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WO2008152647A3 - Three-dimensional imaging method and apparatus - Google Patents

Three-dimensional imaging method and apparatus Download PDF

Info

Publication number
WO2008152647A3
WO2008152647A3 PCT/IL2008/000812 IL2008000812W WO2008152647A3 WO 2008152647 A3 WO2008152647 A3 WO 2008152647A3 IL 2008000812 W IL2008000812 W IL 2008000812W WO 2008152647 A3 WO2008152647 A3 WO 2008152647A3
Authority
WO
WIPO (PCT)
Prior art keywords
distance
pixel
output level
optical
dimensional imaging
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/IL2008/000812
Other languages
French (fr)
Other versions
WO2008152647A2 (en
Inventor
Orly Yadid-Pecht
Alexander Belenky
Shay Hamami
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ben Gurion University of the Negev Research and Development Authority Ltd
Ben Gurion University of the Negev BGU
Original Assignee
Ben Gurion University of the Negev Research and Development Authority Ltd
Ben Gurion University of the Negev BGU
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 Ben Gurion University of the Negev Research and Development Authority Ltd, Ben Gurion University of the Negev BGU filed Critical Ben Gurion University of the Negev Research and Development Authority Ltd
Publication of WO2008152647A2 publication Critical patent/WO2008152647A2/en
Anticipated expiration legal-status Critical
Publication of WO2008152647A3 publication Critical patent/WO2008152647A3/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

A method for determining a distance to an object is performed as follows. First a first optical sensing element of an optical pixel is exposed to a back-reflected laser pulse for an initial time interval to obtain a first output level. Then a second optical sensing element of the optical pixel is exposed to the back-reflected laser pulse at a successive time interval to obtain a second output level. Finally, the distance to the object is calculated from the first and second output levels. Three-dimensional imaging may be performed for a sensor array in a two-stage process, by first determining whether an object is present in a pixel's distance sub-range. In some embodiments, the distance to the object is calculated from a pixel output level accumulated over multiple laser pulses.
PCT/IL2008/000812 2007-06-15 2008-06-15 Three-dimensional imaging method and apparatus Ceased WO2008152647A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US92917307P 2007-06-15 2007-06-15
US60/929,173 2007-06-15

Publications (2)

Publication Number Publication Date
WO2008152647A2 WO2008152647A2 (en) 2008-12-18
WO2008152647A3 true WO2008152647A3 (en) 2010-02-25

Family

ID=40130290

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2008/000812 Ceased WO2008152647A2 (en) 2007-06-15 2008-06-15 Three-dimensional imaging method and apparatus

Country Status (1)

Country Link
WO (1) WO2008152647A2 (en)

Cited By (1)

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US12181609B2 (en) 2018-10-16 2024-12-31 Toppan Holdings Inc. Distance measuring device, camera, and method for adjusting drive of distance measuring device

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JP5585903B2 (en) 2008-07-30 2014-09-10 国立大学法人静岡大学 Distance image sensor and method for generating imaging signal by time-of-flight method
JP5655137B2 (en) * 2010-06-04 2015-01-14 深▲せん▼泰山在線科技有限公司Ｓｈｅｎｚｈｅｎ Ｔａｉｓｈａｎ Ｏｎｌｉｎｅ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． CMOS image sensor exposure method
US12025807B2 (en) 2010-10-04 2024-07-02 Gerard Dirk Smits System and method for 3-D projection and enhancements for interactivity
FR2998683B1 (en) * 2012-11-27 2016-01-15 Saint Louis Inst 3D IMAGING PROCESS
FR2998666B1 (en) * 2012-11-27 2022-01-07 E2V Semiconductors METHOD FOR PRODUCING IMAGES WITH DEPTH INFORMATION AND IMAGE SENSOR
US10063844B2 (en) * 2013-10-17 2018-08-28 Microsoft Technology Licensing, Llc. Determining distances by probabilistic time of flight imaging
JP6320154B2 (en) * 2014-04-25 2018-05-09 キヤノン株式会社 Imaging device and driving method of imaging device
US9696424B2 (en) 2014-05-19 2017-07-04 Rockwell Automation Technologies, Inc. Optical area monitoring with spot matrix illumination
US11243294B2 (en) 2014-05-19 2022-02-08 Rockwell Automation Technologies, Inc. Waveform reconstruction in a time-of-flight sensor
US9256944B2 (en) 2014-05-19 2016-02-09 Rockwell Automation Technologies, Inc. Integration of optical area monitoring with industrial machine control
US9921300B2 (en) 2014-05-19 2018-03-20 Rockwell Automation Technologies, Inc. Waveform reconstruction in a time-of-flight sensor
US9377533B2 (en) 2014-08-11 2016-06-28 Gerard Dirk Smits Three-dimensional triangulation and time-of-flight based tracking systems and methods
DE102014013099B4 (en) * 2014-09-03 2019-11-14 Basler Aktiengesellschaft Method and device for simplified acquisition of a depth image
US9625108B2 (en) 2014-10-08 2017-04-18 Rockwell Automation Technologies, Inc. Auxiliary light source associated with an industrial application
US10062201B2 (en) * 2015-04-21 2018-08-28 Microsoft Technology Licensing, Llc Time-of-flight simulation of multipath light phenomena
US9864048B2 (en) 2015-05-17 2018-01-09 Microsoft Technology Licensing, Llc. Gated time of flight camera
DE102015116368A1 (en) 2015-09-28 2017-03-30 Sick Ag Method for detecting an object
JP6854828B2 (en) 2015-12-18 2021-04-07 ジェラルド ディルク スミッツ Real-time position detection of an object
JP6604514B2 (en) * 2016-02-26 2019-11-13 株式会社東京精密 Surface shape measuring apparatus and surface shape measuring method
US9760837B1 (en) 2016-03-13 2017-09-12 Microsoft Technology Licensing, Llc Depth from time-of-flight using machine learning
EP3443383B1 (en) * 2016-04-13 2023-08-16 Oulun yliopisto Distance measuring device and method thereof
EP3532863A4 (en) 2016-10-31 2020-06-03 Gerard Dirk Smits FAST SCAN LIDAR WITH DYNAMIC VOXEL PROBE
JP7329444B2 (en) 2016-12-27 2023-08-18 ジェラルド ディルク スミッツ Systems and methods for machine perception
JP7172603B2 (en) * 2017-01-13 2022-11-16 ソニーグループ株式会社 SIGNAL PROCESSING DEVICE, SIGNAL PROCESSING METHOD, AND PROGRAM
US20190383946A1 (en) * 2017-02-28 2019-12-19 Sony Semiconductor Solutions Corporation Distance measurement apparatus, distance measurement method, and distance measurement system
US10473921B2 (en) 2017-05-10 2019-11-12 Gerard Dirk Smits Scan mirror systems and methods
KR102016942B1 (en) * 2017-09-20 2019-09-02 연세대학교 산학협력단 Lidar sensor for vehicle and method of the same
US10591605B2 (en) 2017-10-19 2020-03-17 Gerard Dirk Smits Methods and systems for navigating a vehicle including a novel fiducial marker system
JP6907886B2 (en) * 2017-10-27 2021-07-21 オムロン株式会社 Displacement sensor
WO2019129544A1 (en) * 2017-12-26 2019-07-04 Robert Bosch Gmbh Single-chip rgb-d camera
US10379220B1 (en) 2018-01-29 2019-08-13 Gerard Dirk Smits Hyper-resolved, high bandwidth scanned LIDAR systems
US11002836B2 (en) 2018-05-14 2021-05-11 Rockwell Automation Technologies, Inc. Permutation of measuring capacitors in a time-of-flight sensor
US10996324B2 (en) 2018-05-14 2021-05-04 Rockwell Automation Technologies, Inc. Time of flight system and method using multiple measuring sequences
US10969476B2 (en) 2018-07-10 2021-04-06 Rockwell Automation Technologies, Inc. High dynamic range for sensing systems and methods
US10789506B2 (en) * 2018-09-24 2020-09-29 Rockwell Automation Technologies, Inc. Object intrusion detection system and method
JP7259525B2 (en) * 2019-04-26 2023-04-18 株式会社デンソー Optical ranging device and method
CN112034471A (en) * 2019-06-04 2020-12-04 精準基因生物科技股份有限公司 Time-of-flight ranging device and time-of-flight ranging method
JP7463671B2 (en) * 2019-08-01 2024-04-09 Ｔｏｐｐａｎホールディングス株式会社 Distance image capturing device and distance image capturing method
US11372320B2 (en) 2020-02-27 2022-06-28 Gerard Dirk Smits High resolution scanning of remote objects with fast sweeping laser beams and signal recovery by twitchy pixel array
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12181609B2 (en) 2018-10-16 2024-12-31 Toppan Holdings Inc. Distance measuring device, camera, and method for adjusting drive of distance measuring device

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Publication number Publication date
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