CN1253636A - 远心光阑3维照相机及方法 - Google Patents

远心光阑3维照相机及方法 Download PDF

Info

Publication number
CN1253636A
CN1253636A CN96196354A CN96196354A CN1253636A CN 1253636 A CN1253636 A CN 1253636A CN 96196354 A CN96196354 A CN 96196354A CN 96196354 A CN96196354 A CN 96196354A CN 1253636 A CN1253636 A CN 1253636A
Authority
CN
China
Prior art keywords
ray
scene
image
detecting device
source
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
Application number
CN96196354A
Other languages
English (en)
Inventor
G·雅哈
G·I·伊丹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
3DV Systems Ltd
Original Assignee
3DV Systems Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from IL114278A external-priority patent/IL114278A/en
Priority claimed from IL116223A external-priority patent/IL116223A/en
Application filed by 3DV Systems Ltd filed Critical 3DV Systems Ltd
Publication of CN1253636A publication Critical patent/CN1253636A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C11/025Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/8943D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
    • GPHYSICS
    • G02OPTICS
    • G02BOPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28Systems for automatic generation of focusing signals
    • G02B7/30Systems for automatic generation of focusing signals using parallactic triangle with a base line
    • G02B7/32Systems for automatic generation of focusing signals using parallactic triangle with a base line using active means, e.g. light emitter
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88Sonar systems specially adapted for specific applications
    • G01S15/89Sonar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/08Systems determining position data of a target for measuring distance only
    • G01S17/10Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G01S17/18Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4811Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481Constructional features, e.g. arrangements of optical elements
    • G01S7/4817Constructional features, e.g. arrangements of optical elements relating to scanning
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/51Display arrangements

Abstract

用于产生指示场景中物体的距离的图象的装置,包括:一个调制的射线源,它把射线对准场景;远心光阑光学系统,它接收由场景反射来的射线,并且将该射线水平校正;一个调制器,它调制经水平校正的射线;一个检测器,它检测由调制的水平校正射线形成的图象;一个处理器,它形成图象,该图象带有指示从该装置到物体的距离的强度值的分布,并且对应于检测图象的强度分布。

Description

远心光阑3维照相机及方法
                 发明领域与背景
本发明涉及三维照相机(camera),更确切地说,涉及精确判定到场景中各个物体和物体各部分的距离的系统。
已经知道有各种技术用于产生场景的三维图象,即,除了指示场景中物体的横向范围,还指示了由某一参考点,例如照相机位置,到该物体或物体的一部分的相对或绝对距离的二维图象。
通常至少有三种基本技术用于产生这种图象。一种技术中,激光或类似的射线源用于向场景中的特定点发射一个脉冲。检测反射脉冲,并将所经历的时间除以2,用来估计到该点的距离。为了获得场景中不同点的距离,用此源向场景中连续的点发射一系列脉冲,以扫描场景。
然而,在另一种技术中,不是通过测量经过的时间,而是通过测量相移,来估计距离。在此,整个场景或场景的一部分也必须以一次一点的方式扫描。
在第三种技术中,也涉及扫描,用至少一个单个的射线源和相应的检测器,利用三角测量技术判定场景中特定点的距离,该检测器具有适当的光学结构,以一种与被测物体距离有关的方式作用于反射光。
以上所述的三种技术的主要缺点在于都需要逐点地,或逐线地扫描,以判定场景中各物体的距离。这种扫描极大地增加了系统的帧象周期,要求昂贵的扫描设备,必须使用快速,功能强的计算装置和复杂的编程。
因此人们普遍认为需要一种方法和系统,而且这种方法和系统能够便利地实现,此方法和系统在不需要扫描和复杂的技术能力的情况下,可以快速,容易地判定场景中各点的距离。
                        发明概要
按照本发明,提供一种远心光阑系统,用于产生指示到场景中各物体的距离的图象,该系统包括:(a)射线源,用于把源射线对准场景;(b)检测器,用于检测由场景中物体反射来的射线强度;(c)源调制器,用于调制射线源;(d)平行校正由场景中物体反射来的一部分射线的装置;(e)反射射线调制器,用于调制由场景中物体反射来的准直射线,反射射线调制器是从包括声光设备和电光设备的组中选出的;(f)源调制器控制装置,用于控制源调制器;以及(g)反射射线调制器控制装置,用于控制检测器调制器。
按照本发明的一个优选实施方案,源调制器控制装置与检测器调制器控制装置同时控制源调制器与检测器调制器。
按照以下描述的本发明优选实施方案的另一特征,源射线的调制器与反射射线的调制器分别用于交替地堵住与开启或者交替地启动与关闭源射线和反射射线。
仍按照所述优选实施方案的另一特征,射线源是可见光源,例如激光,检测器包括照相胶片或摄像机传感器,例如电荷耦合的装置(CCD)。
仍按照另一特征,该方法还包括处理由场景中物体反射来的射线强度,以判定物体的距离,在最优实施方案中,还包括将在一个相对连续的辐射与检测期间检测到的强度和在源与检测器调制期间检测到的强度比较。
仍按照本发明,提供一种方法,用于产生指示到场景中各物体的距离,该方法包括:(a)用射线源把源射线对准场景;(b)检测由场景中物体反射来的射线强度;(c)用射线源调制器调制射线源;(d)平行校正由场景中物体反射来的一部分射线;(e)调制由场景中物体反射来的平行射线,反射射线的调制由调制装置完成,该调制装置是从包括声光设备和电光设备的组中选出的;(f)控制源调制器;以及(g)控制检测器调制器。
按照另一特征,该方法还包括处理由场景中物体反射来的射线强度。
在一个优选实施方案中,处理包括将在一个相对连续的辐射与检测期间检测到的强度和在源与检测器调制期间检测到的强度比较。
本发明通过提供一处不需昂贵而且耗时的场景扫描就可以快速容易地判定场景中各部分的距离的方法和系统,从而成功地解决了现在所知的构造的缺点。
                     附图简述
在此,发明仅以示例形式,参考附图描述,其中:
图1A所示为按照本发明的系统和方法的一种可能构造。
图1B所示为按照本发明的系统和方法的第二种可能构造。
图2所示为可能用于本发明的系统和方法的典型的调制方案。
图3所示为可能采用的另一种调制方案。
图4所示为可用于增强按照本发明的系统和方法的精度的另一种调制方案。
                    优选方案的描述
本发明是一种可用于判定场景,尤其是相当近的场景的各部分的距离的系统和方法。
按照本发明的系统和方法的原理与操作,参考附图描述,可能能更好地理解。
现参考附图,图1A和图1B所示为按照本发明的系统的两个示例性构造。
参考图1A的系统,射线源10把射线对准所观测的场景11。为示例起见,图示的场景包括一个三维物体,在此参考物体各部分,相对远和近分别用“A”和“B”表示。所用射线可以是任何适当的射线,它对所测距离来说有适当的波长,还具有其他适当的特性,这一点从后面的讨论中会更清楚。对大部分应用,射线是可见的或红外射线,例如激光射线或频闪光。
系统还包括检测器12,用于检测由场景中的物体反射来的射线强度。被测射线是源射线中照射到场景中的物体上,并且反射回检测器12的那部分射线。所用检测器可以是任何适当的检测器,它具有适当的分辨率和适当的灰度等级,该检测器包括但不限于照相胶片照相机,电子照相机和摄像机,例如CCD照相机。
系统包括射线源调制器,图示标号为16,用于调制射线源10或源射线。系统还包括检测器调制器18,用于调制送往检测器12的反射射线。
在此所用的“调制”,旨在包括操作等级的任何变化,或者射线源10或源射线与/或反射射线的任何操作参数,还包括但不限于射线源10或源射线与检测器12或反射射线交替地堵住或开启以及交替地启动或关闭。
各种装置可用于调制射线源10或源射线与反射射线。例如,可用一个适当的光阑17或类似元件周期性地堵住源射线。
可用于调制射线源10的其他装置包括各种高频电子调制装置,用于周期性地关闭射线源10与/或检测器12。图1所示的源调制器16是用于解释用电子学方法启动和关闭射线源10的有关概念。
可以设想各种用于调制检测器12的装置,包括类似于上述的调制射线源10的装置。最好反射射线借助于各种电光调制器来调制,例如KDP(KH2PO4)或其他任何具有调制或转换光的能力的电光晶体,或具有快速精确调制能力或者最好有选通能力的铌酸锂与液晶。
注意,当在说明书或权利要求中涉及射线源调制器或者射线源的调制时,应理解为涉及射线源本身的调制与/或源射线的调制。
按照本发明的系统包括微型光阑40,由物体11反射来的一些射线可以通过它。通过光阑40的射线然后再用至少一个平行校正的物体透镜42进行平行校正。光阑40基本上位于平行校正物体透镜42的焦点上。
平行的射线然后通过一个适当的声光装置或电光晶体,例如KDP18,它用于调制或选通装置。
从KDP18出来的调制射线通过至少一个图象透镜44,该透镜将调制射线通过出口光阑46,该光阑基本上位于图象透镜44的焦点上。通过出口光阑46的射线然后照射到适当的检测器,例如CCD传感器12上。
最后,按照本发明的系统包括控制源调制器16和检测器调制器18的机构。最好用于控制源调制器16和检测器调制器18的机构以协调方式运行,或者,更好一些,采用同一机构20,以便于同时控制源调制器16和检测器调制器18。
同时控制可能是同步的,以便于射线源10和检测器12的操作以相同方式在同一时间,即同步地完成。然而,同时控制不限于这种同步控制,许多其他的控制也是可能的。例如,不以任何方式限制本发明的范围,在堵住和开启控制的情况下,在每个周期内射线源10和检测器12打开的持续时间可以不同,与/或在每个周期内检测器12的开启可以滞后于射线源10的开启。
按照本发明的系统还包括一个适当的处理器22,它分析由检测器12检测到的射线强度,并且判定与被测场景中各物体及物体各部分的距离。处理器22的操作在后面有详细解释。
按照本发明的系统的一种变化在图1B中描述。图1B的结构与图1A有若干不同,其主要之处在于图1B中源和反射射线的调制由KDP18完成。图1B的构造的这一特点决定了系统构造的一些变化。因此,射线源10现由侧边输入到KDP18。束分离器50用于将源射线中的重要部分折射到物体11,并且能使从物体11来的反射射线在到达CCD传感器12的途中,通过KDP18。控制KDP18的调制的机构20′也做了修改,因为只有一个装置需要调制,而不是象图1A的构造中两个分开的装置需同步控制。
在操作中,按照本发明的典型系统,它用激光作射线源,用CCD传感器作检测器,利用同步切换来调制源和检测器,该系统以如下方式操作。射线源(例如激光)10或源射线被调制,KDP18以与源射线调制同步的方式调制通过它的反射射线。在图1B的构造中,KDP18既调制源射线,又调制反射射线。
一类方波调制如图2所示,符号“CCD”用于表示反射射线通过KDP18时的调制。因此,在每个周期,激光10和反射射线都是在时间段“a”上是激活的,在时间段“b”上是关闭的。时间段“a”和“b”可以是相等的或不相等的。选择激光10的波长及时间段“a”,以便于从激光10发出的光能够到达所感兴趣的最远物体,并且能够反射回CCD12。
时间段“a”的选取以一个简单例子说明。假设图1A和1B中被测场景到源或检测器的最大距离大约为50米,即物体A和B离检测器和源的距离都在50米以内,从源出发的光到达最远物体,再返回检测器,在穿过100米的距离所花时间为0.33微秒。因此,时间段“a”应大约为0.33微秒。
按照本发明的系统和方法基于这种思想,即在每个周期内,近物体把光反射到检测器持续的时间比远物体要长。在每个周期内,被检测的反射光持续时间的不同,在检测器上就转化为不同的强度或灰度等级。因此,例如,如果假定物体B上的某一点到源与/或检测器的距离为几米,物体A上的一点要比物体B上的远一点。那么从B上的点反射的光在检测周期的激活部分(见图2)到达检测器的时间相对早一些,并且检测器连续接收此光,直到在检测周期的激活部分结束时检测器被关闭。由B上的点反射的光在时间“a”连续地到达检测器,该时间“a”对应于辐射时间(见图2上的点划线)。但是这些反射射线当处于检测器被关闭或堵住的时间之外的部分是不会被检测器接收到的,也不会对由检测器相应的像素表示的强度有影响。
相比较而言,从物体A上的点反射的光在检测周期的激活部分到达检测器要迟一些,而也将连续地被检测器接收,直到检测器关闭。
结果,从物体B上的点反射的光被接收的时间要比物体A上的点反射的光长(见图2阴影区)。检测器满足:在每个周期每个像素灰度等级的强度对应于在每个周期被该像素接收的射线的持续时间。因此,强度或灰度等级可以转换为物体上点的相对或绝对距离。
如上所述,例子中所述及图2所表示的同步开/关操作不是唯一可能的操作模式。其他调制也可以采用。例如,射线源与/或检测器可以如图3所示被谐波调制。
为了避免获得来自不感兴趣的区域的远处物体的错误信号,可能希望增加源/检测器关闭的持续时间“b”,以便于从不感兴趣的远处物体来的反射射线大部分是在检测器开闭期间到达检测器的,因此不会影响由检测器相应像素检测的强度。因而,适当选取时间段“b”可以确保只有来自希望检测区域以内的物体的反射射线在每个特殊期间内被接收,因此使强度图象的描述容易些。
很容易理想,在某一应用中,场景中各种物体的不同部分可以有不同的反射率。反射率的不同导致物体的各部分有不同的色彩、结构和角度。因此,与源/检测器距离相同的两点可能被检测为具有不同的强度。如上所述,可能导致基于强度的距离指示错误。
可能很容易对不同的被测物体或物体的不同部分的反射率做补偿。众所周知,通过检测器的像素连续接收来自场景中某一部分的射线而检测的强度与所测场景那部分的反射率成正比,与所测场景那部分与检测器之间的距离平方成反比。
很容易看出,当脉冲射线源,如上所述的那些射线源被采用时,通过检测器的像素连续接收来自场景中某一部分的射线而检测的强度与所测场景那部分的反射率成正比,而与所测场景那部分与检测器之间的距离的三次方成反比。
因此,为了补偿不同发射性的影响,可以既采用连续发射,也采用脉冲发射。这种周期的一个示例见图4。其中射线源和检测器激活的时间相同长,以为场景中的物体提供连续强度。源和检测器周期性地被关闭,并且源和检测器是脉冲式的,与参考基本实施方案描述的方式相同,采用一个或多个,最好一串脉冲。
在周期的脉冲部分,检测的使用如上所述。然而,除此而外,在周期的长激活期间,连续检测是用来校正,或归一化距离,并且补偿反射率的不同。补偿可以用任何便利的方法来完成,例如,连续期间的每个像素的强度,除以脉冲期间同一像素的强度,两者的商与由该像素所测的区域的距离成正比。
尽管本发明只提供了有限的几个实施方案,但应当理解本发明的变化、修改及其它应用也是可以的。

Claims (7)

1.用于产生指示到场景中物体的距离的图象的装置,包括:
一个调制的射线源,它把射线对准场景;
一个远心光阑光学系统,它接收由场景反射来的射线,并且将该射线准直化;
一个调制器,它调制经准直的射线;
一个检测器,它检测由调制的准直射线形成的图象;及
一个处理器,它形成图象,该图象带有指示从该装置到物体的距离的强度值的分布,它对应于检测图象的强度分布。
2.按照权利要求1的装置,其中源和检测器是瞄准的。
3.按照权利要求2的装置,其中射线源包括一个连续的射线源,它与被测的射线以同一调制器调制。
4.用于产生指示场景中物体的距离的图象的装置,包括:
一个调制的射线源,它把射线沿一条轴对准场景;
一个远心光阑光学系统,它接收由场景反射来的射线,并且将该射线沿所述轴准直;
一个调制器,它调制经准直的射线;
一个检测器,它检测由调制的准直射线形成的图象;
一个处理器,它形成图象,该图象带有指示从该装置到物体的距离的强度值的分布,并且对应于检测图象的强度分布。
5.按照以上任一权利要求的装置,包括一个聚焦透镜,它接收调制的准直射线并在检测器上聚焦。
6.按照权利要求1-4之任一个的装置,其中调制器是一个KDP调制器。
7.按照权利要求1-4之任一个的装置,其中调制器是一个声光装置。
CN96196354A 1995-06-22 1996-06-20 远心光阑3维照相机及方法 Pending CN1253636A (zh)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
IL114278A IL114278A (en) 1995-06-22 1995-06-22 Camera and method
IL114278 1995-06-22
IL116223 1995-12-01
IL116223A IL116223A (en) 1995-12-01 1995-12-01 Telecentric 3d camera and method

Publications (1)

Publication Number Publication Date
CN1253636A true CN1253636A (zh) 2000-05-17

Family

ID=26323086

Family Applications (3)

Application Number Title Priority Date Filing Date
CN96196420A Expired - Lifetime CN1101056C (zh) 1995-06-22 1996-06-20 生成距景物距离的图象的方法和装置
CNB021543836A Expired - Lifetime CN100524015C (zh) 1995-06-22 1996-06-20 生成距景物距离的图象的方法和装置
CN96196354A Pending CN1253636A (zh) 1995-06-22 1996-06-20 远心光阑3维照相机及方法

Family Applications Before (2)

Application Number Title Priority Date Filing Date
CN96196420A Expired - Lifetime CN1101056C (zh) 1995-06-22 1996-06-20 生成距景物距离的图象的方法和装置
CNB021543836A Expired - Lifetime CN100524015C (zh) 1995-06-22 1996-06-20 生成距景物距离的图象的方法和装置

Country Status (7)

Country Link
US (2) US6057909A (zh)
EP (2) EP0835460B1 (zh)
JP (8) JP3869005B2 (zh)
CN (3) CN1101056C (zh)
AU (2) AU6136096A (zh)
DE (2) DE69635891T2 (zh)
WO (2) WO1997001111A2 (zh)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100451559C (zh) * 2004-03-19 2009-01-14 三丰株式会社 光电式编码器
CN109470143A (zh) * 2018-12-07 2019-03-15 哈尔滨工业大学 外部光源高分辨力立体视觉测量系统与方法

Families Citing this family (365)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7655895B2 (en) * 1992-05-05 2010-02-02 Automotive Technologies International, Inc. Vehicle-mounted monitoring arrangement and method using light-regulation
US9102220B2 (en) 1992-05-05 2015-08-11 American Vehicular Sciences Llc Vehicular crash notification system
US9008854B2 (en) 1995-06-07 2015-04-14 American Vehicular Sciences Llc Vehicle component control methods and systems
US10573093B2 (en) 1995-06-07 2020-02-25 Automotive Technologies International, Inc. Vehicle computer design and use techniques for receiving navigation software
US9443358B2 (en) 1995-06-07 2016-09-13 Automotive Vehicular Sciences LLC Vehicle software upgrade techniques
JP3869005B2 (ja) * 1995-06-22 2007-01-17 3ディブイ・システムズ・リミテッド テレセントリック立体カメラと方法
US6445884B1 (en) 1995-06-22 2002-09-03 3Dv Systems, Ltd. Camera with through-the-lens lighting
US7744122B2 (en) 1995-12-12 2010-06-29 Automotive Technologies International, Inc. Driver side aspirated airbags
JPH10222663A (ja) * 1997-01-31 1998-08-21 Yamaha Motor Co Ltd 画像認識システム及び装置
WO1998039790A1 (en) 1997-03-07 1998-09-11 3Dv Systems Ltd. Optical shutter
AU2175897A (en) 1997-04-08 1998-10-30 3Dv Systems Ltd. Solid state optical shutter
JP2001517782A (ja) * 1997-09-24 2001-10-09 スリーディーヴィー システムズ リミテッド 音響画像形成システム
US10358057B2 (en) 1997-10-22 2019-07-23 American Vehicular Sciences Llc In-vehicle signage techniques
US9691188B2 (en) 1997-10-22 2017-06-27 Intelligent Technologies International, Inc. Tolling system and method using telecommunications
US8983771B2 (en) 1997-10-22 2015-03-17 Intelligent Technologies International, Inc. Inter-vehicle information conveyance system and method
US8060308B2 (en) 1997-10-22 2011-11-15 Intelligent Technologies International, Inc. Weather monitoring techniques
US9177476B2 (en) 1997-10-22 2015-11-03 American Vehicular Sciences Llc Method and system for guiding a person to a location
US9595139B1 (en) 1997-10-22 2017-03-14 Intelligent Technologies International, Inc. Universal tolling system and method
US8965677B2 (en) 1998-10-22 2015-02-24 Intelligent Technologies International, Inc. Intra-vehicle information conveyance system and method
US8209120B2 (en) 1997-10-22 2012-06-26 American Vehicular Sciences Llc Vehicular map database management techniques
US9053633B2 (en) 1997-10-22 2015-06-09 Intelligent Technologies International, Inc. Universal tolling system and method
JP2001523827A (ja) 1997-11-13 2001-11-27 スリーディーヴィー システムズ リミテッド 二波長光を用いた三角測量による三次元画像化
AU5876798A (en) 1998-02-08 1999-08-23 3Dv Systems Ltd. Large aperture optical image shutter
JP3868621B2 (ja) * 1998-03-17 2007-01-17 株式会社東芝 画像取得装置、画像取得方法、及び記録媒体
EP1006386B1 (en) * 1998-05-25 2011-05-04 Panasonic Corporation Range finder and camera
JP4105801B2 (ja) * 1998-07-02 2008-06-25 ペンタックス株式会社 3次元画像入力装置
WO2000019705A1 (en) 1998-09-28 2000-04-06 3Dv Systems, Ltd. Distance measurement with a camera
JP3840341B2 (ja) * 1998-10-15 2006-11-01 浜松ホトニクス株式会社 立体情報検出方法及び装置
US10240935B2 (en) 1998-10-22 2019-03-26 American Vehicular Sciences Llc Vehicle software upgrade techniques
US6876392B1 (en) * 1998-12-22 2005-04-05 Matsushita Electric Industrial Co., Ltd. Rangefinder for obtaining information from a three-dimensional object
JP2000221037A (ja) * 1999-01-29 2000-08-11 Topcon Corp 自動測量機と3次元測定方法
JP4157223B2 (ja) 1999-04-13 2008-10-01 Hoya株式会社 3次元画像入力装置
JP4303354B2 (ja) * 1999-04-13 2009-07-29 Hoya株式会社 3次元画像入力装置
US6982761B1 (en) 1999-06-09 2006-01-03 Pentax Corporation Device for capturing three-dimensional images with independently controllable groups of photoelectric conversion elements
US6822687B1 (en) * 1999-07-08 2004-11-23 Pentax Corporation Three-dimensional image capturing device and its laser emitting device
US6619406B1 (en) * 1999-07-14 2003-09-16 Cyra Technologies, Inc. Advanced applications for 3-D autoscanning LIDAR system
JP4070909B2 (ja) * 1999-07-15 2008-04-02 ペンタックス株式会社 電子カメラのホワイトバランス制御量算出装置
US6961092B1 (en) 1999-07-30 2005-11-01 Pentax Corporation Three-dimensional image capturing device
US6166811A (en) * 1999-08-12 2000-12-26 Perceptron, Inc. Robot-based gauging system for determining three-dimensional measurement data
US7224384B1 (en) 1999-09-08 2007-05-29 3Dv Systems Ltd. 3D imaging system
US7196390B1 (en) 1999-09-26 2007-03-27 3Dv Systems Ltd. Solid state image wavelength converter
JP3875817B2 (ja) 1999-09-27 2007-01-31 ペンタックス株式会社 測距装置の地図座標検出システム
JP3714063B2 (ja) * 1999-10-19 2005-11-09 富士ゼロックス株式会社 3次元形状計測装置
JP2001153624A (ja) 1999-11-24 2001-06-08 Asahi Optical Co Ltd 3次元画像入力装置
US6856355B1 (en) * 1999-11-30 2005-02-15 Eastman Kodak Company Method and apparatus for a color scannerless range image system
US6794628B2 (en) 2000-01-03 2004-09-21 3Dv Systems, Ltd. Solid state optical shutter
US6515737B2 (en) * 2000-01-04 2003-02-04 The Regents Of The University Of California High-resolution imaging and target designation through clouds or smoke
US6349174B1 (en) * 2000-05-17 2002-02-19 Eastman Kodak Company Method and apparatus for a color scannerless range imaging system
JP2001337166A (ja) * 2000-05-26 2001-12-07 Minolta Co Ltd 3次元入力方法および3次元入力装置
US6834128B1 (en) * 2000-06-16 2004-12-21 Hewlett-Packard Development Company, L.P. Image mosaicing system and method adapted to mass-market hand-held digital cameras
EP1302066A1 (en) 2000-07-09 2003-04-16 3DV Systems Ltd. Camera having a through the lens pixel illuminator
US6456793B1 (en) * 2000-08-03 2002-09-24 Eastman Kodak Company Method and apparatus for a color scannerless range imaging system
US6411871B1 (en) * 2000-08-05 2002-06-25 American Gnc Corporation Autonomous navigation, guidance and control using LDRI
US6535275B2 (en) * 2000-08-09 2003-03-18 Dialog Semiconductor Gmbh High resolution 3-D imaging range finder
US6410930B1 (en) * 2000-08-24 2002-06-25 Eastman Kodak Company Method and apparatus for aligning a color scannerless range imaging system
US6856407B2 (en) 2000-09-13 2005-02-15 Nextengine, Inc. Method for depth detection in 3D imaging providing a depth measurement for each unitary group of pixels
US6639684B1 (en) * 2000-09-13 2003-10-28 Nextengine, Inc. Digitizer using intensity gradient to image features of three-dimensional objects
US7358986B1 (en) 2000-09-13 2008-04-15 Nextengine, Inc. Digital imaging system having distribution controlled over a distributed network
WO2002023887A2 (en) * 2000-09-13 2002-03-21 Nextengine, Inc. Imaging system monitored or controlled to ensure fidelity of file captured
US6958777B1 (en) * 2000-09-29 2005-10-25 Ess Technology, Inc. Exposure control in electromechanical imaging devices
EP1356664A4 (en) * 2000-12-11 2009-07-22 Canesta Inc CMOS-COMPATIBLE THREE-DIMENSIONAL IMAGE SENSING USING MODULATION OF QUANTUM OUTPUT
JP2002191554A (ja) 2000-12-26 2002-07-09 Asahi Optical Co Ltd 3次元画像検出装置を備えた電子内視鏡
US6999219B2 (en) 2001-01-30 2006-02-14 3Dv Systems, Ltd. Optical modulator
US7233351B1 (en) 2001-02-23 2007-06-19 Nextengine, Inc. Method for high resolution incremental imaging
US6480265B2 (en) * 2001-03-26 2002-11-12 Deep Optic Ltd. Active target distance measurement
JP4530571B2 (ja) 2001-04-16 2010-08-25 Hoya株式会社 3次元画像検出装置
JP3726699B2 (ja) * 2001-04-20 2005-12-14 日本ビクター株式会社 光学撮像装置、光学測距装置
CA2348212A1 (en) * 2001-05-24 2002-11-24 Will Bauer Automatic pan/tilt pointing device, luminaire follow-spot, and 6dof 3d position/orientation calculation information gathering system
JP4931288B2 (ja) 2001-06-08 2012-05-16 ペンタックスリコーイメージング株式会社 画像検出装置と絞り装置
US7160258B2 (en) 2001-06-26 2007-01-09 Entrack, Inc. Capsule and method for treating or diagnosing the intestinal tract
DE10133126A1 (de) * 2001-07-07 2003-01-16 Philips Corp Intellectual Pty Richtungssensitives Audioaufnahmesystem mit Anzeige von Aufnahmegebiet und/oder Störquelle
US7212278B2 (en) * 2001-08-06 2007-05-01 Siemens Aktiengesellschaft Method and device for recording a three-dimensional distance-measuring image
JP2003149717A (ja) * 2001-11-19 2003-05-21 Mitsubishi Heavy Ind Ltd 撮像方法及び撮像装置
FR2832892B1 (fr) * 2001-11-27 2004-04-02 Thomson Licensing Sa Camera video d'effets speciaux
US20030147002A1 (en) * 2002-02-06 2003-08-07 Eastman Kodak Company Method and apparatus for a color sequential scannerless range imaging system
EP1335235A3 (en) * 2002-02-12 2003-09-17 MARICO s.a.s di Dallara Riccardo & C. A vision system using projection of figures of light
JP3832441B2 (ja) 2002-04-08 2006-10-11 松下電工株式会社 強度変調光を用いた空間情報の検出装置
AU2003225228A1 (en) 2002-05-03 2003-11-17 Donnelly Corporation Object detection system for vehicle
US9007197B2 (en) * 2002-05-20 2015-04-14 Intelligent Technologies International, Inc. Vehicular anticipatory sensor system
DE10223136C1 (de) * 2002-05-24 2003-12-24 Fraunhofer Ges Forschung Verfahren zur Anpassung und Einstellung des Tiefenmessbereichs einer Studiokamera
US20030235338A1 (en) * 2002-06-19 2003-12-25 Meetrix Corporation Transmission of independently compressed video objects over internet protocol
US7429996B2 (en) * 2002-07-16 2008-09-30 Intel Corporation Apparatus and method for sensing depth in every direction
US7161579B2 (en) * 2002-07-18 2007-01-09 Sony Computer Entertainment Inc. Hand-held computer interactive device
US7623115B2 (en) 2002-07-27 2009-11-24 Sony Computer Entertainment Inc. Method and apparatus for light input device
US7102615B2 (en) * 2002-07-27 2006-09-05 Sony Computer Entertainment Inc. Man-machine interface using a deformable device
US7646372B2 (en) * 2003-09-15 2010-01-12 Sony Computer Entertainment Inc. Methods and systems for enabling direction detection when interfacing with a computer program
US7883415B2 (en) 2003-09-15 2011-02-08 Sony Computer Entertainment Inc. Method and apparatus for adjusting a view of a scene being displayed according to tracked head motion
US8797260B2 (en) 2002-07-27 2014-08-05 Sony Computer Entertainment Inc. Inertially trackable hand-held controller
US8947347B2 (en) * 2003-08-27 2015-02-03 Sony Computer Entertainment Inc. Controlling actions in a video game unit
US9174119B2 (en) 2002-07-27 2015-11-03 Sony Computer Entertainement America, LLC Controller for providing inputs to control execution of a program when inputs are combined
US7627139B2 (en) * 2002-07-27 2009-12-01 Sony Computer Entertainment Inc. Computer image and audio processing of intensity and input devices for interfacing with a computer program
US8160269B2 (en) * 2003-08-27 2012-04-17 Sony Computer Entertainment Inc. Methods and apparatuses for adjusting a listening area for capturing sounds
US7850526B2 (en) * 2002-07-27 2010-12-14 Sony Computer Entertainment America Inc. System for tracking user manipulations within an environment
US8233642B2 (en) * 2003-08-27 2012-07-31 Sony Computer Entertainment Inc. Methods and apparatuses for capturing an audio signal based on a location of the signal
US7803050B2 (en) * 2002-07-27 2010-09-28 Sony Computer Entertainment Inc. Tracking device with sound emitter for use in obtaining information for controlling game program execution
US7854655B2 (en) * 2002-07-27 2010-12-21 Sony Computer Entertainment America Inc. Obtaining input for controlling execution of a game program
US8570378B2 (en) 2002-07-27 2013-10-29 Sony Computer Entertainment Inc. Method and apparatus for tracking three-dimensional movements of an object using a depth sensing camera
US8686939B2 (en) 2002-07-27 2014-04-01 Sony Computer Entertainment Inc. System, method, and apparatus for three-dimensional input control
US8139793B2 (en) * 2003-08-27 2012-03-20 Sony Computer Entertainment Inc. Methods and apparatus for capturing audio signals based on a visual image
US7918733B2 (en) * 2002-07-27 2011-04-05 Sony Computer Entertainment America Inc. Multi-input game control mixer
US9474968B2 (en) 2002-07-27 2016-10-25 Sony Interactive Entertainment America Llc Method and system for applying gearing effects to visual tracking
US9393487B2 (en) 2002-07-27 2016-07-19 Sony Interactive Entertainment Inc. Method for mapping movements of a hand-held controller to game commands
US7760248B2 (en) 2002-07-27 2010-07-20 Sony Computer Entertainment Inc. Selective sound source listening in conjunction with computer interactive processing
US8313380B2 (en) 2002-07-27 2012-11-20 Sony Computer Entertainment America Llc Scheme for translating movements of a hand-held controller into inputs for a system
US9682319B2 (en) 2002-07-31 2017-06-20 Sony Interactive Entertainment Inc. Combiner method for altering game gearing
US9177387B2 (en) * 2003-02-11 2015-11-03 Sony Computer Entertainment Inc. Method and apparatus for real time motion capture
US7505862B2 (en) * 2003-03-07 2009-03-17 Salmon Technologies, Llc Apparatus and method for testing electronic systems
EP1418401A1 (de) * 2003-03-26 2004-05-12 Leica Geosystems AG Verfahren und Vorrichtung zur luft- oder raumgestützten Photogrammetrie
JP2004312249A (ja) * 2003-04-04 2004-11-04 Olympus Corp カメラ
US6791673B1 (en) * 2003-04-07 2004-09-14 Robert E. Malm Ground surveillance system
NZ525241A (en) * 2003-04-08 2006-02-24 Univ Waikato Range sensing system with shuttered receiver.
US7316930B1 (en) 2003-04-21 2008-01-08 National Semiconductor Corporation Use of vertically stacked photodiodes in a gene chip system
WO2004107266A1 (en) * 2003-05-29 2004-12-09 Honda Motor Co., Ltd. Visual tracking using depth data
US8072470B2 (en) 2003-05-29 2011-12-06 Sony Computer Entertainment Inc. System and method for providing a real-time three-dimensional interactive environment
WO2004111687A2 (en) * 2003-06-12 2004-12-23 Honda Motor Co., Ltd. Target orientation estimation using depth sensing
US7044908B1 (en) 2003-07-08 2006-05-16 National Semiconductor Corporation Method and system for dynamically adjusting field of view in a capsule endoscope
ITRM20030360A1 (it) * 2003-07-23 2005-01-24 Marcello Marzoli Procedimento di ricostruzione tridimensionale di immagini
US7399274B1 (en) 2003-08-19 2008-07-15 National Semiconductor Corporation Sensor configuration for a capsule endoscope
US7191164B2 (en) * 2003-08-19 2007-03-13 Intel Corporation Searching for object images with reduced computation
US20070223732A1 (en) * 2003-08-27 2007-09-27 Mao Xiao D Methods and apparatuses for adjusting a visual image based on an audio signal
US10279254B2 (en) * 2005-10-26 2019-05-07 Sony Interactive Entertainment Inc. Controller having visually trackable object for interfacing with a gaming system
US7874917B2 (en) 2003-09-15 2011-01-25 Sony Computer Entertainment Inc. Methods and systems for enabling depth and direction detection when interfacing with a computer program
US9573056B2 (en) * 2005-10-26 2017-02-21 Sony Interactive Entertainment Inc. Expandable control device via hardware attachment
US8287373B2 (en) 2008-12-05 2012-10-16 Sony Computer Entertainment Inc. Control device for communicating visual information
US8323106B2 (en) 2008-05-30 2012-12-04 Sony Computer Entertainment America Llc Determination of controller three-dimensional location using image analysis and ultrasonic communication
WO2005036372A2 (en) * 2003-10-09 2005-04-21 Honda Motor Co., Ltd. Systems and methods for determining depth using shuttered light pulses
US7110100B2 (en) * 2003-11-04 2006-09-19 Electronic Scripting Products, Inc. Apparatus and method for determining an inclination of an elongate object contacting a plane surface
US20050134608A1 (en) * 2003-12-19 2005-06-23 Texas Instruments Incorporated Method, and related system, for overlaying a graphics object on a digital picture
US7663689B2 (en) * 2004-01-16 2010-02-16 Sony Computer Entertainment Inc. Method and apparatus for optimizing capture device settings through depth information
DE102004009541A1 (de) * 2004-02-23 2005-09-15 Iris-Gmbh Infrared & Intelligent Sensors Benutzersteuerbares Erfassungssystem
US7023536B2 (en) * 2004-03-08 2006-04-04 Electronic Scripting Products, Inc. Apparatus and method for determining orientation parameters of an elongate object
DE102004014048B4 (de) * 2004-03-19 2008-10-30 Sirona Dental Systems Gmbh Vermessungseinrichtung und Verfahren nach dem Grundprinzip der konfokalen Mikroskopie
US7161664B2 (en) 2004-04-13 2007-01-09 Electronic Scripting Products, Inc. Apparatus and method for optical determination of intermediate distances
US7526103B2 (en) 2004-04-15 2009-04-28 Donnelly Corporation Imaging system for vehicle
US7711179B2 (en) 2004-04-21 2010-05-04 Nextengine, Inc. Hand held portable three dimensional scanner
EP1607041B1 (en) 2004-06-17 2008-01-16 Cadent Ltd. Method for providing data associated with the intraoral cavity
US7834305B2 (en) * 2004-07-30 2010-11-16 Panasonic Electric Works Co., Ltd. Image processing device
JP4645177B2 (ja) * 2004-11-30 2011-03-09 パナソニック電工株式会社 計測装置
US7843488B2 (en) * 2004-08-09 2010-11-30 Stapleton John J Vision thermalization for sightless and visually impaired
US8547401B2 (en) 2004-08-19 2013-10-01 Sony Computer Entertainment Inc. Portable augmented reality device and method
JP4525253B2 (ja) * 2004-08-30 2010-08-18 オムロン株式会社 光センサおよび測距方法
US20060045174A1 (en) * 2004-08-31 2006-03-02 Ittiam Systems (P) Ltd. Method and apparatus for synchronizing a transmitter clock of an analog modem to a remote clock
WO2006087710A2 (en) * 2005-02-17 2006-08-24 3Dv Systems Ltd. Method and apparatus for imaging tissues
US9247215B1 (en) * 2005-04-22 2016-01-26 Custom Manufacturing & Engineering, Inc. Laser sensor system
RU2298223C2 (ru) * 2005-04-25 2007-04-27 Самсунг Электроникс Ко., Лтд. Система и способ коррекции темных оттенков на цифровых фотографиях
US8294809B2 (en) 2005-05-10 2012-10-23 Advanced Scientific Concepts, Inc. Dimensioning system
US7991242B2 (en) 2005-05-11 2011-08-02 Optosecurity Inc. Apparatus, method and system for screening receptacles and persons, having image distortion correction functionality
EP1886257A1 (en) 2005-05-11 2008-02-13 Optosecurity Inc. Method and system for screening luggage items, cargo containers or persons
JP2006337286A (ja) * 2005-06-03 2006-12-14 Ricoh Co Ltd 形状計測装置
JP2007214527A (ja) * 2006-01-13 2007-08-23 Ihi Corp レーザアニール方法およびレーザアニール装置
US7995834B1 (en) 2006-01-20 2011-08-09 Nextengine, Inc. Multiple laser scanner
US20110014981A1 (en) * 2006-05-08 2011-01-20 Sony Computer Entertainment Inc. Tracking device with sound emitter for use in obtaining information for controlling game program execution
US7899232B2 (en) 2006-05-11 2011-03-01 Optosecurity Inc. Method and apparatus for providing threat image projection (TIP) in a luggage screening system, and luggage screening system implementing same
JP4395150B2 (ja) * 2006-06-28 2010-01-06 富士フイルム株式会社 距離画像センサ
US7835221B2 (en) * 2006-07-06 2010-11-16 Westerngeco L.L.C. Optical methods and systems in marine seismic surveying
US8494210B2 (en) 2007-03-30 2013-07-23 Optosecurity Inc. User interface for use in security screening providing image enhancement capabilities and apparatus for implementing same
US7972045B2 (en) 2006-08-11 2011-07-05 Donnelly Corporation Automatic headlamp control system
JP4440239B2 (ja) 2006-08-18 2010-03-24 富士フイルム株式会社 距離画像作成方法及び距離画像センサ、及び撮影装置
CN100592127C (zh) * 2006-09-06 2010-02-24 鸿富锦精密工业(深圳)有限公司 相机模组
US8310656B2 (en) 2006-09-28 2012-11-13 Sony Computer Entertainment America Llc Mapping movements of a hand-held controller to the two-dimensional image plane of a display screen
US8781151B2 (en) 2006-09-28 2014-07-15 Sony Computer Entertainment Inc. Object detection using video input combined with tilt angle information
USRE48417E1 (en) 2006-09-28 2021-02-02 Sony Interactive Entertainment Inc. Object direction using video input combined with tilt angle information
EP2104930A2 (en) 2006-12-12 2009-09-30 Evans & Sutherland Computer Corporation System and method for aligning rgb light in a single modulator projector
US8208129B2 (en) * 2007-01-14 2012-06-26 Microsoft International Holdings B.V. Method, device and system for imaging
US20080231835A1 (en) * 2007-03-23 2008-09-25 Keigo Iizuka Divergence ratio distance mapping camera
US8542907B2 (en) 2007-12-17 2013-09-24 Sony Computer Entertainment America Llc Dynamic three-dimensional object mapping for user-defined control device
WO2009078002A1 (en) * 2007-12-19 2009-06-25 Microsoft International Holdings B.V. 3d camera and methods of gating thereof
US8149210B2 (en) * 2007-12-31 2012-04-03 Microsoft International Holdings B.V. Pointing device and method
US8840470B2 (en) * 2008-02-27 2014-09-23 Sony Computer Entertainment America Llc Methods for capturing depth data of a scene and applying computer actions
US8121351B2 (en) * 2008-03-09 2012-02-21 Microsoft International Holdings B.V. Identification of objects in a 3D video using non/over reflective clothing
US8368753B2 (en) 2008-03-17 2013-02-05 Sony Computer Entertainment America Llc Controller with an integrated depth camera
JP2009276248A (ja) * 2008-05-15 2009-11-26 Mitsubishi Electric Corp レーザレーダ装置
US8358317B2 (en) 2008-05-23 2013-01-22 Evans & Sutherland Computer Corporation System and method for displaying a planar image on a curved surface
US8282485B1 (en) 2008-06-04 2012-10-09 Zhang Evan Y W Constant and shadowless light source
US8702248B1 (en) 2008-06-11 2014-04-22 Evans & Sutherland Computer Corporation Projection method for reducing interpixel gaps on a viewing surface
US8227965B2 (en) 2008-06-20 2012-07-24 Arradiance, Inc. Microchannel plate devices with tunable resistive films
EP2310798B1 (en) * 2008-07-29 2016-10-26 Microsoft International Holdings B.V. Imaging system
US8682522B2 (en) * 2008-08-18 2014-03-25 Raytheon Company Systems and methods for triaging a plurality of targets with a robotic vehicle
US8133119B2 (en) * 2008-10-01 2012-03-13 Microsoft Corporation Adaptation for alternate gaming input devices
DE102008052064B4 (de) * 2008-10-17 2010-09-09 Diehl Bgt Defence Gmbh & Co. Kg Vorrichtung zur Aufnahme von Bildern einer Objektszene
US8077378B1 (en) 2008-11-12 2011-12-13 Evans & Sutherland Computer Corporation Calibration system and method for light modulation device
EP3396416A1 (en) * 2008-11-25 2018-10-31 Tetravue, Inc. Systems and methods of high resolution three-dimensional imaging
US8961313B2 (en) 2009-05-29 2015-02-24 Sony Computer Entertainment America Llc Multi-positional three-dimensional controller
EP2200006B1 (en) * 2008-12-19 2013-03-13 Saab Ab Method and arrangement for estimating at least one parameter of an intruder
US8681321B2 (en) 2009-01-04 2014-03-25 Microsoft International Holdings B.V. Gated 3D camera
JP5230456B2 (ja) * 2009-01-09 2013-07-10 キヤノン株式会社 画像処理装置および画像処理方法
US8294767B2 (en) 2009-01-30 2012-10-23 Microsoft Corporation Body scan
US9652030B2 (en) * 2009-01-30 2017-05-16 Microsoft Technology Licensing, Llc Navigation of a virtual plane using a zone of restriction for canceling noise
US8866821B2 (en) * 2009-01-30 2014-10-21 Microsoft Corporation Depth map movement tracking via optical flow and velocity prediction
US8295546B2 (en) 2009-01-30 2012-10-23 Microsoft Corporation Pose tracking pipeline
US8773355B2 (en) * 2009-03-16 2014-07-08 Microsoft Corporation Adaptive cursor sizing
US9256282B2 (en) * 2009-03-20 2016-02-09 Microsoft Technology Licensing, Llc Virtual object manipulation
US8527657B2 (en) * 2009-03-20 2013-09-03 Sony Computer Entertainment America Llc Methods and systems for dynamically adjusting update rates in multi-player network gaming
US8988437B2 (en) 2009-03-20 2015-03-24 Microsoft Technology Licensing, Llc Chaining animations
EP2236980B1 (en) * 2009-03-31 2018-05-02 Alcatel Lucent A method for determining the relative position of a first and a second imaging device and devices therefore
US8342963B2 (en) 2009-04-10 2013-01-01 Sony Computer Entertainment America Inc. Methods and systems for enabling control of artificial intelligence game characters
US8942428B2 (en) 2009-05-01 2015-01-27 Microsoft Corporation Isolate extraneous motions
US8181123B2 (en) 2009-05-01 2012-05-15 Microsoft Corporation Managing virtual port associations to users in a gesture-based computing environment
US20100277470A1 (en) * 2009-05-01 2010-11-04 Microsoft Corporation Systems And Methods For Applying Model Tracking To Motion Capture
US8649554B2 (en) 2009-05-01 2014-02-11 Microsoft Corporation Method to control perspective for a camera-controlled computer
US9498718B2 (en) * 2009-05-01 2016-11-22 Microsoft Technology Licensing, Llc Altering a view perspective within a display environment
US8253746B2 (en) 2009-05-01 2012-08-28 Microsoft Corporation Determine intended motions
US9015638B2 (en) * 2009-05-01 2015-04-21 Microsoft Technology Licensing, Llc Binding users to a gesture based system and providing feedback to the users
US9377857B2 (en) * 2009-05-01 2016-06-28 Microsoft Technology Licensing, Llc Show body position
US8340432B2 (en) * 2009-05-01 2012-12-25 Microsoft Corporation Systems and methods for detecting a tilt angle from a depth image
US9898675B2 (en) * 2009-05-01 2018-02-20 Microsoft Technology Licensing, Llc User movement tracking feedback to improve tracking
US8503720B2 (en) 2009-05-01 2013-08-06 Microsoft Corporation Human body pose estimation
US8638985B2 (en) 2009-05-01 2014-01-28 Microsoft Corporation Human body pose estimation
US8142288B2 (en) 2009-05-08 2012-03-27 Sony Computer Entertainment America Llc Base station movement detection and compensation
US8393964B2 (en) 2009-05-08 2013-03-12 Sony Computer Entertainment America Llc Base station for position location
US20100302376A1 (en) * 2009-05-27 2010-12-02 Pierre Benoit Boulanger System and method for high-quality real-time foreground/background separation in tele-conferencing using self-registered color/infrared input images and closed-form natural image matting techniques
ES2553111T3 (es) 2009-05-28 2015-12-04 Ben Gurion University Of The Negev Research And Development Authority Sistema de perturbación del equilibrio y entrenador
US8418085B2 (en) * 2009-05-29 2013-04-09 Microsoft Corporation Gesture coach
US8542252B2 (en) * 2009-05-29 2013-09-24 Microsoft Corporation Target digitization, extraction, and tracking
US20100306716A1 (en) * 2009-05-29 2010-12-02 Microsoft Corporation Extending standard gestures
US9383823B2 (en) 2009-05-29 2016-07-05 Microsoft Technology Licensing, Llc Combining gestures beyond skeletal
US9182814B2 (en) * 2009-05-29 2015-11-10 Microsoft Technology Licensing, Llc Systems and methods for estimating a non-visible or occluded body part
US8803889B2 (en) 2009-05-29 2014-08-12 Microsoft Corporation Systems and methods for applying animations or motions to a character
US8176442B2 (en) * 2009-05-29 2012-05-08 Microsoft Corporation Living cursor control mechanics
US8744121B2 (en) 2009-05-29 2014-06-03 Microsoft Corporation Device for identifying and tracking multiple humans over time
US8145594B2 (en) * 2009-05-29 2012-03-27 Microsoft Corporation Localized gesture aggregation
US8625837B2 (en) * 2009-05-29 2014-01-07 Microsoft Corporation Protocol and format for communicating an image from a camera to a computing environment
US8320619B2 (en) 2009-05-29 2012-11-27 Microsoft Corporation Systems and methods for tracking a model
US20100302138A1 (en) * 2009-05-29 2010-12-02 Microsoft Corporation Methods and systems for defining or modifying a visual representation
US8856691B2 (en) * 2009-05-29 2014-10-07 Microsoft Corporation Gesture tool
US8379101B2 (en) 2009-05-29 2013-02-19 Microsoft Corporation Environment and/or target segmentation
US20100302365A1 (en) * 2009-05-29 2010-12-02 Microsoft Corporation Depth Image Noise Reduction
US8509479B2 (en) 2009-05-29 2013-08-13 Microsoft Corporation Virtual object
US9400559B2 (en) 2009-05-29 2016-07-26 Microsoft Technology Licensing, Llc Gesture shortcuts
US20100306685A1 (en) * 2009-05-29 2010-12-02 Microsoft Corporation User movement feedback via on-screen avatars
US7914344B2 (en) * 2009-06-03 2011-03-29 Microsoft Corporation Dual-barrel, connector jack and plug assemblies
US8390680B2 (en) * 2009-07-09 2013-03-05 Microsoft Corporation Visual representation expression based on player expression
US9159151B2 (en) * 2009-07-13 2015-10-13 Microsoft Technology Licensing, Llc Bringing a visual representation to life via learned input from the user
US20110025689A1 (en) * 2009-07-29 2011-02-03 Microsoft Corporation Auto-Generating A Visual Representation
US9141193B2 (en) * 2009-08-31 2015-09-22 Microsoft Technology Licensing, Llc Techniques for using human gestures to control gesture unaware programs
US9014546B2 (en) 2009-09-23 2015-04-21 Rovi Guides, Inc. Systems and methods for automatically detecting users within detection regions of media devices
US20110109617A1 (en) * 2009-11-12 2011-05-12 Microsoft Corporation Visualizing Depth
KR101675112B1 (ko) * 2010-01-21 2016-11-22 삼성전자주식회사 거리 정보 추출 방법 및 상기 방법을 채용한 광학 장치
US8134719B2 (en) * 2010-03-19 2012-03-13 Carestream Health, Inc. 3-D imaging using telecentric defocus
JP5519381B2 (ja) * 2010-04-09 2014-06-11 トヨタ自動車株式会社 スペクトル測定装置
DE102010028949A1 (de) * 2010-05-12 2011-11-17 Osram Gesellschaft mit beschränkter Haftung Scheinwerfermodul
US8384770B2 (en) * 2010-06-02 2013-02-26 Nintendo Co., Ltd. Image display system, image display apparatus, and image display method
US10628729B2 (en) 2010-06-08 2020-04-21 Styku, LLC System and method for body scanning and avatar creation
US10628666B2 (en) 2010-06-08 2020-04-21 Styku, LLC Cloud server body scan data system
US11640672B2 (en) 2010-06-08 2023-05-02 Styku Llc Method and system for wireless ultra-low footprint body scanning
US11244223B2 (en) 2010-06-08 2022-02-08 Iva Sareen Online garment design and collaboration system and method
EP2395768B1 (en) 2010-06-11 2015-02-25 Nintendo Co., Ltd. Image display program, image display system, and image display method
TWI540312B (zh) * 2010-06-15 2016-07-01 原相科技股份有限公司 可提高測量精確度、省電及/或能提高移動偵測效率的時差測距系統及其方法
CN102346020B (zh) * 2010-08-04 2013-10-23 原相科技股份有限公司 用于互动介面的三维信息产生装置与三维信息产生方法
KR101753312B1 (ko) * 2010-09-17 2017-07-03 삼성전자주식회사 뎁스 영상 생성 장치 및 방법
JP5739674B2 (ja) 2010-09-27 2015-06-24 任天堂株式会社 情報処理プログラム、情報処理装置、情報処理システム、および、情報処理方法
US8681255B2 (en) 2010-09-28 2014-03-25 Microsoft Corporation Integrated low power depth camera and projection device
US9344736B2 (en) 2010-09-30 2016-05-17 Alcatel Lucent Systems and methods for compressive sense imaging
US9319578B2 (en) * 2012-10-24 2016-04-19 Alcatel Lucent Resolution and focus enhancement
US9484065B2 (en) 2010-10-15 2016-11-01 Microsoft Technology Licensing, Llc Intelligent determination of replays based on event identification
US8667519B2 (en) 2010-11-12 2014-03-04 Microsoft Corporation Automatic passive and anonymous feedback system
JP5574927B2 (ja) * 2010-11-19 2014-08-20 キヤノン株式会社 測定装置
KR101798063B1 (ko) 2010-12-14 2017-11-15 삼성전자주식회사 조명 광학계 및 이를 포함하는 3차원 영상 획득 장치
KR101691156B1 (ko) * 2010-12-14 2016-12-30 삼성전자주식회사 조명 광학계와 결상 광학계가 통합된 광학계 및 이를 포함하는 3차원 영상 획득 장치
US20120154535A1 (en) * 2010-12-15 2012-06-21 Microsoft Corporation Capturing gated and ungated light in the same frame on the same photosurface
GB2486467A (en) 2010-12-16 2012-06-20 Thermo Electron Mfg Ltd Hybrid electrical/optical cable uses transparent insulating material as optical waveguide
KR101722641B1 (ko) 2010-12-23 2017-04-04 삼성전자주식회사 3차원 영상 획득 장치 및 상기 3차원 영상 획득 장치에서 깊이 정보를 추출하는 방법
DE102011010334B4 (de) * 2011-02-04 2014-08-28 Eads Deutschland Gmbh Kamerasystem und Verfahren zur Beobachtung von Objekten in großer Entfernung, insbesondere zur Überwachung von Zielobjekten bei Nacht, Dunst, Staub oder Regen
US8942917B2 (en) 2011-02-14 2015-01-27 Microsoft Corporation Change invariant scene recognition by an agent
WO2012110924A1 (en) * 2011-02-15 2012-08-23 Basf Se Detector for optically detecting at least one object
US8620113B2 (en) 2011-04-25 2013-12-31 Microsoft Corporation Laser diode modes
US8921748B2 (en) * 2011-05-19 2014-12-30 Lockheed Martin Corporation Optical window and detection system employing the same
US8760395B2 (en) 2011-05-31 2014-06-24 Microsoft Corporation Gesture recognition techniques
US10007330B2 (en) 2011-06-21 2018-06-26 Microsoft Technology Licensing, Llc Region of interest segmentation
US8734328B2 (en) 2011-08-12 2014-05-27 Intuitive Surgical Operations, Inc. Increased resolution and dynamic range image capture unit in a surgical instrument and method
US8672838B2 (en) * 2011-08-12 2014-03-18 Intuitive Surgical Operations, Inc. Image capture unit in a surgical instrument
PL2753920T3 (pl) 2011-09-07 2018-09-28 Rapiscan Systems, Inc. System badania rentgenowskiego integrujący dane manifestu z przetwarzaniem obrazowania/detekcji
CN104796613A (zh) * 2011-09-28 2015-07-22 原相科技股份有限公司 影像系统
TWI526706B (zh) * 2011-10-05 2016-03-21 原相科技股份有限公司 影像系統
US9641826B1 (en) 2011-10-06 2017-05-02 Evans & Sutherland Computer Corporation System and method for displaying distant 3-D stereo on a dome surface
KR101854188B1 (ko) * 2011-10-25 2018-05-08 삼성전자주식회사 3차원 영상 획득 장치 및 3차원 영상 획득 장치에서 깊이 정보 산출 방법
JP5896702B2 (ja) * 2011-11-30 2016-03-30 オリンパス株式会社 光音響顕微鏡
US8635637B2 (en) 2011-12-02 2014-01-21 Microsoft Corporation User interface presenting an animated avatar performing a media reaction
US9100685B2 (en) 2011-12-09 2015-08-04 Microsoft Technology Licensing, Llc Determining audience state or interest using passive sensor data
JP5576851B2 (ja) * 2011-12-27 2014-08-20 本田技研工業株式会社 測距システム及び測距方法
IL217361A0 (en) * 2012-01-04 2012-03-29 Rafael Advanced Defense Sys Device & method providing combined video camera and range finder functionality
KR101955334B1 (ko) 2012-02-07 2019-03-07 삼성전자주식회사 3차원 영상 획득 장치 및 상기 3차원 영상 획득 장치에서 깊이 정보를 추출하는 방법
US8898687B2 (en) 2012-04-04 2014-11-25 Microsoft Corporation Controlling a media program based on a media reaction
US9723233B2 (en) 2012-04-18 2017-08-01 Brightway Vision Ltd. Controllable gated sensor
US9046363B2 (en) * 2012-04-27 2015-06-02 SATOP GmbH Using multispectral satellite data to determine littoral water depths despite varying water turbidity
CA2775700C (en) 2012-05-04 2013-07-23 Microsoft Corporation Determining a future portion of a currently presented media program
JP6011040B2 (ja) * 2012-06-07 2016-10-19 オムロン株式会社 光電センサ
TWM446323U (zh) * 2012-08-03 2013-02-01 Ind Tech Res Inst 開口率量測感知裝置、開口距離感知裝置及光感測模組
US9071763B1 (en) * 2012-09-26 2015-06-30 Google Inc. Uniform illumination image capture
KR20140064478A (ko) 2012-11-20 2014-05-28 삼성디스플레이 주식회사 영상 감지 유닛, 3d 영상 처리 장치, 3d 카메라 시스템, 3d 영상 처리 방법
US9857470B2 (en) 2012-12-28 2018-01-02 Microsoft Technology Licensing, Llc Using photometric stereo for 3D environment modeling
WO2014119241A1 (ja) * 2013-01-31 2014-08-07 パナソニック株式会社 測距方法および測距システム
US9940553B2 (en) 2013-02-22 2018-04-10 Microsoft Technology Licensing, Llc Camera/object pose from predicted coordinates
KR102040152B1 (ko) 2013-04-08 2019-12-05 삼성전자주식회사 3차원 영상 획득 장치 및 3차원 영상 획득 장치에서의 깊이 영상 생성 방법
KR102056904B1 (ko) * 2013-05-22 2019-12-18 삼성전자주식회사 3차원 영상 획득 장치 및 그 구동 방법
US9829564B2 (en) * 2013-06-13 2017-11-28 Basf Se Detector for optically detecting at least one longitudinal coordinate of one object by determining a number of illuminated pixels
IL227265A0 (en) * 2013-06-30 2013-12-31 Brightway Vision Ltd Smart flash for the camera
US9674563B2 (en) 2013-11-04 2017-06-06 Rovi Guides, Inc. Systems and methods for recommending content
US10203399B2 (en) 2013-11-12 2019-02-12 Big Sky Financial Corporation Methods and apparatus for array based LiDAR systems with reduced interference
US9568280B1 (en) 2013-11-25 2017-02-14 Lockheed Martin Corporation Solid nose cone and related components
EP2894491B1 (en) * 2013-12-18 2020-05-27 LG Electronics Inc. Distance measuring device and method thereof
KR102138522B1 (ko) * 2013-12-18 2020-07-28 엘지전자 주식회사 레이저 거리 측정 장치 및 제어방법
WO2015144973A1 (en) * 2014-03-28 2015-10-01 Nokia Technologies Oy Digital imaging with pulsed illumination to generate a depth map
US9360554B2 (en) 2014-04-11 2016-06-07 Facet Technology Corp. Methods and apparatus for object detection and identification in a multiple detector lidar array
CN106464858B (zh) * 2014-04-26 2019-08-20 泰特拉维公司 用于3d成像中的深度感测的耐用且延伸的照明波形的方法和系统
US20150334371A1 (en) * 2014-05-19 2015-11-19 Rockwell Automation Technologies, Inc. Optical safety monitoring with selective pixel array analysis
US9921300B2 (en) * 2014-05-19 2018-03-20 Rockwell Automation Technologies, Inc. Waveform reconstruction in a time-of-flight sensor
US9696424B2 (en) 2014-05-19 2017-07-04 Rockwell Automation Technologies, Inc. Optical area monitoring with spot matrix illumination
US11243294B2 (en) 2014-05-19 2022-02-08 Rockwell Automation Technologies, Inc. Waveform reconstruction in a time-of-flight sensor
US9256944B2 (en) 2014-05-19 2016-02-09 Rockwell Automation Technologies, Inc. Integration of optical area monitoring with industrial machine control
US9534868B1 (en) 2014-06-03 2017-01-03 Lockheed Martin Corporation Aerodynamic conformal nose cone and scanning mechanism
US9291447B2 (en) 2014-07-09 2016-03-22 Mitutoyo Corporation Method for controlling motion of a coordinate measuring machine
KR102194237B1 (ko) 2014-08-29 2020-12-22 삼성전자주식회사 깊이 영상 촬영 장치 및 깊이 정보 획득 방법
US9625108B2 (en) 2014-10-08 2017-04-18 Rockwell Automation Technologies, Inc. Auxiliary light source associated with an industrial application
WO2016075885A1 (ja) * 2014-11-11 2016-05-19 パナソニックIpマネジメント株式会社 距離検出装置及び距離検出方法
US11609069B2 (en) 2015-01-20 2023-03-21 Torrey Pines Logic, Inc. Single aperture laser range finder
EP3059608B1 (de) * 2015-02-20 2016-11-30 Sick Ag Optoelektronischer sensor und verfahren zur erfassung von objekten
US10254407B2 (en) 2015-03-02 2019-04-09 Northwestern University Electroabsorption modulator for depth imaging and other applications
US10036801B2 (en) 2015-03-05 2018-07-31 Big Sky Financial Corporation Methods and apparatus for increased precision and improved range in a multiple detector LiDAR array
US10145942B2 (en) * 2015-03-27 2018-12-04 Intel Corporation Techniques for spatio-temporal compressed time of flight imaging
US9864048B2 (en) * 2015-05-17 2018-01-09 Microsoft Technology Licensing, Llc. Gated time of flight camera
EP3329248B1 (en) * 2015-07-30 2020-09-02 TRUMPF Photonic Components GmbH Laser sensor for particle density detection
WO2017020196A1 (zh) * 2015-07-31 2017-02-09 深圳市大疆创新科技有限公司 探测装置、探测系统、探测方法,以及可移动设备
WO2017046121A1 (en) * 2015-09-14 2017-03-23 Trinamix Gmbh 3d camera
EP3159711A1 (en) 2015-10-23 2017-04-26 Xenomatix NV System and method for determining a distance to an object
KR102610830B1 (ko) 2015-12-24 2023-12-06 삼성전자주식회사 거리 정보를 획득하는 방법 및 디바이스
US10349038B2 (en) 2016-01-04 2019-07-09 Facebook Technologies, Llc Dynamic control over structured illumination intensity
CN108474843B (zh) * 2016-01-29 2022-06-28 松下知识产权经营株式会社 距离测量装置
GB2564038B (en) 2016-02-22 2021-11-10 Rapiscan Systems Inc Systems and methods for detecting threats and contraband in cargo
US10311590B1 (en) * 2016-03-01 2019-06-04 Al Incorporated Method for estimating distance using point measurement and color depth
US11037320B1 (en) 2016-03-01 2021-06-15 AI Incorporated Method for estimating distance using point measurement and color depth
US9866816B2 (en) 2016-03-03 2018-01-09 4D Intellectual Properties, Llc Methods and apparatus for an active pulsed 4D camera for image acquisition and analysis
US10761195B2 (en) 2016-04-22 2020-09-01 OPSYS Tech Ltd. Multi-wavelength LIDAR system
KR20180016120A (ko) * 2016-08-05 2018-02-14 삼성전자주식회사 3차원 깊이 센서 및 이를 이용한 거리 측정 방법
KR20180021509A (ko) 2016-08-22 2018-03-05 삼성전자주식회사 거리 정보를 획득하는 방법 및 디바이스
US10066986B2 (en) * 2016-08-31 2018-09-04 GM Global Technology Operations LLC Light emitting sensor having a plurality of secondary lenses of a moveable control structure for controlling the passage of light between a plurality of light emitters and a primary lens
JP6754706B2 (ja) 2017-02-14 2020-09-16 京セラ株式会社 電磁波検出装置、プログラム、および情報取得システム
EP3584602A4 (en) * 2017-02-15 2020-12-09 Pioneer Corporation OPTICAL SCANNING DEVICE AND CONTROL METHOD
DE102017103660B4 (de) 2017-02-22 2021-11-11 OSRAM Opto Semiconductors Gesellschaft mit beschränkter Haftung Verfahren zum betrieb einer lichtquelle für eine kamera, lichtquelle, kamera
EP3596492A4 (en) 2017-03-13 2020-12-16 Opsys Tech Ltd EYE-FREE SCANNING LIDAR SYSTEM
US10366294B2 (en) * 2017-03-23 2019-07-30 Aptiv Technologies Limited Transparency-characteristic based object classification for automated vehicle
US10739447B2 (en) * 2017-04-20 2020-08-11 Wisconsin Alumni Research Foundation Systems, methods, and media for encoding and decoding signals used in time of flight imaging
US10645367B2 (en) * 2017-04-20 2020-05-05 Wisconsin Alumni Research Foundation Systems, methods, and media for encoding and decoding signals used in time of flight imaging
US20220215224A1 (en) * 2017-06-22 2022-07-07 Iva Sareen Online garment design and collaboration system and method
US10754033B2 (en) 2017-06-30 2020-08-25 Waymo Llc Light detection and ranging (LIDAR) device range aliasing resilience by multiple hypotheses
KR102218679B1 (ko) 2017-07-28 2021-02-23 옵시스 테크 엘티디 작은 각도 발산을 갖는 vcsel 어레이 lidar 송신기
CN107678038A (zh) * 2017-09-27 2018-02-09 上海有个机器人有限公司 机器人防碰撞方法、机器人以及存储介质
US11802943B2 (en) 2017-11-15 2023-10-31 OPSYS Tech Ltd. Noise adaptive solid-state LIDAR system
US11340339B2 (en) 2017-12-22 2022-05-24 Waymo Llc Systems and methods for adaptive range coverage using LIDAR
JP7025940B2 (ja) * 2018-01-26 2022-02-25 京セラ株式会社 電磁波検出装置および情報取得システム
CN111886517B (zh) * 2018-03-20 2024-03-08 松下知识产权经营株式会社 距离测量装置、距离测量系统、距离测量方法和程序
KR102506579B1 (ko) * 2018-04-01 2023-03-06 옵시스 테크 엘티디 잡음 적응형 솔리드-스테이트 lidar 시스템
JP7126123B2 (ja) * 2018-05-14 2022-08-26 パナソニックIpマネジメント株式会社 学習装置、学習方法及びプログラム
CN108563084B (zh) * 2018-05-25 2020-10-23 深圳新亮智能技术有限公司 多结构光图案三维传感系统
CN109269427A (zh) * 2018-10-31 2019-01-25 贵州电网有限责任公司 一种输电线路覆冰厚度精确测量系统及其测量方法
DE102018221083A1 (de) * 2018-12-06 2020-06-10 Robert Bosch Gmbh LiDAR-System sowie Kraftfahrzeug
JP2020125983A (ja) * 2019-02-05 2020-08-20 Jnc株式会社 測距装置及び測距方法
JP2020173165A (ja) * 2019-04-10 2020-10-22 パイオニア株式会社 距離算出装置
WO2020242834A1 (en) 2019-05-30 2020-12-03 OPSYS Tech Ltd. Eye-safe long-range lidar system using actuator
KR102538137B1 (ko) 2019-06-10 2023-05-31 옵시스 테크 엘티디 눈-안전 장거리 고체 상태 lidar 시스템
JP7401201B2 (ja) * 2019-06-17 2023-12-19 株式会社フジタ 水底形状測定装置
CN110275098B (zh) * 2019-06-28 2021-07-09 杭州赫太克科技有限公司 紫外成像仪
WO2021015208A1 (ja) * 2019-07-22 2021-01-28 株式会社小糸製作所 アクティブセンサ、ゲーティングカメラ、自動車、車両用灯具
CN111856091B (zh) * 2020-08-04 2021-09-24 河南大学 一种精准推进探针的方法
JP7037609B2 (ja) * 2020-08-24 2022-03-16 京セラ株式会社 電磁波検出装置およびプログラム

Family Cites Families (60)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3634725A (en) * 1967-09-28 1972-01-11 Polaroid Corp Modulated electronic flash control
US3571493A (en) * 1967-10-20 1971-03-16 Texas Instruments Inc Intensity modulated laser imagery display
US3629796A (en) * 1968-12-11 1971-12-21 Atlantic Richfield Co Seismic holography
US3734625A (en) * 1969-09-12 1973-05-22 Honeywell Inc Readout system for a magneto-optic memory
US3834816A (en) * 1970-12-10 1974-09-10 Hughes Aircraft Co Colinear heterodyne frequency modulator
US3886303A (en) * 1972-12-21 1975-05-27 Gen Electric Automatic ranging in an active television system
US3895388A (en) * 1973-10-25 1975-07-15 Ibm Adaptive illuminator
DE2453077B2 (de) * 1974-11-08 1976-09-02 Precitronic Gesellschaft für Feinmechanik und Electronic mbH, 2000 Hamburg Empfangs-sendeeinrichtung fuer die informationsuebermittlung mittels gebuendelter, modulierter lichtstrahlen
JPS5443493A (en) * 1977-09-12 1979-04-06 Toshiba Corp Radar device
JPS5596475A (en) * 1979-01-19 1980-07-22 Nissan Motor Co Ltd Obstacle detector for vehicle
DE3021448A1 (de) * 1980-06-06 1981-12-24 Siemens AG, 1000 Berlin und 8000 München Verfahren und anordnung zur erfassung raeumlicher abweichungen von einer glatten ebene an oberflaechen von gegenstaenden
US4769700A (en) * 1981-11-20 1988-09-06 Diffracto Ltd. Robot tractors
JPS57193183A (en) * 1981-05-25 1982-11-27 Mitsubishi Electric Corp Image pickup device
US4408263A (en) * 1981-12-14 1983-10-04 Wonder Corporation Of America Disposable flashlight
JPS59198378A (ja) * 1983-04-27 1984-11-10 Nissan Motor Co Ltd 光レ−ダ装置
DE3404396A1 (de) * 1984-02-08 1985-08-14 Dornier Gmbh, 7990 Friedrichshafen Vorrichtung und verfahren zur aufnahme von entfernungsbildern
US4734735A (en) * 1985-08-23 1988-03-29 Konishiroku Photo Industry Co., Ltd. Image apparatus having a color separation function
US4687326A (en) * 1985-11-12 1987-08-18 General Electric Company Integrated range and luminance camera
US5255087A (en) * 1986-11-29 1993-10-19 Olympus Optical Co., Ltd. Imaging apparatus and endoscope apparatus using the same
US4971413A (en) * 1987-05-13 1990-11-20 Nikon Corporation Laser beam depicting apparatus
US5081530A (en) * 1987-06-26 1992-01-14 Antonio Medina Three dimensional camera and range finder
US4734733A (en) * 1987-09-21 1988-03-29 Polaroid Corporation Camera with two position strobe
JPH01100492A (ja) * 1987-10-14 1989-04-18 Matsushita Electric Ind Co Ltd レーザ視覚センサ
CH674675A5 (zh) * 1987-10-23 1990-06-29 Kern & Co Ag
US4959726A (en) * 1988-03-10 1990-09-25 Fuji Photo Film Co., Ltd. Automatic focusing adjusting device
US4780732A (en) * 1988-03-21 1988-10-25 Xerox Corporation Dual interaction TIR modulator
JPH03505123A (ja) * 1988-06-20 1991-11-07 アジエイ,キーマル 距離測定装置
US5013917A (en) * 1988-07-07 1991-05-07 Kaman Aerospace Corporation Imaging lidar system using non-visible light
US4991953A (en) * 1989-02-09 1991-02-12 Eye Research Institute Of Retina Foundation Scanning laser vitreous camera
US5009502A (en) * 1989-04-20 1991-04-23 Hughes Aircraft Company System of holographic optical elements for testing laser range finders
JPH032582A (ja) * 1989-05-30 1991-01-08 Hamamatsu Photonics Kk 物体検知装置
US4935616A (en) * 1989-08-14 1990-06-19 The United States Of America As Represented By The Department Of Energy Range imaging laser radar
US5343391A (en) * 1990-04-10 1994-08-30 Mushabac David R Device for obtaining three dimensional contour data and for operating on a patient and related method
US5056914A (en) * 1990-07-12 1991-10-15 Ball Corporation Charge integration range detector
US5090803A (en) * 1990-09-21 1992-02-25 Lockheed Missiles & Space Company, Inc. Optical coordinate transfer assembly
US5198877A (en) * 1990-10-15 1993-03-30 Pixsys, Inc. Method and apparatus for three-dimensional non-contact shape sensing
US5200793A (en) * 1990-10-24 1993-04-06 Kaman Aerospace Corporation Range finding array camera
JPH04169805A (ja) * 1990-11-01 1992-06-17 Matsushita Electric Ind Co Ltd 三次元画像測定装置
US5253033A (en) * 1990-12-03 1993-10-12 Raytheon Company Laser radar system with phased-array beam steerer
US5164823A (en) * 1990-12-21 1992-11-17 Kaman Aerospace Corporation Imaging lidar system employing multipulse single and multiple gating for single and stacked frames
US5157451A (en) * 1991-04-01 1992-10-20 John Taboada Laser imaging and ranging system using two cameras
US5225882A (en) * 1991-04-23 1993-07-06 Nec Corporation Moving body measuring apparatus
JP3217386B2 (ja) * 1991-04-24 2001-10-09 オリンパス光学工業株式会社 診断システム
US5257085A (en) * 1991-04-24 1993-10-26 Kaman Aerospace Corporation Spectrally dispersive imaging lidar system
US5216259A (en) * 1991-05-10 1993-06-01 Robotic Vision System, Inc. Apparatus and method for improved determination of the spatial location of object surface points
US5200931A (en) * 1991-06-18 1993-04-06 Alliant Techsystems Inc. Volumetric and terrain imaging sonar
US5243553A (en) * 1991-07-02 1993-09-07 Loral Vought Systems Corporation Gate array pulse capture device
US5110203A (en) * 1991-08-28 1992-05-05 The United States Of America As Represented By The Secretary Of The Navy Three dimensional range imaging system
DE4129912C1 (zh) * 1991-09-09 1992-10-22 Dornier Luftfahrt Gmbh, 8031 Wessling, De
US5265327A (en) * 1991-09-13 1993-11-30 Faris Sadeg M Microchannel plate technology
US5220164A (en) * 1992-02-05 1993-06-15 General Atomics Integrated imaging and ranging lidar receiver with ranging information pickoff circuit
US5408263A (en) * 1992-06-16 1995-04-18 Olympus Optical Co., Ltd. Electronic endoscope apparatus
JPH0659038A (ja) * 1992-08-07 1994-03-04 Nissan Motor Co Ltd 車両用レーザレーダ
US5434612A (en) * 1992-09-25 1995-07-18 The United States Of America As Represented By The Secretary Of The Army Duo-frame normalization technique
US5334848A (en) * 1993-04-09 1994-08-02 Trw Inc. Spacecraft docking sensor system
JPH07110381A (ja) * 1993-10-07 1995-04-25 Wacom Co Ltd 距離カメラ装置
JPH07142761A (ja) * 1993-11-18 1995-06-02 Mitsubishi Electric Corp 受光素子ならびに受光素子アレイおよび画像検出装置ならびに画像検出方法
JPH0832855A (ja) * 1994-07-11 1996-02-02 Fuji Photo Film Co Ltd 電子スチル・カメラ,画像合成装置および画像抽出装置
JP3869005B2 (ja) * 1995-06-22 2007-01-17 3ディブイ・システムズ・リミテッド テレセントリック立体カメラと方法
IL114278A (en) * 1995-06-22 2010-06-16 Microsoft Internat Holdings B Camera and method

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100451559C (zh) * 2004-03-19 2009-01-14 三丰株式会社 光电式编码器
CN109470143A (zh) * 2018-12-07 2019-03-15 哈尔滨工业大学 外部光源高分辨力立体视觉测量系统与方法

Also Published As

Publication number Publication date
JP5180534B2 (ja) 2013-04-10
JPH11508371A (ja) 1999-07-21
CN100524015C (zh) 2009-08-05
DE69635858T2 (de) 2006-11-30
US6091905A (en) 2000-07-18
JP2008014955A (ja) 2008-01-24
JP5688722B2 (ja) 2015-03-25
DE69635891T2 (de) 2006-12-14
CN1101056C (zh) 2003-02-05
EP0886790A4 (zh) 1999-01-07
AU6136096A (en) 1997-01-22
DE69635891D1 (de) 2006-05-04
DE69635858D1 (de) 2006-04-27
AU6135996A (en) 1997-01-22
EP0886790A2 (en) 1998-12-30
JP5180535B2 (ja) 2013-04-10
WO1997001111A2 (en) 1997-01-09
WO1997001112A2 (en) 1997-01-09
CN1194056A (zh) 1998-09-23
EP0835460A2 (en) 1998-04-15
EP0835460B1 (en) 2006-03-08
WO1997001112B1 (en) 2001-04-05
EP0835460A4 (en) 1999-01-13
US6057909A (en) 2000-05-02
JP3869005B2 (ja) 2007-01-17
WO1997001111A3 (en) 1997-02-27
EP0886790B1 (en) 2006-03-01
JP2008047925A (ja) 2008-02-28
JP2008003099A (ja) 2008-01-10
JP2007333746A (ja) 2007-12-27
JPH11508359A (ja) 1999-07-21
JP2011039076A (ja) 2011-02-24
CN1437063A (zh) 2003-08-20
JP2009122119A (ja) 2009-06-04
JP4808684B2 (ja) 2011-11-02
WO1997001112A3 (en) 1997-03-13

Similar Documents

Publication Publication Date Title
CN1253636A (zh) 远心光阑3维照相机及方法
CN1099802C (zh) 强度调制辐射场的探测与解调的设备和方法
US6100517A (en) Three dimensional camera
US7016519B1 (en) Method and device for detecting three-dimensional information
CN1092792C (zh) 测量仪
US5081530A (en) Three dimensional camera and range finder
US9885785B2 (en) Stray light compensation method and system for time of flight camera systems
US4967270A (en) Lidar system incorporating multiple cameras for obtaining a plurality of subimages
US8723924B2 (en) Recording of 3D images of a scene with phase de-convolution
US8208129B2 (en) Method, device and system for imaging
JP3953103B2 (ja) 標的マークの位置を敏速に検出するための方法及び装置
EP2517044B1 (en) Stray light compensation method and system for time of flight camera systems
US20120033045A1 (en) Multi-Path Compensation Using Multiple Modulation Frequencies in Time of Flight Sensor
US6094270A (en) Range finder
US4893922A (en) Measurement system and measurement method
US6388754B1 (en) Shape measuring system and method
US20080259312A1 (en) Range and Velocity Sensing System
US5434612A (en) Duo-frame normalization technique
JPS6215479A (ja) オ−トトラツキング測距装置
US20090262369A1 (en) Apparatus and method for measuring distances
US11733362B2 (en) Distance measuring apparatus comprising deterioration determination of polarizing filters based on a reflected polarized intensity from a reference reflector
US20070171395A1 (en) Range sensing system
RU2811331C1 (ru) Устройство формирования изображения карты дальностей до наблюдаемых объектов
WO2007025398A1 (de) Vorrichtung und verfahren zur phasendiskriminierung bei einem optischen distanzsensor
US5526038A (en) Method and apparatus for taking distance images

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C12 Rejection of a patent application after its publication
RJ01 Rejection of invention patent application after publication