CN106443584A - Position determination method and apparatus - Google Patents
Position determination method and apparatus Download PDFInfo
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- CN106443584A CN106443584A CN201610792116.2A CN201610792116A CN106443584A CN 106443584 A CN106443584 A CN 106443584A CN 201610792116 A CN201610792116 A CN 201610792116A CN 106443584 A CN106443584 A CN 106443584A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention discloses a position determination method and apparatus. The method includes the following steps that: a first time and a second time are acquired, wherein the first time is a time when a light receiving unit receives polarized light in a first scanning direction which is emitted by a light emitting unit, and the second time is a time when the light receiving unit receives polarized light in a second scanning direction which is emitted by the light emitting unit; the deviation angle of the light receiving unit relative to the light emitting unit is determined according to the first time, the second time and a synchronization signal time; and the position of the light receiving unit is determined based on the deviation angle of the light receiving unit relative to the light emitting unit. Since the light emitting unit can emit the polarized light in different scanning directions, the polarized light in the first scanning direction and the polarized light in the second scanning direction which are received by the light receiving unit in the same time period will not be mixed, and therefore, the speed of the determination of the position of a target object can be effectively improved, and system delay is reduced.
Description
Technical field
The present embodiments relate to optical tracking technical field, the method and device that more particularly, to a kind of position determines.
Background technology
Position determine and motion tracking technology main purpose be real-time tracing and feedback target position and motion change,
Obtain the three-dimensional fix of target and its kinematic parameter obtains.At present, field of human-computer interaction the more commonly used be that inertia chases after
Track technology and optical tracking technology.
Inertia tracer technique, by arranging Inertial Measurement Unit in target, measurement obtains the number such as acceleration, angular velocity
According to using the motion conditions of mathematical tool resolving acquisition target.Advantage is to realize simple, strong interference immunity.Shortcoming is can not be complete
Face ground obtains the motion feature of tracked target, can only partly reflect the movement characteristic of tracked target by finite sum.
Optical tracking technology, by complete the task of motion tracking to the supervision of specific luminous point in target and tracking.Reason
By upper, for any one point in space, as long as it can be simultaneously by two video camera findings, you can to determine this point of this moment
Locus.When video camera is continuously shot with sufficiently high speed, can be obtained by the motion of this point from image sequence
Track.Dummy object is formed by digitized processing, is then demarcated by three dimensions, determine the locus of object.Optics
The feature of tracer technique is the motion conditions that can comprehensively reflect object, high precision；Shortcoming is to realize more difficulty, and follow the trail of
Scope is less, postpones larger.
Content of the invention
The embodiment of the present invention provides the method and device that a kind of position determines, in order to improve the position determining target object
Speed, reduces system delay.
The method that a kind of position provided in an embodiment of the present invention determines, including：
Obtain the very first time and the second time, the described very first time receives what Optical Transmit Unit sent for light receiving unit
The time of the first polarized light of the first scanning direction, described second time receives what Optical Transmit Unit sent for light receiving unit
The time of the second polarized light of the second scanning direction；
According to the described very first time, described second time and synchronizing signal time, determine described light receiving unit relatively
Deviation angle in described Optical Transmit Unit；
According to described light receiving unit with respect to the deviation angle of described Optical Transmit Unit, determine described light receiving unit
Position.
Correspondingly, the embodiment of the present invention additionally provides the device that a kind of position determines, including：
Acquiring unit, for obtaining the very first time and the second time, the described very first time receives light for light receiving unit
The time of the polarized light of the first scanning direction that transmitter unit sends, described second time receives light transmitting for light receiving unit
The time of the polarized light of the second scanning direction that unit sends；
Processing unit, for according to the described very first time, described second time and synchronizing signal time, determining described light
Receiving unit is with respect to the deviation angle of described Optical Transmit Unit；And launched with respect to described light according to described light receiving unit
The deviation angle of unit, determines the position of described light receiving unit.
The embodiment of the present invention shows, by obtaining the very first time and the second time, this very first time connects for light receiving unit
Receive the time of the first polarized light of the first scanning direction that Optical Transmit Unit sends, the second time received for light receiving unit
The time of the second polarized light of the second scanning direction that Optical Transmit Unit sends, according to the very first time, the second time and synchronization
Signal time, determines the deviation angle that light receiving unit is with respect to Optical Transmit Unit, is launched with respect to light according to light receiving unit
The deviation angle of unit, determines the position of light receiving unit.Because Optical Transmit Unit can send two kinds of different scanning sides simultaneously
To different polarized light so that the polarization of the first scanning direction that light receiving unit receives in same a period of time
The polarized light of light and the second scanning direction will not produce to be obscured, and effectively raises the speed of target object location determination, reduces
System delay.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, will make to required in embodiment description below
Accompanying drawing briefly introduce it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the schematic flow sheet of the method that a kind of position provided in an embodiment of the present invention determines；
Fig. 2 is a kind of structural representation of laser emission element provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of laser instrument provided in an embodiment of the present invention；
Fig. 4 is the schematic flow sheet of the method that a kind of position provided in an embodiment of the present invention determines；
Fig. 5 is the structural representation of the device that a kind of position provided in an embodiment of the present invention determines.
Specific embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, below in conjunction with accompanying drawing the present invention is made into
One step ground describes in detail it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole enforcement
Example.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under the premise of not making creative work
All other embodiment, broadly falls into the scope of protection of the invention.
For the ease of description, in embodiments of the present invention, represent light receiving unit using sensor unit, sent out using laser
Penetrate unit and represent Optical Transmit Unit, the embodiment of the present invention is only example effect, light receiving unit and Optical Transmit Unit is not done and has
Body limits, and other is all applied in the embodiment of the present invention for light-receiving and photoemissive setting or device.
Fig. 1 shows the flow process of the method that a kind of position provided in an embodiment of the present invention determines, this flow process can be by position
The device execution determining, this device may be located in processor or this processor.
As shown in figure 1, this flow process concrete steps includes：
Step 101, obtains the very first time and the second time.
Step 102, according to the described very first time, described second time and synchronizing signal time, determines described sensor
Unit is with respect to the deviation angle of described laser emission element.
Step 103, according to described sensor unit with respect to the deviation angle of described laser emission element, determines described biography
The position of sensor cell.
In embodiments of the present invention, the above-mentioned very first time receive that laser emission element sends for sensor unit first
The time of the first polarized light of scanning direction, the second time swept for sensor unit receives that laser emission element sends second
Retouch the time of second polarized light in direction.First polarized light of this first scanning direction and the second polarized light of the second scanning direction
Can be sent by the laser instrument in laser emission element.
First polarized light and second of the first scanning direction sending in order to more preferable description laser emission element is swept
Retouch second polarized light in direction, what Fig. 2 was exemplary shows a kind of structure of laser emission element.As shown in Fig. 2 this laser is sent out
Penetrate unit 201 and include infrared LED light emitting array 2011, first laser device 2012 and second laser 2013, this infrared LED lights
Array 2011 is used for sending synchronizing signal, and first laser device 2012 can send the first polarized light of the first scanning direction, and second
Laser instrument 2013 can send the second polarized light of the second scanning direction.This first laser device 2012 can with second laser 2013
To carry out 360 ° of rotations centered on rotating shaft, wherein, the rotating shaft of first laser device 2012 and second laser 2013 is mutually to hang down
Straight.This first laser device 2012 and second laser 2013 can rotate according to setting speed, send the first scanning direction
First polarized light and the second polarized light of the second scanning direction.Preferably, this first scanning direction can be horizontal scan direction,
This first laser device 2012 sends the first polarized light of horizontal scan direction, can send the horizontal scan direction of 360 ° of rotations
First polarized light, it is also possible to send the first polarized light of the particles of set angle, such as sets 90 °.This second scanning side
To being vertical scanning direction, second laser 2013 can send the second polarized light of vertical scanning direction.Above-mentioned first
Laser instrument 2012 can also be the first polarized light sending vertical scanning direction, and second laser 2013 can send horizontal sweep
Second polarized light in direction.In embodiments of the present invention, " first direction " " second direction " is intended merely to distinguish two laser instrument
The just different scanning direction being simultaneously emitted by, " the first polarized light " " the second polarized light " is intended merely to distinguish two laser instrument
The polarized light being simultaneously emitted by is different.Therefore, the scanning direction of the light that two laser instrument are simultaneously emitted by is different, and polarization direction is different,
Scanning direction and polarization direction are separate, are independent of each other.
So that laser instrument can send the polarized light of a scanning direction, the embodiment of the present invention is arranged on laser instrument
Polaroid.As shown in figure 3, this laser instrument 301 includes rotating shaft 3011, launch hole 3012 and the polarization being located at facet surface
Piece 3013.Further, the surface of above-mentioned first laser device be coated with the first polaroid thoroughly shaking so that this first laser device only
The first polarized light of the first scanning direction can be transmitted, the surface of second laser be coated with the second polaroid thoroughly shaking so that
This second laser can only transmit the second polarized light of the second scanning direction.
Correspondingly, so that sensor unit can receive the first polarized light and second scanning of the first scanning direction
Second polarized light in direction, the surface receiving the sensor of the first polarized light of the first scanning direction in sensor unit covers
There is the first polaroid thoroughly shaking, only the first polarized light for the first scanning direction passes through.Receive second to sweep in sensor unit
The surface retouching the sensor of the second polarized light in direction is coated with the polaroid that the second scanning direction shakes thoroughly, only supplies the second scanning side
To the second polarized light pass through.Sensor unit is allow to receive the first polarized light and second scanning of the first scanning direction
Second polarized light in direction.Sensor unit is located on target object in embodiments of the present invention.
After obtaining the above-mentioned very first time and the second time, can be according to this very first time, the second time and synchronization
Signal time, determines the deviation angle that sensor unit is with respect to laser emission element, for driving the position of sensor unit
Put.Specifically, this sensor unit can include sensor unit with respect to sharp with respect to the deviation angle of laser emission element
The deviation angle of the first scanning direction of Optical Transmit Unit and sensor unit are with respect to the second scanning side of laser emission element
To deviation angle.
In order to clearly describe the process of realizing of the embodiment of the present invention, sensor list will be described below taking first laser device as a example
Unit is with respect to the deviation angle of the first scanning direction of laser emission element.
As shown in figure 4, in the T1 moment, the infrared LED light emitting array 2011 of laser emission element 201 sends synchronous letter
Number, because infrared LED light emitting array 2011 is area source, therefore sensor unit 202 can receive this synchronizing signal immediately.Red
While outer LED light emitting array 2011 sends synchronizing signal, first laser device 2012 sends the first polarization of the first scanning direction
Light.In the T2 moment, sensor unit 202 receives this first polarized light, now the time difference according to both, and this first swash
The rotating speed of light device 2012 is it is possible to be the first scanning direction obtaining sensor unit 202 with respect to laser emission element 201
Deviation angle
Determining that the sensor unit is sent out with respect to laser according to the very first time, the second time and synchronizing signal time
Penetrate unit deviation angle when, need to meet following formula (1) and (2)：
Wherein,For sensor unit with respect to the first scanning direction of laser emission element deviation angle, ω1It is sharp
The rotating speed of the laser instrument of the first polarized light of the first scanning direction, t is sent in Optical Transmit Unit1Receive sharp for sensor unit
The time of the first polarized light of the first scanning direction that Optical Transmit Unit sends, t is the synchronizing signal time；
Wherein,For sensor unit with respect to the second scanning direction of laser emission element deviation angle, ω2It is sharp
The rotating speed of the laser instrument of the second polarized light of the second scanning direction, t is sent in Optical Transmit Unit2Receive sharp for sensor unit
The time of the second polarized light of the second scanning direction that Optical Transmit Unit sends, t is the synchronizing signal time.
So that sensor unit knows the first polarized light receiving the first scanning direction that laser emission element sends
With the second polarized light of the second scanning direction, in addition it is also necessary to periodic control before the above-mentioned acquisition very first time and the second time
Laser emission element processed sends synchronizing signal, and recording synchronism signal time, and sending synchronizing signal is to notify sensor list
Unit starts to receive the second polarized light of the first polarized light of the first scanning direction and the second scanning direction.Send out in laser emission element
While going out synchronizing signal, also can be simultaneously emitted by the first polarized light of the first scanning direction and the second polarization of the second scanning direction
Light, because the embodiment of the present invention can be simultaneously emitted by the first polarized light of the first scanning direction and the second of the second scanning direction inclined
Shake light, and makes sensor unit receive the second polarized light of the first polarized light of the first scanning direction and the second scanning direction not
Can produce and obscure, the speed of target object location determination can be improved.
Preferably, in order to be accurate to the position determining sensor unit, above-mentioned laser emission element unit can have
Multiple, the first scanning direction that multiple laser emission elements send is received in the cycle at the same time by sensor unit
The first polarized light and the second scanning direction the second polarized light it may be determined that going out sensor unit with respect to multiple Laser emission
The deviation angle of unit, then passes through this sensor unit with respect to the deviation angle of multiple laser emission elements it is possible to obtain
Position to sensor unit.
Above-described embodiment shows, by obtaining the very first time and the second time, this very first time receives for sensor unit
The time of the first polarized light of the first scanning direction sending to laser emission element, the second time received for sensor unit
The time of the second polarized light of the second scanning direction that laser emission element sends, according to the very first time, the second time and with
Step signal time, determines the deviation angle that sensor unit is with respect to laser emission element, according to sensor unit with respect to sharp
The deviation angle of Optical Transmit Unit, determines the position of sensor unit.Because laser emission element can send two kinds not simultaneously
With the different polarized light of scanning direction, so that the first scanning side that sensor unit receives in same a period of time
To the first polarized light and the second polarized light of the second scanning direction will not produce and obscure, effectively raise target object location
The speed determining, decreases system delay.
Based on identical technology design, Fig. 5 shows the knot of the device that a kind of position provided in an embodiment of the present invention determines
Structure, the flow process that the device that this position determines can be determined with execution position, this device may be located in processor or at this
Reason device.
As shown in figure 5, this device includes：
Acquiring unit 501, for obtaining the very first time and the second time, the described very first time receives for sensor unit
The time of the first polarized light of the first scanning direction that laser emission element sends, described second time receives for sensor unit
The time of the second polarized light of the second scanning direction sending to laser emission element；
Processing unit 502, for according to the described very first time, described second time and synchronizing signal time, determining institute
State the deviation angle that sensor unit is with respect to described laser emission element；And according to described sensor unit with respect to described
The deviation angle of laser emission element, determines the position of described sensor unit.
Preferably, described processing unit 502, is additionally operable to：
Before the described acquisition very first time and the second time, described laser emission element is periodically controlled to send synchronization
Signal, and recording synchronism signal time.
Preferably, described processing unit 502 specifically for：
Described laser emission element is multiple；
According to described sensor unit with respect to the deviation angle of multiple described laser emission elements, determine described sensor
The position of unit.
Preferably, described processing unit 502 specifically for：
Described sensor unit includes the deviation angle of the first scanning direction with respect to the deviation angle of laser emission element
Deviation angle with the second scanning direction；
The deviation angle that sensor unit is with respect to laser emission element is determined according to formula (1) and (2)：
Wherein,For sensor unit with respect to the first scanning direction of laser emission element deviation angle, ω1It is sharp
The rotating speed of the laser instrument of the polarized light of the first scanning direction, t is sent in Optical Transmit Unit1Receive laser for sensor unit to send out
Penetrate the time of the polarized light of the first scanning direction that unit sends, t is the synchronizing signal time；
Wherein,For sensor unit with respect to the second scanning direction of laser emission element deviation angle, ω2It is sharp
The rotating speed of the laser instrument of the second polarized light of the second scanning direction, t is sent in Optical Transmit Unit2Receive sharp for sensor unit
The time of the second polarized light of the second scanning direction that Optical Transmit Unit sends, t is the synchronizing signal time.
Preferably, the surface sending the laser instrument of the first polarized light of the first scanning direction in described laser emission element is covered
It is stamped the first polaroid thoroughly shaking；
The surface sending the laser instrument of the second polarized light of the second scanning direction in described laser emission element is coated with
Two polaroids thoroughly shaking；
The surface receiving the sensor of the first polarized light of the first scanning direction in described sensor unit is coated with first
The polaroid thoroughly shaking；
The surface receiving the sensor of the second polarized light of the second scanning direction in described sensor unit is coated with second
The polaroid thoroughly shaking.
The present invention is the flow process with reference to method according to embodiments of the present invention, equipment (system) and computer program
Figure and/or block diagram are describing.It should be understood that can be by each stream in computer program instructions flowchart and/or block diagram
Flow process in journey and/or square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided
The processor instructing general purpose computer, special-purpose computer, Embedded Processor or other programmable data processing device is to produce
A raw machine is so that produced for reality by the instruction of computer or the computing device of other programmable data processing device
The device of the function of specifying in present one flow process of flow chart or multiple flow process and/or one square frame of block diagram or multiple square frame.
These computer program instructions may be alternatively stored in and can guide computer or other programmable data processing device with spy
Determine in the computer-readable memory that mode works so that the instruction generation inclusion being stored in this computer-readable memory refers to
Make the manufacture of device, this command device realize in one flow process of flow chart or multiple flow process and/or one square frame of block diagram or
The function of specifying in multiple square frames.
These computer program instructions also can be loaded in computer or other programmable data processing device so that counting
On calculation machine or other programmable devices, execution series of operation steps to be to produce computer implemented process, thus in computer or
On other programmable devices, the instruction of execution is provided for realizing in one flow process of flow chart or multiple flow process and/or block diagram one
The step of the function of specifying in individual square frame or multiple square frame.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation
Property concept, then can make other change and modification to these embodiments.So, claims are intended to be construed to including excellent
Select embodiment and fall into being had altered and changing of the scope of the invention.
Obviously, those skilled in the art can carry out the various changes and modification essence without deviating from the present invention to the present invention
God and scope.So, if these modifications of the present invention and modification belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprise these changes and modification.
Claims (10)
1. a kind of method that position determines is it is characterised in that include：
Obtain the very first time and the second time, the described very first time receive that Optical Transmit Unit sends for light receiving unit first
The time of the first polarized light of scanning direction, described second time receive that Optical Transmit Unit sends for light receiving unit second
The time of the second polarized light of scanning direction；
According to the described very first time, described second time and synchronizing signal time, determine described light receiving unit with respect to institute
State the deviation angle of Optical Transmit Unit；
According to described light receiving unit with respect to the deviation angle of described Optical Transmit Unit, determine the position of described light receiving unit
Put.
2. the method for claim 1 is it is characterised in that before the described acquisition very first time and the second time, also wrap
Include：
Described Optical Transmit Unit is periodically controlled to send synchronizing signal, and recording synchronism signal time.
3. the method for claim 1 is it is characterised in that described launch with respect to described light according to described light receiving unit
The deviation angle of unit, determines the position of described light receiving unit, including：
Described Optical Transmit Unit is multiple；
According to described light receiving unit with respect to the deviation angle of multiple described Optical Transmit Units, determine described light receiving unit
Position.
4. the method for claim 1 it is characterised in that described light receiving unit with respect to Optical Transmit Unit deviation angle
Degree includes the deviation angle of the first scanning direction and the deviation angle of the second scanning direction；
The deviation angle that light receiving unit is with respect to Optical Transmit Unit is determined according to formula (1) and (2)：
Wherein,For light receiving unit with respect to the first scanning direction of Optical Transmit Unit deviation angle, ω1Launch single for light
The rotating speed of the light-emitting device of the first polarized light of the first scanning direction, t is sent in unit1Receive light transmitting for first sensor
The time of the first polarized light of the first scanning direction that unit sends, t is the synchronizing signal time；
Wherein,For light receiving unit with respect to the second scanning direction of Optical Transmit Unit deviation angle, ω2Launch single for light
The rotating speed of the light-emitting device of the second polarized light of the second scanning direction, t is sent in unit2Receive light transmitting for second sensor
The time of the second polarized light of the second scanning direction that unit sends, t is the synchronizing signal time.
5. the method for claim 1 is it is characterised in that send the first of the first scanning direction in described Optical Transmit Unit
The surface of the light-emitting device of polarized light is coated with the first polaroid thoroughly shaking；
The surface sending the light-emitting device of the second polarized light of the second scanning direction in described Optical Transmit Unit is coated with second
The polaroid thoroughly shaking；
The surface receiving the optical receiving device of the first polarized light of the first scanning direction in described light receiving unit is coated with first
The polaroid thoroughly shaking；
The surface receiving the optical receiving device of the second polarized light of the second scanning direction in described light receiving unit is coated with second
The polaroid thoroughly shaking.
6. the device that a kind of position determines is it is characterised in that include：
Acquiring unit, for obtaining the very first time and the second time, the described very first time receives light transmitting for light receiving unit
The time of the first polarized light of the first scanning direction that unit sends, described second time receives light transmitting for light receiving unit
The time of the second polarized light of the second scanning direction that unit sends；
Processing unit, for according to the described very first time, described second time and synchronizing signal time, determining described light-receiving
Unit is with respect to the deviation angle of described Optical Transmit Unit；And according to described light receiving unit with respect to described Optical Transmit Unit
Deviation angle, determine the position of described light receiving unit.
7. device as claimed in claim 6, it is characterised in that described processing unit, is additionally operable to：
Before the described acquisition very first time and the second time, described Optical Transmit Unit is periodically controlled to send synchronizing signal,
And recording synchronism signal time.
8. device as claimed in claim 6 it is characterised in that described processing unit specifically for：
Described Optical Transmit Unit is multiple；
According to described light receiving unit with respect to the deviation angle of multiple described Optical Transmit Units, determine described light receiving unit
Position.
9. device as claimed in claim 6 it is characterised in that described processing unit specifically for：
Described light receiving unit includes the deviation angle and second of the first scanning direction with respect to the deviation angle of Optical Transmit Unit
The deviation angle of scanning direction；
The deviation angle that light receiving unit is with respect to Optical Transmit Unit is determined according to formula (1) and (2)：
Wherein,For light receiving unit with respect to the first scanning direction of Optical Transmit Unit deviation angle, ω1Launch single for light
The rotating speed of the light-emitting device of polarized light of the first scanning direction, t is sent in unit1Receive Optical Transmit Unit for light receiving unit
The time of the polarized light of the first scanning direction sending, t is the synchronizing signal time；
Wherein,For light receiving unit with respect to the second scanning direction of Optical Transmit Unit deviation angle, ω2Launch single for light
The rotating speed of the light-emitting device of the second polarized light of the second scanning direction, t is sent in unit2Receive light transmitting for light receiving unit
The time of the second polarized light of the second scanning direction that unit sends, t is the synchronizing signal time.
10. device as claimed in claim 6 is it is characterised in that send the of the first scanning direction in described Optical Transmit Unit
The surface of the light-emitting device of one polarized light is coated with the first polaroid thoroughly shaking；
The surface sending the light-emitting device of the second polarized light of the second scanning direction in described Optical Transmit Unit is coated with second
The polaroid thoroughly shaking；
The surface receiving the optical receiving device of the first polarized light of the first scanning direction in described light receiving unit is coated with first
The polaroid thoroughly shaking；
The surface receiving the optical receiving device of the second polarized light of the second scanning direction in described light receiving unit is coated with second
The polaroid thoroughly shaking.
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| CN111684303A (en) * | 2017-12-15 | 2020-09-18 | 爱贝欧汽车***有限公司 | LIDAR measurement system |
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| CN111684303A (en) * | 2017-12-15 | 2020-09-18 | 爱贝欧汽车***有限公司 | LIDAR measurement system |
| CN111684303B (en) * | 2017-12-15 | 2023-08-22 | 微视公司 | LIDAR measurement system |
| RU2743785C1 (en) * | 2020-07-13 | 2021-02-26 | Федеральное государственное казенное учреждение "12 Центральный научно-исследовательский институт" Министерства обороны Российской Федерации | Method of determining location of a spherical light source by a ground surveillance apparatus |
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