WO2024050902A1 - Caméra itof, procédé d'étalonnage et dispositif associé - Google Patents

Caméra itof, procédé d'étalonnage et dispositif associé Download PDF

Info

Publication number
WO2024050902A1
WO2024050902A1 PCT/CN2022/123163 CN2022123163W WO2024050902A1 WO 2024050902 A1 WO2024050902 A1 WO 2024050902A1 CN 2022123163 W CN2022123163 W CN 2022123163W WO 2024050902 A1 WO2024050902 A1 WO 2024050902A1
Authority
WO
WIPO (PCT)
Prior art keywords
distance
control
signal
calculate
error
Prior art date
Application number
PCT/CN2022/123163
Other languages
English (en)
Chinese (zh)
Inventor
孙瑞
刘欣
焦健楠
陶郅
王飞
Original Assignee
奥比中光科技集团股份有限公司
深圳奥芯微视科技有限公司
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, 深圳奥芯微视科技有限公司 filed Critical 奥比中光科技集团股份有限公司
Publication of WO2024050902A1 publication Critical patent/WO2024050902A1/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
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating

Definitions

  • This application relates to the field of camera technology, and in particular to an ITOF camera, an intelligent terminal, a calibration method and a computer-readable storage medium.
  • the offset includes the electronic signal delay of the ITOF camera itself and the electronic signal delay of the printed circuit board (PCB) circuit.
  • the signal delays of different cameras and different PCBs are different, that is, The offset is different, so each camera needs to be calibrated separately.
  • the signal delay of electronic transmission changes, and the offset will also change, and the offset needs to be recalibrated.
  • ITOF cameras that have been used for a long time usually need to be returned to the factory for recalibration of offset, which increases the cost of after-sales maintenance.
  • the main purpose of this application is to provide an ITOF camera, a smart terminal, a calibration method and a computer-readable storage medium, aiming to solve the problem in the prior art that ITOF cameras need to be returned to the factory to recalibrate the offset after long-term use, which increases the cost of after-sales maintenance. .
  • the first aspect of the present application provides an ITOF camera, including an emitter, a collector, a light guide structure connecting the emitter and the collector, and a control and processor, wherein the emitter includes a first light source and a second light source.
  • the collector includes a measurement photosensitive unit and a reference photosensitive unit
  • the control and processor are used to control the first light source to emit a first optical signal to the target object, and control the measurement photosensitive unit to collect the first optical signal reflected by the target object and generate a first electrical signal, and process the first electrical signal to calculate the distance of the target object
  • the control and processor are also used to control the second light source to emit a second optical signal to the light guide structure, and control the reference photosensitive unit to collect the second light signal transmitted through the light guide structure.
  • optical signal and generate a second electrical signal, and process the second electrical signal to calculate the corresponding first optical transmission measurement distance, and calculate the error between the first optical transmission measurement distance and the actual optical transmission distance as the second global error;
  • control and The processor is also configured to correct the distance of the target object according to the second global error.
  • the emitter further includes: an optical diffusion sheet.
  • the optical diffusion sheet includes a microstructure area and a non-microstructure area, wherein the microstructure area is disposed on the transmission light path of the first light source for emitting light to the first light source.
  • the light beam is modulated to project a flood light beam to the target object;
  • the non-microstructure area is set between the microstructure area and the light guide structure to prevent the light beam emitted by the first light source from being incident into the light guide structure, and the light guide structure is an optical fiber or
  • the inner wall is a cavity with a realm.
  • a second aspect of this application provides an intelligent terminal, including a processor, a memory and an ITOF camera as described above, wherein: the processor is used to initiate a calibration signal to the ITOF camera; and the control and processor in the ITOF camera are used to control the emission of the second light source.
  • the second optical signal of the preset frequency is incident on the reference photosensitive unit through the light guide structure, and generates a third electrical signal; the control and processor are also used to calculate the corresponding second optical transmission measurement distance based on the third electrical signal, and calculate the third optical signal.
  • the distance error between the second optical transmission measurement distance and the actual optical transmission distance of the second optical signal is calculated, and the signal delay of the pre-stored second global error and the distance error is calculated, and the third step is performed based on the signal delay and the pre-stored first global error.
  • Global error calculation to correct the distance of the target object measured by the ITOF camera using the third global error.
  • a third aspect of the present application provides a calibration method, which includes: controlling a second light source to emit a second optical signal of a preset frequency through a light guide structure and incident on a reference photosensitive unit to generate a third electrical signal; and calculating a corresponding signal based on the third electrical signal.
  • the second optical transmission measurement distance calculate the distance error between the second optical transmission measurement distance and the actual optical transmission distance; calculate the pre-stored second global error and the distance error to perform signal delay; according to the signal delay and the pre-stored first global error
  • a third global error calculation is performed to correct the distance of the target object measured by the ITOF camera using the third global error.
  • a fourth aspect of the present application provides a computer-readable storage medium.
  • a calibration program is stored on the computer-readable storage medium.
  • the calibration program is executed by a processor, the steps of the above-mentioned calibration method are implemented.
  • control and processor can not only control the first light source to emit a first optical signal to the target object, and then reflect it to the measurement photosensitive unit for distance measurement, but also control the second light source to emit a second optical signal to the light guide.
  • the light guide structure is incident on the reference photosensitive unit for second global error calculation, and the distance of the target object is corrected according to the second global error. Therefore, the ITOF camera in this application can not only realize the ranging function, but also calibrate the global error of the ITOF camera in real time, without requiring the terminal manufacturer to perform global error calibration on the production line, which solves the problem that the product needs to be returned to the factory for re-installation after long-term use. Offset calibration is performed to ensure accuracy, thereby reducing after-sales maintenance costs.
  • Figure 1 is a system block diagram of an intelligent terminal according to the embodiment of the present application.
  • FIG. 2 is a system block diagram of the ITOF camera according to the embodiment of the present application.
  • Figure 3 is a schematic flow chart of the calibration method according to the embodiment of the present application.
  • Figure 4 is a schematic flow chart of a calibration method according to another embodiment of the present application.
  • Figure 5 is a schematic flow chart of a calibration method according to another embodiment of the present application.
  • the term “if” may be interpreted as “when” or “once” or “in response to determining” or “in response to detecting” depending on the context.
  • the phrase “if determined” or “if [the described condition or event] is detected” may be interpreted, depending on the context, to mean “once determined” or “in response to a determination” or “once the [described condition or event] is detected” event]” or “in response to detection of [the described condition or event]”.
  • FIG. 1 shows a system block diagram of a smart terminal, including a processor 20, a memory 30 and an ITOF camera 10 connected thereto.
  • ITOF technology is widely used in smart terminal devices such as mobile phones, tablets, sweeping robots, and mobile robots.
  • an ITOF camera is installed in a sweeping robot.
  • the ITOF camera collects three-dimensional information about the surrounding environment of the mobile robot and transmits the three-dimensional information to the processor in the sweeping robot.
  • the processor performs obstacle scene recognition, positioning perception and other processing based on the three-dimensional information. , based on the processing results, the robot is controlled to perform obstacle avoidance, path planning, etc.
  • the ITOF camera 10 includes a transmitter 100, a collector 200, and a control and processor 300.
  • the transmitter 100 is used to transmit modulated light signals toward multiple target points in the target scene
  • the collector 200 is used to collect the target.
  • the reflected light signal generates an electrical signal
  • the control and processor 300 is connected to the transmitter 100 and the collector 200 and controls the synchronous activation of the transmitter 100 and the collector 200, and processes the electrical signal output by the collector 200 to calculate the optical signal to and from the target.
  • the flight time of the point is further calculated to calculate the distance to the target point.
  • the principle block diagram shown in Figure 1 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the ITOF camera 10 to which the solution of the present application is applied.
  • the ITOF Camera 10 may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.
  • control and processor 300 may be the processor 20 in the smart terminal, that is, the processor 20, the transmitter 100 and the collector 200 implement the ranging and calibration functions, or the control and processor 300 may be a separate A single processor, the transmitter 100 and the collector 200 constitute the ITOF camera 10 of the present application.
  • ITOF cameras need to calibrate system errors before leaving the factory.
  • the main calibration contents include temperature drift, depth error (FPPN), distance measurement error (wiggling) and global error (offset).
  • offset is mainly caused by the electronic signal delay of the ITOF camera itself and the electronic signal delay of the printed circuit board (PCB) circuit.
  • PCB printed circuit board
  • Different cameras and different PCB test boards have different signal delays, that is, different offsets, so each camera needs to be calibrated separately.
  • the test board will produce additional offset delays.
  • this application provides an ITOF camera with a calibration system and a calibration method for installing the ITOF camera in an intelligent terminal device.
  • the offset of the ITOF camera can be calibrated in real time without the need for the terminal manufacturer to calibrate the camera in production.
  • this ITOF can solve the problem of the product needing to be returned to the factory for re-offset calibration to ensure accuracy after long-term use, thus reducing after-sales maintenance costs.
  • FIG. 2 shows an ITOF camera provided by the present application.
  • the ITOF camera 10 includes an emitter 100, a collector 200, a control and processor 300, and a light guide structure 400 connecting the emitter 100 and the collector 200.
  • the emitter 100 includes a first light source 101 and a second light source 102.
  • the collector 200 includes a reference photosensitive unit 201 and a measurement photosensitive unit 202.
  • the control and processor 300 is used to control the first light source 101 to emit a first light signal to the target object, and
  • the measurement photosensitive unit 202 is controlled to collect the first optical signal reflected by the target object and generate a first electrical signal, and process the first electrical signal to calculate the distance of the target object;
  • the control and processor 300 is also used to control the second light source 102 to emit a second
  • the optical signal is transmitted to the light guide structure 400, and the reference photosensitive unit 201 is controlled to collect the second optical signal transmitted through the light guide structure 400 and generate a second electrical signal, and process the second electrical signal to calculate the first light of the second optical signal. Transmit the measured distance, calculate the error between the first optical transmission measurement distance and the actual optical transmission distance as the second global error, and correct the distance of the target object according to the second global error, thereby realizing the ranging of the ITOF camera 10 function and offset calibration function.
  • the first light source 101 and the second light source 102 can be a light source such as a light emitting diode (LED), an edge emitting laser (EEL), a vertical cavity surface emitting laser (VCSEL), or a light source composed of multiple light sources.
  • the emitted light beam has the same modulation frequency and wavelength, and the emitted light beam can be visible light, infrared light, ultraviolet light, etc.
  • the first light source 101 is a light source array composed of multiple vertical cavity surface emitting lasers for emitting a spot pattern beam toward a target object.
  • the second light source 102 is a single point light source, which can be an LED, an EEL, or a VCSEL.
  • the second light source 102 is a single-point VCSEL, used to emit a spot beam with a very small divergence angle to be incident on the light guide structure.
  • the emitter 100 includes a light source array composed of a plurality of light sources, and is configured with zone control of the light source array to form a first light source 101 and a second light source 102, wherein the number of light sources in the first light source 101 is greater than that of the second light source.
  • the number of light sources in the light source 102, the field of view angle of the light beam emitted by the first light source 101 is greater than the field of view angle of the light beam emitted by the second light source 102.
  • the working modes of the first light source 101 and the second light source 102 can be adjusted according to actual applications, that is, the first light source 101 and the second light source 102 can work independently at different times, which is not limited here.
  • the emitter 100 further includes an optical diffusion sheet 500 .
  • the optical diffusion sheet 500 includes a microstructure area and a non-microstructure area, wherein the microstructure area is disposed in the transmission light direction of the first light source 101 . On the way, it is used to modulate the light beam emitted by the first light source 101 to project a flood light beam to the target object.
  • the non-microstructure area is correspondingly arranged between the microstructure area and the light guide structure to prevent the light beam emitted by the first light source 101 from being incident into the light guide structure.
  • the optical diffusion sheet may be a diffuser or a soft mirror.
  • the collector 200 includes an image sensor composed of a plurality of pixels, which may be a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), an avalanche diode (AD), a single photon avalanche diode (SPAD)
  • the array size represents the resolution of the depth camera, such as 320x240, etc.
  • the image sensor 121 is also connected to a readout circuit composed of one or more of a signal amplifier, a time-to-digital converter (TDC), an analog-to-digital converter (ADC), and other devices (not shown in the figure). ).
  • the image sensor 121 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), such as including 3 taps. , used to read the charge signal data.
  • the image sensor in the collector 200 is divided into two areas, including the measurement photosensitive unit 202 and the reference photosensitive unit 201. For example, a row, a column or several pixels can be selected as the reference photosensitive unit 201, and the image sensor The remaining pixels are the measurement photosensitive units 202.
  • the reference photosensitive unit 201 corresponds to the light guide structure and is used to receive the second optical signal transmitted through the light guide structure and generate a second electrical signal for calibration.
  • the collector 200 also includes a receiving lens 600 and a filter 700.
  • the filter 700 is adapted to the measurement photosensitive unit 202.
  • the filter 700 can be attached to the measurement photosensitive unit 202.
  • the optical signal reflected back by the target object is incident on the measurement photosensitive unit 202 through the receiving lens 600 to generate a first electrical signal for distance measurement.
  • the filter 600 needs to select a narrow-band filter that matches the wavelength of the second light source. , used to suppress ambient light in other bands and avoid interference from ambient light.
  • the light guide structure 400 is an optical fiber or a cavity with an inner wall.
  • the light pipe may be a single-mode optical fiber, a multi-mode optical fiber, or a specular reflector.
  • control and processor 300 can be an independent dedicated circuit, such as a dedicated SOC chip, FPGA chip, ASIC chip, etc. composed of a CPU, memory, bus, etc., or it can also include a general processing circuit, such as the After the ITOF camera is integrated into the smart terminal, the processor in the smart terminal can serve as at least part of the control and processor 300 .
  • the two are described separately below, but this does not limit the scope of protection of the present application.
  • control and processor 300 processes the first electrical signal to calculate a phase delay of the reflected first optical signal relative to the emitted first optical signal. further according to the phase delay Calculate the distance D 1 corresponding to the target, that is: f 1 is the modulation frequency of the first optical signal, and C is the speed of light.
  • the ITOF camera provided in this application has a calibration system itself, and offset calibration needs to be performed before leaving the factory.
  • a real calibration plate is provided at a fixed distance D from the ITOF camera.
  • the control and processor 300 controls the first light source 101 to emit a first optical signal to the calibration plate at a preset distance.
  • the first optical signal reflected by the calibration plate is incident on the calibration plate.
  • the control and processor 300 is also used to process the first electrical signal to calculate the distance D measurement of the calibration plate.
  • the calculated distance D measurement is the measurement distance of the calibration plate. Due to the electronic signal delay As a result, there is a deviation between the measurement distance D of the calibration plate and the real distance D.
  • D error D measurement - D real .
  • D error is the offset value that needs to be calibrated during conventional offset calibration, that is, the data is stored in In the camera, as the pre-stored first global error, when actually measuring the target distance, the calibration offset value is used to correct the measurement value of the target object to obtain a more accurate measurement distance value of the target.
  • control and processor 300 processes the second electrical signal to calculate the phase delay of the second optical signal received by the reference photosensitive unit 201 relative to the emitted second optical signal. further according to the phase delay Calculate the flight distance d 2 corresponding to the second optical signal, that is: f 2 is the modulation frequency of the second optical signal.
  • control and processor 300 controls the second light source 102 to emit a second optical signal to the light guide structure 400.
  • the second optical signal transmitted through the light guide structure 400 is incident on the reference photosensitive unit 201 to generate a second electrical signal.
  • the control and processor 300 is also used to process the second electrical signal to calculate the corresponding first optical transmission measurement distance d measurement .
  • d error d measurement - d, where L 1 represents the distance from the second light source 102 to the light guide structure 400 , L 2 represents the length of the light guide structure 400 , and L 3 represents The distance between the light guide structure 400 and the reference photosensitive unit 201; d error is the offset value that needs to be calibrated during conventional offset calibration, that is, the data is stored in the camera as the pre-stored second global error.
  • the calibration offset value is used to correct the measurement value of the target object to obtain a more accurate measurement distance value of the target. It can be understood that when the ITOF camera measures distance, you can choose to use the first global error or the second global error to correct the distance value. And because the calibration system is set up inside the ITOF camera, in the application, the camera can be calibrated in real time. Calibrate the offset, or perform an offset calibration on the camera after using it for a period of time to reduce new errors caused by the aging of electronic components. In order to solve the different delay problems caused by different circuits used in terminals, this application proposes a calibrated ITOF camera, which also requires secondary calibration.
  • An intelligent terminal includes an ITOF camera 10, a processor 20 and a memory 30.
  • the PCB board in the terminal equipment will also bring additional optical signal delay error, that is, offset error.
  • the entire machine needs to be calibrated for offset.
  • the processor 20 starts the calibration signal to the ITOF camera 10, and the control and processor 300 in the ITOF camera 10 controls the second light source 102 to emit a second optical signal of a preset frequency through the light guide structure 400.
  • the offset value ⁇ D is used to calibrate the real-time global error, that is, the third global error is stored in the camera. When the target distance is actually measured, this value is used to correct the measurement value to obtain a more accurate measurement distance value of the target.
  • the control and processor 300 can not only control the first light source 101 to emit the first light signal to the target object, and then reflect it to the measurement photosensitive unit 202 for ranging, but also control the second light source 102 to emit the first light signal.
  • the second optical signal goes to the light guide structure 400 and is incident on the reference photosensitive unit 201 for global error calibration. Therefore, the ITOF camera in this application can not only achieve the ranging function, but also perform real-time calibration of the global error of the ITOF camera. Calibration does not require the terminal manufacturer to perform global error calibration on the production line, which solves the problem of the product needing to be returned to the factory for re-offset calibration to ensure accuracy after long-term use, thus reducing after-sales maintenance costs.
  • this application also provides a calibration method.
  • the global error of the ITOF camera 10 in the above embodiment is calibrated through the calibration method.
  • the calibration method is executed by the control and processor 300 in the ITOF camera or the smart terminal with the ITOF camera 10.
  • the calibration method includes the following steps:
  • step S301 the second light source 102 is controlled to emit a second optical signal of a preset frequency through the light guide structure 400 and incident on the reference photosensitive unit 201 to generate a third electrical signal.
  • Step S302 Calculate the corresponding second optical transmission measurement distance according to the third electrical signal.
  • control and processor 300, or the smart terminal with the ITOF camera 10 performs the following steps to obtain the pre-stored first global error, as shown in Figure 4, including:
  • step S401 the first light source 101 is controlled to emit a first optical signal to a calibration plate at a preset measurement distance.
  • the first optical signal reflected by the calibration plate is incident on the measurement photosensitive unit 202 to generate a first electrical signal.
  • Step S402 calculate the measurement distance of the calibration plate according to the first electrical signal, that is, the control and processor 300 processes the first electrical signal to calculate the phase delay of the reflected first optical signal relative to the emitted first optical signal. further according to the phase delay Calculate the distance D 1 corresponding to the target, that is: f 1 is the modulation frequency of the first optical signal.
  • Step S403 Calculate the error between the preset distance and the measured distance of the calibration plate, and store Derro as the pre-stored first global error .
  • control and processor 300, or the smart terminal with the ITOF camera 10 performs the following steps to obtain the pre-stored second global error, as shown in Figure 5, including:
  • Step S501 control the second light source 102 to emit a second optical signal to the light guide structure 400, and then enter the reference photosensitive unit 201 through the light guide structure 400 to generate a second electrical signal.
  • Step S502 calculate the corresponding first optical transmission measurement distance according to the second electrical signal, that is, the control and processor 300 processes the second electrical signal to calculate the relative distance between the second optical signal received by the reference photosensitive unit 201 and the second light emitted.
  • signal phase delay further according to the phase delay Calculate the flight distance d 2 corresponding to the second optical signal, that is: f 2 is the modulation frequency of the second optical signal.
  • L 1 represents the distance from the second light source 102 to the light guide structure 400
  • L 2 represents the length of the light guide structure 400
  • L 3 represents the distance from the light guide structure 400 to the reference photosensitive unit 201 .
  • the second light source 102 is controlled to emit a second optical signal of a preset frequency to the light guide structure 400, and is incident on the reference photosensitive unit 201 through the light guide structure 400 to generate a third electrical signal; according to the third electrical signal Calculate the corresponding second optical transmission measurement distance based on the signal, calculate the distance error between the second optical transmission measurement distance and the actual optical transmission distance; perform signal delay calculation using the pre-stored second global error and distance error; compare the signal delay and the pre-stored optical transmission distance.
  • the first global error is stored and the third global error is calculated to use the third global error to correct the distance measured by the ITOF camera.
  • the global error of the ITOF camera can be calibrated in real time through the above calibration method without Terminal manufacturers are required to perform global error calibration on the production line, which solves the problem of products needing to be returned to the factory for re-offset calibration to ensure accuracy after long-term use, thus reducing after-sales maintenance costs.
  • the memory 30 of the smart terminal stores a calibration program that can be run on the processor 20 .
  • the calibration program can be executed by the processor 20 to implement the steps of the above calibration method.
  • the following operation instructions are performed: control the second light source 102 to emit a second optical signal through the light guide structure 400 and enter the reference photosensitive unit 201 to generate a second electrical signal; process the second Calculate the corresponding second optical transmission measurement distance from the electrical signal; calculate the distance error between the second optical transmission measurement distance and the actual optical transmission distance; calculate the signal delay between the pre-stored second global error and the distance error; according to the signal delay and the pre-stored
  • the third global error is calculated using the first global error to correct the distance measured by the ITOF camera using the third global error.
  • Embodiments of the present application also provide a computer-readable storage medium.
  • a calibration program is stored on the computer-readable storage medium.
  • the calibration program is executed by a processor, the steps of the above-mentioned calibration method are implemented.
  • sequence number of each step in the above embodiment does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.
  • Module completion means dividing the internal structure of the above device into different functional units or modules to complete all or part of the functions described above.
  • Each functional unit and module in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.
  • the above-mentioned integrated unit can be hardware-based. It can also be implemented in the form of software functional units.
  • the specific names of each functional unit and module are only for the convenience of distinguishing each other and are not used to limit the scope of protection of the present application.
  • For the specific working processes of the units and modules in the above system please refer to the corresponding processes in the foregoing method embodiments, and will not be described again here.
  • the disclosed apparatus/terminal equipment and methods can be implemented in other ways.
  • the apparatus/terminal equipment embodiments described above are only illustrative.
  • the division of the above modules or units is only a logical function division. In actual implementation, it can be divided in other ways, such as multiple units or units. Components may be combined or may be integrated into another system, or some features may be ignored, or not implemented.
  • the above-mentioned integrated modules/units are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present application can implement all or part of the processes in the methods of the above embodiments by instructing relevant hardware through a computer program.
  • the above computer program can be stored in a computer-readable storage medium.
  • the computer program can be stored in a computer-readable storage medium. When executed by the processor, the steps of each of the above method embodiments can be implemented.
  • the above-mentioned computer program includes computer program code, and the above-mentioned computer program code may be in the form of source code, object code, executable file or some intermediate form, etc.
  • the above-mentioned computer-readable media may include: any entity or device capable of carrying the above-mentioned computer program code, recording media, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random accessory Access memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media, etc. It should be noted that the content contained in the above computer-readable storage media can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

Abstract

La présente demande concerne une caméra ITOF, un terminal intelligent, un procédé d'étalonnage et un support de stockage lisible par ordinateur. Une caméra ITOF (10) comprend un émetteur (100), un collecteur (200), une structure de guidage de lumière en communication avec l'émetteur (100) et le collecteur (200), et une unité de commande et de traitement (300). L'unité de commande et de traitement (300) est configurée pour commander une première source de lumière pour émettre un premier signal optique et pour commander une unité photosensible de mesure pour collecter un premier signal optique réfléchi pour calculer la distance d'un objet cible; l'unité de commande et de traitement (300) est en outre configurée pour commander une seconde source de lumière pour émettre un second signal optique vers la structure de guidage de lumière, pour commander une unité photosensible de référence pour collecter le second signal optique transmis par la structure de guidage de lumière de façon à calculer une première distance de mesure de transmission optique correspondante, pour calculer une erreur entre la première distance de mesure de transmission optique et une distance de transmission optique réelle en tant que seconde erreur globale, et pour corriger la distance de l'objet cible selon la seconde erreur globale. Par conséquent, la caméra ITOF de la présente demande peut non seulement réaliser une fonction de mesure de distance, mais également étalonner une erreur globale de la caméra ITOF en temps réel.
PCT/CN2022/123163 2022-09-05 2022-09-30 Caméra itof, procédé d'étalonnage et dispositif associé WO2024050902A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211077959.6 2022-09-05
CN202211077959.6A CN115469331A (zh) 2022-09-05 2022-09-05 Itof相机、标定方法及相关设备

Publications (1)

Publication Number Publication Date
WO2024050902A1 true WO2024050902A1 (fr) 2024-03-14

Family

ID=84368300

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/123163 WO2024050902A1 (fr) 2022-09-05 2022-09-30 Caméra itof, procédé d'étalonnage et dispositif associé

Country Status (2)

Country Link
CN (1) CN115469331A (fr)
WO (1) WO2024050902A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116645413A (zh) * 2023-06-02 2023-08-25 湖州丽天智能科技有限公司 一种光伏电池板位置识别方法、系统及光伏机器人

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180106891A1 (en) * 2016-10-19 2018-04-19 Infineon Technologies Ag 3di sensor depth calibration concept using difference frequency approach
CN109143252A (zh) * 2018-08-08 2019-01-04 合肥泰禾光电科技股份有限公司 Tof深度相机距离校准的方法及装置
CN111427048A (zh) * 2020-02-25 2020-07-17 深圳奥比中光科技有限公司 一种ToF深度测量装置、控制ToF深度测量装置的方法及电子设备
CN112596065A (zh) * 2019-09-17 2021-04-02 三星电子株式会社 飞行时间传感器及校准其中的误差的方法
CN113487678A (zh) * 2021-06-11 2021-10-08 奥比中光科技集团股份有限公司 一种相机校准方法、系统及处理电路

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20180106891A1 (en) * 2016-10-19 2018-04-19 Infineon Technologies Ag 3di sensor depth calibration concept using difference frequency approach
CN109143252A (zh) * 2018-08-08 2019-01-04 合肥泰禾光电科技股份有限公司 Tof深度相机距离校准的方法及装置
CN112596065A (zh) * 2019-09-17 2021-04-02 三星电子株式会社 飞行时间传感器及校准其中的误差的方法
CN111427048A (zh) * 2020-02-25 2020-07-17 深圳奥比中光科技有限公司 一种ToF深度测量装置、控制ToF深度测量装置的方法及电子设备
CN113487678A (zh) * 2021-06-11 2021-10-08 奥比中光科技集团股份有限公司 一种相机校准方法、系统及处理电路

Also Published As

Publication number Publication date
CN115469331A (zh) 2022-12-13

Similar Documents

Publication Publication Date Title
US9971024B2 (en) Lidar scanner calibration
CN109143252B (zh) Tof深度相机距离校准的方法及装置
WO2022095247A1 (fr) Système d'étalonnage d'erreur de mesure de distance et procédé d'étalonnage pour radar laser
US10764487B2 (en) Distance image acquisition apparatus and application thereof
CN110609293A (zh) 一种基于飞行时间的距离探测系统和方法
JPWO2017209206A1 (ja) 光検出装置、及び電子機器
CN108267749A (zh) 校准飞行时间光学系统的光检测器
CN108845332B (zh) 基于tof模组的深度信息测量方法及装置
WO2020038058A1 (fr) Procédé d'étalonnage, dispositif de commande d'étalonnage et système d'étalonnage
WO2024050902A1 (fr) Caméra itof, procédé d'étalonnage et dispositif associé
US9329025B2 (en) Measuring device
US20230305150A1 (en) Adaptive search method for light spot positions, time of flight distance measurement system, and distance measurement method
WO2022011974A1 (fr) Système et procédé de mesure de distance et support d'enregistrement lisible par ordinateur
CN112394365B (zh) 散斑的追踪方法、测距模组、电子设备及可读存储介质
EP3588138A1 (fr) Appareil et procédé de positionnement par laser
WO2021208582A1 (fr) Appareil d'étalonnage, système d'étalonnage, dispositif électronique et procédé d'étalonnage
CN113325391A (zh) 广角tof模组及其应用
EP3945283B1 (fr) Instrument d'arpentage
CN101672726A (zh) 空间光通信终端通信探测器定位测试装置及方法
CN111983630B (zh) 一种单光子测距系统、方法、终端设备及存储介质
CN109901137B (zh) 广角tof模组的标定方法及其标定设备
CN115616593B (zh) 一种激光雷达、校准方法和提高激光雷达测量精度的方法
WO2022257558A1 (fr) Module de temps de vol, terminal et procédé de détection de profondeur
Li et al. High precision laser ranging based on STM32 microcontroller
CN112213711A (zh) 一种tof相机的校准方法

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: 22957869

Country of ref document: EP

Kind code of ref document: A1