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    IMAGE PROCESSOR, COMPUTER-IMPLEMENTED IMAGE PROCESSING METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER
    2.
    发明公开
    IMAGE PROCESSOR, COMPUTER-IMPLEMENTED IMAGE PROCESSING METHOD, COMPUTER PROGRAM AND NON-VOLATILE DATA CARRIER 审中-实审

    公开(公告)号：EP4343380A3

    公开(公告)日：2024-05-29

    申请号：EP23204867.8

    申请日：2021-10-12

    申请人： DeLaval Holding AB

    发明人： RAJALA, Arto

    IPC分类号： G01S17/894 ,  G01S7/497 ,  G01S17/88 ,  G01S7/481 ,  G01S17/36 ,  A01J5/017

    CPC分类号： G01S17/894 ,  G01S7/497 ,  G01S17/88 ,  G01S7/4815 ,  G01S17/36 ,  A01J5/0175

    摘要： An image processor (140) obtains image data (Dimg) registered by a time-of-flight, TOF, imaging system (110). The image data (Dimg) represents a scene (100) illuminated by at least two light sources (121, 122, 123, 124) calibrated to enable the image processor (140) to include distance data in the image data (Dimg). The image processor (140) determines if a shadow effect exists by which at least one first object (TC) in the scene (100) obstructs light from at least one light source (121, 122, 123, 124) from reaching at least one part of at least one second object in the scene (100). The at least one first object (TC) has a known position and spatial extension relative to the TOF imaging system (110) and the at least two light sources (121, 122, 123, 124). If it is determined that the shadow effect exists, the image processor (140) adjusts the distance data to compensate for the at least one light source (121, 122, 123, 124) whose light did not reach the at least one part of the at least one second object by obtaining an adaptation amount (dΔ) from a lookup table (1450).

    DISTANCE MEASURING DEVICE
    3.
    发明公开
    DISTANCE MEASURING DEVICE 审中-公开

    公开(公告)号：EP3418772A1

    公开(公告)日：2018-12-26

    申请号：EP17753213.2

    申请日：2017-02-15

    申请人： Panasonic Intellectual Property Management Co., Ltd.

    发明人： TAKEMOTO, Masato ,  KOYAMA, Shinzo ,  ISHII, Motonori ,  SAITOU, Shigeru ,  INOUE, Akito

    IPC分类号： G01S17/10 ,  G01C3/06 ,  G01S7/487

    CPC分类号： G01S17/105 ,  G01C3/06 ,  G01S7/4863 ,  G01S7/4865 ,  G01S7/487 ,  G01S7/497 ,  G01S17/023 ,  G01S17/026 ,  G01S17/10 ,  G01S17/107 ,  G01S17/36 ,  G01S17/89

    摘要： A distance measuring device (10) includes a controller (103) and a distance calculator (105). The controller (103) sets, in a first time period, a first measurement time range which corresponds to a first measurement distance range; causes a light emitter (101) to emit emission light and places a light receiver (102) into an exposure state, in the first measurement time range; sets, in a second time period, a second measurement time range which corresponds to a second measurement distance range; and causes the light emitter (101) to emit emission light and places the light receiver (102) into an exposure state, in the second measurement time range. Here, at least one measurement condition is different between the first time period and the second time period. The distance calculator (105) calculates the distance from the distance measuring device (10) to a measurement target (60), based on the time from when the light emitter (101) emits the emission light to when the light receiver (102) receives the reflected light. The time is in at least one of the first time period and the second time period.

    Distance measurement system
    4.
    发明授权
    Distance measurement system 有权

    公开(公告)号：EP2653830B1

    公开(公告)日：2018-11-14

    申请号：EP13164457.7

    申请日：2013-04-19

    申请人： Astrodesign, Inc.

    发明人： Takesue, Toshiharu ,  Takeda, Shigeto ,  Suzuki, Shigeaki

    IPC分类号： G01B11/24 ,  G01B11/30 ,  G01B9/02 ,  G01S17/36 ,  G01S7/481

    CPC分类号： G01N22/00 ,  G01S7/4814 ,  G01S17/36

    摘要： A distance measurement system for modulating a light emitted from a light source (21), which emits a coherent light, into frequencies different from each other to measure an object under measurement, characterized in that it includes: a first means (23) for modulating the light emitted from the light source (21) into two lights which have frequencies different from each other and are irradiated separately adjacent to each other; a second means (26) for one-dimensionally or two-dimensionally scanning the two lights; a third means (31) for irradiating an object under measurement with the two lights which are two-dimensionally scanned; a fourth means (29) for receiving at least two or more divided reflected lights or transmitted lights from the object under measurement with a boundary line being interposed therebetween in a direction substantially perpendicular to the direction in which the two lights are separated; a fifth means (33) for generating a difference signal or a summation signal of respective outputs of the lights received by the fourth means (29) in areas with the boundary line being interposed therebetween; and a sixth means (34) for obtaining a phase difference or an intensity difference of the difference signal or the summation signal to obtain a measurement value.

    CALIBRATION METHOD BASED ON SINGLE-WAVELENGTH AND DOUBLE-LASER-TUBE PHASE MEASUREMENT, AND DEVICE THEREOF
    9.
    发明公开
    CALIBRATION METHOD BASED ON SINGLE-WAVELENGTH AND DOUBLE-LASER-TUBE PHASE MEASUREMENT, AND DEVICE THEREOF 审中-公开
    基于单波长和双激光管相位测量的校准方法及其装置

    公开(公告)号：EP3312632A1

    公开(公告)日：2018-04-25

    申请号：EP16872153.8

    申请日：2016-08-25

    申请人： Hongkong Sndway Instrument Company Limited

    发明人： HE, Gang

    IPC分类号： G01S17/36 ,  G01S7/497

    CPC分类号： G01S17/36 ,  G01S7/4911 ,  G01S7/4915 ,  G01S7/4918 ,  G01S7/497

    摘要： A calibration method and a calibration device based on single-wavelength double-laser-tube phase measurement are disclosed. The calibration method includes: (S1) generating an external light path via a laser automatic power control circuit through a high frequency modulation signal, sending the external light path to a measured target, reflecting the external light path back through the measured target and receiving the reflected external light path by a photoelectric receiving circuit; (S2) generating an internal light path via the laser automatic power control circuit through the high frequency modulation signal, directly sending the internal light path to the photoelectric receiving circuit, and receiving the internal light path through the photoelectric receiving circuit; and (S3) performing phase comparison between two paths of light waves respectively corresponding to the external light path and the internal light path which are received firstly and secondly by the photoelectric receiving circuit, and a reference phase signal through the photoelectric receiving circuit, calculating a distance phase, and outputting a signal whose base is eliminated. By means of the method, the phase error is compensated and calibrated, so that the effect of environmental factors on the distance measurement error is reduced, thereby improving the distance measurement precision of the laser ranging, and improving the distance measurement stability of the system.

    摘要翻译： 公开了基于单波长双激光管相位测量的校准方法和校准装置。 该校准方法包括：（S1）通过高频调制信号经由激光自动功率控制电路产生外部光路，将外部光路发送至测量目标，将外部光路反射回测量目标并接收 通过光电接收电路反射外部光路; （S2）通过所述高频调制信号经由所述激光器自动功率控制电路产生内部光路，将所述内部光路直接发送至所述光电接收电路，并通过所述光电接收电路接收所述内部光路; 以及（S3）通过所述光电接收电路第一次和第二次接收的分别对应于所述外部光路和所述内部光路的两个光波路径与通过所述光电接收电路的基准相位信号进行相位比较，计算 距离相位，并输出其基数被消除的信号。 通过该方法对相位误差进行补偿校准，减少了环境因素对距离测量误差的影响，提高了激光测距的测距精度，提高了系统的测距稳定性。

    ARRAY DETECTOR FOR DEPTH MAPPING
    10.
    发明公开
    ARRAY DETECTOR FOR DEPTH MAPPING 审中-公开
    用于深度映射的阵列探测器

    公开(公告)号：EP3288259A1

    公开(公告)日：2018-02-28

    申请号：EP17157886.7

    申请日：2017-02-24

    申请人： Oculus VR, LLC

    发明人： TRAIL, Nicholas Daniel ,  DE NARDI, Renzo ,  NEWCOMBE, Richard A.

    IPC分类号： H04N13/02 ,  H04N13/04 ,  H04N5/222 ,  H04N5/232 ,  H04N5/225 ,  G01S17/89

    CPC分类号： H04N5/2258 ,  G01S7/4813 ,  G01S7/4816 ,  G01S17/36 ,  G01S17/46 ,  G01S17/89 ,  H04N5/2254 ,  H04N13/254 ,  H04N13/271 ,  H04N13/344

    摘要： A depth camera assembly (DCA) captures data describing depth information in a local area. The DCA includes an array detector, a controller, and an illumination source. The array detector includes a detector that is overlaid with a lens array. The detector includes a plurality of pixels, the plurality of pixels are divided into a plurality of different pixel groups. The lens array includes a plurality of lens stacks and each lens stack overlays a different pixel group. The array detector captures one or more composite images of the local area illuminated with the light from the illumination source. The controller determines depth information for objects in the local area using the one or more composite images.

    摘要翻译： 深度相机组件（DCA）捕获描述局部区域深度信息的数据。 DCA包括阵列检测器，控制器和照明源。 阵列检测器包括覆盖有透镜阵列的检测器。 检测器包括多个像素，多个像素被分成多个不同的像素组。 透镜阵列包括多个透镜堆叠并且每个透镜堆叠覆盖不同的像素组。 阵列检测器捕获用来自照明源的光照亮的局部区域的一个或多个合成图像。 控制器使用一个或多个合成图像来确定局部区域中的物体的深度信息。