Multi-path interference correction method and system for TOF (Time of Flight) module and electronic equipment

Abstract

The invention discloses a multi-path interference correction method and system for a TOF (Time of Flight) module and electronic equipment. The multi-path interference correction method for the TOF module comprises the following steps: synthesizing a TOF cross-correlation graph with multi-path interference through an optical signal propagation simulation model with multi-path interference so as to obtain a synthesized TOF cross-correlation graph set with multi-path interference; constructing TOF depth maps which are in one-to-one correspondence with the TOF cross-correlation maps with the multi-path interference and do not have the multi-path interference, so as to obtain a real TOF depth map set without the multi-path interference; training a multi-path interference correction model based on the synthesized TOF cross-correlation graph set with the multi-path interference and the real TOF depth graph set without the multi-path interference to obtain a trained multi-path interference correction model; and correcting TOF data collected by a TOF module through the trained multipath interference correction model to obtain a TOF corrected depth map.

Description

technical field [0001] The invention relates to the technical field of TOF, in particular to a method for correcting multipath interference for a TOF module, a system thereof and electronic equipment. Background technique [0002] TOF (Time of flight, time of flight) technology is one of the most outstanding optical measurement technologies. It can be applied to the fields of robots / drones, somatosensory entertainment, monitoring and security, and smart logistics. It is one of the research hotspots in recent years. The TOF module is one of the main members of the current 3D depth camera. Its principle is to continuously send light pulses (generally invisible light) to the measured object through the transmitter, and then use the sensor to receive the light pulses reflected from the measured object. Furthermore, the distance between the measured object and the camera is obtained through the flight (round-trip) time of the light pulse. Since the premise of the TOF depth measu...

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Problems solved by technology

[0004] However, for the first solution, changing the hardware of the TOF module will greatly increase the complexity of the module structure and increase the manufacturing cost of the module; especially for the TOF module that has been shipped, it is impossible to change the hardware of the module Achieved

For the second solution, if the measurement deviation (error) is directly solved by establishing an optical signal propagation simulation model to correct multipath interference, it will take a long time due to the huge amount of calculation in the solution process, which will cause this problem. However, this method cannot meet the real-time application requirements of the TOF module; and if an autoencoder model is established, a set of appropriate features based on the representation of the depth image that is interfered by multipath is first learned through the encoder, and then the trained decoder is used to learn from the If a depth map without multipath interference is restored from a depth map with multipath interference, the error distribution of multipath interference will be learned directly and violently, resulting in the restored depth map not retaining the original structural information.

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