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DE102016014851A1 - Outline pulse modulation measurement - Google Patents

Outline pulse modulation measurement Download PDF

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Publication number
DE102016014851A1
DE102016014851A1 DE102016014851.9A DE102016014851A DE102016014851A1 DE 102016014851 A1 DE102016014851 A1 DE 102016014851A1 DE 102016014851 A DE102016014851 A DE 102016014851A DE 102016014851 A1 DE102016014851 A1 DE 102016014851A1
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Prior art keywords
light
camera
clock
recording
light pulses
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DE102016014851.9A
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German (de)
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Anmelder Gleich
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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
    • G01S17/08—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
    • 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

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  • 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)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

Die Umrisspulsmodulationsmessung ist ein 3D-scan-Verfahren, dass mit Hilfe von Lichtlaufzeiten den Abstand eines jeden Pixels einer Kamera und die vom Pixel erfasste Oberfläche ermitteln kann.Die angedachten Einsatzgebiete sind die Robotik und der autonome Automobilbereich.Outline pulse modulation measurement is a 3D scan method that uses light propagation times to determine the distance of each pixel of a camera and the surface detected by the pixel. The intended applications are robotics and the autonomous automotive sector.

Description

Die Umrisspulsmodulationsmessung ist ein 3D-scan-Verfahren, dass mit Hilfe von Lichtlaufzeiten den Abstand eines jeden Pixels einer Kamera und die vom Pixel erfasste Oberfläche ermitteln kann. Die angedachten Einsatzgebiete sind die Robotik und der autonome Automobilbereich.The outline pulse modulation measurement is a 3D scan method that uses light propagation times to determine the distance of each pixel of a camera and the surface detected by the pixel. The intended applications are robotics and the autonomous automotive sector.

Die Umrisspulsmodulationsmessung besteht aus einer oder mehreren Kameras und einer oder mehreren Lichtquellen, die Lichtimpulse mit einer oder mehreren Lichtwellenlängen aussenden. Die Lichtimpulse sind der Aufnahme der Kamera zeitlich vor- oder nacheilend oder der Aufnahmetakt der Kamera ist zu dem Takt der Lichtimpulse abweichend.The outline pulse modulation measurement consists of one or more cameras and one or more light sources that emit light pulses with one or more wavelengths of light. The light pulses are the recording of the camera in time or lagging or the recording clock of the camera is different from the clock of the light pulses.

Mit dem zeitlichen Unterschied zwischen dem Aussenden des Lichtimpulses und der Kameraaufnahme wird eine Messtiefe vorgegeben.With the time difference between the emission of the light pulse and the camera recording a measurement depth is specified.

In der Kameraaufnahme unterscheidet man die Teile der Aufnahme, die unter dem Lichtimpuls Aufleuchten und denen, die nicht aufleuchten. So kann man unterscheiden, welche Teile der Aufnahme vor oder hinter der Messtiefe liegen.In the camera recording, a distinction is made between the parts of the recording that light up under the light pulse and those that do not light up. So you can distinguish which parts of the recording are before or after the measurement depth.

Für die Individualisierung der Lichtimpulsquelle werden Lichtimpulse gezielt ausgesetzt oder Lichtimpulspausen ausgesetzt oder die Wellenlängenabfolge der Lichtimpulse wird geändert.For the individualization of the light pulse source, light pulses are selectively exposed or exposed to light pulse pauses or the wavelength sequence of the light pulses is changed.

Claims (7)

3D-Scan-Verfahren zur Ermittlung des Abstandes zwischen den einzelnen Bildpixeln einer Kamera und vom einzelnen Bildpixel erfassten Oberfläche mittels Lichtlaufzeitenmessung mit den folgenden Merkmalen: - Eine oder mehrere Kameras, deren Erfassungsbereich von einer oder mehreren pulsierenden Lichtquellen ausgeleuchtet ist. - Lichtimpulse, die der Aufnahme der Kamera zeitlich vor- oder nacheilend sind oder der Aufnahmetakt der Kamera ist zu dem Takt der Lichtimpulse abweichend.3D scan method for determining the distance between the individual image pixels of a camera and the surface detected by the individual image pixel by means of light transit time measurement with the following features: - One or more cameras whose detection area is illuminated by one or more pulsating light sources. - Light pulses that are temporally leading or lagging the recording of the camera or the recording clock of the camera is different from the clock of the light pulses. 3D-Scan-Verfahren nach Anspruch 1 ist dadurch gekennzeichnet: - Eine oder mehrere Lichtquellen senden Lichtimpulse mit einer oder mehreren Lichtwellenlängen aus. - Lichtimpulse, die der Aufnahme der Kamera zeitlich vor- oder nacheilend sind oder der Aufnahmetakt der Kamera ist zu dem Takt der Lichtimpulse abweichend.3D scanning process after Claim 1 is characterized by : one or more light sources emitting light pulses having one or more wavelengths of light. - Light pulses that are temporally leading or lagging the recording of the camera or the recording clock of the camera is different from the clock of the light pulses. 3D-Scan-Verfahren nach einem der Anspruch 1 und 2 ist dadurch gekennzeichnet: - Lichtquellen senden Lichtimpulse in verschiedene Lichtwellenlängenbereiche aus. - Lichtimpulse, die der Aufnahme der Kamera zeitlich vor- oder nacheilend sind oder der Aufnahmetakt der Kamera ist zu dem Takt der Lichtimpulse abweichend. Die Lichtwellenlängenbereiche erscheinen dem menschlichen Auge in der Helligkeit als nicht pulsierend und im Farbton als gleichbleibendes Licht.3D scan after one of the Claim 1 and 2 is characterized by : - Light sources emit light pulses in different light wavelength ranges. - Light pulses that are temporally leading or lagging the recording of the camera or the recording clock of the camera is different from the clock of the light pulses. The light wavelength ranges appear to the human eye in the brightness as not pulsating and in the color tone as a constant light. 3D-Scan-Verfahren nach einem der Anspruch 1 bis 3 ist dadurch gekennzeichnet: - Technische Steuervorrichtung, die den Zeitabstand zwischen dem Aussenden des Lichtimpulses und der Aufnahme der Kamera regelt, um eine gewünschte Messtiefe vorzugeben.3D scan after one of the Claim 1 to 3 is characterized by : - Technical control device, which regulates the time interval between the emission of the light pulse and the recording of the camera to specify a desired measurement depth. 3D-Scan-Verfahren nach einem der Anspruch 1 bis 4 ist dadurch gekennzeichnet: - Technische Steuervorrichtung, die den Taktunterschied zwischen dem Aufnahmetakt der Kamera und den Frequenztakt der Lichtimpulse regelt. Damit wird die Auflösung der Entfernungsmessung geregelt.3D scan after one of the Claim 1 to 4 is characterized by : - Technical control device that regulates the clock difference between the recording clock of the camera and the frequency clock of the light pulses. This controls the resolution of the distance measurement. 3D-Scan-Verfahren nach einem der Anspruch 1 bis 5 ist dadurch gekennzeichnet: - Technische Auswerteeinheit unterscheidet die Bildpixel, die unter dem Lichtimpuls aufleuchten oder nicht aufleuchten und unterscheidet somit die Bildpixel, die vor oder hinter einer vorgegebenen Messtiefe liegen.3D scan after one of the Claim 1 to 5 is characterized by : - Technical evaluation unit distinguishes the image pixels that light up or do not light up under the light pulse and thus distinguishes the image pixels that lie before or after a given measurement depth. 3D-Scan-Verfahren nach einem der Anspruch 1 bis 6 ist dadurch gekennzeichnet: Gezieltes Aussetzen oder zeitliche Veränderung von Lichtimpulsen oder Gezieltes Aussetzen oder zeitliche Veränderung von Lichtimpulspausen oder Änderung der Wellenlängenabfolge der Lichtimpulse zwecks Individualisierung der Lichtimpulsquelle.3D scan after one of the Claim 1 to 6 is characterized by : targeted exposure or temporal change of light pulses or targeted exposure or temporal change of light pulse pauses or change of the wavelength sequence of the light pulses for the purpose of individualizing the light pulse source.
DE102016014851.9A 2016-12-14 2016-12-14 Outline pulse modulation measurement Withdrawn DE102016014851A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102016014851.9A DE102016014851A1 (en) 2016-12-14 2016-12-14 Outline pulse modulation measurement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016014851.9A DE102016014851A1 (en) 2016-12-14 2016-12-14 Outline pulse modulation measurement

Publications (1)

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DE102016014851A1 true DE102016014851A1 (en) 2018-06-14

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DE102016014851.9A Withdrawn DE102016014851A1 (en) 2016-12-14 2016-12-14 Outline pulse modulation measurement

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999034235A1 (en) * 1997-12-23 1999-07-08 Siemens Aktiengesellschaft Method and device for recording three-dimensional distance-measuring images
WO2003016944A2 (en) * 2001-08-06 2003-02-27 Siemens Aktiengesellschaft Method and device for recording a three-dimensional distance-measuring image
DE10253437A1 (en) * 2002-11-12 2004-05-27 Iris-Gmbh Infrared & Intelligent Sensors Three dimensional topography recording unit for public transport entrances, synchronizes transmit pulses and receive integration using clock with recording of skull profile and other biometric data
WO2005052633A1 (en) * 2003-10-29 2005-06-09 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Distance sensor and method for distance detection
EP1544535A1 (en) * 2003-12-20 2005-06-22 Leuze lumiflex GmbH + Co. KG Device for the surveillance of the reach area in a worktool
US7944548B2 (en) * 2006-03-07 2011-05-17 Leica Geosystems Ag Increasing measurement rate in time of flight measurement apparatuses

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999034235A1 (en) * 1997-12-23 1999-07-08 Siemens Aktiengesellschaft Method and device for recording three-dimensional distance-measuring images
WO2003016944A2 (en) * 2001-08-06 2003-02-27 Siemens Aktiengesellschaft Method and device for recording a three-dimensional distance-measuring image
DE10253437A1 (en) * 2002-11-12 2004-05-27 Iris-Gmbh Infrared & Intelligent Sensors Three dimensional topography recording unit for public transport entrances, synchronizes transmit pulses and receive integration using clock with recording of skull profile and other biometric data
WO2005052633A1 (en) * 2003-10-29 2005-06-09 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Distance sensor and method for distance detection
EP1544535A1 (en) * 2003-12-20 2005-06-22 Leuze lumiflex GmbH + Co. KG Device for the surveillance of the reach area in a worktool
US7944548B2 (en) * 2006-03-07 2011-05-17 Leica Geosystems Ag Increasing measurement rate in time of flight measurement apparatuses

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