Integral time adaptive adjustment method of TOF module and control system thereof

Abstract

The invention discloses an integral time adaptive adjustment method of a TOF module, which is used for adaptively adjusting integral time of the TOF module in different working environments. The method comprises the following steps: in combination with preset calibration information and a current exposure environment, the TOF module adaptively adjusts the integral time, wherein the preset calibration information is information acquired by calibration based on a pre-selected sampling area when the TOF module is set in a standard test environment, and the pre-selected sampling area is a limitedarea selected from the infrared light intensity image in advance. The invention further discloses a TOF control system for adaptively adjusting the integral time. According to the method and the system, the integral time when the exposure effect is optimal can be adaptively adjusted according to the actual working environment of the TOF module, so that high-quality depth data is obtained, the flexibility is relatively high, and the problem of overexposure or underexposure of depth image information obtained in the prior art is solved.

Description

technical field [0001] The invention relates to the technical field of TOF sensors, in particular to a TOF module integration time adaptive adjustment method and a control system thereof. Background technique [0002] In recent years, the method of acquiring depth images based on TOF modules has become more and more widely used. TOF sensing technology has been widely used in the fields of drone flight obstacle avoidance, human-computer interaction, gesture recognition, machine positioning, intelligent navigation, human object detection and industrial automation. However, in the current process of acquiring depth images using TOF sensors, there are usually cases of overexposure or underexposure, resulting in poor quality of acquired depth images, which affects the accuracy of further acquisition of three-dimensional spatial position information. Contents of the invention [0003] In order to solve the above problems, the present invention provides an adaptive adjustment me...

AI Technical Summary

Problems solved by technology

However, in the current process of using TOF sensors to acquire depth images, there are usually cases of overexposure or underexposure, resulting in poor quality of acquired depth images, which affects the accuracy of further acquisition of three-dimensional spatial position information.

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