• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a method for driving a Time-of-Flight system for use with a lighting system designed to illuminate a scene with a modulated signal, the ToF system having an imaging sensor comprising at least one. pixel, said pixel comprising taps driven by drive signals for detecting the modulated signal reflected from the scene, the method comprising, for each pixel, the steps of determining at least a first and a second pair of taps and driving each pair of taps to detect the modulated signal reflected during a predetermined number N of cycles of the modulated signal. (figure 10)
    公开号:BE1022490B1
    申请号:E2014/0136
    申请日:2014-02-28
    公开日:2016-05-04
    发明作者:Der Tempel Ward Van；Thomas Finateu；Kyriaki Korina Fotopoulou
    申请人:Softkinetic Sensors Nv；
    IPC主号:
    专利说明:

    Method for controlling a time-of-flight system
    Technical field of invention
    The present invention relates to time-of-flight systems and more particularly to a method for controlling a time-of-flight system.
    Background of invention
    Computer vision is a growing field of research that includes processes for acquiring, processing, analyzing, and understanding images. The main pilot idea in this area is to double the capabilities of human vision by perceiving and understanding images of a scene electronically. Notably, a research theme in computer vision is the perception of depth or, in other words, three-dimensional vision (3-D).
    Time-of-Flight (ToF) systems, including a camera and data processing device, have recently appeared and are likely to capture 3-D images of a scene by analyzing the time of theft of light from a light source to an object. Such camera systems are used in many applications where depth or distance information with respect to a fixed point is required.
    The basic operating principle of a ToF system 3, shown in FIG. 1, is to illuminate a scene 15 with a modulated light 16, such as pulses. The modulated light 16 is reflected back to objects in the scene 15 and a lens collects the reflected light 17 and forms an image of objects in the scene on an imaging sensor 35, and in particular on a sensor plane. sensor. Depending on the distance of the objects from the camera, a delay is experienced between the emission of the modulated light, for example pulses, and the reception of their reflection at the camera-taking apparatus. views. For example, an object 2.5 m away from the camera causes a time delay of 16.66 ns. By analyzing this delay, and in particular by implementing a correlation calculation, the distance of said object with respect to the camera can be found.
    The distance of objects from the camera can be calculated as follows. For the sake of clarity, an example of signals is given in FIG. 2. A modulation signal 16) is sent to an object. After reflection on the object, a signal 17) is detected by a photodetector. This signal is phase shifted une compared to the original signal $, because of the travel time. Ψ is a key parameter for measuring the distance of objects from a camera. To measure this parameter, the photodetected signal is usually correlated with named electrical reference signals, $ T, and ~ Q. , $ ΐ, and% are electrical reference signals respectively shifted by 0 °, 180 °, 90 ° and 270 °, compared to the original optical signal $, as shown in Figure 2. The correlation signals obtained are defined as follows:
    Then, two parameters jT and Q are calculated so that:
    As and a are respectively the change of amplitude of the photodetected signal and the correlation efficiency. The extraction of · Ψ depends on the shape of the modulation signal $. For example, if S is a sine wave, then
    Once the phase Ψ is known, the distance of objects with respect to the camera can be found thanks to the following formula:
    where fmodest is the modulation frequency and n is an integer of M. From equations 1-4, we can notice that, in theory, this should be the same signal that is correlated to reference signals, - ^ 7, -h and% to obtain "W, ^ <p.T and.
    In practice, ToF measurements are generally performed by ToF sensors comprising a ToF pixel array. In the prior art, each of these pixels generally comprises one or two "taps" hereinafter referred to as "taps". A "tap" is a component comprising a control node and a detection zone, used to produce charges in a photoelectric manner when exposed to optical signals such as having only one or two taps per pixel implies that in practice, the measurement of is sequential in time. For example, a pixel with only one tap should successively measure 4 separate signals to calculate ^, Q and then. In these configurations, multiple exposures occur and, if between each exposure the object has moved, then the depth data ^ are corrupted.
    Using only one or two taps per pixel is problematic for consistency issues in depth calculation, but not only. This is also problematic for design reasons. Indeed, if several distinct signals are measured, a memory must be added in the pixels, on the sensor or on a system level to store the signals before the calculation steps. The size of the ToF systems is then radically increased.
    Finally, when several taps are included in a single pixel, the control signals used to drive them are not often optimal as the required bandwidth is too high. When a positive potential is applied to a tap relative to other taps, the tap is activated and the detectivity is high, meaning that the detection zone of the activated tap will receive the majority of the minority carriers produced photoelectrically in the pixel. With a 4-tap pixel architecture, a direct approach is to validate each of the four taps for 25% of the modulation period, as shown in Figure 3. For a modulated signal sent with a frequency of 50 MHz, the taps of 4-tap device will require an equivalent 100 MHz response time because of the 25% duty cycle of each tap.
    Despite what has been presented in the prior art, a method and a system remain to be proposed in order to measure unbiased object distances with respect to the ToF system while reducing both the size of the ToF systems and the required bandwidth. for the taps. Summary of the invention
    The present invention firstly relates to a control method of a time-of-flight system for use with a lighting system designed to illuminate a scene with a modulated signal, the ToF system having a sensor of image comprising at least one pixel, said pixel comprising taps driven by control signals for detecting the modulated signal reflected from the scene, the method comprising, for each pixel, the steps of determining at least a first and a second pair of taps and driving each pair of taps to detect the modulated signal reflected during a predetermined number N of cycles of the modulated signal.
    An advantage of the present invention is that each pair of taps is implemented at a duty cycle of 50% for a period of N cycles of the modulated signal, thereby reducing the bandwidth required for the taps.
    A further advantage of the present invention is that, in determining correlation measurements, the robustness of movement is improved as the signals are measured at almost the same time.
    Yet another advantage is that there is now no need for memories to store individual data first, which can reduce the size of systems to ToF.
    The present invention also relates to a time-of-flight system for use with a lighting system adapted to illuminate a scene with a modulated signal, the time-of-flight system comprising an image sensor comprising at least two pixels, each pixel comprising taps, a signal generator for producing driving signals for driving said taps, tap driving circuits adapted to receive the control signals from the signal generator and for transmitting them to the taps, characterized in that each pixel comprises at least two pairs of taps, the taps of said two pairs of each pixel are respectively connected to different driving circuits, and each driving circuit is connected to a tap of each pixel, the taps of the pixels imaging sensor being connected to each said driving circuit forming a set of taps.
    The method and the system of the present case are obviously linked according to the same inventive concept which is the control of taps couples, preferably during a predetermined number N of cycles of the modulated signal. '
    An advantage of the system of the present invention is that each pixel comprises 4 taps, which allow the determination of 4 correlation measurements at almost the same time, namely,-'' ''----,,,,,,,,, ίΐ, ζ 'and " " < .
    A further advantage of the invention is that each pixel is organized in space to define a plurality of axes of symmetry, which makes it possible to obtain more accurate measurements.
    Yet another advantage is that each pixel is formed octagonally, which allows the sharing of circuits between a plurality of pixels by obtaining even more accurate measurements.
    Brief description of the drawings
    The present invention will be better understood in light of the following description and the accompanying drawings.
    Figure 1 shows the basic operating principle of a ToF system; Fig. 2 shows an example of signals used to determine correlation measurements in a ToF system; FIG. 3 represents a generally used 4-tap control mode in which each tap is valid for 25% of the modulation period; FIG. 4 represents a ToF system according to one embodiment of the invention; Fig. 5 shows a driving unit comprising a plurality of tap driving circuits, a plurality of multiplexers and a signal generator; FIG. 6 represents a topology with 4 taps of a pixel, according to one embodiment of the invention; Fig. 7 shows a cross-section along the dotted line of the 4 tap pixel shown in Fig. 6; FIG. 8 represents a topology with 4 taps of a pixel, according to another embodiment of the invention; Fig. 9 shows a 4-tap topology of a pixel, according to a further embodiment of the invention; and FIG. 10 shows an exemplary control signal according to an embodiment of the present invention.
    The advantages and new features of the invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.
    Description of the invention
    The present invention will now be described with respect to 4-tap pixels, but it is not limited thereto. The invention may be implemented with pixels comprising a plurality of taps, preferably at least three taps and even more preferably four taps.
    FIG. 4 represents a Time-of-Flight system 3 according to a first embodiment of the invention. The ToP 3 system is for use with a lighting system 18 designed to illuminate a scene with a multi-cycle modulated light 16. The lighting unit 18 may comprise one or more light sources for emitting the modulated light 16. The modulated light 16 may be periodic light. The periodic light may be in the form of waves or pulses or combinations of both. The light may be in a visible or non-visible region of the spectrum, for example preferably in the infrared range to be in a range for which the sensor systems are effective, the human eye is blind, and light sources appropriate are available as LEDs, LASER, etc ...
    The ToF 3 system includes an imaging sensor 35 comprising a pixel array 35a, each of said pixels comprising four taps. The imaging sensor 35 is used to detect the reflected modulated signal 17 from the scene. Each pixel has four taps respectively referred to hereafter as upper taps, left taps, lower taps, and right taps. We will then explain the basic design and operation of 4-tap pixels.
    The ToF 3 system further comprises a signal generator 30 for generating driving signals. The torque control signal bursts may be a predetermined number N of cycles of the modulated signal. The number N can potentially be modulated during operation, but preferably with a momentary N equal for the different taps torque control circuits. The signal generator 501 may be designed to provide control signals to the taps which are out of phase signals in comparison to the modulated signal sent by the lighting unit. Piloting signals are signals for controlling the operation of the taps, that is, for controlling whether they are active or inactive. When a tap is active, it means that it can detect a signal, i.e., a modulated signal reflected from the scene. The signal generator may be a block producing different tap signals out of a clock or base frequency. This can be a PLL or a DLL or something similar with a bit of assembly logic.
    The ToF 3 system further comprises four tap drivers 31a, 31b, 32a, 32b, each tap driving circuit being arranged to receive the control signals from the signal generator 30 and to transmit them to the taps, via data lines 33a, 33b, 34a, 34b. Each tap driving circuit receives a digital signal from the signal generator 30 and transmits it with the correct voltage levels and the correct current densities to a predetermined set of taps via the data lines.
    The ToF system is characterized in that each pixel comprises at least two pairs of taps, the taps of said two pairs of each pixel are respectively connected to different control circuits, and each control circuit is connected to a tap of each pixel , the taps of the pixels of the imaging sensor connected to each said driving circuit forming a set of taps.
    Preferably, the number of tap drivers is at least equal to the number of taps per pixel. "
    For example, in FIG. 4, the data lines 31a, 32b, 31b and 32a are used to connect tap drivers to a predetermined set of taps. For example, in FIG. 4, a tap driver circuit 32a is associated with the left pixel taps 35a via data lines 34a, a tap driver circuit 31a is associated with the upper pixel taps 35a via line taps. Data 33a, a tap driver 32b is associated with the right pixel taps 35a via data lines 34b and a tap driver 31b is associated with the lower pixel taps 35a via data lines 33b. This organization means that each tap of a predetermined set of taps receives the same control signals from the associated tap driving circuit and the set of taps is enabled to simultaneously detect the same modulated signal reflected from the scene. .
    Fig. 5 shows another embodiment of the present invention. The ToF 3 system may further include at least one multiplexer associated with the tap driver circuits. FIG. 5 shows a control unit 500 comprising four tap drivers 502, 503, 504 and 505, two multiplexers 506 and 507, a signal generator 501 and four data lines 508, 509, 510 and 511.
    The multiplexers 506 and 507 are connected before and / or after the tap driving circuits. The multiplexers make it possible to remove possible offsets and discrepancies in the control signals. They can also make it possible to exchange both input and output signals of the tap control circuits.
    Figure 6 shows a topology with 4 taps of a pixel. The pixel contains four demodulation nodes or taps. Each tap consists respectively of a control node (i.e., a substrate contact) 1, 3, 5 and 7 and a detection zone 2, 4, 6 and 8. The pixel also comprises the circuits 9 , 10 associated with taps.
    Fig. 7 shows a cross-section along the dotted line of the 4-tap pixel shown in Fig. 6. Each tap consists of a detection zone 326 surrounded by a control node 325. Each detection zone 326 can be associated with a depletion zone f ". * 327. The elements 321 and 324 are circuit elements. The circuit elements 321, 324 and the control node 325 may be heavily doped p + regions while the detection zone 326 may be an n-type region.
    In EP 1 513 202 B1, a similar device has been presented, in which pixels comprise only one tap. The same physical principles apply here to explain how the 4-tap pixel works. In summary, by controlling the potential applied between the circuits 321 (or 324) and the control node 325, it is possible to control the detectivity of the associated tap. When a photon is incident within the photosensitive surface of a pixel, an electron-hole pair e '/ h * can be produced at a certain position. The electron-hole torque will be separated by an electric field that is present and is associated with the flowing mainstream. This electric field will cause the drift of the minority carriers produced photoelectrically in the opposite direction to the majority flowing stream, that is to say towards the zones 325. By diffusion, finally, the minority carriers will arrive in the zone of detection 326.
    Essentially, when a pixel has multiple taps and a positive potential is applied to a tap relative to the other taps, the tap is activated and the detectivity is high, meaning that the detection zone of the activated tap will receive the majority of the minority carriers produced in a photoelectric way in the pixel. Piloting signals, that is potential signals applied to taps, are crucial as they control which tap is activated and when.
    FIG. 8 represents a topology with 4 taps of a pixel, according to one embodiment of the invention. The taps can be organized in space to define a plurality of axes of symmetry. The taps can be organized in the space within the pixel so that the distances 101 to 102 are substantially equal. These distances can be defined by the optical surface available between the components. For example, the distances 103, 106, 109 and 112 between the tap detection areas may be substantially equal. In addition, the distances 102, 104, 105, 107, 108, 110, 111, 101 and 102 between the detection zones and the nearest surrounding circuits can also be substantially equal. Arranging the taps in space to define a plurality of axes of symmetry within the pixels is advantageous. Indeed, the taps are associated with an equal area of optical surface and undergo an equal influence from the surrounding circuits. This spatial organization allows the measurement of modulated signals reflected from the scene substantially equal. In other words, this spatial organization allows the measurement of 4 signals substantially equal to "V.
    Fig. 9 shows a 4-tap topology of a pixel, according to a further embodiment of the invention. The imaging sensor of the ToF system may include octagonally formed pixels. Each pixel may comprise four taps 601, 602, 603 and 604, surrounded by circuits 605, 606, 607 and 608. The octagonal shape of the pixel may be advantageous. This particular shape allows the sharing of circuits between several pixels and taps, while optimizing the substrate surface used and the optical area of the pixels. The octagonal shape also makes it possible to define several axes of symmetry inside the pixels, which helps to more accurately measure modulated signals reflected from the scene.
    The present invention also relates to a method for controlling a time-of-flight system having an imaging sensor comprising at least one pixel, said pixel comprising a plurality of taps driven by control signals, the time-controlled system. de-vol being for use with a lighting system adapted to illuminate a scene with a modulated signal, the method comprising the steps of, for each pixel, determining at least a first and a second pair of taps and driving each pair of taps for detecting the modulated signal reflected from the scene during a predetermined number N of cycles of the modulated signal.
    For the sake of representation, the above will be explained with respect to a 4-dot pixel comprising four taps, referred to as tap4 taps, but the method is not limited thereto.
    FIG. 10 shows an example of control signals used to drive the taps during the second step of the method, in which N is equal to 2. In this figure, the modulated signal 16 is represented by the signal called "light".
    According to the first step of the method, a first and a second pair of taps are respectively determined by (tapi, tap2) and (tap3, tap4).
    According to the second step of the method, the first and second taps, respectively (tapi, tap2) and (tap3, tap4), are driven to detect the modulated signal reflected from the scene for 2 cycles of the modulated signal.
    Preferably, the first tap of a pair is driven by a first control signal and the second tap of the pair is controlled by a second control signal which is the inverted signal of the first control signal. This is represented in FIG. 10, in which the tapi and tap2 control signals (tap3 and tap4, respectively) are reversed, ie the second control signal is 180 ° out of phase with the first signal. piloting. Even more preferably, the first driving signal of the first pair of taps corresponds to N cycles of the modulated signal 16 sent by the lighting unit and the first driving signal of the second pair of taps corresponds to N cycles of a signal 90 ° out of phase with the modulated signal 16 sent by the lighting unit.
    This embodiment is also shown in FIG. 10. Indeed, the tapi control signal corresponds to 2 cycles of the modulated signal 16 (or "light") and the tap3 control signal corresponds to 2 cycles of a signal 90 ° out of phase with the modulated signal 16.
    In this particular example, control signals sent to tapi, tap2, tap3 and tap4 respectively correspond to 2 cycles of a phase-shifted signal of 0 °, 180 °, 90 ° and 270 ° with respect to the modulated signal sent by the unit. lighting.
    In the case of Y pairs of taps per pixel, the phase difference between the driving signal for a torque "y", y ranging from 0 to (y-1) and the modulated signal sent by the lighting unit may for example be y * 180 ° / Y for each subsequent pair.
    In this particular example, the first pair of taps can detect the reflected modulated light 17 after their respective driving signals for 2 cycles, and then, sequentially, the second pair of taps can detect the reflected modulated light 17 after their respective signals. during 2 cycles. The fact of driving taps by torque-makes it possible to avoid an overlap between the piloting signals. This means that, within one pixel, only one tap is active at a time while the others are inactive. This is clearly shown in FIG. 10. By this method, it is possible to reduce the bandwidth required for taps and to avoid reducing the duty cycle of the driving signals.
    In a further embodiment, the time-of-flight system may further be adapted to determine correlation measurements between a reference signal and the modulated signal reflected from the scene. The method may further comprise the steps of, for each determined pair of taps, determining a first and a second correlation measurement between the modulated signal reflected from the scene and respectively a first and a second signal of reference.
    For the first pair of taps, the first reference signal may correspond to the modulated signal 16 sent by the lighting unit and the second reference signal may be the inverted signal of the first reference signal.
    For the second pair of taps, the first reference signal may correspond to a signal 90 ° out of phase with the modulated signal 16 sent by the lighting unit and the second reference signal may be the inverted signal of the first signal. reference.
    Referring to the notation previously introduced, lurking can be controlled by a control signal which makes 2 cycles of the modulated signal 16 sent by the lighting unit and tap2 can be controlled by a control signal which makes 2 cycles of a signal 180 ° out of phase with the modulated signal 16 sent by the lighting unit. Further, the first pair of taps (tapi, tap2) can determine correlation measurements between the modulated signal reflected from scene 17 (or -h ) And reference signals -¾ and, to obtain measurements of correlation and '· ν. * Γ.
    Tapi can be assigned to the measure of '-W while tap2 can be assigned to the measure of.
    Similarly, tap3 can be controlled by a control signal which makes 2 cycles of a signal 90 ° out of phase with the modulated signal sent by the lighting unit and tap4 can be controlled by a control signal which makes 2 cycles of a phase-shifted signal of 270 ° with respect to the modulated signal sent by the lighting unit. Further, the second pair of taps (tap3, tap4) can determine correlation measurements between the modulated signal reflected from scene 17 (or -¾3) and the reference signals and to obtain correlation and measurements.
    Tap3 can be assigned to the measure of while tap4 can be assigned to the measure of "" p-Ç.
    This method makes it possible to measure by the four taps at almost the same time, which increases the precision and the reliability of the measurement and allows the robustness of movement. Preferably, the time spacing between each torque control should be as short as possible, for example less than the duration of 8 cycles of the modulated light 16, to ensure high robustness of movement. Preferably, the piloting could be done alternately, that is to say that the first pair of taps could be piloted first, then the second couple of taps could be piloted and then the first couple of taps could be of new piloted. The detection could continue after N cycles for each pair in a periodic manner.
    If the imaging sensor comprises several pixels as shown in FIG. 4, then it should be understood that the driving signals sent to a set of taps can be the same. For example, the piloting signals * sent to tapi could correspond to those sent to higher taps as previously defined, the piloting signals sent to tap2 could correspond to those sent to the lower taps, the piloting signals sent to tap3 could match those sent to the right taps and the pilot signals sent to tap4 could match those sent to the left taps.
    In addition, a first couple of taps could be (upper taps, lower taps) and a second pair of taps could be (right taps, left taps). Preferably, the taps included in a pair of taps have an opposite position in the pixels. For example, if the taps form a square in a pixel, then the taps in a pair of taps would be those in diagonal positions. Taps belonging to a couple of taps can belong to the same pixel.
    It will be understood that the terms up, down, right and left are not limiting terms and are used for the sake of clarity.
    Translation of drawings
    权利要求:
    Claims (16)
    [1]
    A method for driving a time-of-flight system (3) for use with a lighting system (18) for illuminating a scene (15) with a modulated signal (16), the ToF system having a sensor imaging device (35) comprising at least one pixel (35a), said pixel comprising taps driven by control signals for detecting the reflected modulated signal (17) from the scene, the method comprising, for each pixel, the steps of: - determining at least a first and a second pair of taps; and - controlling each pair of taps to detect the reflected modulated signal (17) for a predetermined number N of cycles of the modulated signal (16).
    [2]
    2. The method of claim 1, wherein the taps couples are sequentially driven.
    [3]
    The method according to claim 1 or 2, wherein the first tap of a pair is driven by a first driving signal and the second tap of the pair is driven by a second driving signal which is the inverted signal of the first signal of piloting.
    [4]
    The method of claim 3, wherein the first driving signal of the first pair of taps corresponds to N cycles of the modulated signal (16) sent by the lighting unit.
    [5]
    The method according to claim 3 or 4, wherein the first driving signal of the second pair of taps corresponds to N cycles of a signal phase-shifted by 90 ° with respect to the modulated signal (16) sent by the lighting unit. .
    [6]
    The method of any one of claims 1 to 5, wherein the time-of-flight system is further adapted to determine correlation measurements between a reference signal and the reflected modulated signal (17) from the scene, the method further comprising the steps of: - for each determined pair of taps, determining a first and a second correlation measurement between the reflected modulated signal (17) from the scene and respectively a first and a second reference signal.
    [7]
    The method according to claim 6, wherein: for the first pair of taps, the first reference signal corresponds to the modulated signal (16) sent by the lighting unit and in which the second reference signal is the signal inverted of the first reference signal; and for the second pair of taps, the first reference signal corresponds to a phase-shifted signal of 90 ° with respect to the modulated signal (16) sent by the lighting unit and in which the second reference signal is the inverted signal. of the first reference signal.
    [8]
    The method of any one of claims 1 to 7, wherein each pixel comprises four taps.
    [9]
    9. Time-of-Flight system (3) for use with a lighting system (18) for illuminating a scene (15) with a modulated signal (16), the Time-of-Flight system (3) comprising: - an imaging sensor (35) comprising at least one pixel (35a), said pixel comprising taps, - a signal generator (30, 501) for producing control signals for driving said taps, and - tap driving circuits (31a, 31b, 32a, 32b, 502, 503, 504, 505) adapted to receive the control signals from the signal generator (501, 30) and transmit them to the taps, characterized in that that: - each pixel comprises at least two pairs of taps; the taps of said two pairs of each pixel are respectively connected to different control circuits; and each driving circuit is connected to a tap of each pixel, the taps of the pixels of the imaging sensor connected to each said driving circuit forming a set of taps.
    [10]
    The time-of-flight system according to claim 9, wherein the signal generator (30, 501) is arranged to provide tap driving signals which are out of phase signals with respect to the modulated signal (16) sent by the lighting unit (18).
    [11]
    The time-of-flight system according to claim 9 or 10, wherein the tap driving circuits are designed to sequentially drive each pair of taps to detect the reflected modulated signal (17) from the scene during a predetermined number N of cycles of the modulated signal (16).
    [12]
    The time-of-flight system according to any one of claims 9 to 11, further comprising at least one multiplexer (506, 507) associated with the tap driver circuits (502, 503, 504, 505).
    [13]
    The Time-of-Flight system according to any one of claims 9 to 12, wherein each pixel comprises four taps.
    [14]
    The time-of-flight system according to any one of claims 9 to 13, wherein each pixel is organized in space to define a plurality of axes of symmetry.
    [15]
    The time-of-flight system of claim 14, wherein each pixel is octagonally formed.
    [16]
    16. Time-of-Flight system according to any one of claims 9 to 15, wherein the number of tap driving circuits is at least equal to the number of taps per pixel.
    类似技术:
    公开号 | 公开日 | 专利标题
    BE1022490B1|2016-05-04|METHOD FOR CONTROLLING A TIME-OF-VOL.
    BE1022488B1|2016-05-04|TIME-OF-FLIGHT VIEWING APPARATUS SYSTEM
    BE1022486B1|2016-05-03|A TOF TUNING APPARATUS SYSTEM AND A METHOD FOR MEASURING DISTANCE WITH THE SYSTEM
    US10151838B2|2018-12-11|Imaging sensor with shared pixel readout circuitry
    BE1024389A1|2018-02-05|SENSOR DEVICE WITH MAJORITY CURRENT AND CURRENT CONTROL CIRCUITS
    FR3043797A1|2017-05-19|
    KR20130045018A|2013-05-03|3d image acquisition apparatus and method of acqiring depth information in the 3d image acquisition apparatus
    US10101453B2|2018-10-16|Time of flight apparatuses and an illumination source
    US20140198183A1|2014-07-17|Sensing pixel and image sensor including same
    FR2969819A1|2012-06-29|THREE DIMENSIONAL IMAGE SENSOR
    JP2016082574A|2016-05-16|Multiple pixel pitch super resolution technology
    EP2388617A2|2011-11-23|Method for constructing focussed radar images
    US10055881B2|2018-08-21|Video imaging to assess specularity
    FR2783931A1|2000-03-31|DISTANCE MEASURING APPARATUS
    EP3423860B1|2022-01-05|Device for detecting a laser spot
    FR2783930A1|2000-03-31|DISTANCE MEASURING APPARATUS
    EP3170205B1|2018-12-12|Device for detecting movement
    US20200386540A1|2020-12-10|Mixed active depth
    FR2966257A1|2012-04-20|METHOD AND APPARATUS FOR CONSTRUCTING A RELIEVE IMAGE FROM TWO-DIMENSIONAL IMAGES
    FR3066271B1|2019-07-12|MOTION SENSOR AND IMAGE SENSOR
    FR2667702A1|1992-04-10|PLANAR NETWORK OF LOAD TRANSFER DEVICES FOR DETECTING THE PHASE OF COHERENT LIGHT.
    FR2975186A1|2012-11-16|METHOD AND DEVICE FOR MEASURING THE SPEED OF A VEHICLE CIRCULATING ON A TRACK.
    FR2994488A1|2014-02-14|Method for estimating focusing state of on-board telescope, in observation satellite, involves measuring difference between homologous pixels of images, where difference represents focusing state of optical instrument
    FR3023956A1|2016-01-22|METHOD AND DEVICE FOR PROCESSING HIGH FREQUENCY MOVEMENTS IN AN OPTRONIC SYSTEM
    FR2975208A1|2012-11-16|METHOD AND DEVICE FOR PRODUCING A CONTEXTUAL IMAGE OF A MOVING OBJECT
    同族专利:
    公开号 | 公开日
    US10509126B2|2019-12-17|
    WO2015104307A1|2015-07-16|
    EP2894492B1|2020-10-28|
    CN105518485A|2016-04-20|
    CN105518485B|2018-11-13|
    JP2016527482A|2016-09-08|
    JP6529487B2|2019-06-12|
    EP2894492A1|2015-07-15|
    US20160306045A1|2016-10-20|
    EP3792662A1|2021-03-17|
    KR20160032014A|2016-03-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US6825455B1|1996-09-05|2004-11-30|Rudolf Schwarte|Method and apparatus for photomixing|
    US20090051984A1|2007-08-23|2009-02-26|O'brien Michele|Image sensor having checkerboard pattern|
    ES2339643T3|2003-09-02|2010-05-24|Vrije Universiteit Brussel|ELECTROMAGNETIC RADIATION DETECTOR ASSISTED BY CURRENT OF MAJOR CARRIERS.|
    CA2631468C|2006-10-18|2013-07-09|Matsushita Electric Works, Ltd.|Spatial information detecting apparatus|
    JP5171158B2|2007-08-22|2013-03-27|浜松ホトニクス株式会社|Solid-state imaging device and range image measuring device|
    WO2009124601A1|2008-04-11|2009-10-15|Ecole Polytechnique Federale De Lausanne Epfl|Time-of-flight based imaging system using a display as illumination source|
    JP5431810B2|2009-07-03|2014-03-05|株式会社豊田中央研究所|Image sensor and light receiving device used for the image sensor|
    JP5629134B2|2010-06-14|2014-11-19|パナソニック株式会社|Charge coupled device drive device, spatial information detection device|
    US10003757B2|2012-12-28|2018-06-19|Nokia Technologies Oy|Method and apparatus for de-noising data from a distance sensing camera|EP3363050B1|2015-07-23|2020-07-08|Artilux Inc.|High efficiency wide spectrum sensor|
    US10761599B2|2015-08-04|2020-09-01|Artilux, Inc.|Eye gesture tracking|
    US10861888B2|2015-08-04|2020-12-08|Artilux, Inc.|Silicon germanium imager with photodiode in trench|
    US9954016B2|2015-08-04|2018-04-24|Artilux Corporation|Germanium-silicon light sensing apparatus|
    US10707260B2|2015-08-04|2020-07-07|Artilux, Inc.|Circuit for operating a multi-gate VIS/IR photodiode|
    EP3341970B1|2015-08-27|2020-10-07|Artilux Inc.|Wide spectrum optical sensor|
    US10741598B2|2015-11-06|2020-08-11|Atrilux, Inc.|High-speed light sensing apparatus II|
    US10739443B2|2015-11-06|2020-08-11|Artilux, Inc.|High-speed light sensing apparatus II|
    US10418407B2|2015-11-06|2019-09-17|Artilux, Inc.|High-speed light sensing apparatus III|
    US10254389B2|2015-11-06|2019-04-09|Artilux Corporation|High-speed light sensing apparatus|
    US10886309B2|2015-11-06|2021-01-05|Artilux, Inc.|High-speed light sensing apparatus II|
    EP3193369B1|2016-01-15|2021-11-17|Sony Depthsensing Solutions N.V.|A detector device with majority current and isolation means|
    EP3193190A1|2016-01-15|2017-07-19|Softkinetic Sensors Nv|A detector device with majority current and a circuitry for controlling the current|
    CN107851656A|2016-03-04|2018-03-27|索尼公司|Camera device and range-measurement system|
    WO2018100082A1|2016-11-30|2018-06-07|Sony Semiconductor Solutions Corporation|Apparatus and method|
    EP3552044A1|2016-12-07|2019-10-16|Sony Semiconductor Solutions Corporation|Apparatus and method|
    EP3525449B1|2017-08-30|2021-09-29|Sony Semiconductor Solutions Corporation|Image-capturing element and image-capturing device|
    US11105928B2|2018-02-23|2021-08-31|Artilux, Inc.|Light-sensing apparatus and light-sensing method thereof|
    CN111868929B|2018-02-23|2021-08-03|奥特逻科公司|Optical detection device and optical detection method thereof|
    WO2019199691A1|2018-04-08|2019-10-17|Artilux, Inc.|Photo-detecting apparatus|
    US10854770B2|2018-05-07|2020-12-01|Artilux, Inc.|Avalanche photo-transistor|
    US10969877B2|2018-05-08|2021-04-06|Artilux, Inc.|Display apparatus|
    KR20200005940A|2018-07-09|2020-01-17|삼성전자주식회사|Image sensor including multi-tap pixel|
    KR20200037698A|2018-10-01|2020-04-09|삼성전자주식회사|3D image sensor comprising polarizer, and depth calibrating method and 3D image generating method based on the 3D image sensor|
    KR20200039418A|2018-10-05|2020-04-16|엘지이노텍 주식회사|Method and camera module for acquiring depth information|
    KR20200039402A|2018-10-05|2020-04-16|삼성전자주식회사|Image sensor and image processing system with pixel structure to improve demodulation contrast performance|
    US20200132819A1|2018-10-31|2020-04-30|Infineon Technologies Ag|Image Sensor with Interleaved Hold for Single-Readout Depth Measurement|
    WO2020193161A1|2019-03-25|2020-10-01|Sony Semiconductor Solutions Corporation|Time-of-flight apparatus and method|
    CN110361751B|2019-06-14|2021-04-30|奥比中光科技集团股份有限公司|Time flight depth camera and distance measuring method for reducing noise of single-frequency modulation and demodulation|
    CN110320528B|2019-06-14|2021-04-30|奥比中光科技集团股份有限公司|Time depth camera and noise reduction distance measurement method for multi-frequency modulation and demodulation|
    DE102019131988A1|2019-11-26|2021-05-27|Sick Ag|3D time-of-flight camera and method for capturing three-dimensional image data|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    EP141509224|2014-01-13|
    EP14150922.4A|EP2894492B1|2014-01-13|2014-01-13|A method for driving a time-of-flight system|
    [返回顶部]