WO1997001112A3 - Telecentric 3d camera and method of rangefinding - Google Patents

Telecentric 3d camera and method of rangefinding Download PDF

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Publication number
WO1997001112A3
WO1997001112A3 PCT/IL1996/000021 IL9600021W WO9701112A3 WO 1997001112 A3 WO1997001112 A3 WO 1997001112A3 IL 9600021 W IL9600021 W IL 9600021W WO 9701112 A3 WO9701112 A3 WO 9701112A3
Authority
WO
WIPO (PCT)
Prior art keywords
processor
telecentric
radiation
scene
detector
Prior art date
Application number
PCT/IL1996/000021
Other languages
French (fr)
Other versions
WO1997001112A2 (en
WO1997001112B1 (en
Inventor
Giora Yahav
Gavriel I Iddan
Original Assignee
3Dv Systems Ltd
Giora Yahav
Gavriel I Iddan
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, Giora Yahav, Gavriel I Iddan filed Critical 3Dv Systems Ltd
Priority to JP50343897A priority Critical patent/JP3869005B2/en
Priority to AU61360/96A priority patent/AU6136096A/en
Priority to DE69635858T priority patent/DE69635858T2/en
Priority to EP96918826A priority patent/EP0886790B1/en
Priority to US08/981,359 priority patent/US6091905A/en
Publication of WO1997001112A2 publication Critical patent/WO1997001112A2/en
Publication of WO1997001112A3 publication Critical patent/WO1997001112A3/en
Publication of WO1997001112B1 publication Critical patent/WO1997001112B1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
    • 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
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G02B7/30—Systems for automatic generation of focusing signals using parallactic triangle with a base line
    • G02B7/32—Systems for automatic generation of focusing signals using parallactic triangle with a base line using active means, e.g. light emitter
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
    • 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
    • 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
    • G01S17/18—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
    • 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
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/933—Lidar systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4802—Details 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4812—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver transmitted and received beams following a coaxial path
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/51—Display arrangements

Abstract

The present invention is an apparatus for creating an image indicating distances to objects (11) in a scene. The invention is comprised of a radiation source (10) and modulator (16), telecentric optics (42) for receiving and collimating the radiation reflected from the scene, a detector (12) and a processor (22). The detector (12) receives the collimated, reflected radiation and sends a signal to the processor (22). The processor (22) forms an image having an intensity value distribution indicative of the distance of objects (11) from the apparatus.
PCT/IL1996/000021 1995-06-22 1996-06-20 Telecentric 3d camera and method of rangefinding WO1997001112A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP50343897A JP3869005B2 (en) 1995-06-22 1996-06-20 Telecentric stereoscopic camera and method
AU61360/96A AU6136096A (en) 1995-06-22 1996-06-20 Telecentric 3d camera and method
DE69635858T DE69635858T2 (en) 1995-06-22 1996-06-20 TELECENTRIC 3D CAMERA AND RELATED METHOD
EP96918826A EP0886790B1 (en) 1995-06-22 1996-06-20 Telecentric 3d camera and method
US08/981,359 US6091905A (en) 1995-06-22 1996-06-20 Telecentric 3D camera and method

Applications Claiming Priority (4)

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

Related Child Applications (3)

Application Number Title Priority Date Filing Date
US08/981,357 Continuation-In-Part US6057909A (en) 1995-06-22 1996-06-20 Optical ranging camera
PCT/IL1996/000020 Continuation-In-Part WO1997001111A2 (en) 1995-06-22 1996-06-20 Improved optical ranging camera
US08/981,359 A-371-Of-International US6091905A (en) 1995-06-22 1996-06-20 Telecentric 3D camera and method

Publications (3)

Publication Number Publication Date
WO1997001112A2 WO1997001112A2 (en) 1997-01-09
WO1997001112A3 true WO1997001112A3 (en) 1997-03-13
WO1997001112B1 WO1997001112B1 (en) 2001-04-05

Family

ID=26323086

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/IL1996/000021 WO1997001112A2 (en) 1995-06-22 1996-06-20 Telecentric 3d camera and method of rangefinding
PCT/IL1996/000020 WO1997001111A2 (en) 1995-06-22 1996-06-20 Improved optical ranging camera

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/IL1996/000020 WO1997001111A2 (en) 1995-06-22 1996-06-20 Improved optical ranging camera

Country Status (7)

Country Link
US (2) US6057909A (en)
EP (2) EP0835460B1 (en)
JP (8) JP3869005B2 (en)
CN (3) CN1101056C (en)
AU (2) AU6135996A (en)
DE (2) DE69635858T2 (en)
WO (2) WO1997001112A2 (en)

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