EP1573356A1 - Method for calibrating 3d image sensors - Google Patents
Method for calibrating 3d image sensorsInfo
- Publication number
- EP1573356A1 EP1573356A1 EP03799433A EP03799433A EP1573356A1 EP 1573356 A1 EP1573356 A1 EP 1573356A1 EP 03799433 A EP03799433 A EP 03799433A EP 03799433 A EP03799433 A EP 03799433A EP 1573356 A1 EP1573356 A1 EP 1573356A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- receiving array
- light source
- pixel
- pixels
- calibration
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 8
- 230000005855 radiation Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 3
- 230000032683 aging Effects 0.000 abstract description 4
- 230000010363 phase shift Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000000875 corresponding effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 230000003679 aging effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005305 interferometry Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000002277 temperature effect Effects 0.000 description 1
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
-
- 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
- the invention relates to a method for calibrating 3D image recorders according to the preamble of claim 1.
- 3D image recorders as are known for example from DE 198 21 974 A I, are used for distance measurement using the incoherent optical transit time method (modulation interferometry method).
- the amplitude-modulated illuminating light reflected by the scene to be measured is demodulated (correlated) with a demodulation signal, for example an identical signal, and the phase relationship (correlation) between the transmitted and received signal is thus determined.
- This phase relationship is used as a measure of the distance covered by the transmitted light.
- an optoelectronic sensor in which, for referencing the light, is transmitted from the transmitter element used for illuminating the scene or a separate transmitter element to a reference object within the sensor and by means of a separate receiver or for receiving reflections the received signal from the reference object is acquired as a reference signal from the receiver provided in the scene and aging and temperature effects are derived therefrom.
- distance information is also derived from amplitude modulation at the transmitter and a phase comparator at the receiver.
- Manufacturing tolerances e.g. fixed pattern noise
- temperature fluctuations and aging processes mean that the parameters of the different pixels in a receiving array differ from one another to different degrees. If these deviations become too large, it is necessary to calibrate the entire receiver array for each pixel. This is not possible with the above procedure.
- the object of the invention is to provide a method for referencing 3D image recorders with which calibration of the receiving array is possible during operation.
- the receiving array is illuminated exclusively with calibration radiation with a phase position that is at least largely homogeneous for all pixels with respect to the demodulation signal from a modulatable light source (e.g. LED, laser diode, etc.).
- a modulatable light source e.g. LED, laser diode, etc.
- the resulting receiver signals of the individual pixels are evaluated individually for each pixel, i.e. Deviations, disturbances or defects of individual pixels are recognized. This is the only way to compensate for pixel-specific deviations, which is extremely important for the detection and tracking of objects in moving systems.
- the relative phase deviation between the pixels can also be recorded, and the signals of the pixels can thus be standardized to a reference variable.
- the phase relationship between the transmission signal and the demodulation signal is preferably changed, which corresponds to a measurement with a virtual second distance, i.e. calibration is carried out over at least two virtual distances.
- Phase position is preferably by a corresponding delay on the transmit or Demodulation signal causes relative to the other signal, so that there is no change in the actual distance between the light source and the receiving array.
- the pixel-specific deviations relative to one another can in particular be evaluated independently of the actual absolute phase relationship for each calibration measurement from the knowledge of the phase shift between the at least two calibration measurements.
- the phase relationship is preferably freely selectable, for example, it is tuned along a predetermined characteristic curve over a corresponding number of transmission processes. In this way, nonlinearities can be detected individually on a pixel basis depending on the distance of later target objects. This allows referencing at different virtual distances.
- the 3D image sensor according to the invention has, in addition to the elements which are usually present, a reference light source which, like the light source of the transmission unit, can be modulated.
- the reference light source is mounted in such a way that the complete receiving array is illuminated with an at least largely homogeneous phase position with respect to the demodulation signal for all pixels and preferably also approximately uniformly in terms of its brightness. That there is direct lighting without the use of reference objects or the like. If the receiver array functions optimally, each pixel should measure the distance or phase shift that is specified by the reference path and the set phase position between the reference light source and the demodulation signal.
- a second embodiment of the invention provides for the calibration of the entire receiver array to redirect the illuminating light of the transmitter unit so that an internal connection between the transmitter and receiver array is created.
- the external connection via the lighting of the scene is interrupted in this case, so that no transmitted light detours through an unknown scene and thus with an unknown phase shift to the pixels.
- the internal connection is broken again in order to avoid a disturbance in the phase measurement.
- These locking devices are configured, for example, by one or more mechanical changeover switches. In practice, however, attempts are made to avoid moving components as much as possible. In this case too, the phase relationship between the modulated transmission signal and the receiver signal is varied in order to carry out a calibration in the case of different phase positions (virtual distances).
- a disadvantage of the conventional reference measurement, in which a known scene has to be recorded, is that such a scene is not always available, e.g. if the reference scene is covered. This problem is avoided by the invention described above.
- Another advantage of the reference technology according to the invention is the possibility of referencing over the entire temperature range of the 3D image sensor without removing it from its installation location. It is the same with age-related drifts.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10259135 | 2002-12-18 | ||
DE10259135A DE10259135A1 (en) | 2002-12-18 | 2002-12-18 | Method and arrangement for referencing 3D imagers |
PCT/DE2003/004182 WO2004055544A1 (en) | 2002-12-18 | 2003-12-18 | Method for calibrating 3d image sensors |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1573356A1 true EP1573356A1 (en) | 2005-09-14 |
Family
ID=32403897
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP03799433A Ceased EP1573356A1 (en) | 2002-12-18 | 2003-12-18 | Method for calibrating 3d image sensors |
Country Status (4)
Country | Link |
---|---|
US (1) | US20060228050A1 (en) |
EP (1) | EP1573356A1 (en) |
DE (2) | DE10259135A1 (en) |
WO (1) | WO2004055544A1 (en) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005056265A1 (en) * | 2005-11-14 | 2007-05-16 | Pilz Gmbh & Co Kg | Device and method for monitoring a room area, in particular for securing a danger zone of an automated system |
US7586077B2 (en) * | 2007-07-18 | 2009-09-08 | Mesa Imaging Ag | Reference pixel array with varying sensitivities for time of flight (TOF) sensor |
KR101626072B1 (en) | 2009-11-13 | 2016-06-13 | 삼성전자주식회사 | Method and Apparatus for Compensating Image |
DE102011005740A1 (en) | 2011-03-17 | 2012-09-20 | Robert Bosch Gmbh | Measuring device for measuring a distance between the measuring device and a target object by means of optical measuring radiation |
DE102013100522A1 (en) * | 2013-01-18 | 2014-08-07 | Huf Hülsbeck & Fürst Gmbh & Co. Kg | Universal sensor arrangement for detecting operating gestures on vehicles |
US9635351B2 (en) | 2013-11-20 | 2017-04-25 | Infineon Technologies Ag | Integrated reference pixel |
US10371512B2 (en) | 2016-04-08 | 2019-08-06 | Otis Elevator Company | Method and system for multiple 3D sensor calibration |
EP3508874A1 (en) * | 2018-01-03 | 2019-07-10 | Espros Photonics AG | Calibrating device for a tof camera device |
EP3528005A1 (en) | 2018-02-20 | 2019-08-21 | Espros Photonics AG | Tof camera device for error detection |
DE102018119435A1 (en) * | 2018-08-09 | 2020-02-13 | Huf Hülsbeck & Fürst Gmbh & Co. Kg | Procedure for calibrating a time-of-flight camera |
US11423572B2 (en) * | 2018-12-12 | 2022-08-23 | Analog Devices, Inc. | Built-in calibration of time-of-flight depth imaging systems |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3120274C2 (en) * | 1981-05-21 | 1985-12-05 | MITEC Moderne Industrietechnik GmbH, 8012 Ottobrunn | Distance measuring device |
US4950880A (en) * | 1989-07-28 | 1990-08-21 | Recon/Optical, Inc. | Synthetic aperture optical imaging system |
DE4002356C2 (en) * | 1990-01-26 | 1996-10-17 | Sick Optik Elektronik Erwin | Distance measuring device |
DE4422497C2 (en) * | 1994-06-28 | 1996-06-05 | Leuze Electronic Gmbh & Co | Device and method for optoelectronic detection of objects |
DE4439298A1 (en) * | 1994-11-07 | 1996-06-13 | Rudolf Prof Dr Ing Schwarte | 3=D camera using transition time method |
ES2206748T3 (en) * | 1996-09-05 | 2004-05-16 | Rudolf Schwarte | PROCEDURE AND DEVICE FOR THE DETERMINATION OF INFORMATION ON PHASES AND / OR EXTENSIONS OF AN ELECTROMAGNETIC WAVE. |
DE19643287A1 (en) * | 1996-10-21 | 1998-04-23 | Leica Ag | Method and device for calibrating distance measuring devices |
DE19821974B4 (en) * | 1998-05-18 | 2008-04-10 | Schwarte, Rudolf, Prof. Dr.-Ing. | Apparatus and method for detecting phase and amplitude of electromagnetic waves |
EP1067361A1 (en) * | 1999-07-06 | 2001-01-10 | Datalogic S.P.A. | Method and a device for measuring the distance of an object |
DE10124433A1 (en) * | 2001-05-18 | 2002-11-21 | Bosch Gmbh Robert | Device for optical distance measurement has components that allow easy variation of the beam path direction and divergence to match the target type and distance |
WO2002095679A2 (en) * | 2001-05-23 | 2002-11-28 | Canesta, Inc. | Enhanced dynamic range conversion in 3-d imaging |
DE10126086A1 (en) * | 2001-05-29 | 2002-12-05 | Sick Ag | Optoelectronic sensor |
-
2002
- 2002-12-18 DE DE10259135A patent/DE10259135A1/en not_active Withdrawn
-
2003
- 2003-12-18 DE DE10394168T patent/DE10394168B4/en not_active Expired - Lifetime
- 2003-12-18 EP EP03799433A patent/EP1573356A1/en not_active Ceased
- 2003-12-18 WO PCT/DE2003/004182 patent/WO2004055544A1/en not_active Application Discontinuation
- 2003-12-18 US US10/539,892 patent/US20060228050A1/en not_active Abandoned
Non-Patent Citations (3)
Title |
---|
LUAN XUMING: "Experimental Investigation of Photonic Mixer Device and Development of TOF 3D Ranging Systems Based on PMD Technology", INTERNET CITATION, 1 January 2001 (2001-01-01), pages Complete, XP007911249, Retrieved from the Internet <URL:http://www.zess.uni-siegen.de/cms/diss/2001/luan/luan.pdf> [retrieved on 20100121] * |
RYOHEI MIYAGAWA ET AL: "CCD-Based Range-Finding Sensor", IEEE TRANSACTIONS ON ELECTRON DEVICES, IEEE SERVICE CENTER, PISACATAWAY, NJ, US, vol. 44, no. 10, 1 October 1997 (1997-10-01), XP011016274, ISSN: 0018-9383 * |
See also references of WO2004055544A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE10394168B4 (en) | 2013-12-05 |
DE10394168D2 (en) | 2005-11-24 |
DE10259135A1 (en) | 2004-07-01 |
WO2004055544A1 (en) | 2004-07-01 |
US20060228050A1 (en) | 2006-10-12 |
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Legal Events
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RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: XU, ZHANPING Inventor name: SCHNEIDER, BERND Inventor name: LANG, CHRISTIAN |
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