CN109729721A - 光学测距方法以及光学测距装置 - Google Patents

光学测距方法以及光学测距装置 Download PDF

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CN109729721A
CN109729721A CN201780001028.9A CN201780001028A CN109729721A CN 109729721 A CN109729721 A CN 109729721A CN 201780001028 A CN201780001028 A CN 201780001028A CN 109729721 A CN109729721 A CN 109729721A
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distance
winged
expression formula
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optimal value
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CN109729721B (zh
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杨孟达
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Shenzhen Goodix Technology Co Ltd
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Shenzhen Goodix Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • 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
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • 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
    • 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
    • G01S17/46—Indirect determination of position data
    • G01S17/48—Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
    • 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
    • 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
    • G01S7/4865—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
    • 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

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

Abstract

本发明提供了一种光学测距方法，包括根据复数个第一参数，确定第一量测距离的表达式；根据飞行时间，计算飞时量测距离；根据所述第一量测距离的表达式与所述飞时量测距离，计算复数个第一参数的最优值和对应于所述飞时量测距离的飞时误差的最优值；以及根据所述飞时量测距离、所述复数个第一参数的最优值以及所述飞时误差的最优值，取得影像深度信息；其中，所述复数个第一参数包括对应于所述对象反射点的俯仰角、方位角以及所述发光模块与所述感光模块之间的距离。

Description

PCT国内申请，说明书已公开。

Claims (14)

  1. PCT国内申请，权利要求书已公开。
CN201780001028.9A 2017-08-29 2017-08-29 光学测距方法以及光学测距装置 Active CN109729721B (zh)

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CN111443361A (zh) * 2020-06-18 2020-07-24 深圳市汇顶科技股份有限公司 飞时测距方法与相关***
CN113687387A (zh) * 2021-09-07 2021-11-23 广州大学 一种激光雷达扫描装置以及激光雷达扫描方法
CN114730010A (zh) * 2019-12-01 2022-07-08 魔眼公司 利用飞行时间信息增强基于三角测量的三维距离测量

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KR20200123483A (ko) 2018-03-20 2020-10-29 매직 아이 인코포레이티드 3 차원 깊이 감지 및 2 차원 이미징을 위한 카메라 노출의 조정
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CN110986816B (zh) * 2019-10-20 2022-02-11 奥比中光科技集团股份有限公司 一种深度测量***及其测量方法
WO2021138139A1 (en) 2019-12-29 2021-07-08 Magik Eye Inc. Associating three-dimensional coordinates with two-dimensional feature points
EP4097681A4 (en) 2020-01-05 2024-05-15 Magik Eye Inc. TRANSFER OF THE COORDINATE SYSTEM OF A THREE-DIMENSIONAL CAMERA TO THE IMPACT POINT OF A TWO-DIMENSIONAL CAMERA
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CN110764102A (zh) * 2019-11-07 2020-02-07 浙江缔科新技术发展有限公司 一种具备测距功能的光量子激光瞄镜
CN114730010A (zh) * 2019-12-01 2022-07-08 魔眼公司 利用飞行时间信息增强基于三角测量的三维距离测量
CN114730010B (zh) * 2019-12-01 2024-05-31 魔眼公司 利用飞行时间信息增强基于三角测量的三维距离测量
CN111443361A (zh) * 2020-06-18 2020-07-24 深圳市汇顶科技股份有限公司 飞时测距方法与相关***
CN111443361B (zh) * 2020-06-18 2022-03-29 深圳市汇顶科技股份有限公司 飞时测距方法与相关***
CN113687387A (zh) * 2021-09-07 2021-11-23 广州大学 一种激光雷达扫描装置以及激光雷达扫描方法
CN113687387B (zh) * 2021-09-07 2024-03-01 广州大学 一种激光雷达扫描装置以及激光雷达扫描方法

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US10908290B2 (en) 2021-02-02
US20190064359A1 (en) 2019-02-28
KR20190034489A (ko) 2019-04-02
EP3477251B1 (en) 2020-05-13
WO2019041116A1 (zh) 2019-03-07
EP3477251A1 (en) 2019-05-01
KR102134688B1 (ko) 2020-07-17
EP3477251A4 (en) 2019-05-01
CN109729721B (zh) 2021-04-16

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