CN112255636A - Distance measuring method, system and equipment - Google Patents
Distance measuring method, system and equipment Download PDFInfo
- Publication number
- CN112255636A CN112255636A CN202010919565.5A CN202010919565A CN112255636A CN 112255636 A CN112255636 A CN 112255636A CN 202010919565 A CN202010919565 A CN 202010919565A CN 112255636 A CN112255636 A CN 112255636A
- Authority
- CN
- China
- Prior art keywords
- peak position
- target
- initial peak
- photon
- acquiring
- 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.)
- Pending
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
- G01S17/02—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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Measurement Of Optical Distance (AREA)
Abstract
The application is suitable for the technical field of distance measurement, and provides a distance measuring method, which comprises the following steps: acquiring a photon emission signal and a photon reflection signal; acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; acquiring an initial peak position in the target histogram; if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information. According to the scheme, the processing equipment judges the initial peak position, judges whether any initial peak position in the target histogram is the real peak position or not, eliminates noise data, calculates the distance information of the target based on the real peak position, and effectively improves the measurement precision of the system.
Description
Technical Field
The present application belongs to the field of ranging technologies, and in particular, to a distance measuring method, system and device.
Background
A distance measurement may be performed on a target using a Time of Flight (TOF) principle to obtain a depth image including a depth value of the target, and a distance measurement system based on the Time of Flight principle has been widely used in the fields of consumer electronics, unmanned driving, and the like. When the distance of the target to be detected is calculated, the emitter is used for emitting a pulse light beam to irradiate a target view field, the collector is used for collecting a reflected light beam, the flight time from the emitting to the reflecting receiving of the light beam is calculated, the flight time is used as an address for accessing a corresponding memory, the flight time is measured and input into the memory for multiple times to construct a histogram, the peak position in the histogram is further determined, and the distance of the target to be detected is calculated according to the time corresponding to the peak position.
However, in the actual ranging process, a plurality of peak positions may appear in the histogram or the determined peak positions may be generated by other interference signals, so that the flight time determined based on the peak positions is not the exact flight time of the photons from emission to reception, and thus it is difficult to determine the distance to the target to be detected.
Disclosure of Invention
The embodiment of the application provides a distance measuring method, a distance measuring system and distance measuring equipment, and the problem that in the actual distance measuring process, a plurality of peak positions may appear in a histogram or the determined peak positions may be generated by other interference signals, and the flight time determined based on the peak positions is not the accurate flight time from emission to reception of photons, so that the distance of a target to be detected is difficult to determine is solved.
In a first aspect, an embodiment of the present application provides a distance measurement method, including:
acquiring a photon emission signal and a photon reflection signal;
acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value;
acquiring an initial peak position in the target histogram;
if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position;
and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information.
Further, if the initial peak position meets a preset screening condition, determining that the initial peak position is a true peak position, including:
and if the photon count value in the time interval corresponding to the initial peak position is greater than a preset peak threshold value, determining that the initial peak position is a real peak position.
Further, the preset peak threshold is proportional to the noise mean.
Further, if the initial peak position meets a preset screening condition, determining that the initial peak position is a true peak position, including:
acquiring a time interval region corresponding to the initial peak position; the time interval region at least comprises a time interval corresponding to the initial peak position;
calculating the confidence corresponding to the time interval region;
and if the confidence coefficient is greater than a preset confidence coefficient threshold value, judging that the initial peak position is a real peak position.
Further, the calculating the confidence corresponding to the time interval region includes:
acquiring a first number of all time intervals included in the time interval region and a second number of target time intervals of which the photon count values are greater than a preset peak value threshold value in the time interval region;
and calculating the ratio of the second quantity to the first quantity to obtain the confidence corresponding to the time interval region.
Further, the confidence level includes one or more of a signal-to-noise ratio, a peak-to-average ratio, and a pulse half-width ratio.
Further, after the obtaining the initial peak position in the target histogram, the method further includes:
and if the initial peak position does not meet the preset screening condition, judging that the data of the initial peak position is noise data.
In a second aspect, an embodiment of the present application provides a distance measuring apparatus, including:
the first acquisition unit is used for acquiring a photon emission signal and a photon reflection signal;
the generating unit is used for acquiring the flight time from emission to reception of the photons according to the photon emission signal and the photon reflection signal and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value;
a second obtaining unit, configured to obtain an initial peak position in the target histogram;
the first processing unit is used for judging that the initial peak position is a real peak position if the initial peak position meets a preset screening condition;
and the first calculating unit is used for acquiring time information corresponding to the real peak position and calculating the distance information of the target to be measured according to the time information.
Further, the first processing unit is specifically configured to:
and if the photon count value in the time interval corresponding to the initial peak position is greater than a preset peak threshold value, determining that the initial peak position is a real peak position.
Further, the preset peak threshold is proportional to the noise mean.
Further, the first processing unit includes:
a third obtaining unit, configured to obtain a time interval region corresponding to the initial peak position; the time interval region at least comprises a time interval corresponding to the initial peak position;
the second calculation unit is used for calculating the confidence corresponding to the time interval region;
and the second processing unit is used for judging that the initial peak position is the real peak position if the confidence coefficient is greater than a preset confidence coefficient threshold value.
Further, the second calculating unit is specifically configured to:
acquiring a first number of all time intervals included in the time interval region and a second number of target time intervals of which the photon count values are greater than a preset peak value threshold value in the time interval region;
and calculating the ratio of the second quantity to the first quantity to obtain the confidence corresponding to the time interval region.
Further, the confidence level includes one or more of a signal-to-noise ratio, a peak-to-average ratio, and a pulse half-width ratio.
Further, the distance measuring apparatus further includes:
and the third processing unit is used for judging that the data of the initial peak position is noise data if the initial peak position does not meet the preset screening condition.
In a third aspect, an embodiment of the present application provides a distance measurement system, including: the system comprises a transmitter, a collector and processing equipment;
the emitter is used for generating photon emission signals and emitting pulse beams to the target to be measured after receiving the emission instructions sent by the processing equipment;
the collector is used for collecting photons in the pulse light beam reflected by the target to be measured and generating a photon reflection signal; the collector comprises a pixel array;
the processing equipment is used for acquiring the photon emission signal and the photon reflection signal corresponding to the target to be detected; acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value; acquiring an initial peak position in the target histogram; if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information.
In a fourth aspect, an embodiment of the present application provides a distance measuring apparatus, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the distance measuring method according to the first aspect when executing the computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the distance measurement method according to the first aspect.
In the embodiment of the application, a photon emission signal and a photon reflection signal are obtained; acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; acquiring an initial peak position in the target histogram; if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information. According to the scheme, the processing equipment judges the initial peak position, judges whether any initial peak position in the target histogram is the real peak position or not, eliminates noise data, calculates the distance information of the target based on the real peak position, and effectively improves the measurement precision of the system.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic view of a distance measuring system provided in a first embodiment of the present application;
FIG. 2 is a schematic flow chart diagram of a distance measuring method according to a second embodiment of the present application;
FIG. 3 is a schematic diagram of a target histogram in a distance measurement method according to a second embodiment of the present application;
FIG. 4 is a schematic diagram of another target histogram in a distance measurement method according to a second embodiment of the present application;
fig. 5 is a schematic flowchart of a refinement of S104 in a distance measurement method according to a second embodiment of the present application;
FIG. 6 is a schematic view of a distance measuring device according to a third embodiment of the present application;
fig. 7 is a schematic view of a distance measuring apparatus according to a fourth embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing or implying relative importance.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic diagram of a distance measuring system according to a first embodiment of the present disclosure. The distance measuring system as shown in fig. 1 may include: the system comprises a transmitter, a collector and processing equipment;
the emitter is used for generating photon emission signals and emitting pulse beams to the target to be measured after receiving the emission instructions sent by the processing equipment;
the collector is used for collecting photons in the pulse light beam reflected by the target to be measured and generating a photon reflection signal; the collector comprises a pixel array;
the processing equipment is used for acquiring the photon emission signal and the photon reflection signal corresponding to the target to be detected; acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value; acquiring an initial peak position in the target histogram; if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information.
Specifically, the distance measuring system 10 may include: transmitter 11, harvester 12, and processing device 13. The transmitter 11 comprises a light source 111 consisting of one or more lasers for emitting a pulsed light beam 30 towards the target 20 to be measured, at least part of which is reflected by the target to form a reflected light beam 40 back to the collector 12. Collector 12 includes a pixel array 121 composed of a plurality of pixels for collecting photons in reflected light beam 40 and generating photon reflection signals, and processing device 13 synchronizes photon emission signals and photon reflection signals of emitter 11 and collector 12 to calculate the time of flight required for photons in the light beam from emission to reception.
The transmitter 11 includes a light source 111, a transmitting optical element 112, a driver 113, and the like. In one embodiment, light source 111 is a VCSEL array light source chip that generates multiple VCSEL light sources on a monolithic semiconductor substrate to form. The light source 111 can emit a pulse light beam outwards under the control of the processing device 13 at a certain frequency (pulse period), and the pulse light beam is projected onto the target to be measured through the emission optical element 112 to form an illumination spot, wherein the frequency is set according to the measurement distance.
The processing device 13 is configured to obtain a photon emission signal and a photon reflection signal corresponding to a target to be detected; acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; acquiring an initial peak position in a target histogram; if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and acquiring time information corresponding to the real peak position, and calculating the distance information of the target to be measured according to the time information. Details of the distance measurement method in the specific processing apparatus can be referred to the description of the second embodiment.
Referring to fig. 2, fig. 2 is a schematic flow chart of a distance measuring method according to a second embodiment of the present application. An execution subject of the distance measurement method in this embodiment is a processing device. The distance measuring method as shown in fig. 2 may include:
s101: photon emission signals and photon reflection signals are acquired.
The processing device acquires photon emission signals sent by the emitter and photon reflection signals collected by the collector. Wherein the photon emission signal and the photon reflection signal are used to calculate the time of flight of the photons.
S102: acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents the photon count value.
The processing equipment acquires the flight time of the photons from emission to reception according to the photon emission signals and the photon reflection signals, and generates a target histogram according to the flight time. Wherein the abscissa of the target histogram represents the time of flight of the photons and the ordinate of the target histogram represents the photon count value. As shown in fig. 3, fig. 3 is a schematic diagram of the target histogram, and the abscissa x in the coordinate system of fig. 3 represents the time of flight from emission to collection of each photon, and the ordinate y represents the photon count value.
The method of generating the target histogram is not limited herein. In one embodiment, the processing device determines a time of flight of the photon from the photon emission signal and the photon reflection signal, and generates the target histogram using the time of flight of the photon as an abscissa and the photon count value as an ordinate. In another embodiment, the processing device determines time-of-flight information from emission to collection of photons from the photon emission signal and the reflection signal, then determines a time code from the time-of-flight information, and generates a target histogram from the time code. Wherein the time code is a code identifying time of flight. In this embodiment, the processing device includes a histogram memory, and the processing device may find a position in the histogram memory according to the time code, add "1" to a numerical value stored at the corresponding position, and construct a target histogram according to the position of the histogram memory as a time interval.
S103: and acquiring an initial peak position in the target histogram.
The manner in which the initial peak position in the target histogram is obtained is not limited herein. In one embodiment, the processing device determines a received waveform from the target histogram and constructs a fitted function curve from the received waveform. And calculating a slope minimum value point in the fitting function curve, wherein the time interval corresponding to the abscissa of the minimum value point is the initial peak position in the target histogram. The peak position of the fitted function curve is the initial peak position in the target histogram, and 301 in fig. 3 is the initial peak position in the target histogram. In another embodiment, the processing device may determine the initial peak position in the target histogram by performing a filtering process and peak matching on the target histogram using a filter for characterizing the waveform of the emitted light pulse.
The target histogram includes at least one initial peak location. In the actual ranging process, a plurality of peak positions may appear in the histogram or the determined peak positions may be generated by other interference signals, so that the authenticity of the initial peak position needs to be judged. In one embodiment, when glass exists in a field of view for collecting an object to be detected or the object to be detected located behind the glass is collected, most of the emission light beam penetrates through the glass to irradiate the object to be detected due to the reflectivity and the transmittance of the glass, but a part of the light beam is reflected by the glass to form a first reflection light beam to be incident into the collector, and the collector collects photons in the first reflection light beam to output a first photon signal. Most of the emission light beams incident on the target to be measured are reflected by the target to be measured to form second reflection light beams which are incident into the collector, and the collector collects photons in the second reflection light beams to output second photon signals. As shown in fig. 4, the processing device may obtain two initial peak positions, and cannot determine which initial peak position is the true peak position.
In another embodiment, the distance measuring system has a determined maximum detection range, and if the pulse beam reflected by the target to be measured is outside the maximum detection range, the pulse beam cannot be received by the collector, but in some special cases, such as when the reflectivity of the target to be measured is high, the collector may receive the beam reflected by the target outside the distance measuring range, and in combination with the emitter emitting the pulse beam periodically, the reflected beam generates an optical signal that does not contain its own flight time, but rather a smaller flight time, and eventually generates aliasing. For example, the maximum detection range of the ranging system is 150m, if the collector collects a reflected light beam reflected by a target located at 180m, the target histogram indicates that the initial peak position of the reflected light beam is located at a time interval of 0.2us instead of a time interval of 1.2us, and the processing device calculates the distance of the target to be 30m according to the initial peak position, so that the aliasing phenomenon occurs. Therefore, the processing device needs to further process the initial peak position of the target histogram and determine whether the initial peak position is the true peak position.
Therefore, the processing device stores preset screening conditions, and the preset screening conditions are used for judging whether the initial peak position is the real peak position.
S104: and if the initial peak position meets the preset screening condition, judging that the initial peak position is the real peak position.
The processing equipment stores preset screening conditions, and the preset screening conditions are used for judging whether the initial peak position is the real peak position. If the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and if the initial peak position does not meet the preset screening condition, judging that the data of the initial peak position is noise data.
The preset screening conditions are not limited in the processing equipment. In one embodiment, S104 may include: and if the photon count value in the time interval corresponding to the initial peak position is greater than a preset peak threshold value, determining that the initial peak position is a real peak position. The processing device prestores a preset peak threshold value, and the preset peak threshold value is used for representing the number of photon counting values in a time interval in the target histogram. Judging whether the initial peak position is a real peak position or not by using a preset peak threshold; if so, calculating the distance according to the corresponding time at the position of the real peak value; if not, the signal is regarded as noise. The preset peak value threshold value needs to be set in combination with the conditions of the object reflectivity, the measurement distance range and the like. In one possible embodiment, the preset peak threshold is proportional to the noise mean. For example, a preset peak threshold is determined according to the noise mean value, and a photon count value in a time interval corresponding to the initial peak position is the real peak position when the photon count value is greater than the preset peak threshold, and is noise when the photon count value is not greater than the preset peak threshold.
For example, since the transmittance of the common glass is slightly higher than 80% on average, the light intensity reflected by the glass is low, which causes the number of photons in the first reflected light beam collected by the collector to be correspondingly small, and if the photon count value in the time interval at the initial peak position is not greater than the preset peak threshold, it is determined as noise; and if the photon count value in the time interval at the initial peak position is greater than the preset peak threshold value, determining that the photon count value is the real peak position. Similarly, if the initial peak position corresponds to the time of the target to be detected outside the maximum detection range of the system, the photon count value in the time interval corresponding to the initial peak position is also lower, and the initial peak position can be judged to be the real peak position or generated due to aliasing by comparing with a preset peak threshold, and if the initial peak position is not the real peak position, the initial peak position is regarded as noise.
In one embodiment, the minimum value of the photon count values in the time intervals corresponding to the peak positions when the target to be measured has different reflectivities and is located at different distances may be determined in a modeling manner, and the minimum photon count value obtained according to the modeling is used as a preset peak threshold value for determining whether the initial peak position is the true peak position.
In one embodiment, S104 may include S1041 to S1043, and as shown in fig. 5, S1041 to S1043 are specifically as follows:
s1041: acquiring a time interval region corresponding to the initial peak position; the time interval region at least comprises a time interval corresponding to the initial peak position.
The processing equipment acquires a time interval region corresponding to the initial peak position, wherein the time interval region at least comprises a time interval corresponding to the initial peak position, and the time interval region comprises a plurality of regions corresponding to the time intervals. For example, the time interval region may be formed by selecting regions corresponding to n time intervals on each of the left and right sides with the time interval at the initial peak position as the center.
S1042: and calculating the confidence corresponding to the time interval region.
And the processing equipment calculates the confidence corresponding to the time interval region, judges whether the initial peak position is the real peak position or not according to the confidence, and the confidence is used for reflecting the credibility that the initial peak position is the real peak position.
In one embodiment, the confidence is the ratio between a first number of total time intervals that the time interval region includes and a second number of target time intervals in the time interval region for which the photon count value is greater than a preset peak threshold. The processing device may obtain a first number of total time intervals comprised by the time interval region and a second number of target time intervals in the time interval region for which the photon count value is greater than a preset peak threshold. And the processing equipment calculates the ratio of the second quantity to the first quantity to obtain the corresponding confidence of the time interval region.
The confidence may include one or more of a signal-to-noise ratio, a peak-to-average ratio, and a pulse half-width ratio. In one embodiment, the photon counting value of the time interval area is divided into a signal photon counting value and a noise photon counting value according to a preset peak value threshold, and the ratio of the signal photon counting value to the noise photon counting value is calculated and used for representing the confidence coefficient; in one embodiment, the mean value of the photon count values in the time interval region is calculated, and the confidence coefficient is characterized by the ratio of the photon count value at the initial peak position to the mean value; in one embodiment, the boundary of the time interval region is set as a time interval with the photon count value being about half of the photon count value at the peak position, the length of the time interval region is the half width of the received pulse, and the confidence is represented by calculating the ratio of the half width of the received pulse to the half width of the transmitted pulse.
S1043: and if the confidence coefficient is greater than a preset confidence coefficient threshold value, judging that the initial peak position is a real peak position.
The higher the confidence value is, the higher the confidence level is that the initial peak position is the true peak position, for example, it may be set that the confidence level exceeds 50% to be the confidence level, and the initial peak position may be considered as the true peak position when the number of time intervals in the time interval region greater than the preset peak threshold is greater than 50%.
S105: and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information.
And the processing equipment acquires time information corresponding to the real peak position, wherein the time information corresponding to the real peak position is flight time, and the processing equipment can calculate the distance information of the target to be measured according to the time information and the light speed.
In the embodiment of the application, a photon emission signal and a photon reflection signal are obtained; acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; acquiring an initial peak position in the target histogram; if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information. According to the scheme, the processing equipment judges the initial peak position, judges whether any initial peak position in the target histogram is the real peak position or not, eliminates noise data, calculates the distance information of the target based on the real peak position, and effectively improves the measurement precision of the system.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Referring to fig. 6, fig. 6 is a schematic view of a distance measuring device according to a third embodiment of the present application. The units are included for executing the steps in the embodiments corresponding to fig. 1-2 and 5. Please refer to the related description of the embodiments corresponding to fig. 1-2 and 5. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 6, the distance measuring device 6 includes:
a first obtaining unit 610 for obtaining a photon emission signal and a photon reflection signal;
a generating unit 620, configured to obtain a flight time from emission to reception of a photon according to the photon emission signal and the photon reflection signal, and generate a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value;
a second obtaining unit 630, configured to obtain an initial peak position in the target histogram;
the first processing unit 640 is configured to determine that the initial peak position is a true peak position if the initial peak position meets a preset screening condition;
the first calculating unit 650 is configured to obtain time information corresponding to the actual peak position, and calculate distance information of the target to be measured according to the time information.
Further, the first processing unit 640 is specifically configured to:
and if the photon count value in the time interval corresponding to the initial peak position is greater than a preset peak threshold value, determining that the initial peak position is a real peak position.
Further, the preset peak threshold is proportional to the noise mean.
Further, the first processing unit 640 includes:
a third obtaining unit, configured to obtain a time interval region corresponding to the initial peak position; the time interval region at least comprises a time interval corresponding to the initial peak position;
the second calculation unit is used for calculating the confidence corresponding to the time interval region;
and the second processing unit is used for judging that the initial peak position is the real peak position if the confidence coefficient is greater than a preset confidence coefficient threshold value.
Further, the second calculating unit is specifically configured to:
acquiring a first number of all time intervals included in the time interval region and a second number of target time intervals of which the photon count values are greater than a preset peak value threshold value in the time interval region;
and calculating the ratio of the second quantity to the first quantity to obtain the confidence corresponding to the time interval region.
Further, the confidence level includes one or more of a signal-to-noise ratio, a peak-to-average ratio, and a pulse half-width ratio.
Further, the distance measuring device 6 further includes:
and the third processing unit is used for judging that the data of the initial peak position is noise data if the initial peak position does not meet the preset screening condition.
Fig. 7 is a schematic view of a distance measuring apparatus according to a fourth embodiment of the present application. As shown in fig. 7, the distance measuring apparatus 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72, such as a distance measuring program, stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in the various distance measurement method embodiments described above, such as the steps 71 to 74 shown in fig. 1. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 610 to 650 shown in fig. 6.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the network connection establishing device 7. For example, the computer program 72 may be divided into a first acquiring unit, a generating unit, a second acquiring unit, a first processing unit, and a first calculating unit, and each unit has the following specific functions:
the first acquisition unit is used for acquiring a photon emission signal and a photon reflection signal;
the generating unit is used for acquiring the flight time from emission to reception of the photons according to the photon emission signal and the photon reflection signal and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value;
a second obtaining unit, configured to obtain an initial peak position in the target histogram;
the first processing unit is used for judging that the initial peak position is a real peak position if the initial peak position meets a preset screening condition;
and the first calculating unit is used for acquiring time information corresponding to the real peak position and calculating the distance information of the target to be measured according to the time information.
The distance measuring device may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is merely an example of the distance measuring device 7 and does not constitute a limitation of the distance measuring device 7 and may comprise more or less components than those shown, or some components may be combined, or different components, for example the distance measuring device may further comprise an input output device, a network access device, a bus, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the distance measuring device 7, such as a hard disk or a memory of the distance measuring device 7. The memory 71 may also be an external storage device of the distance measuring device 7, such as a plug-in hard disk provided on the distance measuring device 7, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the distance measuring device 7 may also include both an internal storage unit and an external storage device of the distance measuring device 7. The memory 71 is used for storing the computer program and other programs and data required by the distance measuring device. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a mobile terminal, enables the mobile terminal to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A distance measurement method applied to a processing apparatus, the method comprising:
acquiring a photon emission signal and a photon reflection signal;
acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value;
acquiring an initial peak position in the target histogram;
if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position;
and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information.
2. The method according to claim 1, wherein the determining that the initial peak position is a true peak position if the initial peak position satisfies a predetermined filtering condition comprises:
and if the photon count value in the time interval corresponding to the initial peak position is greater than a preset peak threshold value, determining that the initial peak position is a real peak position.
3. The distance measuring method of claim 2, wherein the preset peak threshold is proportional to a noise mean.
4. The method according to claim 1, wherein the determining that the initial peak position is a true peak position if the initial peak position satisfies a predetermined filtering condition comprises:
acquiring a time interval region corresponding to the initial peak position; the time interval region at least comprises a time interval corresponding to the initial peak position;
calculating the confidence corresponding to the time interval region;
and if the confidence coefficient is greater than a preset confidence coefficient threshold value, judging that the initial peak position is a real peak position.
5. The distance measuring method according to claim 4, wherein said calculating a confidence level corresponding to said time interval region comprises:
acquiring a first number of all time intervals included in the time interval region and a second number of target time intervals of which the photon count values are greater than a preset peak value threshold value in the time interval region;
and calculating the ratio of the second quantity to the first quantity to obtain the confidence corresponding to the time interval region.
6. The distance measurement method of claim 4 wherein said confidence level comprises one or more of a signal-to-noise ratio, a peak-to-average ratio, and a pulse half-width ratio.
7. The distance measurement method of claim 1, after said obtaining an initial peak position in said target histogram, further comprising:
and if the initial peak position does not meet the preset screening condition, judging that the data of the initial peak position is noise data.
8. A distance measuring system, comprising: the system comprises a transmitter, a collector and processing equipment;
the emitter is used for generating photon emission signals and emitting pulse beams to the target to be measured after receiving the emission instructions sent by the processing equipment;
the collector is used for collecting photons in the pulse light beam reflected by the target to be measured and generating a photon reflection signal; the collector comprises a pixel array;
the processing equipment is used for acquiring the photon emission signal and the photon reflection signal corresponding to the target to be detected; acquiring the flight time of the photons from emission to reception according to the photon emission signal and the photon reflection signal, and generating a target histogram according to the flight time; the abscissa of the target histogram is the flight time, and the ordinate of the target histogram represents a photon count value; acquiring an initial peak position in the target histogram; if the initial peak position meets the preset screening condition, judging that the initial peak position is a real peak position; and acquiring time information corresponding to the real peak position, and calculating distance information of the target to be measured according to the time information.
9. A distance measuring device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010919565.5A CN112255636A (en) | 2020-09-04 | 2020-09-04 | Distance measuring method, system and equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010919565.5A CN112255636A (en) | 2020-09-04 | 2020-09-04 | Distance measuring method, system and equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112255636A true CN112255636A (en) | 2021-01-22 |
Family
ID=74224598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010919565.5A Pending CN112255636A (en) | 2020-09-04 | 2020-09-04 | Distance measuring method, system and equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112255636A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782676A (en) * | 2021-01-26 | 2021-05-11 | 奥比中光科技集团股份有限公司 | Optical fiber calibration system and method |
| CN112799097A (en) * | 2021-04-14 | 2021-05-14 | 深圳阜时科技有限公司 | Method for acquiring depth map and gray scale map, depth camera and electronic equipment |
| CN112817001A (en) * | 2021-01-28 | 2021-05-18 | 深圳奥锐达科技有限公司 | Time-of-flight ranging method, system and equipment |
| CN112924981A (en) * | 2021-01-28 | 2021-06-08 | 深圳奥锐达科技有限公司 | Time-of-flight ranging method, system and equipment |
| CN112946675A (en) * | 2021-01-28 | 2021-06-11 | 深圳奥锐达科技有限公司 | Distance measuring method, system and equipment based on time fusion |
| CN112987023A (en) * | 2021-05-11 | 2021-06-18 | 深圳阜时科技有限公司 | Optical sensing device, measuring method thereof and electronic device |
| CN113219450A (en) * | 2021-04-29 | 2021-08-06 | 深圳市恒天伟焱科技股份有限公司 | Ranging positioning method, ranging device and readable storage medium |
| CN113514842A (en) * | 2021-03-08 | 2021-10-19 | 奥诚信息科技(上海)有限公司 | Distance measuring method, system and device |
| CN113739728A (en) * | 2021-08-31 | 2021-12-03 | 华中科技大学 | Electromagnetic ultrasonic echo sound time calculation method and application thereof |
| CN113885033A (en) * | 2021-09-24 | 2022-01-04 | 上海灵昉科技有限公司 | Distance measuring method and device based on photon flight time |
| CN114578305A (en) * | 2022-05-06 | 2022-06-03 | 南京隼眼电子科技有限公司 | Target detection confidence determining method and device, electronic equipment and storage medium |
| CN115963506A (en) * | 2023-03-16 | 2023-04-14 | 杭州宇称电子技术有限公司 | Single photon avalanche diode direct time flight ranging method and device and application thereof |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102565780A (en) * | 2010-11-05 | 2012-07-11 | 株式会社电装 | Method of determining threshold for detection of peak frequency and object information producing apparatus |
| CN104833979A (en) * | 2015-04-27 | 2015-08-12 | 北京航天控制仪器研究所 | Laser ranging method and laser ranging data signal processing method |
| JP2016176750A (en) * | 2015-03-19 | 2016-10-06 | 株式会社豊田中央研究所 | Optical distance measurement device |
| CN108490426A (en) * | 2018-02-06 | 2018-09-04 | 深圳信息职业技术学院 | A kind of target ranging method and its equipment |
| CN109009085A (en) * | 2018-07-06 | 2018-12-18 | 四川斐讯信息技术有限公司 | A kind of R wave of electrocardiosignal detection method and system |
| CN110596722A (en) * | 2019-09-19 | 2019-12-20 | 深圳奥锐达科技有限公司 | System and method for measuring flight time distance with adjustable histogram |
| CN110879389A (en) * | 2019-10-24 | 2020-03-13 | 中国人民解放军第四军医大学 | Multi-human-body target identification and positioning method based on multi-base IR-UWB (infrared-ultra wide band) biological radar signals |
| CN111352119A (en) * | 2018-12-21 | 2020-06-30 | 中国航空工业集团公司洛阳电光设备研究所 | Target ranging method and device based on single photon velocity accumulation |
| CN111487638A (en) * | 2020-04-20 | 2020-08-04 | 深圳奥锐达科技有限公司 | Distance measuring system and method based on time delay |
| CN111487637A (en) * | 2020-04-20 | 2020-08-04 | 深圳奥锐达科技有限公司 | Distance measuring system and method based on time delay |
-
2020
- 2020-09-04 CN CN202010919565.5A patent/CN112255636A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102565780A (en) * | 2010-11-05 | 2012-07-11 | 株式会社电装 | Method of determining threshold for detection of peak frequency and object information producing apparatus |
| JP2016176750A (en) * | 2015-03-19 | 2016-10-06 | 株式会社豊田中央研究所 | Optical distance measurement device |
| CN104833979A (en) * | 2015-04-27 | 2015-08-12 | 北京航天控制仪器研究所 | Laser ranging method and laser ranging data signal processing method |
| CN108490426A (en) * | 2018-02-06 | 2018-09-04 | 深圳信息职业技术学院 | A kind of target ranging method and its equipment |
| CN109009085A (en) * | 2018-07-06 | 2018-12-18 | 四川斐讯信息技术有限公司 | A kind of R wave of electrocardiosignal detection method and system |
| CN111352119A (en) * | 2018-12-21 | 2020-06-30 | 中国航空工业集团公司洛阳电光设备研究所 | Target ranging method and device based on single photon velocity accumulation |
| CN110596722A (en) * | 2019-09-19 | 2019-12-20 | 深圳奥锐达科技有限公司 | System and method for measuring flight time distance with adjustable histogram |
| CN110879389A (en) * | 2019-10-24 | 2020-03-13 | 中国人民解放军第四军医大学 | Multi-human-body target identification and positioning method based on multi-base IR-UWB (infrared-ultra wide band) biological radar signals |
| CN111487638A (en) * | 2020-04-20 | 2020-08-04 | 深圳奥锐达科技有限公司 | Distance measuring system and method based on time delay |
| CN111487637A (en) * | 2020-04-20 | 2020-08-04 | 深圳奥锐达科技有限公司 | Distance measuring system and method based on time delay |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112782676A (en) * | 2021-01-26 | 2021-05-11 | 奥比中光科技集团股份有限公司 | Optical fiber calibration system and method |
| WO2022161481A1 (en) * | 2021-01-28 | 2022-08-04 | 深圳奥锐达科技有限公司 | Time of flight distance measurement method and system, and device |
| WO2022160611A1 (en) * | 2021-01-28 | 2022-08-04 | 深圳奥锐达科技有限公司 | Time fusion-based distance measurement method, system, and device |
| CN112924981B (en) * | 2021-01-28 | 2023-10-31 | 深圳奥锐达科技有限公司 | Time-of-flight ranging method, system and equipment |
| CN112946675A (en) * | 2021-01-28 | 2021-06-11 | 深圳奥锐达科技有限公司 | Distance measuring method, system and equipment based on time fusion |
| CN112817001A (en) * | 2021-01-28 | 2021-05-18 | 深圳奥锐达科技有限公司 | Time-of-flight ranging method, system and equipment |
| CN112817001B (en) * | 2021-01-28 | 2023-12-01 | 深圳奥锐达科技有限公司 | Time-of-flight ranging method, system and equipment |
| CN112924981A (en) * | 2021-01-28 | 2021-06-08 | 深圳奥锐达科技有限公司 | Time-of-flight ranging method, system and equipment |
| CN112946675B (en) * | 2021-01-28 | 2023-12-01 | 深圳奥锐达科技有限公司 | Distance measurement method, system and equipment based on time fusion |
| CN113514842A (en) * | 2021-03-08 | 2021-10-19 | 奥诚信息科技(上海)有限公司 | Distance measuring method, system and device |
| WO2022188884A1 (en) * | 2021-03-08 | 2022-09-15 | 奥诚信息科技(上海)有限公司 | Distance measurement method, system and device |
| CN112799097A (en) * | 2021-04-14 | 2021-05-14 | 深圳阜时科技有限公司 | Method for acquiring depth map and gray scale map, depth camera and electronic equipment |
| CN112799097B (en) * | 2021-04-14 | 2023-11-28 | 深圳阜时科技有限公司 | Depth map and gray map acquisition method, depth camera and electronic device |
| CN113219450A (en) * | 2021-04-29 | 2021-08-06 | 深圳市恒天伟焱科技股份有限公司 | Ranging positioning method, ranging device and readable storage medium |
| CN113219450B (en) * | 2021-04-29 | 2024-04-19 | 深圳市恒天伟焱科技股份有限公司 | Ranging positioning method, ranging device and readable storage medium |
| CN112987023A (en) * | 2021-05-11 | 2021-06-18 | 深圳阜时科技有限公司 | Optical sensing device, measuring method thereof and electronic device |
| CN113739728A (en) * | 2021-08-31 | 2021-12-03 | 华中科技大学 | Electromagnetic ultrasonic echo sound time calculation method and application thereof |
| CN113885033A (en) * | 2021-09-24 | 2022-01-04 | 上海灵昉科技有限公司 | Distance measuring method and device based on photon flight time |
| CN114578305A (en) * | 2022-05-06 | 2022-06-03 | 南京隼眼电子科技有限公司 | Target detection confidence determining method and device, electronic equipment and storage medium |
| CN114578305B (en) * | 2022-05-06 | 2022-07-05 | 南京隼眼电子科技有限公司 | Target detection confidence determining method and device, electronic equipment and storage medium |
| CN115963506B (en) * | 2023-03-16 | 2023-05-23 | 杭州宇称电子技术有限公司 | Single photon avalanche diode direct time flight ranging method, device and application thereof |
| CN115963506A (en) * | 2023-03-16 | 2023-04-14 | 杭州宇称电子技术有限公司 | Single photon avalanche diode direct time flight ranging method and device and application thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112255636A (en) | Distance measuring method, system and equipment | |
| US10739445B2 (en) | Parallel photon counting | |
| CN112114324B (en) | Distance measurement method, device, terminal equipment and storage medium | |
| CN112731425B (en) | Histogram processing method, distance measurement system and distance measurement equipment | |
| CN111965658B (en) | Distance measurement system, method and computer readable storage medium | |
| CN112255638B (en) | Distance measurement system and method | |
| CN113424077B (en) | Optical distance measuring device | |
| CN112255635B (en) | Distance measurement method, system and equipment | |
| CN110954919B (en) | Fixed value noise determination method and removal method for area array laser detector | |
| CN113504542B (en) | Distance measuring system and method, device and equipment for calculating reflectivity of measured object | |
| US20230341529A1 (en) | Target detection method, lidar and storage medium | |
| CN114488175A (en) | Histogram construction method for improving signal-to-noise ratio and laser ranging chip | |
| WO2022188884A1 (en) | Distance measurement method, system and device | |
| CN111965659B (en) | Distance measurement system, method and computer readable storage medium | |
| CN112789522A (en) | Target reflectivity calculation method and device and related equipment | |
| WO2021056348A1 (en) | Signal processing method of point cloud detection system, and point cloud detection system | |
| CN112255637B (en) | Distance measuring system and method | |
| WO2022160622A1 (en) | Distance measurement method, device, and system | |
| CN113848558A (en) | Flight time distance measuring system and method | |
| CN111679262A (en) | Laser point cloud intensity calibration method, device, equipment and storage medium | |
| US20230152462A1 (en) | Lidar sensor, in particular a vertical flash lidar sensor | |
| CN115657054A (en) | Method, device and equipment for shielding fuzzy distance value of ranging system | |
| CN115267744A (en) | Flight time distance measuring method and device | |
| US11536835B2 (en) | Laser measuring means for measuring a distance from an object, and method of operating same | |
| CN113885033A (en) | Distance measuring method and device based on photon flight time |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |