of environmental photons is Environmental data, the number of environmental photons is the number of environmental photons collected at the same time when the collector collects photons in the signal beam reflected by the measured object. Specifically, the local area is intercepted from the histogram to calculate the average value of the ambient photon number, and the local area far away from the pulse peak position is selected according to the pulse peak position in the histogram to calculate the ambient photon number average value.
  • the average value of the number of ambient photons can also be calculated according to all the time intervals of the histogram, and the sum of the photon numbers in all time intervals is removed from the sum of the photon numbers at the peak position of the pulse and then averaged to obtain the number of ambient photons
  • Mean value the mean value of the number of ambient photons is the number of ambient photons included in each time interval in the histogram.
  • intercept the pulse area from the histogram to calculate the sum of the photon number in this area and the number of ambient photons, and further calculate the number of signal photons.
  • other methods may also be used to calculate the number of ambient photons and the number of signal photons, which are not specifically limited in the present invention.
  • the working time of the TDC circuit corresponds to T
  • the configuration in the histogram circuit The number of time bins is designed according to T.
  • the pulse period of the modulated emitted light pulse is the first time T1
  • the modulated collector collects the reflected light signal within a second time T2 shorter than the first time T1.
  • TDC in the time period of T1-T2, TDC is in the reset state, no longer timing, then the effective working time of the collector is the second time T2, and the effective working time of TDC is also the second time T2, then the histogram circuit The number of time bins configured in is designed according to the second time T2.
  • TCSPC Time-correlated single-photon counting
  • the total number of TCSPC is about 64000.
  • the preset quantitative resolution threshold may be preset with reference to the following manner.
  • the emission pulse period of the signal beam is the first time; the effective collection time of the signal beam is the second time; the second time is less than the first time; the first ranging range and the second measuring range are determined according to the first time and the second time range; obtain the first resolution range corresponding to the first ranging range, and the second resolution range corresponding to the second ranging range; determine the preset quantitative resolution according to the first resolution range and the second resolution range threshold.
  • the collector is controlled to only receive the reflected light signal of the target within the first 10m range. Then, the range corresponding to the next period in which the next range fuzzy signal is generated is 18.75 to 28.75 m.
  • the object to be measured at a certain preset distance it is necessary to continuously measure n times and calculate the variance of the distance value of n times as the resolution, and adjust the peak power, incident angle, ambient light, reflectivity and other parameters to be different, repeat
  • the above sampling process obtains multiple sets of calibration data. It is understandable that only one of the influencing parameters can be adjusted or multiple parameters can be adjusted at the same time.
  • the size of the parameters can be adjusted randomly by using the mode of generating random numbers, or the size of the parameters can be adjusted according to certain rules, such as from small to large or The adjustment mode from large to small, the specific adjustment method is not limited in this application.
  • the resolution of the two ranging ranges from 0 to 10m and 18.75 to 28.75m has a large gap, and as the ambient light increases, the two The overlap resolution in the scope is getting smaller and smaller.
  • the resolution distribution within the range of 0 to 10m is the first resolution range [0, R 1 ]
  • the resolution distribution within the range of 18.75 to 28.75m is the second resolution range [R 2 , R 3 ], and R 2 ⁇ R 1
  • a fixed value R can be selected as the resolution threshold to shield the ranging blur, and R is usually set to a fixed value smaller than R 2 .
  • the system calculates the real-time target resolution, and compares the target resolution with the preset quantitative resolution threshold to mask the fuzzy distance value.
  • the distance measurement system calculates the number of ambient photons and the number of signal photons according to the histogram output by the histogram circuit, and calculates the target resolution according to the number of ambient photons, the number of signal photons and a preset resolution calculation rule.
  • the system pre-stores preset resolution calculation rules, that is, the corresponding relationship between the number of ambient photons, the number of signal photons and the resolution, and calculates the target resolution according to the pre-stored resolution calculation rules.
  • the calculation rule of the preset resolution is a function model, it may be a function model in various forms.
  • the preset resolution calculation rule can be the following function model:
  • C s is the number of signal photons
  • C n is the number of environmental photons
  • a, b, c, d are all parameters
  • Resolution is the resolution.
  • the preset resolution calculation rule can also be the following function model:
  • C s is the number of signal photons
  • C n is the number of environmental photons
  • a, b, c, d, e are all parameters
  • f is the focal length of the lens of the collector.
  • the function model of the calculation rule of the preset resolution can be obtained by fitting or training the sampled data.
  • the device judges the size between the target resolution and the preset quantitative resolution threshold. If the target resolution is greater than, or greater than or equal to the preset quantitative resolution threshold, the target distance value is determined to be a fuzzy distance value, and the fuzzy distance value is blocked. .
  • the real-time target resolution R 4 is calculated according to the real-time signal photon number and environmental photon number. If R 4 >R, it indicates that the target distance value belongs to the fuzzy distance value and needs to be masked out.
  • the method of preset quantitative resolution masking solves the ranging ambiguity, the ranging range at the expense is too large, especially in the case of long-distance, high ambient light, and low reflectivity, the ranging range is greatly reduced.
  • variable resolution threshold in order to overcome ranging ambiguity without sacrificing too much ranging range, it is possible to determine whether the object to be measured is within the ranging range by determining the variable resolution threshold, wherein the variable resolution threshold Determined according to the real-time ambient light average value.
  • the device can obtain the number of signal photons and the number of environmental photons; calculate the target resolution of the object to be measured according to the number of signal photons and the number of environmental photons; calculate the average value of ambient light intensity according to the number of environmental photons and the number of signal photons; according to the calculated average value of ambient light intensity, and Determine the variable resolution threshold by fitting the function relationship between the preset variable resolution threshold and the average value of ambient light; if the target resolution is greater than, or greater than or equal to the determined variable resolution threshold, then determine the target distance as a fuzzy distance Value, masking blur distance value.
  • the device obtains the number of signal photons and the number of ambient photons, and calculates the target resolution of the object to be measured according to the number of signal photons and the number of ambient photons.
  • the target resolution of the object to be measured please refer to the detailed description above, and will not repeat them here.
  • the device obtains the number of signal photons and ambient photons corresponding to different initial sampling points, and calculates the sampling resolution of each initial sampling point according to the number of signal photons and ambient photons; if the sampling resolution is less than the preset sampling resolution threshold, or, sampling If the resolution is less than or equal to the preset sampling resolution threshold, the initial sampling point is marked as the target sampling point. That is, the initial sampling points whose sampling resolution is greater than, or greater than or equal to the preset sampling resolution threshold are masked out, and the rest of the initial sampling points are marked as target sampling points.
  • the sampling resolution of each initial sampling point can be calculated according to the preset resolution calculation rules provided above; the preset sampling resolution threshold can be set by referring to the setting method of the preset quantitative resolution threshold above. Let me repeat.
  • the target sampling point is the sampling point that satisfies the preset quantitative resolution threshold constraint.
  • the reflectance calculation rule is pre-stored in the device, that is, the correspondence between the number of signal photons and the reflectance, and the reflectance of the measured object is calculated according to the correspondence between the number of signal photons and the reflectance.
  • the corresponding relationship between the number of signal photons and the reflectivity is obtained by derivation.
  • the number of signal photons collected by the collector is not only affected by the reflectivity of the measured object, but also affected by factors such as the number of emitted pulses in a single frame measurement, the incident angle of light, the measurement distance of the measured object, and the peak power of the signal beam emitted by the light source. Therefore, the corresponding relationship between the number of signal photons and the reflectivity is calibrated when other factors are fixed, that is, the calculation rule of the reflectivity is deduced.
  • the device calculates the reflectivity, it first obtains information such as the number of emitted pulses in the known single-frame measurement, the incident angle of light, the measurement distance of the measured object, and the peak power of the signal beam emitted by the light source.
  • the reflectance calculation rule calculates the reflectance of the measured object.
  • the pre-stored reflectance calculation rule may be:
  • Re is the reflectivity of the measured object at any target sampling point
  • C ns is the number of signal photons at the target sampling point
  • TCSPC is the number of transmitted pulses in the prior single-frame measurement
  • ⁇ is the incident angle of light
  • L is the measurement distance of the measured object
  • P t is the peak power of the signal beam emitted by the light source
  • k 1 is the first preset coefficient, which is a constant determined according to the design of the distance measurement system. For different distance measurement system designs, the constant k 1 will change.
  • the reflectance corresponding to each target sampling point can be calculated respectively. It can be understood that the correspondence between the number of signal photons and the reflectivity is not limited to the above relational expression, and the above relational expression does not specifically limit the correspondence between the number of signal photons and the reflectance.
  • the device can calculate the sampled ambient light irradiance according to the number of ambient photons, the number of signal photons, the focal length of the lens of the collector, the incident angle of light, the reflectance, and the pre-stored ambient light irradiance calculation rules.
  • the pre-stored ambient light irradiance calculation rule is:
  • I AL is the ambient light irradiance of any target sampling point
  • C ns is the number of signal photons of the target sampling point
  • C nn is the number of ambient photons of the target sampling point
  • ⁇ is the incident angle of light
  • L is the measurement Distance
  • f represents the lens focal length of the collector
  • k 2 is the second preset coefficient
  • k 3 is the third preset coefficient
  • the second preset coefficient and the third preset coefficient are constants determined according to the design of the ranging system, This constant will vary with different ranging system designs.
  • the sampling ambient light irradiance calculation rules corresponding to each target sampling point can be calculated respectively. It can be understood that the pre-stored ambient light irradiance calculation rules are not limited to the above relational expressions, and the above-mentioned relational expressions do not specifically limit the pre-stored ambient light irradiance calculation rules.
  • the device first calculates the sampled ambient illuminance corresponding to each target sampling point according to the sampled ambient light irradiance corresponding to each target sampling point, and then sums the sampled ambient illuminance corresponding to each target sampling point to obtain the average ambient illuminance .
  • the sampled ambient illuminance of each target sampling point is first calculated according to the calculated sampled ambient light irradiance, specifically, the following formula can be used:
  • E i is the sampling ambient illuminance of the target sampling point i
  • I AL is the sampling ambient light irradiance of the target sampling point i
  • n is the total number of target sampling points.
  • target sampling points use sequence numbers, and it should be understood that sequence numbers may not be used in other embodiments.
  • the fitting function relationship between the variable resolution threshold and the average value of ambient light intensity can be specifically set in the following manner.
  • the real-time variable resolution threshold Resolution can be determined according to the calculated average value E of the ambient illuminance.
  • a signal photon number threshold may be used to shield the ranging blur.
  • the device obtains the real-time number of signal photons. If the number of signal photons is less than, or less than or equal to, the threshold value of the number of signal photons, the target distance value is determined to be a fuzzy distance value, and the fuzzy distance value is blocked.
  • the collector is controlled to only receive the reflected light signal when the target is within the first 10m range. Then, the range corresponding to the next period in which the next range fuzzy signal is generated is 18.75 to 28.75 m.
  • the threshold value of the number of signal photons in the range of 0 to 10m and the range of 18.75m to 28.75m can be determined. Since the number of signal photons is inversely proportional to the square of the distance, the minimum number of signal photons within the range of 0 to 10m can be determined according to the calibration data and set as the threshold of the number of signal photons. When the real-time monitored signal photon number is less than the signal photon number threshold, the ranging value is invalid.
  • the distance measurement system is an ITOF ranging system
  • the ITOF ranging system includes:
  • the transmitter is configured to emit a signal beam of a first frequency toward the object to be measured, wherein the first frequency is lower than the maximum frequency of the emitted light signal corresponding to the preset range measurement maximum value of the distance measurement system;
  • a collector configured to collect part of the signal light beam reflected back from the object to be measured and output an electrical signal
  • the processing circuit is connected with the transmitter and the collector, and the processing circuit can be built into the device for shielding the fuzzy distance value of the ranging system, so as to implement the method for shielding the fuzzy distance value of the ranging system in this application.
  • the transmitter emits a light beam to the target space to illuminate the object to be measured in the space, at least part of the emitted light beam (i.e. the signal beam) is reflected by the object to be measured to form a reflected light beam, and at least part of the reflected light beam is collected by the collector;
  • the processing circuit is respectively connected with The emitter and the collector are connected, and the trigger signals of the emitter and the collector are synchronized to calculate the time required for the beam to be emitted by the emitter and received by the collector, that is, the flight time t between the emitted beam and the reflected beam, further, the object
  • the distance D of the corresponding point can be calculated by the following formula:
  • c is the speed of light
  • t is the flight time between the emitted beam and the reflected beam.
  • the transmitter includes a light source and a light source driver.
  • the light source can be a light emitting diode (LED), edge emitting laser (EEL), vertical cavity surface emitting laser (VCSEL) and other light sources, or a light source array composed of multiple light sources, and the light beam emitted by the light source can be visible light, infrared light, ultraviolet light, etc.
  • the collector includes an image sensor, a lens unit, a filter, and the like.
  • the lens unit receives at least part of the light beams reflected back by the object and guides the at least part of the light beams to the image sensor, and the filter is a narrow-band filter matching the wavelength of the light source, used to suppress background light noise or clutter in other bands astigmatism.
  • the image sensor can be an image sensor array composed of a charge-coupled device (CCD), a complementary metal-oxide semiconductor (CMOS), etc., and the size of the array represents the resolution of the distance measurement system, such as 320 ⁇ 240.
  • the image sensor includes at least one pixel, and each pixel includes a plurality of taps for storing and reading or discharging charge signals generated by incident photons under the control of corresponding electrodes.
  • the amount of charge accumulated during the integration time calculates the ambient light data and adopts the signal data.
  • each pixel includes 2 taps, and the taps are sequentially switched in a certain order within a single frame period (or a single exposure time) to collect the corresponding optical signal, to receive the optical signal and convert it into an electrical signal, and to read the charge signal data.
  • each pixel includes three taps, and the taps are sequentially switched in a certain order within a single frame period to collect corresponding light signals, and one of the taps is used to collect ambient light signals.
  • the processing circuit may be an independent special-purpose circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc. composed of a CPU, memory, bus, etc., or may include a general-purpose processing circuit.
  • the processing circuit is used to provide the modulation signal (emission signal) required when the light source emits laser light, and the light source emits a pulsed beam to the object under the control of the modulation signal; in addition, the processing circuit also provides each pixel of the image sensor
  • the demodulation signal (acquisition signal) of the middle tap under the control of the demodulation signal, the tap collects the charge signal generated by the pulse beam reflected by the object to be measured, and calculates the phase difference based on the charge signal to obtain the distance. For example, in the case of 2 taps, the expression for calculating the distance of the object to be measured is as follows:
  • c is the speed of light
  • T is the exposure period
  • Q1 and Q2 are the accumulated charges of the two taps respectively.
  • the transmitter is configured to emit a signal beam of a first frequency toward the object to be measured, wherein the first frequency is lower than the maximum frequency corresponding to the maximum value of the preset range of the ranging system;
  • the collector is configured to collect the signal beam to be measured Measure the part of the signal beam reflected by the object and output the charge signal;
  • the processing circuit is connected with the transmitter and the collector, calculate the target distance value of the object to be measured according to the charge signal, and determine the target distance according to the target distance value and the preset threshold Whether the value is a fuzzy distance value, and mask the fuzzy distance value.
  • the processing circuit acquires the maximum value of distance measurement corresponding to the maximum frequency of the preset emitted optical signal, and uses the maximum value of distance measurement as the preset threshold value; if the target distance value is greater than the preset threshold value, it is determined that the target distance value is the fuzzy distance Value, mask the fuzzy distance value.
  • the single-frequency sampling time of the collector is also extended to the corresponding 125ns.
  • the processing circuit judges whether the object to be measured is within the distance measuring range through a preset quantitative resolution threshold. Specifically, the processing circuit obtains the environmental Light data and sampling signal data, calculate the target resolution of the object to be measured according to the ambient light data and sampling signal data; if the target resolution is greater than the preset quantitative resolution threshold, then determine that the target distance value is a fuzzy distance value, and shield the fuzzy distance value.
  • ambient light data and sampling signal data are obtained according to the charge signal accumulated by the taps of the pixels within the integration time. Assuming that each pixel includes 3 taps, the reflected light signal is collected within the integration time and the output charge A 1-3 is output, and two of the taps are used to collect the reflected light signal, then the charge A 1 collected by these two taps is , A 2 represent the collected sampling signal data, and the other tap is used to collect the ambient light signal, and this tap is used to output the collected charge amount A 3 to represent the ambient light data.
  • the amplitude of the sine wave fitting curve is DC flow is Then, the sampled signal data is expressed as The ambient light data is expressed as
  • the processing circuit calculates the target resolution according to the ambient light data, the sampled signal data and the preset resolution calculation rule.
  • the system pre-stores preset resolution calculation rules, that is, the corresponding relationship between ambient light data, sampling signal data, and resolution, and the processing circuit calculates the target resolution according to the pre-stored resolution calculation rules.
  • the preset resolution calculation rule is a function model, it can be a function model in various forms, for example, the preset resolution calculation rule A rule can be modeled as a function as follows:
  • C s is the sampling signal data
  • C n is the ambient light data
  • a, b, c, d are parameters
  • Resolution is the resolution.
  • the preset resolution calculation rule can also be the following function model:
  • C s is the sampling signal data
  • C n is the ambient light data
  • a, b, c, d, e are parameters
  • f represents the lens focal length of the collector.
  • the function model of the calculation rule of the preset resolution can be obtained by fitting or training the sampled data.
  • the processing circuit judges the size between the target resolution and the preset quantitative resolution threshold. If the target resolution is greater than, or greater than or equal to the preset quantitative resolution threshold, the target distance value is determined to be a fuzzy distance value, and the fuzzy distance value is shielded. .
  • the method of preset quantitative resolution masking solves the ranging ambiguity, the ranging range at the expense is too large, especially in the case of long-distance, high ambient light, and low reflectivity, the ranging range is limited. greatly reduced. To overcome ranging ambiguity without sacrificing too much ranging range.
  • the processing circuit obtains the sampled signal data and the ambient light data, calculates the target resolution of the object to be measured according to the sampled signal data and the ambient light data; calculates the average value of the ambient light intensity according to the sampled signal data and the ambient light data; according to the calculated average value of the ambient light intensity, and The fitting function relationship between the preset variable resolution threshold and the average value of the ambient light intensity determines the variable resolution threshold; if the target resolution is greater than, or greater than or equal to the preset variable resolution threshold, the target distance value is determined to be a fuzzy distance value , mask the fuzzy distance value.
  • the processing circuit calculates the target resolution of the object to be measured according to the sampled signal data and the ambient light data for specific details, which can be referred to the detailed description above, and will not be repeated here.
  • the processing circuit first obtains the sampling signal data and ambient light data corresponding to different initial sampling points, and calculates the sampling resolution of each initial sampling point according to the sampling signal data and ambient light data; if the sampling resolution is less than the preset sampling resolution threshold, or, is less than or equal to the preset sampling resolution threshold, the initial sampling point is marked as the target sampling point. That is, the initial sampling points whose sampling resolution is greater than, or greater than or equal to the preset sampling resolution threshold are masked out, and the rest of the initial sampling points are marked as target sampling points.
  • the sampling resolution of each initial sampling point can be calculated according to the preset resolution calculation rules provided above; the preset sampling resolution threshold can be set by referring to the setting method of the preset quantitative resolution threshold above. Let me repeat.
  • the target sampling point is the sampling point that satisfies the preset quantitative resolution threshold constraint.
  • the reflectance calculation rule is pre-stored in the system, that is, the corresponding relationship between the sampled signal data and the reflectivity, and the reflectivity of the object under test is calculated according to the corresponding relationship between the sampled signal data and the reflectivity.
  • the corresponding relationship between the sampled signal data and the reflectivity can be derived according to the relational expression between the sampled signal data and the reflectivity.
  • the sampled signal data collected by the collector is also affected by factors such as the number of tap exposures, the incident angle of light, the measurement distance of the measured object, and the peak power of the signal beam emitted by the light source. Therefore, calibration of other When the factors are fixed, the corresponding relationship between the sampling signal data and the reflectivity is to derive the calculation rule of the reflectivity.
  • the device can obtain information such as the number of tap exposures, the incident angle of light, the measurement distance of the measured object, the peak power of the signal beam emitted by the light source, and calculate the measured value according to the pre-stored reflectance calculation rules.
  • the reflectivity of the measured object can be obtained by the device.
  • the pre-stored reflectance calculation rule may be:
  • R e is the reflectivity of the measured object at any target sampling point
  • C s is the sampling signal data of the target sampling point
  • N is the number of exposures required by the tap in the integration time of single-frame measurement
  • ⁇ is the illumination Incidence angle
  • L is the measurement distance of the measured object
  • P t is the peak power of the signal beam emitted by the light source
  • k 1 is the first preset coefficient, which is a constant determined according to the design of the system. For different system designs, the constant k 1 will change.
  • the reflectance corresponding to each target sampling point can be calculated respectively. It can be understood that the correspondence between the sampled signal data and the reflectance is not limited to the above relational expression, and the above relational expression does not specifically limit the correspondence between the sampled signal data and the reflectance.
  • the ambient light irradiance is calculated according to ambient light data, reflectance, and calculation rules for ambient light irradiance pre-stored in the device.
  • the device can calculate the ambient light irradiance according to the ambient light data, sampled signal data, lens focal length of the collector, light incident angle, reflectivity, and calculation rules for ambient light irradiance pre-stored in the device.
  • the calculation rule of the pre-stored ambient light irradiance is:
  • I AL is the ambient light irradiance of any target sampling point
  • C s is the sampling signal data of the target sampling point
  • C n is the ambient light data of the target sampling point
  • ⁇ is the incident angle of light
  • f represents the focal length of the collector lens
  • k 2 is the second preset coefficient
  • k 3 is the third preset coefficient
  • the second preset coefficient and the third preset coefficient are determined according to the design of the system constant, which will vary with different system designs.
  • the sampling ambient light irradiance calculation rules corresponding to each target sampling point can be calculated respectively. It can be understood that the pre-stored ambient light irradiance calculation rules are not limited to the above relational expressions, and the above-mentioned relational expressions do not specifically limit the pre-stored ambient light irradiance calculation rules.
  • the sampled ambient illuminance corresponding to each target sampling point is first calculated according to the sampled ambient light irradiance corresponding to each target sampling point, and then the sampled ambient illuminance corresponding to each target sampling point is averaged to obtain the average ambient illuminance.
  • the sampled ambient illuminance of each target sampling point is first calculated according to the calculated sampled ambient light irradiance, specifically, the following formula can be used:
  • E i is the sampling ambient illuminance of the target sampling point i
  • I AL is the sampling ambient light irradiance of the target sampling point i
  • n is the total number of target sampling points.
  • target sampling points use sequence numbers, and it should be understood that sequence numbers may not be used in other embodiments.
  • the fitting function relationship between the variable resolution threshold and the average value of ambient light intensity can be specifically set in the following manner.
  • the real-time variable resolution threshold Resolution can be determined according to the calculated average value E of the ambient illuminance.
  • the preset variable resolution can be obtained rate threshold.
  • a sampling signal data threshold may be used to mask ranging ambiguity.
  • the sampling signal data threshold is set in advance, and the processor acquires real-time sampling signal data. If the sampling signal data is less than, or less than or equal to, the sampling signal data threshold, it is determined that the target distance value is a fuzzy distance value, and the fuzzy distance is shielded. value.
  • FIG. 2 is a schematic structural diagram of an apparatus for shielding ambiguous distance values of a ranging system according to an exemplary embodiment of the present invention. Each included unit is used to execute each step in the embodiment corresponding to FIG. 1 . For details, please refer to the relevant description in the embodiment corresponding to FIG. 1 . For ease of description, only the parts related to this embodiment are shown.
  • the device 2 for shielding the fuzzy distance value of the ranging system includes:
  • An acquisition unit 210 configured to acquire an electrical signal corresponding to the signal beam reflected by the object to be measured
  • a calculation unit 220 configured to calculate a target distance value of the object to be measured according to the electrical signal
  • the processing unit 230 is configured to determine whether the target distance value is a fuzzy distance value according to the electrical signal and a preset threshold, and mask the fuzzy distance value.
  • FIG. 3 is a schematic diagram of a device for shielding ambiguous distance values of a ranging system according to an exemplary embodiment of the present invention.
  • the device 3 for shielding the fuzzy distance value of the ranging system in this embodiment includes: a processor 30 , a memory 31 , and a computer program 32 stored in the memory 31 and operable on the processor 30 , such as a masker for fuzzy distance values.
  • the processor 30 executes the computer program 32
  • the steps in the above embodiments of the method for shielding the fuzzy distance value of the ranging system are implemented, such as steps S101 to S103 shown in FIG. 1 .
  • the processor 30 executes the computer program 32, it realizes the functions of the modules/units in the above-mentioned device embodiments, for example, the functions of the units 210 to 230 shown in FIG. 2 .
  • the computer program 32 can be divided into one or more modules/units, and the one or more modules/units are stored in the memory 31 and executed by the processor 30 to complete this invention.
  • the one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution of the computer program 32 in the device 3 for shielding the fuzzy distance value of the ranging system process.
  • the computer program 32 can be divided into an acquisition module, a calculation module, and a processing module, and the functions of each module are as follows:
  • An acquisition module configured to acquire an electrical signal corresponding to the signal beam reflected by the object to be measured
  • a calculation module configured to calculate the target distance value of the object to be measured according to the electrical signal
  • a processing module configured to determine whether the target distance value is an ambiguous distance value according to the electrical signal and a preset threshold, and shield the ambiguous distance value.
  • the device 3 for shielding the ambiguous distance value of the ranging system may include, but not limited to, a processor 30 and a memory 31 .
  • a processor 30 and a memory 31 .
  • Fig. 3 is only an example of the device 3 that shields the fuzzy distance value of the ranging system, and does not constitute a limitation to the device 3 that shields the fuzzy distance value of the ranging system, and may include more or more A few components, or a combination of certain components, or different components, for example, the device 3 for shielding the fuzzy distance value of the ranging system may also include input and output devices, network access devices, buses, and the like.
  • the so-called processor 30 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general-purpose processor may be a microprocessor, or the processor may be any conventional processor, or the like.
  • the memory 31 may be an internal storage unit of the device 3 for shielding the fuzzy distance value of the ranging system, for example, a hard disk or a memory of the device 3 for shielding the fuzzy distance value of the ranging system.
  • the memory 31 can also be an external storage device of the device 3 that shields the fuzzy distance value of the ranging system, such as a plug-in hard disk equipped on the device 3 that shields the fuzzy distance value of the ranging system, a smart memory card (Smart Media Card, SMC), Secure Digital (Secure Digital, SD) card, Flash Card (Flash Card), etc.
  • the memory 31 may also include both an internal storage unit of the device 3 for the shielded ranging system fuzzy distance value and an external storage device.
  • the memory 31 is used to store the computer program and other programs and data required by the device for masking the ambiguous distance value of the ranging system.
  • the memory 31 can also be used to temporarily store data that has been output or will be output.
  • the disclosed apparatus/terminal equipment and method may be implemented in other ways.
  • the device/terminal device embodiments described above are only illustrative.
  • the division of the modules or units is only a logical function division.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
  • the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through computer programs.
  • the computer program can be stored in a computer-readable storage medium, and the computer When the program is executed by the processor, the steps in the above-mentioned various method embodiments can be realized.
  • the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form.
  • the computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium, etc.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electrical carrier signal telecommunication signal and software distribution medium, etc.

Landscapes

  • 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)

Abstract

L'invention concerne un procédé et un appareil pour masquer des valeurs de distance d'ambiguïté d'un système de télémétrie, et un dispositif. Le procédé comprend les étapes consistant à : obtenir un signal électrique correspondant à un faisceau de signal réfléchi par un objet à mesurer (S101); calculer une valeur de distance cible dudit objet en fonction du signal électrique (S102); et déterminer, en fonction du signal électrique et d'un seuil prédéfini, si la valeur de distance cible est une valeur de distance d'ambiguïté, et masquer la valeur de distance d'ambiguïté (S103). La présente invention résout le problème de masquage des valeurs de mesure de distance d'ambiguïté du système de télémétrie sur la base du seuil prédéfini, permet d'obtenir une mesure de distance à une seule fréquence, et augmente la vitesse de la trame de mesure, ce qui permet de résoudre le problème de l'ambiguïté allant tout en augmentant la fréquence de la trame du système.
PCT/CN2022/080528 2021-07-07 2022-03-13 Procédé et appareil pour masquer des valeurs de distance d'ambiguïté d'un système de télémétrie, et dispositif WO2023279755A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110769041.7 2021-07-07
CN202110769041.7A CN115657054A (zh) 2021-07-07 2021-07-07 一种屏蔽测距系统模糊距离值的方法、装置及设备

Publications (1)

Publication Number Publication Date
WO2023279755A1 true WO2023279755A1 (fr) 2023-01-12

Family

ID=84801183

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/080528 WO2023279755A1 (fr) 2021-07-07 2022-03-13 Procédé et appareil pour masquer des valeurs de distance d'ambiguïté d'un système de télémétrie, et dispositif

Country Status (2)

Country Link
CN (1) CN115657054A (fr)
WO (1) WO2023279755A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118154431A (zh) * 2024-05-13 2024-06-07 合肥国家实验室 图像生成方法、装置、设备及存储介质

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2296837A1 (fr) * 1990-08-22 1992-02-23 Kollmorgen Corporation Systeme d'evitement d'obstacles
US20170016981A1 (en) * 2015-07-17 2017-01-19 Hexagon Technology Center Gmbh Time-of-flight measurement apparatus and time-of-flight measurement method with ambiguity resolution in real time
CN110161522A (zh) * 2019-06-11 2019-08-23 中国科学院光电技术研究所 一种可消除距离模糊的高重频单光子激光雷达
US10401480B1 (en) * 2018-12-05 2019-09-03 Luminar Technologies, Inc. Lidar receiver with multiple detectors for range-ambiguity mitigation
CN111708032A (zh) * 2019-03-18 2020-09-25 英飞凌科技股份有限公司 使用编码调制相位图像帧解决距离测量模糊
CN112731425A (zh) * 2020-11-29 2021-04-30 奥比中光科技集团股份有限公司 一种处理直方图的方法、距离测量系统及距离测量设备

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2296837A1 (fr) * 1990-08-22 1992-02-23 Kollmorgen Corporation Systeme d'evitement d'obstacles
US20170016981A1 (en) * 2015-07-17 2017-01-19 Hexagon Technology Center Gmbh Time-of-flight measurement apparatus and time-of-flight measurement method with ambiguity resolution in real time
US10401480B1 (en) * 2018-12-05 2019-09-03 Luminar Technologies, Inc. Lidar receiver with multiple detectors for range-ambiguity mitigation
CN111708032A (zh) * 2019-03-18 2020-09-25 英飞凌科技股份有限公司 使用编码调制相位图像帧解决距离测量模糊
CN110161522A (zh) * 2019-06-11 2019-08-23 中国科学院光电技术研究所 一种可消除距离模糊的高重频单光子激光雷达
CN112731425A (zh) * 2020-11-29 2021-04-30 奥比中光科技集团股份有限公司 一种处理直方图的方法、距离测量系统及距离测量设备

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118154431A (zh) * 2024-05-13 2024-06-07 合肥国家实验室 图像生成方法、装置、设备及存储介质

Also Published As

Publication number Publication date
CN115657054A (zh) 2023-01-31

Similar Documents

Publication Publication Date Title
WO2021008209A1 (fr) Appareil de mesure de profondeur et procédé de mesure de distance
US11536804B2 (en) Glare mitigation in LIDAR applications
CN110187355B (zh) 一种距离测量方法及深度相机
CN112114324B (zh) 一种距离测量方法、装置、终端设备及存储介质
EP3370079B1 (fr) Extraction de paramètre et de plage au moyen d'histogrammes traités générés par la détection d'impulsions d'un capteur de durée de vol
CN112255636A (zh) 一种距离测量方法、系统及设备
CN110320528A (zh) 时间深度相机及多频调制解调的降低噪声的距离测量方法
WO2022241942A1 (fr) Caméra de profondeur et procédé de calcul de profondeur
US11733359B2 (en) Configurable array of single-photon detectors
CN111025321B (zh) 一种可变焦的深度测量装置及测量方法
US20220043129A1 (en) Time flight depth camera and multi-frequency modulation and demodulation distance measuring method
CN113504542B (zh) 距离测量系统及计算被测物反射率的方法、装置、设备
CN110361751A (zh) 时间飞行深度相机及单频调制解调的降低噪声的距离测量方法
US11885669B2 (en) Systems and methods for imaging and sensing vibrations
CN110221273A (zh) 时间飞行深度相机及单频调制解调的距离测量方法
WO2023279619A1 (fr) Système de télémétrie de temps de vol indirect, et procédé de protection d'une valeur de distance floue
JP2020160044A (ja) 測距装置および測距方法
Li et al. Optimization of system design and calibration algorithm for SPAD-based LiDAR imager
WO2023279755A1 (fr) Procédé et appareil pour masquer des valeurs de distance d'ambiguïté d'un système de télémétrie, et dispositif
CN110708471B (zh) 一种基于主动照明的ccd自关联成像系统及方法
US20230273321A1 (en) 3D Image Sensor Ranging System, and Ranging Method Using Same
WO2023279621A1 (fr) Système de mesure de distance itof et procédé de calcul de la réflectivité d'un objet mesuré
CN112255635A (zh) 一种距离测量方法、系统及设备
WO2023279620A1 (fr) Système de télémétrie itof, et procédé, appareil et dispositif pour en déterminer la précision relative
WO2022222290A1 (fr) Procédé et appareil pour éliminer une lumière parasite sous un écran, et système sous écran et support d'enregistrement

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22836515

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22836515

Country of ref document: EP

Kind code of ref document: A1