Indirect flight time acquisition method and device, equipment, storage medium and product

Abstract

The invention relates to the technical field of optical ranging, and discloses an indirect flight time acquisition method and device, equipment, a storage medium and a product, and the method comprises the steps: configuring a polarization laser pulse light source for each indirect flight time camera, and determining the distribution state of each indirect flight time camera after configuration; performing multi-stage polarization multiplexing and dynamic polarization modulation on the polarization angle of each indirect time-of-flight camera according to the distribution state to obtain a polarization state and an angle modulation strategy; controlling the indirect time-of-flight camera to generate laser pulses with different polarization angles based on a polarization state and an angle modulation strategy; and receiving the reflected light intensity of the laser pulse reflected by the target scene, and determining the indirect flight time of the target scene based on the reflected light intensity. A laser light source with an independent polarization angle is distributed for each camera by utilizing dynamic polarization modulation, so that laser signals between the cameras are prevented from mutual interference in the polarization direction, and the expansibility of the number of the cameras and the detection precision of the cameras are greatly improved.

Description

Technical Field

[0001] The present application relates to the field of optical ranging technology, and in particular to an indirect time-of-flight acquisition method, device, equipment, storage medium and product. Background Art

[0002] Color and depth cameras based on indirect Time-of-Flight (iTOF) technology can provide high-resolution real-time video streams, making them ideal tools for local 3D reconstruction. However, for rapid 3D reconstruction of large-scale scenes, multiple cameras are usually required to collect all-round information about the scene from different angles and fuse them to generate a complete 3D model. However, when multiple indirect Time-of-Flight cameras work synchronously in the same scene, mutual interference of laser signals and multipath effects can lead to reduced depth measurement accuracy and limited number of cameras deployed. Summary of the Invention

[0003] The main purpose of this application is to provide an indirect time-of-flight acquisition method, device, equipment, storage medium and product, aiming to solve the technical problems of reduced depth measurement accuracy and limited number of camera deployment when multiple indirect time-of-flight cameras work synchronously in the same scene.

[0004] To achieve the above objectives, the present application proposes an indirect flight time acquisition method, which includes:

[0005] Configuring a polarized laser pulse light source for each indirect time-of-flight camera, and determining an allocation state of each indirect time-of-flight camera after configuration;

[0006] Performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each of the indirect time-of-flight cameras according to the allocation state to obtain a polarization state and angle modulation strategy;

[0007] controlling the indirect time-of-flight cameras to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulses emitted by each indirect time-of-flight camera are independent of other cameras according to the corresponding polarization angle;

[0008] Reflected light intensity of the laser pulse after being reflected by a target scene is received, and an indirect flight time of the target scene is determined based on the reflected light intensity.

[0009] Optionally, the step of performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each of the indirect time-of-flight cameras according to the allocation state to obtain a polarization state and angle modulation strategy includes:

[0010] determining a first allocation number of the indirect time-of-flight cameras in each time slot and a second allocation number of the time slot according to the allocation state;

[0011] dynamically allocating a polarization angle to each of the indirect time-of-flight cameras based on the first allocated number to obtain a polarization state;

[0012] The polarization state is temporally modulated using the second allocated quantity to obtain an angle modulation strategy.

[0013] Optionally, the step of performing temporal modulation on the polarization state by using the second allocated quantity to obtain an angle modulation strategy includes:

[0014] determining an initial polarization angle of a laser pulse emitted by each of the indirect time-of-flight cameras according to the polarization state;

[0015] The polarization state of each indirect time-of-flight camera is periodically switched through a preset timing mechanism and the initial polarization angle to obtain an angle modulation strategy.

[0016] Optionally, the step of receiving the reflected light intensity of the laser pulse after being reflected by the target scene, and determining the indirect flight time of the target scene based on the reflected light intensity includes:

[0017] receiving the reflected light intensity of the laser pulse after being reflected by the target scene;

[0018] Calculating the target light intensity received by each of the indirect time-of-flight cameras based on a polarization filter and the reflected light intensity, wherein the polarization filter is attached to a sensor of the indirect time-of-flight camera so that the indirect time-of-flight camera only receives light signals with the same polarization state as its light source;

[0019] The phase shift of the target light intensity is measured, and the indirect flight time corresponding to each measurement object in the target scene is determined according to the phase shift.

[0020] Optionally, the step of calculating the target light intensity received by each of the indirect time-of-flight cameras based on the polarization filter and the reflected light intensity includes:

[0021] Acquire a first polarization angle of the polarization filter and a second polarization angle corresponding to the reflected light intensity;

[0022] constructing a transmission function according to the first polarization angle and the second polarization angle;

[0023] The reflected light intensity is screened based on the transmittance function to obtain a target light intensity.

[0024] Optionally, after the step of receiving the reflected light intensity of the laser pulse after being reflected by the target scene, and determining the indirect flight time of the target scene based on the reflected light intensity, the method further includes:

[0025] Real-time monitoring of signal quality indicators of the reflected light intensity, wherein the signal quality indicators include signal strength and signal-to-noise ratio;

[0026] If it is detected that the signal quality index of the indirect time-of-flight camera does not meet the non-interference condition, the polarization angle and time domain slot allocation of the indirect time-of-flight camera are adjusted, and the step of generating laser pulses is re-executed until the signal quality index meets the non-interference condition and the optimal laser pulse polarization angle is obtained.

[0027] In addition, to achieve the above-mentioned purpose, the present application also proposes an indirect flight time acquisition device, which includes:

[0028] A light source configuration module, configured to configure a polarized laser pulse light source for each indirect time-of-flight camera and determine the allocation status of each indirect time-of-flight camera after configuration;

[0029] An angle configuration module, configured to perform multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each of the indirect time-of-flight cameras according to the allocation state, to obtain a polarization state and an angle modulation strategy;

[0030] a laser emission module, configured to control the indirect time-of-flight camera to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulse emitted by each indirect time-of-flight camera is independent of other cameras according to the corresponding polarization angle;

[0031] The time measurement module is used to receive the reflected light intensity of the laser pulse after being reflected by the target scene, and determine the indirect flight time of the target scene based on the reflected light intensity.

[0032] In addition, to achieve the above-mentioned purpose, the present application also proposes an indirect flight time acquisition device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the computer program is configured to implement the steps of the indirect flight time acquisition method as described above.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the indirect flight time acquisition method described above are implemented.

[0034] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps of the indirect time-of-flight acquisition method as described above are implemented.

[0035] This application discloses configuring a polarized laser pulse light source for each indirect time-of-flight camera, and determining the allocation status of each indirect time-of-flight camera after configuration; performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each indirect time-of-flight camera according to the allocation status to obtain a polarization state and angle modulation strategy; controlling the indirect time-of-flight camera to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulse emitted by each indirect time-of-flight camera is independent of other cameras according to the corresponding polarization angle; receiving the reflected light intensity of the laser pulse after being reflected by the target scene, and determining the indirect time of flight of the target scene based on the reflected light intensity. Dynamic polarization modulation is used to allocate a laser light source with an independent polarization angle to each camera, and the polarization direction is independently controlled, so that the laser signals between cameras avoid mutual interference in the polarization direction, and the synchronous operation of the multi-camera system is achieved, which greatly improves the scalability of the number of cameras and the detection accuracy of the cameras. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0038] Figure 1 This is a flow chart of the first embodiment of the indirect flight time acquisition method of the present application;

[0039] Figure 2 This is the overall framework flow chart of the indirect flight time acquisition method for this application;

[0040] Figure 3 This is a flow chart of a second embodiment of the indirect flight time acquisition method of the present application;

[0041] Figure 4 This is a schematic diagram of polarization angle distribution based on time division multiplexing and polarization multiplexing in this application;

[0042] Figure 5 This is a flow chart of a third embodiment of the indirect flight time acquisition method of the present application;

[0043] Figure 6 This is a schematic diagram of the structure of the collaborative multi-iTOF camera system of this application;

[0044] Figure 7 This is a schematic diagram of the module structure of the indirect time-of-flight acquisition device according to an embodiment of the present application;

[0045] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the indirect flight time acquisition method in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] The main solution of the embodiment of the present application is: configuring a polarized laser pulse light source for each indirect time-of-flight camera, and determining the allocation status of each indirect time-of-flight camera after configuration; performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each indirect time-of-flight camera according to the allocation status to obtain a polarization state and an angle modulation strategy; controlling the indirect time-of-flight camera to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulse emitted by each indirect time-of-flight camera is independent of other cameras according to the corresponding polarization angle; receiving the reflected light intensity of the laser pulse after being reflected by the target scene, and determining the indirect flight time of the target scene based on the reflected light intensity.

[0050] Color and depth cameras based on indirect time-of-flight technology can provide high-resolution real-time video streams, making them ideal tools for local 3D reconstruction. However, rapid 3D reconstruction of large scenes typically requires multiple cameras to capture comprehensive scene information from different angles and fuse it to generate a complete 3D model. However, when the number of iTOF cameras deployed in a scene exceeds a certain threshold, the main sources of interference include: 1. Mutual signal interference. The modulated light signals emitted simultaneously by multiple iTOF cameras can cause severe interference, significantly reducing the accuracy of depth estimation and inducing crosstalk between devices, affecting their synchronization. This interference stems from the fact that iTOF sensors calculate time of flight by detecting phase changes in modulated light. If multiple cameras operating in the same environment fail to properly manage the modulation frequency or phase, their optical signals can interfere with each other, significantly impacting measurement performance. 2. Multipath effects. When laser light propagates in a 3D environment, multiple reflection paths lead to multipath interference. Multipath light has a longer travel time than directly reflected light, interfering with the iTOF camera's phase detection, resulting in distorted or even lost depth information, especially in complex indoor scenes or scenes with multiple obstacles.

[0051] Therefore, the present application provides an indirect time-of-flight capacity expansion method that combines polarization multiplexing and filtering. By pre-assigning a laser pulse light source with a different polarization state to each iTOF camera, and attaching a polarization filter that matches the polarization angle of the light source to the surface of the camera sensor, interference filtering and multipath effect suppression are achieved. Through precise management of the laser polarization state, the iTOF hardware system based on polarized laser and polarization filtering can effectively expand the deployment upper limit of the camera (approximately 4 times), and at the same time use polarization filtering to screen the polarization components in multipath reflections, so that the system can support more cameras to work together in the same scene, and significantly suppress the influence of secondary and higher-order reflections caused by multipath effects.

[0052] It should be noted that the execution entity of this embodiment can be a computing service device with laser emission, phase calculation, and program execution functions, such as a computer, or an electronic device capable of performing the above functions. This embodiment and the following embodiments are described below using a collaborative multi-iTOF camera system as an example.

[0053] Based on this, the embodiment of the present application provides an indirect flight time acquisition method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the indirect flight time acquisition method of the present application.

[0054] In this embodiment, the indirect flight time acquisition method includes:

[0055] Step S10: configuring a polarized laser pulse light source for each indirect time-of-flight camera, and determining the allocation status of each indirect time-of-flight camera after configuration.

[0056] It should be noted that indirect time-of-flight cameras measure the time difference between the transmitted laser pulse and the received light pulse reflected from the target scene to determine the phase deviation and indirectly calculate the target distance, thereby achieving three-dimensional imaging and depth measurement. Assigning laser pulses with different polarization states (for example, 0°, 45°, 90°, and 135°) to different iTOF cameras allows each camera's light signal to have a unique polarization direction. The assigned state refers to the parameter settings and operating schedule determined by each indirect time-of-flight camera in the system after configuring the polarized laser pulse light source, including but not limited to the allocation of polarization angles, the allocation of time slots, and the priority of signal transmission and reception.

[0057] It's understandable that specific operating parameters are planned for each camera based on factors such as the number of cameras in the system, the complexity of the target scene, and the required measurement accuracy. For example, in a multi-camera collaborative operation scenario, discrete polarization angles are used to assign unique or non-conflicting polarization angles to each camera. Simultaneously, time-domain multiplexing technology is combined to divide different time slots, specifying when each camera should emit laser pulses, to avoid signal overlap and interference in time and space, thus forming an orderly operating mechanism.

[0058] In one example, each iTOF camera is equipped with a laser pulse light source that can emit laser pulses with a specific polarization state. The polarization direction of the polarized laser pulse (for example, 0°, 45°, 90°, or 135°) is controlled by a regulator of the light source (such as a polarization rotator). The laser pulses emitted by the laser source are independent of other cameras based on their polarization angle, thereby avoiding mutual interference between signals. The polarization direction is divided into N discrete angles (N≥4), and each camera is assigned a unique angle. The system capacity is expanded to:

[0059] N total =N TDM *N

[0060] Among them, N TDM Indicates the maximum number of cameras that can be accommodated in the scene under time division multiplexing. For example, when N TDM When =9 and N=4, the system supports 36 cameras working synchronously.

[0061] When integrating the polarized laser light source, the laser emission module of each iTOF camera integrates an electrically controlled polarization modulator, such as a liquid crystal phase retarder (LCVR) or an electro-optical modulator (EOM). At the same time, it is necessary to ensure that the laser wavelength matches the sensitive range of the camera's receiving signal sensor.

[0062] Step S20 , performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angles of the indirect time-of-flight cameras according to the allocation state, to obtain a polarization state and an angle modulation strategy.

[0063] It should be noted that multi-level polarization multiplexing refers to dividing the polarization angle into multiple discrete intervals. Different cameras are assigned polarization angles in different intervals to form multiple independent channels, realizing spatial signal multiplexing. Dynamic polarization modulation dynamically adjusts the polarization angle of the camera according to time or environmental conditions. For example, within each measurement cycle, the camera switches the polarization angle according to a preset rule (such as 0° to 45° and then to 90°) to enhance anti-interference capabilities. The polarization state describes the polarization characteristics of the laser currently emitted by the camera and is represented by a specific polarization angle value. The angle modulation strategy specifies the polarization angle that the camera should adopt at different time points and the rule of its change.

[0064] Specifically, the number and distribution of cameras in the system are determined based on the allocation state. The 360° polarization space is evenly divided into N intervals, and each camera is assigned a unique interval (for example, 0° for camera 1 and 45° for camera 2), forming the initial polarization state. Angle change rules are designed, such as periodic switching (switching the angle every 10ms) or feedback-based adjustment (switching when signal quality degrades), to generate an angle modulation strategy. This combines the static allocation of multi-level polarization multiplexing with the temporal changes of dynamic polarization modulation to generate a complete polarization state and angle modulation strategy.

[0065] As you can see, multi-level polarization multiplexing separates the signals from different cameras along the polarization dimension, directly suppressing co-channel interference. For example, the 0° polarization signal from camera 1 will not be received by the 45° filter of camera 2. Dynamic polarization modulation allows signal characteristics to vary over time, reducing the impact of fixed-mode interference, such as artifacts caused by multipath reflections.

[0066] It should be understood that traditional TDM (time domain multiplexing) systems can usually only support 9 cameras working simultaneously. However, when combined with 4-level polarization multiplexing, the capacity can be expanded to 9×4=36 cameras, improving spectrum utilization. By increasing the number of polarization intervals, a higher density of camera deployment can be achieved. This solution is more suitable for scenarios that require high-density camera deployment, such as indoor 3D reconstruction and multi-sensor fusion for autonomous driving.

[0067] Step S30 , controlling the indirect time-of-flight camera to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulse emitted by each indirect time-of-flight camera is independent of other cameras according to the corresponding polarization angle.

[0068] As can be understood, first, based on the initial polarization angle assigned by multi-level polarization multiplexing, the camera's polarization modulator is controlled to adjust the polarization direction of the laser pulse to the specified angle. Next, according to the angle modulation strategy, the camera's polarization angle is switched at each time slot. This switching condition can be automatic at each time slot or automatically jump to an alternate angle when interference is detected. Simultaneously, the time slots of all cameras are synchronized using the system clock, ensuring that the polarization angles of different cameras within the same time slot are unique.

[0069] Step S40: receiving the reflected light intensity of the laser pulse after being reflected by the target scene, and determining the indirect flight time of the target scene based on the reflected light intensity.

[0070] It should be noted that reflected light intensity is the intensity of the light signal reflected back to the camera by the surface of the object after the laser pulse hits the target scene. Indirect time-of-flight measures the phase difference between the emitted and reflected light, combining it with the modulation frequency to calculate the light's flight time, thereby determining the target distance. Unlike direct time measurement, the indirect method indirectly derives time through the phase relationship. A polarizing filter is an optical element mounted in front of the camera sensor. It only allows light of a specific polarization direction to pass through, filtering out reflected signals that match the polarization angle of the emitted light and suppressing interference light of other polarization directions.

[0071] As you can understand, the camera sensor captures light signals reflected from the target scene, including scattered light from various objects. The polarization filter in front of the sensor only allows reflected light with the same polarization angle as the emitted light to pass through. For example, if the camera emits 0° polarized light, it only receives reflected light within a threshold range (e.g., -5° to 5°), filtering out interfering light with non-matching angles.

[0072] It should be understood that polarized light technology can also significantly reduce the multipath effect caused by multiple reflections of the laser. Since depolarized light is mainly produced by secondary and higher-order reflections, polarization filters can effectively filter out these depolarized components, thereby enhancing the accuracy of depth measurements.

[0073] Furthermore, in order to monitor the optical signal strength of each camera in real time, the polarization angle and emission timing of the laser pulse are adjusted according to the received signal strength to ensure that interference is minimized, so that the system can still maintain efficient operation in complex environments and avoid signal conflicts. After step S40, the following steps are also included:

[0074] The signal quality index of the reflected light intensity is monitored in real time, wherein the signal quality index includes signal strength and signal-to-noise ratio; if it is detected that the signal quality index of the indirect time-of-flight camera does not meet the interference-free condition, the polarization angle and time domain slot allocation of the indirect time-of-flight camera are adjusted, and the step of generating laser pulses is re-executed until the signal quality index meets the interference-free condition, thereby obtaining the optimal laser pulse polarization angle.

[0075] It should be noted that signal quality metrics, such as signal strength and signal-to-noise ratio, are used to quantify the reliability of the signal received by an indirect time-of-flight camera. The interference-free condition is a preset signal quality threshold, where the signal strength exceeds the minimum detection threshold and the signal-to-noise ratio exceeds a critical value. This ensures that the reflected light signal is sufficiently distinguishable from background noise and interference signals from other cameras, thus guaranteeing the accuracy of indirect time-of-flight measurements. The optimal laser pulse polarization angle is the polarization angle that is dynamically adjusted to optimize the camera's received signal quality. This angle minimizes interference and maximizes the signal-to-noise ratio, ensuring stable and reliable measurement results.

[0076] It should be understood that the real-time signal quality monitoring targets include the reflected light intensity and signal-to-noise ratio received by each indirect time-of-flight camera. The signal strength is directly converted from the photocurrent or voltage value collected by the sensor. Through the real-time feedback mechanism, the system can automatically optimize the operating parameters in complex environments with dynamic changes in multiple cameras (such as adding new cameras, changing the target scene), avoiding manual intervention. Combining polarization multiplexing with time domain multiplexing, the polarization dimension and time domain resources are maximized through dynamic allocation without increasing hardware costs, achieving "plug and play" camera expansion.

[0077] In one example, reference Figure 2 , Figure 2 This is the overall framework flow chart of the indirect time-of-flight acquisition method of this application. The system monitors the optical signal intensity of each camera in real time, and adjusts the polarization angle and emission timing of the laser pulse according to the received signal intensity to ensure that interference is minimized. Step 1: Hardware modification and polarization light source configuration. First, an electrically controlled polarization modulator is integrated into each TOF camera and a high extinction ratio polarization filter is installed (error <1°). Step 2: Frequency offset multiplexing strategy design. By designing a polarization multiplexing strategy, discrete polarization angles (such as 0°, 45°, 90°, etc.) are allocated and dynamically adjusted in combination with time domain multiplexing (TDM), for example: θ_i = θ_0 + Δθ·t, where θ_i is the polarization angle, θ_0 is the initial polarization angle, Δθ is the change in polarization angle per unit time, and t is time. Step 3: Dynamic polarization modulation is synchronized with the time domain to allocate laser pulse timing (160μs / slot), and consider the dynamic changes of polarization angle with the environment. Step 4: Interference suppression and real-time feedback. Polarization filters are used to match optical signals, monitor signal quality in real time, and determine if it meets standards. Polarization angles and time slot allocations are dynamically adjusted to mitigate interference. Output: Multiple cameras work collaboratively to mitigate interference and multipath effects. Based on system feedback, the polarization angles and time slot allocations of the cameras are adjusted, enabling the system to maintain high efficiency in complex environments, avoiding signal conflicts and increasing the deployment limit by fourfold (for example, from 9 to 36).

[0078] In this embodiment, dynamic polarization modulation is used to assign a laser light source with an independent polarization angle to each camera, and the polarization direction is independently controlled, so that the laser signals between cameras avoid mutual interference in the polarization direction, realizing the synchronous operation of the multi-camera system, greatly improving the scalability of the number of cameras and the detection accuracy of the cameras.

[0079] Reference Figure 3 , Figure 3 This is a flow chart of a second embodiment of the indirect flight time acquisition method of the present application. Based on the above-mentioned first embodiment, the second embodiment of the indirect flight time acquisition method of the present application is proposed.

[0080] In the second embodiment, step S20 includes:

[0081] Step S201 : determining a first allocation quantity of the indirect time-of-flight cameras in each time slot and a second allocation quantity of the time slot according to the allocation status.

[0082] It's important to note that the first allocation is the number of indirect time-of-flight cameras allowed to operate simultaneously within each time slot, determining the concurrency scale of cameras within the same time slot. The second allocation is the total number of time slots allocated within the entire work cycle, reflecting the system's granularity and reuse level for time resources.

[0083] It is understood that when determining the first allocation number, it is necessary to consider the polarization angle isolation between cameras, signal processing capabilities, and anti-interference requirements, and plan the number of cameras that can be accommodated in each time slot. For example, if the system uses four-level polarization multiplexing, to ensure that the polarization angles of cameras in the same time slot do not conflict, the first allocation number is generally not greater than the number of polarization multiplexing levels (e.g., four cameras per time slot).

[0084] It should be understood that the second allocated number can be divided into time slots based on the ratio of the total number of cameras to the first allocated number, combined with the system operating frequency and measurement accuracy requirements. For example, if the system has 36 cameras and the first allocated number is 4 cameras per time slot, the second allocated number would be 9 time slots. This allows each camera to operate in a sequential manner within a different time slot, avoiding signal overlap and interference, and achieving efficient multiplexing in both time and polarization dimensions.

[0085] Step S202: Dynamically assigning a polarization angle to each of the indirect time-of-flight cameras based on the first assigned number to obtain a polarization state.

[0086] It is understandable that in order to further improve the deployment density of the iTOF camera system, different laser source polarization angle combinations can be used instead of just a single polarization angle through multi-level polarization multiplexing. For example, the polarization angle can be divided into multiple sub-intervals instead of just 0°, 45°, 90°, and 135°. By allocating the polarization angle more finely, a higher degree of multiplexing can be achieved. Assuming that the polarization angle is further refined into N discrete angles, the polarization state θ of the laser pulse used by each camera is i It can be expressed as:

[0087]

[0088] Assuming the polarization angle is subdivided into N = 8 discrete angles, the formula yields the following polarization angles: θ0 = 0°, θ1 = 45°, θ0 = 90°, …, θ7 = 315°. This not only increases the number of cameras deployed but also allows for dynamic polarization state adjustment to avoid interference. For example, before each capture, the polarization angle can be dynamically adjusted based on the current camera allocation, optimizing signal reuse as the environment changes.

[0089] Step S203: performing time-sequential modulation on the polarization state by using the second allocated quantity to obtain an angle modulation strategy.

[0090] It should be understood that to adapt to different environments and lighting conditions, the polarization state can be combined with the timing modulation of the laser pulses to achieve dynamic polarization modulation. Assume that the laser pulses from each laser source can be modulated using some timing mechanism, such as periodically switching the polarization state. This means that pulses emitted by the same laser source at different times have different polarization angles, further reducing signal interference.

[0091] Furthermore, in order to combine dynamic polarization modulation with time domain synchronization so that laser pulses emitted by the same laser source at different time points have different polarization angles, reduce interference between cameras, and ensure efficient transmission of laser signals in complex environments, step S203 may include:

[0092] The initial polarization angle of the laser pulse emitted by each indirect time-of-flight camera is determined according to the polarization state; the polarization state of each indirect time-of-flight camera is periodically switched through a preset timing mechanism and the initial polarization angle to obtain an angle modulation strategy.

[0093] In one example, reference Figure 4 , Figure 4 This is a schematic diagram of the polarization angle distribution based on time division multiplexing and polarization multiplexing in this application. Under this dynamic polarization modulation, the following polarization angles θ can be used i (t) Relationship with time:

[0094] θ i (t)=(θ i,0 +Δθ*t)mod 360°

[0095] Among them, among them, θ i (t) is the change of polarization angle of the i-th camera with time t, θ i,0 is the initial polarization schedule, and Δθ is the change in polarization angle per unit time.

[0096] The figure shows the situation where multiple indirect time-of-flight cameras periodically emit laser pulses over time at different polarization angles (such as 0°, 45°, 90°, and 315°). The horizontal axis is time and the vertical axis is the polarization angle. On the time axis corresponding to each polarization angle, the squares of different colors represent the laser pulse emission moments in each time slot. Time division multiplexing divides the fixed time interval into multiple time slots, allowing the cameras to be exposed in sequence in different time slots, thereby avoiding mutual interference. At the same time, polarization multiplexing allows multiple iTOF cameras to be exposed simultaneously at different polarization angles at the same time, thereby further improving the deployment scale of iTOF cameras.

[0097] In this embodiment, a first allocation number and a second allocation number for the indirect time-of-flight cameras in each time slot are determined based on the allocation state. Polarization angles are dynamically assigned to each indirect time-of-flight camera based on the first allocation number to obtain a polarization state. The polarization state is then time-modulated using the second allocation number to obtain an angle modulation strategy. By dividing the polarization angle into multiple discrete angles, interference between different cameras is avoided and the system achieves higher system multiplexing by dynamically adjusting the polarization angle of each camera. Polarization angles can be freely allocated across multiple subdivisions, and the system supports dynamic adjustment of the polarization state within each time slot based on environmental changes, thereby optimizing system performance.

[0098] Reference Figure 5 , Figure 5 This is a flow chart of a third embodiment of the indirect flight time acquisition method of the present application. Based on the above embodiments, the third embodiment of the indirect flight time acquisition method of the present application is proposed.

[0099] In the third embodiment, step S40 includes:

[0100] Step S401: receiving the reflected light intensity of the laser pulse after being reflected by the target scene.

[0101] It's understandable that by installing a polarizing filter in front of each camera's sensor that matches the light source's polarization, the polarization state of the reflected light may change after the laser pulse reflects off the target surface. Light that is reflected multiple times (i.e., multipath light) is particularly susceptible to depolarization, and its polarization state differs from that of the directly reflected laser source. Therefore, by using a polarizing filter to only allow light signals with a specific polarization state to pass, light signals from other cameras and multipath reflections can be effectively suppressed.

[0102] Step S402 , calculating the target light intensity received by each indirect time-of-flight camera based on a polarization filter and the reflected light intensity, wherein the polarization filter is installed in front of the sensor of the indirect time-of-flight camera so that the indirect time-of-flight camera only receives light signals with the same polarization state as its light source.

[0103] Furthermore, in order to ensure that only the reflected light with the same polarization direction as the laser source can pass through the indirect time-of-flight camera, the step S402 may include:

[0104] Acquire a first polarization angle of the polarization filter and a second polarization angle corresponding to the reflected light intensity; construct a transmission function according to the first polarization angle and the second polarization angle; and screen the reflected light intensity based on the transmission function to obtain a target light intensity.

[0105] It should be noted that the first polarization angle refers to the specific polarization angle set by the polarization filter installed in front of the indirect time-of-flight camera sensor, which allows light to pass through. The second polarization angle represents the polarization angle of light corresponding to the reflected light intensity, reflecting the polarization state of light after reflection from the target scene. The transmission function describes the polarization filter's filtering properties for light with different polarization angles. The target light intensity is the final light intensity received by the indirect time-of-flight camera after the reflected light intensity is filtered by the transmission function.

[0106] In one example, suppose the polarization angle of the laser source of a camera is θ i , and the polarization angle of the polarizing filter of the camera is set to θ filter,i , then only the polarization angle and θ filter,i Very close incident light can pass through the filter. This closeness is usually defined by a threshold ε, that is, when the polarization angle θ of the incident light is inc and the polarization angle of the filter |θ inc -θ filter When | is less than ε, light can pass through the filter; otherwise it is blocked.

[0107] Through function F filteri (θ inc -θ filter ) can be used to describe this process and is defined as follows:

[0108]

[0109] Among them, θ inc is the polarization angle of the incident light, θ filter,i is the polarization angle of the filter, and ε is the permissible polarization angle error (i.e., threshold), which determines the transmittance of the filter.

[0110] The light intensity I received by the i-th camera received,i is the reflected light intensity P(θ i ) and the transmittance F of the polarizing filter filter,i The product of:

[0111] I received,i =P(θ i )*F filter,i (θ i )

[0112] Among them, P(θ i ) is the intensity of the reflected light, which depends on the reflective properties of the target and the polarization angle θ of the camera laser source i , F filter,i (θ i ) is the transmittance function of the polarization filter, which means that the filter passes the light signal that matches its polarization angle.

[0113] Assume that there are four cameras in the system, and the polarization angles of the laser source for each camera are 0°, 45°, 90°, and 135°, respectively. Each camera is also equipped with a filter that matches the polarization angle of its laser source. For simplicity, assume that the threshold of each filter's transmission function is ε = 5°. That is, the filter only allows light with a polarization angle that differs by no more than 5° from its set value to pass.

[0114] Specifically, the camera and laser polarization angles are assigned as follows: the laser polarization angle of camera 1 is 0°, and the polarization angle of its filter is also set to 0°; the laser polarization angle of camera 2 is 45°, and the polarization angle of its filter is also set to 45°; the laser polarization angle of camera 3 is 90°, and the polarization angle of its filter is also set to 90°; the laser polarization angle of camera 4 is 135°, and the polarization angle of its filter is also set to 135°.

[0115] In one scene, the polarization angle of the reflected light from the target object changes. The polarization angle of the reflected light θ inc It will be different for different cameras. If the polarization angle of the target reflected light is 42°, then this reflected light will produce different transmission function values ​​for different cameras.

[0116] For camera 1, the polarization angle of its filter is 0° and the polarization angle of the reflected light is 42°, so |θinc -θ filter,1 |=|42°-0°|=42°, which is greater than the threshold ε=5°, so the light signal will be blocked by the filter and pass through the function F filter,1 =0.

[0117] For camera 2, the polarization angle of its filter is 45° and the polarization angle of the reflected light is 42°, so |θ inc -θ filter,2 |=|42°-45°|=3°, which is less than the threshold ε=5°, so the light signal will be blocked by the filter and pass through the function F filter,2 =1.

[0118] For camera 3, the polarization angle of its filter is 90° and the polarization angle of the reflected light is 42°, so |θ inc -θ filter,3 |=|42°-90°|=48°, which is greater than the threshold ε=5°, so the light signal will be blocked by the filter and pass through the function F filter,3 =0.

[0119] For camera 4, the polarization angle of its filter is 135° and the polarization angle of the reflected light is 42°, so |θ inc -θ filter,4 |=|42°-135°|=93°, which is greater than the threshold ε=5°, so the light signal will be blocked by the filter and pass through the function F filter,4 =0.

[0120] In this scenario, only Camera 2 can receive the reflected light from the target object because its filter best matches the polarization angle of the reflected light (the deviation is only 3°, which is less than the tolerance of 5°). The polarization angles of the filters of the other cameras are significantly different from those of the target's reflected light, so they cannot receive the reflected light.

[0121] Step S403 : measuring the phase shift of the target light intensity, and determining the indirect flight time corresponding to each measurement object in the target scene according to the phase shift.

[0122] It should be noted that the target light intensity phase shift refers to the phase change caused by the light propagation time during the transmission and reception process of the target light intensity signal obtained after polarization screening. The transmitted light has an initial phase. When it is reflected from the target and returned to the camera, the phase changes due to the round-trip time. This change, the phase shift, is closely related to the light flight time and can be used to indirectly calculate the flight time.

[0123] In one example, reference Figure 6 , Figure 6This is a structural diagram of the collaborative multi-iTOF camera system of this application. The figure shows the principle of collaborative operation of multiple iTOF camera units. The laser emitters of iTOF camera units 1, 2, and 3 respectively transmit lasers with polarization angles of θ1, θ2, and θ3 to the target scene through polarization filters, and the light intensity signals in the scene are superimposed. When receiving, each camera unit uses a polarization filter to only receive signals with the same polarization angle as its own emission, such as unit 1 receives θ1 signal, unit 2 receives θ2 signal, and unit 3 receives θ3 signal. In this way, the respective signals are distinguished and processed, effectively avoiding interference between different camera units, ensuring that each camera unit accurately obtains the light intensity information of the corresponding polarization angle in the target scene, and realizing signal separation and processing under the collaborative operation of multiple cameras.

[0124] In this embodiment, the reflected light intensity of the laser pulse after reflection from the target scene is received; the target light intensity received by each indirect time-of-flight camera is calculated based on a polarization filter and the reflected light intensity. The polarization filter is attached to the sensor of the indirect time-of-flight camera to ensure that the indirect time-of-flight camera only receives light signals with the same polarization state as its light source; the phase shift of the target light intensity is measured, and the indirect time of flight corresponding to each measurement object in the target scene is determined based on the phase shift. By equipping each camera with a polarization filter that matches the angle of its polarized laser pulse, interference from other cameras and errors caused by multipath reflections are avoided.

[0125] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the indirect flight time acquisition method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0126] This application also provides an indirect flight time acquisition device, please refer to Figure 7 , the indirect flight time acquisition device includes:

[0127] A light source configuration module 10 is used to configure a polarized laser pulse light source for each indirect time-of-flight camera and determine the allocation status of each indirect time-of-flight camera after configuration;

[0128] An angle configuration module 20 is used to perform multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each of the indirect time-of-flight cameras according to the allocation state to obtain a polarization state and an angle modulation strategy;

[0129] a laser emission module 30, configured to control the indirect time-of-flight camera to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulse emitted by each indirect time-of-flight camera is independent of other cameras according to the corresponding polarization angle;

[0130] The time measurement module 40 is configured to receive the reflected light intensity of the laser pulse after being reflected by the target scene, and determine the indirect flight time of the target scene based on the reflected light intensity.

[0131] The indirect time-of-flight acquisition device provided by this application, which adopts the indirect time-of-flight acquisition method of the above-mentioned embodiment, can solve the technical problems of reduced depth measurement accuracy and limited camera deployment when multiple indirect time-of-flight cameras work synchronously in the same scene. Compared with the prior art, the beneficial effects of the indirect time-of-flight acquisition device provided by this application are the same as the beneficial effects of the indirect time-of-flight acquisition method provided by the above-mentioned embodiment, and the other technical features of the indirect time-of-flight acquisition device are the same as the features disclosed in the above-mentioned embodiment method, and are not further described here.

[0132] The present application provides an indirect flight time acquisition device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the indirect flight time acquisition method in the above-mentioned embodiment one.

[0133] Reference below Figure 8 , which shows a schematic diagram of the structure of an indirect time-of-flight acquisition device suitable for implementing the embodiments of the present application. The indirect time-of-flight acquisition device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 8 The indirect time-of-flight acquisition device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0134] like Figure 8As shown, the indirect time-of-flight acquisition device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory 1002 or programs loaded from a storage device 1003 into a random access memory 1004. Random access memory 1004 also stores various programs and data required for the operation of the indirect time-of-flight acquisition device. Processing device 1001, read-only memory 1002, and random access memory 1004 are interconnected via a bus 1005. An input / output interface 1006 is also connected to the bus. Typically, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, hard disk, etc.; and a communication device 1009. Communication device 1009 can allow the indirect time-of-flight acquisition device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows an indirect time-of-flight acquisition device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or provided instead.

[0135] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are performed.

[0136] The indirect time-of-flight acquisition device provided by this application, which adopts the indirect time-of-flight acquisition method of the above-mentioned embodiment, can solve the technical problems of reduced depth measurement accuracy and limited camera deployment when multiple indirect time-of-flight cameras work synchronously in the same scene. Compared with the prior art, the beneficial effects of the indirect time-of-flight acquisition device provided by this application are the same as the beneficial effects of the indirect time-of-flight acquisition method provided by the above-mentioned embodiment, and the other technical features of the indirect time-of-flight acquisition device are the same as the features disclosed in the method of the previous embodiment, and are not further described here.

[0137] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0138] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0139] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer program) stored thereon, wherein the computer-readable program instructions are used to execute the indirect time-of-flight acquisition method in the above-mentioned embodiment.

[0140] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0141] The computer-readable storage medium may be included in the indirect time-of-flight acquisition device; or may exist independently without being assembled into the indirect time-of-flight acquisition device.

[0142] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the indirect flight time acquisition device, the indirect flight time acquisition device executes the indirect flight time acquisition method described above.

[0143] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0144] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, program segment or part of code, and the module, program segment or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, as well as the combination of boxes in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0145] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0146] The readable storage medium provided in this application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., a computer program) for executing the above-mentioned indirect time-of-flight acquisition method. This computer-readable storage medium can solve the technical problems of reduced depth measurement accuracy and limited camera deployment when multiple indirect time-of-flight cameras operate synchronously in the same scene. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the indirect time-of-flight acquisition method provided in the above-mentioned embodiment, and will not be repeated here.

[0147] The present application also provides a computer program product, comprising a computer program, which implements the steps of the above-mentioned indirect time-of-flight acquisition method when executed by a processor.

[0148] The computer program product provided in this application can address the technical issues of reduced depth measurement accuracy and limited camera deployment when multiple indirect time-of-flight cameras operate simultaneously in the same scene. Compared to the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the indirect time-of-flight acquisition method provided in the aforementioned embodiments, and are not further elaborated here.

[0149] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. An indirect flight time acquisition method, characterized in that: The indirect flight time acquisition method comprises: Configuring a polarized laser pulse light source for each indirect time-of-flight camera, and determining an allocation state of each indirect time-of-flight camera after configuration; Performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each of the indirect time-of-flight cameras according to the allocation state to obtain a polarization state and angle modulation strategy; controlling the indirect time-of-flight cameras to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulses emitted by each indirect time-of-flight camera are independent of other cameras according to the corresponding polarization angle; Reflected light intensity of the laser pulse after being reflected by a target scene is received, and an indirect flight time of the target scene is determined based on the reflected light intensity.

2. The indirect flight time acquisition method according to claim 1, wherein: The step of performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each of the indirect time-of-flight cameras according to the allocation state to obtain a polarization state and angle modulation strategy includes: determining a first allocation number of the indirect time-of-flight cameras in each time slot and a second allocation number of the time slot according to the allocation state; dynamically allocating a polarization angle to each of the indirect time-of-flight cameras based on the first allocated number to obtain a polarization state; The polarization state is temporally modulated using the second allocated quantity to obtain an angle modulation strategy.

3. The indirect flight time acquisition method according to claim 2, wherein: The step of performing temporal modulation on the polarization state by using the second allocated quantity to obtain an angle modulation strategy includes: determining an initial polarization angle of a laser pulse emitted by each of the indirect time-of-flight cameras according to the polarization state; The polarization state of each indirect time-of-flight camera is periodically switched through a preset timing mechanism and the initial polarization angle to obtain an angle modulation strategy.

4. The indirect flight time acquisition method according to claim 1, wherein: The step of receiving the reflected light intensity of the laser pulse after being reflected by the target scene, and determining the indirect flight time of the target scene based on the reflected light intensity includes: receiving the reflected light intensity of the laser pulse after being reflected by the target scene; Calculating the target light intensity received by each of the indirect time-of-flight cameras based on a polarization filter and the reflected light intensity, wherein the polarization filter is attached to a sensor of the indirect time-of-flight camera so that the indirect time-of-flight camera only receives light signals with the same polarization state as its light source; The phase shift of the target light intensity is measured, and the indirect flight time corresponding to each measurement object in the target scene is determined according to the phase shift.

5. The indirect flight time acquisition method according to claim 4, wherein: The step of calculating the target light intensity received by each of the indirect time-of-flight cameras based on the polarization filter and the reflected light intensity comprises: Acquire a first polarization angle of the polarization filter and a second polarization angle corresponding to the reflected light intensity; constructing a transmission function according to the first polarization angle and the second polarization angle; The reflected light intensity is screened based on the transmittance function to obtain a target light intensity.

6. The indirect flight time acquisition method according to any one of claims 1 to 5, characterized in that: After the step of receiving the reflected light intensity of the laser pulse after being reflected by the target scene, and determining the indirect flight time of the target scene based on the reflected light intensity, the method further includes: Real-time monitoring of signal quality indicators of the reflected light intensity, wherein the signal quality indicators include signal strength and signal-to-noise ratio; If it is detected that the signal quality index of the indirect time-of-flight camera does not meet the non-interference condition, the polarization angle and time domain slot allocation of the indirect time-of-flight camera are adjusted, and the step of generating laser pulses is re-executed until the signal quality index meets the non-interference condition and the optimal laser pulse polarization angle is obtained.

7. An indirect flight time acquisition device, characterized in that: The device comprises: Configuring a polarized laser pulse light source for each indirect time-of-flight camera, and determining an allocation state of each indirect time-of-flight camera after configuration; Performing multi-level polarization multiplexing and dynamic polarization modulation on the polarization angle of each of the indirect time-of-flight cameras according to the allocation state to obtain a polarization state and angle modulation strategy; controlling the indirect time-of-flight camera to generate laser pulses with different polarization angles based on the polarization state and the angle modulation strategy, wherein the laser pulse emitted by each indirect time-of-flight camera is independent of other cameras according to the corresponding polarization angle; Reflected light intensity of the laser pulse after being reflected by a target scene is received, and an indirect flight time of the target scene is determined based on the reflected light intensity.

8. An indirect time-of-flight acquisition device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the indirect time-of-flight acquisition method according to any one of claims 1 to 6.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the indirect time-of-flight acquisition method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the indirect time-of-flight acquisition method according to any one of claims 1 to 6 are implemented.

Images