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Multi-path interference suppression method in TOF depth solution, and TOF depth solution method and device

A technology of multi-path interference and TOF camera, which is applied in the direction of measuring devices, electromagnetic wave re-radiation, instruments, etc., can solve the problems of depth measurement error and other problems, and achieve the effect of accurate depth measurement value

Active Publication Date: 2022-01-18
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the embodiments of the present application is to provide a method for suppressing multipath interference in TOF depth calculation, a method and device for TOF depth calculation, and to separate the direct component of the primary reflection of the scene from the indirect component caused by multipath interference to solve the problem of In the related art, the superimposition of direct reflected light and other multi-path reflected light signals leads to serious errors in depth measurement results.

Method used

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  • Multi-path interference suppression method in TOF depth solution, and TOF depth solution method and device

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Embodiment 1

[0070] figure 1 is a schematic diagram of multipath reflection shown according to an exemplary embodiment, refer to figure 1 , use the corner model to illustrate the multi-path interference situation: the common TOF camera uses the light source to flood the scene once, and the photosensitive receiving module collects the reflected light signal for depth calculation, but the light beam emitted by the light source on the surface of the scene is 101 A reflection after irradiation will produce a direct component, and will also be irradiated and reflected by stray light (such as 102, 103) generated by other surface reflections, resulting in an indirect component. The reflected light signal 104 received by the photosensitive receiving module is the direct component and Superposition of indirect components. The depth value calculated by the superimposed signal will have a large deviation from the real depth value.

[0071] figure 2 It is a flow chart of a multipath interference s...

Embodiment 2

[0128] Figure 7 It is a flowchart of a TOF depth calculation method shown according to an exemplary embodiment, refer to Figure 7 , an embodiment of the present invention provides a TOF depth calculation method, the method may include:

[0129] Step S21, receiving the first reflected light signal reflected by the scene collected by the TOF camera, the first reflected light signal is obtained by the TOF camera performing dot-matrix lighting reflection on the scene with a certain modulation frequency;

[0130] Step S22, performing phase calculation on the first reflected light signal to obtain the phase corresponding to the position of the dot-matrix illumination spot;

[0131] Step S23, receiving the second reflected light signal reflected by the scene collected by the TOF camera, the second reflected light signal is obtained by flood lighting and reflecting the scene by the TOF camera with two different modulation frequencies;

[0132] Step S24, performing data reconstruct...

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Abstract

The invention discloses a multi-path interference suppression method in TOF depth solution, and a TOF depth solution method and device. The method comprises the following steps: receiving a first reflection light signal reflected by a scene collected by a TOF camera, and enabling the TOF camera to carry out the dot-matrix illumination reflection of the scene at a certain modulation frequency to obtain the first reflection light signal; performing phase calculation on the first reflected light signal to obtain a phase of a position corresponding to the dot-matrix illumination light spot; receiving a second reflected light signal reflected by the scene collected by the TOF camera, wherein the second reflected light signal is obtained by performing floodlighting reflection on the scene by the TOF camera at two different modulation frequencies; performing data reconstruction on the second reflected light signal, and representing the second reflected light signal as the sum of a direct component and an indirect component; decomposing an indirect component from the second reflected light signal by using the phase at a position corresponding to a dot-matrix illumination light spot; performing two-dimensional interpolation on the indirect component to obtain the indirect component of the whole scene; and removing indirect components of the whole scene from the second reflected light signal.

Description

technical field [0001] The invention relates to the technical field of 3D imaging of a time-of-flight camera, in particular to a multipath interference suppression method in TOF depth calculation, a TOF depth calculation method and a device. Background technique [0002] In recent years, three-dimensional imaging technology has become a hot field of research, and TOF (Time-of-Flight, time-of-flight) depth imaging technology has also developed rapidly. The TOF camera emits infrared modulated light waves to the measured scene, and uses the sensor to receive the reflected light to calculate the time of flight of the light, thereby obtaining the depth information of the measured scene. At present, the method of continuous wave modulation is mostly used to record the flight time of light by detecting the phase shift between the reflected light and the outgoing light. The working principle is simple, and it has been widely used in various fields such as face recognition and human-...

Claims

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Application Information

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IPC IPC(8): G01S17/894G01S7/48
CPCG01S17/894G01S7/4802
Inventor 严惠民刘晓玥霍嘉燚
Owner ZHEJIANG UNIV