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    METHOD FOR RECONSTRUCTING A SURFACE USING SPATIALLY STRUCTURED LIGHT AND A DYNAMIC VISION SENSOR
    2.
    发明公开
    METHOD FOR RECONSTRUCTING A SURFACE USING SPATIALLY STRUCTURED LIGHT AND A DYNAMIC VISION SENSOR 审中-公开
    METHOD FOR A面由地理结构光重建和动态取景传感器

    公开(公告)号：EP3087341A1

    公开(公告)日：2016-11-02

    申请号：EP14828155.3

    申请日：2014-12-22

    申请人： Universität Zürich ,  ETH Zürich

    发明人： BRÄNDLI, Christian ,  DELBRUCK, Tobias ,  HÖPFLINGER, Markus Andreas ,  HUTTER, Marco ,  MANTEL, Thomas Albert

    IPC分类号： G01B11/25 ,  H04N3/14

    CPC分类号： G01B11/25 ,  G01B11/002 ,  G01S7/4816 ,  G01S7/484 ,  G01S7/487 ,  G01S17/42 ,  G01S17/89

    摘要： The present invention relates to a method for detecting and particularly reconstructing a surface (40), wherein the surface (40) is illuminated with spatially structured light, such that said light illuminates an area (31) of said surface (40) from which said light is reflected back, wherein said light comprises a temporarily varying intensity (I) in the form of successive light modulation patterns (32), wherein back-reflected light is detected by means of an optical sensor (20) that comprises a plurality of pixels, wherein a pixel coordinate ( u,v ) is associated to each pixel, and wherein each pixel generates a photocurrent being proportional to the intensity of the light impinging on the respective pixel, and computes a signal related to said photocurrent, and wherein each pixel outputs an address-event ( Ev ) merely when the respective signal due to the light impinging on the respective pixel increases by an amount being larger than a first threshold (˜ ON ) or decreases by an amount being larger than a second threshold (˜ O FF ) since the last address-event ( Ev ) from the respective pixel, and wherein as a current image of said area, also denoted as laser stripe in case spatially structured light in the form of a plane/sheet of laser light is used, pixel coordinates ( u,v ) of address-events ( Ev' ) caused by light of the last light modulation pattern (32) back-reflected from said area (31) onto the optical sensor (20) are determined. Furthermore, the invention relates to a corresponding computer program and a corresponding system.

    摘要翻译： 本发明从其中所述涉及用于检测的方法和特别是重建表面（40）的worin表面（40）被照射具有空间结构化光，这就是说在所述表面（40）的区域（31）的光照亮检测 光被反射回，worin所述光包括在连续的光调制图案（32）的形式的临时变化的强度（I）worin背反射的光由光学传感器检测（20）做了包括像素的多元性 ，worin的像素坐标（U，v）被关联到每个像素，并且worin每个像素基因率的光电流成比例的光撞击在respectivement像素的强度，并计算相关于所述光电流的信号，并且worin每个像素 输出，以解决事件（EV）仅仅当在像素respectivement增加了量撞击由比第一阈值（〜ON）越大respectivement信号由于光或在AMO减小由 UNT小于第二阈值（〜öFF）由于从respectivement像素负载地址事件（EV），并worin作为所述区域的当前图像越大，所以表示为激光条纹的情况下，空间结构化光的形式 激光的平面/片使用时，像素坐标（U，v）的由最后光调制图案（32）的光致地址的事件（EV“）从所述区域（31）背反射到光学传感器 （20）被确定。 进一步，本发明涉及一种计算机程序和对应的相应的系统。

    Method for reconstructing a surface using spatially structured light and a dynamic vision sensor
    3.
    发明公开
    Method for reconstructing a surface using spatially structured light and a dynamic vision sensor 审中-公开
    一种用于通过空间结构光的装置和动态视觉传感器检测表面的方法

    公开(公告)号：EP2887009A1

    公开(公告)日：2015-06-24

    申请号：EP13199421.2

    申请日：2013-12-23

    申请人： Universität Zürich ,  ETH Zürich

    发明人： BRÄNDLI, Christian ,  DELBRUCK, Tobias ,  HÖPFLINGER, Markus Andreas ,  HUTTER, Marco ,  MANTEL, Thomas Albert

    IPC分类号： G01B11/25 ,  H04N3/14

    CPC分类号： G01B11/25 ,  G01B11/002 ,  G01S7/4816 ,  G01S7/484 ,  G01S7/487 ,  G01S17/42 ,  G01S17/89

    摘要： The present invention relates to a method for detecting and particularly reconstructing a surface (40), wherein the surface (40) is illuminated with spatially structured light, such that said light illuminates an area (31) of said surface (40) from which said light is reflected back, wherein said light comprises a temporarily varying intensity (I) in the form of successive light modulation patterns (32), wherein back-reflected light is detected by means of an optical sensor (20) that comprises a plurality of pixels, wherein a pixel coordinate ( u,v ) is associated to each pixel, and wherein each pixel generates a photocurrent being proportional to the intensity of the light impinging on the respective pixel, and computes a signal related to said photocurrent, and wherein each pixel outputs an address-event ( Ev ) merely when the respective signal due to the light impinging on the respective pixel increases by an amount being larger than a first threshold (Θ ON ) or decreases by an amount being larger than a second threshold (Θ O FF ) since the last address-event ( Ev ) from the respective pixel, and wherein as a current image of said area, also denoted as laser stripe in case spatially structured light in the form of a plane/sheet of laser light is used, pixel coordinates ( u,v ) of address-events ( Ev' ) caused by light of the last light modulation pattern (32) back-reflected from said area (31) onto the optical sensor (20) are determined. Furthermore, the invention relates to a corresponding computer program and a corresponding system.

    摘要翻译： 本发明从其中所述涉及用于检测的方法和特别是重建表面（40）的worin表面（40）被照射具有空间结构化光，这就是说在所述表面（40）的区域（31）的光照亮检测 光被反射回，worin所述光包括在连续的光调制图案（32）的形式的临时变化的强度（I）worin背反射的光由光学传感器检测（20）做了包括像素的多元性 ，worin的像素坐标（U，v）被关联到每个像素，并且worin每个像素基因率的光电流成比例的光撞击在respectivement像素的强度，并计算相关于所述光电流的信号，并且worin每个像素 输出，以解决事件（EV）仅仅当在像素respectivement增加了量撞击由比第一阈值（〜ON）越大respectivement信号由于光或在AMO减小由 UNT小于第二阈值（〜öFF）由于从respectivement像素负载地址事件（EV），并worin作为所述区域的当前图像越大，所以表示为激光条纹的情况下，空间结构化光的形式 激光的平面/片使用时，像素坐标（U，v）的由最后光调制图案（32）的光致地址的事件（EV“）从所述区域（31）背反射到光学传感器 （20）被确定。 进一步，本发明涉及一种计算机程序和对应的相应的系统。

    PHOTOARRAY, PARTICULARLY FOR COMBINING SAMPLED BRIGHTNESS SENSING WITH ASYNCHRONOUS DETECTION OF TIME-DEPENDENT IMAGE DATA
    5.
    发明公开
    PHOTOARRAY, PARTICULARLY FOR COMBINING SAMPLED BRIGHTNESS SENSING WITH ASYNCHRONOUS DETECTION OF TIME-DEPENDENT IMAGE DATA 审中-公开
    PHOTO ARRAY，尤其是对COMBINING采样测量亮度与异步检测相关的图像数据

    公开(公告)号：EP2795894A1

    公开(公告)日：2014-10-29

    申请号：EP12816658.4

    申请日：2012-12-19

    申请人： Universität Zürich

    发明人： DELBRUCK, Tobias ,  BERNER, Raphael

    IPC分类号： H04N5/335

    CPC分类号： G01J1/44 ,  G01J1/0238 ,  G01J2001/446 ,  G01J2001/4473 ,  H04N5/378

    摘要： The invention relates to a photoarray(1), comprising: a plurality of cells (10), wherein each of said cells (10) comprises a means (20)that is configured to generate a photocurrent (I) being proportional to the intensity (L) of the light impinging on the respective cell(10), and wherein each of said cells (10) comprises a change detection circuit(100) connected to the respective means (20) for generating the photocurrent (I), which change detection circuit (100) is configured to generate an output signal merely in case a change event occurs at which said intensity (L) changes by a threshold amount (T, T') since the preceding change event from the respective cell (10). According to the invention said means (20) for generating said photocurrent (I) is additionally also used to estimate the magnitude of the said photocurrent (I) being a measure of the brightness of the light at the respective cell (10).