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FR3115888B1 - Procédé de détection d’une présence d’un objet dans un champ de vision d’un capteur temps de vol - Google Patents

Procédé de détection d’une présence d’un objet dans un champ de vision d’un capteur temps de vol Download PDF

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Publication number
FR3115888B1
FR3115888B1 FR2011144A FR2011144A FR3115888B1 FR 3115888 B1 FR3115888 B1 FR 3115888B1 FR 2011144 A FR2011144 A FR 2011144A FR 2011144 A FR2011144 A FR 2011144A FR 3115888 B1 FR3115888 B1 FR 3115888B1
Authority
FR
France
Prior art keywords
time
flight sensor
field
detecting
vision
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.)
Active
Application number
FR2011144A
Other languages
English (en)
Other versions
FR3115888A1 (fr
Inventor
Etienne Bossart
Ji Nan Li
Thomas Perotto
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.)
STMicroelectronics Shenzhen R&D Co Ltd
STMicroelectronics Grenoble 2 SAS
Original Assignee
STMicroelectronics Shenzhen R&D Co Ltd
STMicroelectronics Grenoble 2 SAS
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
Application filed by STMicroelectronics Shenzhen R&D Co Ltd, STMicroelectronics Grenoble 2 SAS filed Critical STMicroelectronics Shenzhen R&D Co Ltd
Priority to FR2011144A priority Critical patent/FR3115888B1/fr
Priority to US17/512,080 priority patent/US12056912B2/en
Publication of FR3115888A1 publication Critical patent/FR3115888A1/fr
Application granted granted Critical
Publication of FR3115888B1 publication Critical patent/FR3115888B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/50—Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • G06V10/507—Summing image-intensity values; Histogram projection analysis
    • 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
    • G01S17/04—Systems determining the presence of a target
    • 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
    • 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
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

Selon un aspect, il est proposé un procédé de détection d’une présence d’au moins un objet dans un champ de vision d’un capteur temps de vol, procédé comprenant :- des générations successives d’histogrammes par le capteur temps de vol, chaque histogramme comprenant plusieurs classes associant un nombre de photons détectés à une période d’acquisition donnée, - une somme (24) de plusieurs histogrammes générés successivement de façon à obtenir un histogramme sommé, - une analyse (25) de l’histogramme sommé pour détecter la présence d’au moins un objet dans le champ de vision du capteur temps de vol. Figure pour l’abrégé : Fig 2
FR2011144A 2020-10-30 2020-10-30 Procédé de détection d’une présence d’un objet dans un champ de vision d’un capteur temps de vol Active FR3115888B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
FR2011144A FR3115888B1 (fr) 2020-10-30 2020-10-30 Procédé de détection d’une présence d’un objet dans un champ de vision d’un capteur temps de vol
US17/512,080 US12056912B2 (en) 2020-10-30 2021-10-27 Process for detection of the presence of an object in a field of vision of a flight time sensor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2011144A FR3115888B1 (fr) 2020-10-30 2020-10-30 Procédé de détection d’une présence d’un objet dans un champ de vision d’un capteur temps de vol
FR2011144 2020-10-30

Publications (2)

Publication Number Publication Date
FR3115888A1 FR3115888A1 (fr) 2022-05-06
FR3115888B1 true FR3115888B1 (fr) 2023-04-14

Family

ID=75108381

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2011144A Active FR3115888B1 (fr) 2020-10-30 2020-10-30 Procédé de détection d’une présence d’un objet dans un champ de vision d’un capteur temps de vol

Country Status (2)

Country Link
US (1) US12056912B2 (fr)
FR (1) FR3115888B1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010061382B4 (de) * 2010-12-21 2019-02-14 Sick Ag Optoelektronischer Sensor und Verfahren zur Erfassung und Abstandsbestimmung von Objekten
JP5818091B2 (ja) * 2011-12-27 2015-11-18 ソニー株式会社 画像処理装置、画像処理システム、画像処理方法、および、プログラム
US11120104B2 (en) * 2017-03-01 2021-09-14 Stmicroelectronics (Research & Development) Limited Method and apparatus for processing a histogram output from a detector sensor
KR102486986B1 (ko) * 2017-05-04 2023-01-10 한화테크윈 주식회사 객체 검출 시스템, 방법 및 컴퓨터 판독 가능한 기록매체
WO2019226487A1 (fr) * 2018-05-23 2019-11-28 The Charles Stark Draper Laboratory, Inc. Comptage parallèle de photons
JP6863342B2 (ja) * 2018-07-02 2021-04-21 株式会社デンソー 光測距装置

Also Published As

Publication number Publication date
FR3115888A1 (fr) 2022-05-06
US12056912B2 (en) 2024-08-06
US20220138485A1 (en) 2022-05-05

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