Imaging method, imaging device and related product

Abstract

The invention discloses an imaging method, an imaging device and related products, and relates to the technical field of imaging. The imaging method comprises the steps that a first light beam received by a first light sensing unit is converted into a first electric signal, the first light beam can be an unfiltered light beam from an object space, and the first light beam possibly comprises a large number of interference light beams. A first filtering parameter is determined based on the first electrical signal such that the first filtering parameter can be used to filter an interfering beam in the first beam. In addition, the second light beam filtered by the first filtering unit according to the first filtering parameter is received through the first light sensing unit, so that the second light beam does not comprise or comprises less interference light beams, and the sensing performance of the imaging device is improved.

Description

Technical Field

[0001] This application relates to the field of imaging technology, and in particular to an imaging method, imaging device and related products. Background Technology

[0002] An image sensor is a device that converts light signals into electrical signals and is widely used in cameras and other electro-optical devices. Image sensors include photoconductive cameras and solid-state image sensors. Solid-state image sensors are characterized by their small size, light weight, and high resolution, and are widely used in various fields.

[0003] However, in certain specific scenarios, the perception performance of the aforementioned image sensors is weak and cannot meet the perception requirements in those scenarios. For example, in nighttime driving scenarios, the high beams of oncoming vehicles can produce strong glare, exceeding the dynamic range of the intelligent driving camera and easily creating blind spots, thus affecting driving safety. Another example is in scenarios involving automatic parking in underground parking garages, where strong reflections from the ground can interfere with the normal imaging of the onboard camera, causing problems in visual geometry calculations and resulting in parking failure.

[0004] Therefore, there is an urgent need for a perception solution to improve perception performance in various scenarios. Summary of the Invention

[0005] This application provides an imaging method, imaging device, and related products. The imaging method provided by this application can determine appropriate filtering parameters based on the light beam received by the photosensitive unit in the current scene, thereby reducing the interference light beam in the light beam received by the photosensitive unit in the current scene and improving the perception performance in various scenes.

[0006] In a first aspect, this application provides an imaging method, comprising: converting a received first beam into a first electrical signal, then controlling a first filtering unit to filter the beam with first filtering parameters based on the first electrical signal, and receiving a second beam filtered by the first filtering unit with the first filtering parameters.

[0007] In this application, the first beam can be an unfiltered beam from the object space. In some scenarios, the first beam may include a large number of interfering beams, resulting in images generated based on the first beam containing a lot of interference information, which may reduce the accuracy of the imaging device. Since the first beam may include a large number of interfering beams, the type, characteristics, and receiving position of the interfering beams in the first beam can be identified based on the first electrical signal, thereby generating the first filtering parameters. Therefore, the second beam filtered by the first filtering unit with the first filtering parameters does not include interfering beams, or includes fewer interfering beams, so that the images generated based on the second beam do not include interference information, or include less interference information, thereby improving the accuracy of imaging and thus enhancing the sensing performance of the imaging device. It is understood that in different sensing scenarios, the type, characteristics, or receiving position of the interfering beams included in the first beam are usually different. The imaging method provided in this application determines the first filtering parameters by using the first electrical signal corresponding to the first beam. Therefore, the imaging method provided in this application can determine the appropriate first filtering parameters in different scenarios to improve the sensing performance of the imaging device in the current scenario. In summary, the imaging method provided in this application, which controls the first filtering unit to perform filtering with the first filtering parameters based on the first electrical signal, can match the filtering requirements under various scenarios, thereby reducing the interference beam in the received beam and improving the perception performance of the imaging device under various scenarios.

[0008] Optionally, the first beam can be a beam corresponding to one pixel, or it can be a beam corresponding to multiple pixels.

[0009] Optionally, the second beam described above is used for imaging.

[0010] In one possible implementation, the imaging method provided in this application is applied to an imaging device, which includes a first photosensitive unit, a processing unit, and a first filtering unit. The imaging method includes: receiving a first light beam through the first photosensitive unit and converting the first light beam into a first electrical signal; controlling the first filtering unit to filter the light beam with first filtering parameters based on the first electrical signal through the processing unit; and receiving a second light beam filtered by the first filtering unit with the first filtering parameters through the first photosensitive unit.

[0011] Optionally, the imaging device further includes an imaging unit, and the imaging method further includes imaging based on a second beam through the imaging unit.

[0012] In another possible implementation, a second filtering parameter is generated based on the second beam and the first filtering parameter, and the second filtering parameter is different from the first filtering parameter.

[0013] It is understandable that the environment is dynamically changing, and the type, characteristics, or receiving position of the interfering beam are also complex and varied. Therefore, as the environment changes, the second beam obtained based on the first filtering parameters may include the interfering beam. In this case, generating the second filtering parameters based on the second beam and the first filtering parameters (which can also be understood as updating the first filtering parameters) can effectively filter out the interfering beam in a timely manner, thereby improving the sensing performance of the imaging device.

[0014] In another possible implementation, the first filter parameter is determined based on the first electrical signal.

[0015] Based on the above description, it can be seen that the first photosensitive unit receives the first beam and the second beam respectively, and the second beam is the beam filtered by the first filtering unit with the first filtering parameters. The first filtering parameters are determined based on the first electrical signal corresponding to the first beam, so that the filtering method corresponding to the beam received by the first photosensitive unit can be adaptively adjusted based on the beam received by the first photosensitive unit in the previous time, thereby reducing the interference beam received by the first photosensitive unit and improving the sensing performance of the imaging device.

[0016] In another possible implementation, the above-described method of controlling the first filtering unit to perform filtering with the first filtering parameters based on the first electrical signal by the processing unit includes: determining the light intensity and / or polarization state of the first beam by the processing unit based on the first electrical signal; determining the first filtering parameters by the processing unit based on the light intensity and / or polarization state of the first beam; and controlling the first filtering unit to perform filtering with the first filtering parameters by the processing unit.

[0017] In the above embodiments, by determining the light intensity and / or polarization state of the first beam based on the first electrical signal, the processing unit can accurately determine whether the first beam is an interfering beam. For example, if the light intensity of the first beam is greater than a certain threshold, the first beam can be considered an interfering beam. Similarly, if the first beam is polarized light, it can be considered an interfering beam. The processing unit determines first filtering parameters based on the light intensity and / or polarization state of the first beam, enabling effective filtering of interfering beams. For example, if the light intensity of the first beam is greater than a certain threshold, the first filtering parameters can include intensity filtering, ensuring that the light intensity of the second beam received by the first photosensitive unit is less than the threshold. Similarly, if the first beam is polarized light, the first filtering parameters can include polarization filtering, ensuring that the second beam received by the first photosensitive unit is not polarized light. In summary, the first filtering parameters determined by the processing unit based on the light intensity and / or polarization state of the first beam can effectively filter out interfering beams received by the first photosensitive unit, thereby improving the sensing performance of the imaging device.

[0018] In another possible implementation, the first filtering parameter includes a first filtering method and a filtering attribute corresponding to the first filtering method. When the first filtering method includes polarization filtering, the filtering attribute corresponding to the first filtering method includes the polarization direction corresponding to the polarization filtering and the degree to which the polarization filtering attenuates light intensity in the polarization direction, and / or, when the first filtering method includes intensity filtering, the filtering attribute corresponding to the first filtering method includes the degree to which the intensity filtering attenuates light intensity.

[0019] In the above embodiments, the first filtering method includes polarization filtering and / or intensity filtering, enabling the first filtering unit to not only perform polarization filtering or intensity filtering on the beam, but also to perform both polarization filtering and intensity filtering simultaneously, thereby better filtering various interfering beams. Furthermore, the first filtering parameters also include filtering attributes corresponding to the first filtering method. For example, when the first filtering method includes polarization filtering, the filtering attributes corresponding to the first filtering method may include the polarization direction corresponding to the polarization filtering, such as a horizontal or vertical direction. Optionally, the filtering attributes corresponding to the first filtering method may also include the degree of light intensity attenuation in the polarization direction, such as a 50% attenuation in the polarization direction. As another example, when the first filtering method includes intensity filtering, the filtering attributes corresponding to the first filtering method include the degree of light intensity attenuation by the intensity filtering. It can be understood that intensity filtering is used to attenuate the overall light intensity of the beam. Based on the above description, it can be seen that the first filtering parameters include the first filtering method and the filtering attributes corresponding to the first filtering method, enabling rich filtering functions based on the first filtering parameters to adapt to filtering requirements in various scenarios, thereby improving the sensing performance of the imaging device.

[0020] In another possible implementation, when the light intensity of the first beam is greater than a first threshold, the first filtering method includes intensity filtering, and / or, when the first beam includes polarized light in a first direction, the first filtering method includes polarization filtering, wherein the polarization direction corresponding to the polarization filtering is the first direction.

[0021] In the above embodiments, the first threshold can refer to the situation where, when the light intensity of the beam is greater than the first threshold, the image corresponding to the beam is usually an interfering image. Therefore, when the light intensity of the first beam is greater than the first threshold, the first filtering method, including intensity filtering, can ensure that the light intensity of the second beam meets the condition, preventing the image corresponding to the second beam from being an interfering image, thereby improving the sensing performance of the imaging device. It is understood that polarized light in the natural environment is usually formed through reflection, refraction, or scattering; therefore, polarized light is also usually an interfering beam. When the first beam includes polarized light in a first direction, the first filtering method, including polarization filtering, can effectively filter out the polarized beam, thereby improving the sensing performance of the imaging device.

[0022] Optionally, the first threshold can be preset or dynamically adjusted according to the perceived content; this application does not limit this.

[0023] In another possible implementation, the imaging device further includes a first photosensitive unit array and a first filtering unit array, wherein the first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filtering unit is a filtering unit in the first filtering unit array. Receiving a first light beam through the first photosensitive unit and converting the first light beam into a first electrical signal includes: receiving a first light beam set through the first photosensitive unit array and converting the first light beam set into a first electrical signal set, wherein the first light beam set includes the first light beam, and the first electrical signal set includes the first electrical signal. Controlling the first filtering unit to filter with first filtering parameters based on the first electrical signal through the processing unit includes: controlling the first filtering unit array to filter with a first filtering parameter set based on the first electrical signal set, wherein the first filtering parameter set includes first filtering parameters.

[0024] In the above embodiments, the imaging device includes a first photosensitive unit array and a first filtering unit array. The first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filtering unit is a filtering unit in the first filtering unit array. As described above, the first photosensitive unit can receive the light beam filtered by the first filtering unit using first filtering parameters. Therefore, filtering parameters can be independently set for each filtering unit in the first filtering unit array. Correspondingly, the light beam before reception by each photosensitive unit in the first photosensitive unit array can be independently filtered. This allows for setting different filtering parameters for the light beam before reception at different positions in the first photosensitive unit array, achieving a regional filtering effect. On the one hand, it can effectively filter different types of interfering light beams; on the other hand, it can reduce the interference of filtering on the received normal light beam, thereby maximizing the sensing performance of the imaging device.

[0025] In another possible implementation, the processing unit controls the first filtering unit array to perform filtering with a first filtering parameter set based on a first electrical signal set, including: determining, based on the first electrical signal set, that the first beam set includes an interfering beam; determining, based on the interfering beam, the first filtering parameter set; and controlling the first filtering unit array to perform filtering with the first filtering parameter set.

[0026] In the above embodiments, the processing unit determines that the first beam set includes interfering beams based on the first electrical signal set. For example, by analyzing each electrical signal in the first electrical signal set, the light intensity and / or polarization state of the beam corresponding to the electrical signal can be determined, thereby determining that the first beam set includes interfering beams. Another example is by performing an overall analysis of the first electrical signals to determine that the first beam set includes interfering beams. It is understood that the first beam set is composed of beams received by multiple first photosensitive units, and the beams received by the first photosensitive units can be referred to as a beam in the first beam set. After determining the interfering beams in the first beam set, a first set of filtering parameters is then determined based on the interfering beams, so that the beam obtained by filtering with the first set of filtering parameters has fewer interfering beams and can be used for accurate imaging, thereby improving the sensing performance of the imaging device.

[0027] In another possible implementation, determining that the first beam set includes an interfering beam based on the first electrical signal set by the processing unit includes: if the processing unit determines, based on the first electrical signal set, that the first beam set includes a beam with an intensity greater than a first threshold, then the first beam set includes an interfering beam, and the interfering beam is a beam in the first beam set with an intensity greater than the first threshold; and / or if the processing unit determines, based on the first electrical signal set, that the average intensity in the first beam set is greater than a second threshold, then the first beam set includes an interfering beam; and / or if the processing unit determines, based on the first electrical signal set, that the first beam set includes polarized light, then the first beam set includes an interfering beam, and the interfering beam is polarized light in the first beam set.

[0028] The above embodiments illustrate three methods for determining that the first beam set includes interfering beams. For example, method one: the first beam set includes beams with light intensity greater than a first threshold; method two: the average light intensity of the first beam set is greater than a second threshold; and method three: the first beam set includes polarized light. When the first beam set includes beams with light intensity greater than the first threshold, these beams are considered interfering beams. When the first beam set includes polarized light, the polarized light in the first beam set is considered an interfering beam. Determining that the first beam set includes interfering beams using these three methods can be used to generate a suitable first filter parameter set, thereby improving the sensing performance of the imaging device.

[0029] In another possible implementation, the processing unit determines a first set of filtering parameters based on the interfering beam, including: determining a first region of the first photosensitive unit array based on the interfering beam, the first region being a region of the first photosensitive unit array used to receive the interfering beam; and determining the first set of filtering parameters based on the first region, the first set of filtering parameters being used to filter the beam before it is received in the first region.

[0030] In the above embodiments, a first region of the first photosensitive unit array is determined based on the interfering beam, and the first region is a region used to receive the interfering beam. It should be noted that the first region can be a continuous area or it can include multiple non-contiguous areas; this application does not limit this. A first set of filtering parameters is determined based on the first region, which is used to enable the first filtering array to filter the beam received by the first photosensitive unit array in the first region when filtering with the first set of filtering parameters, thereby reducing or filtering out the beam received by the first photosensitive unit array in the first region, and thus improving the sensing performance of the imaging device.

[0031] In another possible implementation, the interfering beam includes the first beam described above, and the first photosensitive unit is located in the first region described above.

[0032] In the above embodiments, the interfering beam includes a first beam, and the first electrical signal corresponding to the first beam is used to determine the first filtering parameters. For details on how to determine the first filtering parameters based on the first electrical signal, please refer to the above-described related content. Therefore, determining the interfering beam in the first beam set based on the first set of electrical signals can be achieved by determining whether each beam in the first beam set belongs to the interfering beam based on each electrical signal in the first set.

[0033] In another possible implementation, the first region includes a second region and a third region, which do not overlap. The first photosensitive unit is located in the second region, and the second photosensitive unit is located in the third region. The first set of filtering parameters also includes second filtering parameters, which are used to filter the beam before it is received by the second photosensitive unit. The second filtering parameters are different from the first filtering parameters.

[0034] In the above embodiments, the non-overlapping nature of the second and third regions can be understood as the fact that the photosensitive units included in the second and third regions are different, or that a photosensitive unit belongs to either the second or third region. The first photosensitive unit is located in the second region, the second photosensitive unit is located in the third region, and the first filtering parameter used for filtering the beam received by the first photosensitive unit is different from the second filtering parameter used for filtering the beam received by the second photosensitive unit. In other words, the above embodiments can use different filtering parameters to filter the beams received by different photosensitive units in the first photosensitive unit array, achieving the goal of filtering interfering beams without affecting normal beams, thereby improving the sensing performance of the imaging device.

[0035] In another possible implementation, receiving the second beam after it has been filtered by the first filtering unit with the first filtering parameters through the first photosensitive unit includes: receiving a set of second beams after it has been filtered by the first filtering unit array with the first filtering parameter set through the first photosensitive unit array, wherein the set of second beams includes the second beam.

[0036] In the above embodiments, by receiving the second beam set filtered by the first filtering unit array with the first filtering parameter set through the first photosensitive unit array, the second beam set can be made to exclude interfering beams, thereby improving the sensing performance of the imaging device.

[0037] Optionally, the second beam set is used for imaging.

[0038] Secondly, this application provides an imaging device, including: a first photosensitive unit, a processing unit, and a first filtering unit. The first photosensitive unit is used to receive a first light beam and convert the first light beam into a first electrical signal. The processing unit is used to control the first filtering unit to perform filtering with first filtering parameters based on the first electrical signal. The first photosensitive unit is used to receive a second light beam filtered by the first filtering unit with the first filtering parameters.

[0039] In this application, the imaging device includes a first photosensitive unit, a processing unit, and a first filtering unit. The first photosensitive unit converts a first light beam into a first electrical signal. The processing unit controls the first filtering unit to perform filtering with first filtering parameters based on the first electrical signal. The first photosensitive unit also receives a second light beam filtered by the first filtering unit with the first filtering parameters. Therefore, the first photosensitive unit, processing unit, and first filtering unit form a closed loop in the imaging device, allowing the filtering parameters used by the first filtering unit to be adjusted according to the light beam received by the first photosensitive unit, thus timely filtering of the light beam before it is received by the first photosensitive unit, thereby improving the sensing performance of the imaging device.

[0040] Optionally, the first beam can be a beam corresponding to one pixel, or it can be a beam corresponding to multiple pixels.

[0041] Optionally, the imaging device further includes an imaging unit for imaging based on a second beam.

[0042] In one possible implementation, the first filtering parameter is determined by the processing unit based on the first electrical signal.

[0043] In another possible implementation, the processing unit is specifically configured to determine the light intensity and / or polarization state of the first beam based on the first electrical signal. The processing unit is specifically configured to determine first filtering parameters based on the light intensity and / or polarization state of the first beam. The processing unit is specifically configured to control a first filtering unit to perform filtering with the first filtering parameters.

[0044] In another possible implementation, the first filtering parameter includes a first filtering method and a corresponding filtering attribute. When the first filtering method includes polarization filtering, the filtering attribute corresponding to the first filtering method includes the polarization direction corresponding to the polarization filtering and the degree to which the polarization filtering attenuates light intensity in the polarization direction. And / or, when the first filtering method includes intensity filtering, the filtering attribute corresponding to the first filtering method includes the degree to which the intensity filtering attenuates light intensity.

[0045] In another possible implementation, if the light intensity of the first beam is greater than a first threshold, the first filtering method includes intensity filtering. And / or, if the first beam includes polarized light in a first direction, the first filtering method includes polarization filtering, where the polarization direction corresponding to the polarization filtering is the first direction.

[0046] In another possible implementation, the imaging device includes a first photosensitive unit array and a first filtering unit array. The first photosensitive unit is a photosensitive unit within the first photosensitive unit array, and the first filtering unit is a filtering unit within the first filtering unit array. The first photosensitive unit array is used to receive a first beam set and convert the first beam set into a first electrical signal set. The first beam set includes the first beam, and the first electrical signal set includes the first electrical signal. Specifically, the processing unit is used to control the first filtering unit array to perform filtering with a first filtering parameter set based on the first electrical signal set. The first filtering parameter set includes first filtering parameters.

[0047] In another possible implementation, the processing unit is specifically configured to determine, based on a first set of electrical signals, that the first beam set includes interfering beams. The processing unit is specifically configured to determine a first set of filtering parameters based on the interfering beams. The processing unit is specifically configured to control a first filtering unit array to perform filtering using the first set of filtering parameters.

[0048] In another possible implementation, if the first beam set includes a beam with an intensity greater than a first threshold, the first beam set includes an interfering beam, which is a beam in the first beam set with an intensity greater than the first threshold. And / or, if the average intensity of the first beam set is greater than a second threshold, the first beam set includes an interfering beam. And / or, if the first beam set includes polarized light, the first beam set includes an interfering beam, which is polarized light in the first beam set.

[0049] In another possible implementation, the processing unit is configured to determine a first region of the first photosensitive unit array based on the interfering beam, the first region being the area of ​​the first photosensitive unit array used to receive the interfering beam. The processing unit is further configured to determine a first set of filtering parameters based on the first region, the first set of filtering parameters being used to filter the beam before it is received in the first region.

[0050] In another possible implementation, the interfering beam includes a first beam, and the first photosensitive unit is located in a first region.

[0051] In another possible implementation, the first filter parameter set further includes a second filter parameter, the first filter unit array further includes a second filter unit, and the first photosensitive unit array further includes a second photosensitive unit. The second photosensitive unit is used to receive the light beam filtered by the second filter unit with the second filter parameter. The first filter parameter is different from the second filter parameter.

[0052] In another possible implementation, the first filtering unit includes a first filtering layer, which is used to filter the beam with a third filtering parameter. The third filtering parameter includes a first filtering mode and a first filtering attribute corresponding to the first filtering mode. The first filtering attribute is adjustable, and the first filtering parameter includes the third filtering parameter.

[0053] In the above embodiments, the first filtering unit includes a first filtering layer, which is used to filter the light beam with a third filtering parameter. The third filtering parameter includes a first filtering method and a first filtering attribute corresponding to the first filtering method. The first filtering attribute is adjustable, so that the first filtering unit can filter the light beam with different filtering attributes to meet the filtering requirements in various scenarios, thereby improving the perception performance of the imaging device in various scenarios.

[0054] In another possible implementation, the first filtering method is polarization filtering, and the first filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction. Alternatively, the first filtering method is intensity filtering, and the first filtering attribute is used to indicate the degree of light intensity attenuation by intensity filtering. Here, polarization filtering is used to attenuate the light intensity of the beam in the polarization direction, and intensity filtering is used to attenuate the light intensity of the beam.

[0055] In the above embodiments, the first filtering method is either polarization filtering or intensity filtering. When the first filtering method is polarization filtering, the first filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction, so that the first filtering unit can be used to filter polarized light in various directions, and the attenuation degree is adjustable. When the first filtering method is intensity filtering, the first filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering, so that the first filtering unit can adjust the light intensity of the beam received by the first photosensitive unit to a suitable intensity.

[0056] In another possible implementation, the first filtering unit further includes a second filtering layer for filtering the beam with a fourth filtering parameter. The fourth filtering parameter includes a second filtering method and a second filtering attribute corresponding to the second filtering method, and the second filtering attribute is adjustable. The first filtering method differs from the second filtering method, and / or the first filtering attribute differs from the second filtering attribute. The first filtering parameter includes the fourth filtering parameter.

[0057] In the above embodiments, the first filtering unit includes not only a first filtering layer but also a second filtering layer. Furthermore, the first and second filtering layers use different filtering parameters, including: different first and second filtering methods, and / or different first and second filtering attributes. For example, the first filtering method is polarization filtering, and the second filtering method is intensity filtering. Another example is that both the first and second filtering methods are polarization filtering, but the polarization directions indicated by the first and second filtering attributes are different. Yet another example is that both the first and second filtering methods are intensity filtering, but the degree of light intensity attenuation indicated by the first and second filtering attributes is different. In short, the first and second filtering layers are used to implement different filtering functions, which enables the first filtering unit to achieve richer filtering functions to better adapt to the filtering needs of various scenarios, thereby reducing the interference beam received by the photosensitive unit and improving the sensing performance of the imaging device.

[0058] In another possible implementation, the second filtering method is polarization filtering, and the second filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction. Alternatively, the second filtering method is intensity filtering, and the second filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering. Here, polarization filtering is used to attenuate the light intensity of the beam in the polarization direction, and intensity filtering is used to attenuate the light intensity of the beam.

[0059] In the above embodiments, the second filtering method is either polarization filtering or intensity filtering. When the second filtering method is polarization filtering, the second filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction, so that the second filtering unit can be used to filter polarized light in various directions, and the attenuation degree is adjustable. When the second filtering method is intensity filtering, the second filtering attribute is used to indicate the degree of light intensity attenuation by the intensity filtering, so that the second filtering unit can adjust the light intensity of the beam received by the second photosensitive unit to a suitable intensity.

[0060] In another possible implementation, the first filtering unit further includes a third filtering layer. This third filtering layer filters the light beam using fifth filtering parameters. The fifth filtering parameters include a third filtering method and a corresponding third filtering attribute. The third filtering attribute is adjustable. The first filtering parameters include the fifth filtering parameters. Both the first and third filtering methods are polarization filtering, but the polarization direction corresponding to the first filtering method is different from that corresponding to the third filtering method. The second filtering method is intensity filtering. Specifically, polarization filtering is used to attenuate the light intensity of the beam in the polarization direction corresponding to the polarization filtering, and intensity filtering is used to attenuate the light intensity of the beam.

[0061] In the above embodiments, the first filtering unit includes a first filtering layer, a second filtering layer, and a third filtering layer. Both the first and third filtering methods are polarization filtering, but the polarization directions corresponding to the first and third filtering methods are different. The second filtering method is intensity filtering. This allows the first filtering unit to simultaneously perform polarization filtering and intensity filtering, and also to filter polarized light in different directions. Therefore, the first filtering unit can meet the filtering requirements of various scenarios, thereby improving the sensing performance of the imaging device in various scenarios.

[0062] In another possible implementation, both the first and third filtering methods are polarization filters, and the polarization direction corresponding to the first filtering method is orthogonal to the polarization direction corresponding to the third filtering method.

[0063] In the above embodiments, it is understood that any light beam can be divided into mutually orthogonal polarized light. Therefore, the polarization direction of the first filtering method is orthogonal to the polarization direction of the third filtering method, enabling the first filtering unit to filter various light beams, thereby meeting the filtering requirements in various scenarios and improving the sensing performance of the imaging device in various scenarios.

[0064] It is understood that the first filtering unit mentioned above belongs to the first filtering unit array, and each filtering unit in the first filtering unit array has the function of the first filtering unit mentioned above.

[0065] In another possible implementation, the imaging device further includes a lens assembly, with both the first filtering unit and the lens assembly disposed on the light-receiving surface side of the first photosensitive unit. Alternatively, the first filtering unit may be disposed between the first photosensitive unit and the lens assembly, or the lens assembly may be disposed between the first photosensitive unit and the first filtering unit, or the first filtering unit may be disposed inside the lens assembly.

[0066] In the above embodiments, the imaging device further includes a lens assembly, and both the first filtering unit and the lens assembly are disposed on the light-receiving surface side of the first photosensitive unit. Since the first filtering unit belongs to a first filtering unit array and the first photosensitive unit belongs to a first photosensitive unit array, both the first filtering unit array and the lens assembly are disposed on the light-receiving surface side of the first photosensitive unit array. Furthermore, the positions of the first filtering unit and the lens assembly are not limited. For example, the first filtering unit may be disposed between the first photosensitive unit and the lens assembly, or the lens assembly may be disposed between the first photosensitive unit and the first filtering unit, or the first filtering unit may be disposed inside the lens assembly. Similarly, the positions of the first filtering unit array and the lens assembly are not limited. For example, the first filtering unit array may be disposed between the first photosensitive unit array and the lens assembly, or the lens assembly may be disposed between the first photosensitive unit array and the first filtering unit array, or the first filtering unit array may be disposed inside the lens assembly.

[0067] In another possible implementation, the first filtering unit includes one or more of the following: guest-host effect liquid crystal (GHLC), metasurface, suspended particle device (SPD), polymer-dispersed liquid crystal (PDLC), polymer-networked liquid crystal (PNLC), photochromic device, or electrochromic device. Correspondingly, the first filtering unit array also includes one or more of the following: guest-host effect liquid crystal (GHLC), metasurface, suspended particle device (SPD), polymer-dispersed liquid crystal (PDLC), polymer-networked liquid crystal (PNLC), photochromic device, or electrochromic device.

[0068] The beneficial effects of some of the embodiments in the second aspect above can be referred to the description of the corresponding content in the first aspect, and will not be repeated here.

[0069] Thirdly, this application also provides an imaging apparatus, which includes a transmitting system and a receiving system for performing the imaging method described in the first aspect above.

[0070] In one possible implementation, the transmitting system is used to transmit a first detection beam or a second detection beam, etc., and the receiving system is used to receive a first return beam or a second return beam, etc. For example, the first return beam is the aforementioned first beam, and the second return beam is the aforementioned second beam.

[0071] Optionally, the imaging apparatus further includes a processing unit for processing the first returned beam or the second returned beam. For example, the processing unit processes the first returned beam to control a filtering unit in the receiving system to filter it with first filtering parameters. The processing unit processes the second returned beam for imaging.

[0072] Optionally, the processing unit is also used to control the receiving system to adjust the filtering parameters of the filtering unit in the receiving system in real time.

[0073] The beneficial effects of the third aspect and any possible implementation described above can be referred to the description of the corresponding content of the first or second aspect, and will not be repeated here.

[0074] Fourthly, this application provides a camera including the imaging device described in any of the second aspects.

[0075] Fifthly, this application provides a lidar system including the transmitting and / or receiving system described in any of the third aspects.

[0076] Sixthly, this application provides a terminal that includes an imaging device as described in any of the second aspects, or an imaging device as described in any of the third aspects, or a camera as described in any of the fourth aspects, or a lidar as described in any of the fifth aspects. Optionally, the terminal includes intelligent terminals or vehicles such as vehicles, robots, drones, or ships.

[0077] In a seventh aspect, this application provides a computer-readable storage medium storing a computer program or instructions that, when executed by a computer, implement the method as described in any of the first aspects.

[0078] Eighthly, this application provides a computer program product including instructions, wherein the computer program product includes computer program code, which, when run on a computer, implements the method as described in any of the first aspects.

[0079] The solutions provided in aspects four through eight above are used to implement or cooperate with the methods provided in aspect one above, and therefore can achieve the same or corresponding beneficial effects as the methods in aspect one, which will not be elaborated here. Attached Figure Description

[0080] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0081] Figure 1 This is a schematic diagram of a nighttime driving scenario provided in an embodiment of this application;

[0082] Figure 2 This is a schematic diagram of a parking scenario provided in an embodiment of this application;

[0083] Figure 3 This is a schematic diagram illustrating an application scenario of an imaging device provided in an embodiment of this application;

[0084] Figures 4A to 4C This is a schematic diagram of the frame of an imaging device provided in an embodiment of this application;

[0085] Figure 5 This is a schematic flowchart of an imaging method provided in an embodiment of this application;

[0086] Figure 6 This is a schematic flowchart of another imaging method provided in an embodiment of this application;

[0087] Figure 7 This is a schematic diagram of a first filter unit array and a first photosensitive unit array provided in an embodiment of this application;

[0088] Figure 8 This is a schematic flowchart of another imaging method provided in an embodiment of this application;

[0089] Figure 9 This is a schematic diagram of the area where an interfering beam is located, provided in an embodiment of this application;

[0090] Figures 10A to 10C This is a schematic diagram of a filtering unit provided in an embodiment of this application;

[0091] Figure 11 This is a schematic diagram of a dichroic dye provided in an embodiment of this application;

[0092] Figures 12A to 12B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0093] Figures 13A to 13B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0094] Figures 14A to 14B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0095] Figures 15A to 15B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0096] Figure 16 yes Figure 15A or Figure 15B A schematic diagram of the arrangement of dichroic dyes;

[0097] Figures 17A to 17B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0098] Figures 18A to 18B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0099] Figures 19A to 19B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0100] Figures 20A to 20B This is a schematic diagram of another filtering unit provided in an embodiment of this application;

[0101] Figure 21 This is a schematic diagram of another application scenario provided by the embodiments of this application. Detailed Implementation

[0102] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described below with reference to the accompanying drawings.

[0103] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0104] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0105] It should be understood that in this application, "at least one (item)" means one or more, "more than one" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0106] The following is an explanation of some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and are not intended to limit the scope of protection claimed in this application.

[0107] 1. Guest-host effect.

[0108] The guest-host effect refers to the phenomenon where dichroic dyes, which absorb visible light differently along their long and short axes, are dissolved in a liquid crystal substrate. The dichroic dyes align with the liquid crystal molecules. When the alignment of the liquid crystal molecules changes under the influence of an electric field, the alignment direction of the dye molecules and their absorption of incident light also change, thus achieving functions such as optical switching or optical filtering.

[0109] 2. Dichroic dyes.

[0110] Dichroic dyes are dyes with special optical properties. The absorption coefficient of these dye molecules depends on the polarization state of the incident light. Generally, the absorption of the incident light by the crystal varies depending on the polarization direction of the incident light.

[0111] Dichroic dye molecules are generally ellipsoidal in shape, possessing a major axis and a minor axis. Based on the absorption coefficients of the major and minor axes for polarized light, dichroic dyes can be classified into positive dichroic and negative dichroic dye molecules. For positive dichroic dye molecules, the component of polarized light parallel to the major axis is absorbed, while the component perpendicular to the major axis is not absorbed. For negative dichroic dye molecules, polarized light parallel to the major axis is not absorbed, while the component perpendicular to the major axis is absorbed.

[0112] 3. Liquid crystal material.

[0113] Liquid crystal materials have unique properties that lie between liquids and crystals. Liquid crystal materials usually have a certain long axis and short axis, and their arrangement can be changed under the influence of external electric fields, magnetic fields or temperature.

[0114] 4. Metasurfaces.

[0115] A metasurface is an artificial layered material with a thickness less than the wavelength. It is a planar array of subwavelength meta-atoms, the geometry and spatial arrangement of which can be precisely designed according to the target phase distribution. Metasurfaces can be used in optical fields such as optical imaging, fiber optic communication, and spectral analysis to achieve functions that are difficult to implement with traditional filters, such as polarization filtering, ultra-narrowband filtering, or tunable filtering.

[0116] 5. Polarization filtering.

[0117] Polarization filtering refers to the use of filtering devices to filter out or attenuate light with a specific polarization direction, thereby achieving the selection and processing of light. Polarization filtering has wide applications in fields such as photography and machine vision.

[0118] 6. Intensity filtering.

[0119] Intensity filtering refers to using a filtering device to allow light within a specific intensity range to pass through or to adjust the intensity of light to a certain extent in order to achieve a specific effect or meet a specific need.

[0120] 7. Image sensor.

[0121] An image sensor is a device that converts optical images into electrical signals. Its main function is to capture light and convert it into digital signals, enabling electronic devices to process, store, display, and transmit the images. Image sensors offer advantages such as high resolution, high sensitivity, and fast response, and are widely used in digital cameras, smartphones, webcams, medical imaging equipment, and industrial inspection equipment. For example, image sensors can be complementary metal-oxide-semiconductor (CMOS) sensors, charge-coupled device (CCD) sensors, back-side illumination (BSI) CMOS sensors, or quantum dot image sensors, etc. Of course, image sensors can also refer to photodetectors in lidar, such as single-photon avalanche diodes (SPADs), silicon photomultipliers (SiPMs), multi-pixel photon counters (MPPCs), semiconductor avalanche photodetectors (APDs), or positive-intrinsic-negative (PIN) diodes (or P-type semiconductor-impurity-N-type semiconductor diodes), etc.

[0122] The explanations of the above terms can be applied in the following text.

[0123] As technology advances, the performance requirements for image sensors are increasing. In certain scenarios, image sensors may still be insufficient to meet these needs. For example, in nighttime driving, the high beams of oncoming vehicles can produce strong glare, easily exceeding the dynamic range of intelligent driving cameras. Please see [link / reference]. Figure 1 ,exist Figure 1 In the nighttime driving scenario shown, the strong glare from a vehicle's headlights can illuminate oncoming vehicles, potentially affecting their driving and the accuracy of the intelligent driving camera's perception, thus compromising oncoming safety. Similarly, in an automatic parking scenario, strong reflections from the ground can interfere with the onboard camera's imaging, leading to parking failure. Please see [link to relevant documentation]. Figure 2 ,exist Figure 2 In the parking scenario shown, the light emitted from the ceiling lighting in the underground parking garage creates a reflection on the ground. This reflection can be mistaken for parking space markings, easily leading to parking failure.

[0124] In view of this, this application provides an imaging device, imaging method, and related products, relating to the field of imaging technology. It can independently filter and control multiple receiving areas, and can realize functions such as regional filtering or different filtering methods for different areas, thereby completing the filtering of interfering beams without affecting the reception of other beams, thereby improving the application range and imaging performance of the imaging device, so that the imaging device can have good imaging effects when applied to different scenarios.

[0125] The following section introduces an application scenario of the imaging device provided in this application. Figure 3 An exemplary application scenario diagram of an imaging device is shown. In this example, the imaging device 30 is mounted on a vehicle, and therefore is also referred to as a vehicle-mounted imaging device. In addition, the imaging device 30 also includes shipborne imaging devices mounted on ships, and airborne imaging devices mounted on machines, etc. One possible example is... Figure 3 As shown, the imaging device 30 can receive a light beam from the object space and generate an image, so as to use the image information to realize the driving function of the vehicle, including but not limited to autonomous driving or assisted driving. In another possible example, the imaging device 30 can also be called a detection device, which can emit a detection signal. After the detection signal illuminates an object in front of the vehicle, it is reflected. The reflected echo signal can be received by the imaging device 30, and then the imaging device 30 can detect the obstacle information in front of the vehicle based on the echo signal, such as the size, speed and distance of the obstacle, so as to use the obstacle information to realize the driving function of the vehicle, including but not limited to autonomous driving or assisted driving.

[0126] Combination Figures 4A to 4C The imaging device 30 will be described in detail.

[0127] like Figure 4A As shown, the imaging device 30 includes a photosensitive unit 301, a filtering unit 302, and a processing unit 303. The photosensitive unit 301 converts optical signals into electrical signals. For example, the photosensitive unit 301 includes the aforementioned image sensor. For a description of the image sensor, please refer to the above description; it will not be repeated here. The filtering unit 302 filters the light beam. For example, the filtering unit 302 performs polarization filtering and / or intensity filtering on the light beam. The processing unit 303 processes the light beam received by the photosensitive unit and controls the filtering method of the filtering unit 302. Therefore, in some implementations, the processing unit 303 can be considered to consist of a processing unit and a control unit. In some implementations, the processing unit 303 may include a processing circuit, or it may include a processing chip, etc. This application does not limit this.

[0128] It is understood that a photosensitive unit can refer to a photosensitive unit corresponding to a single pixel in an image, or it can refer to a photosensitive unit corresponding to multiple pixels in an image. For ease of distinction, in the description of the implementation method, a photosensitive unit can be understood as a photosensitive unit corresponding to a single pixel in an image, and a photosensitive unit array can be understood as a photosensitive unit corresponding to multiple pixels in an image. Similarly, in the description of the implementation method, a filtering unit can also be understood as a filtering unit corresponding to a single pixel in an image, and a filtering unit array can be understood as a filtering unit corresponding to multiple pixels in an image. Of course, the specific details will be as described below.

[0129] like Figure 4B and Figure 4C As shown, the imaging device 30 also includes a lens assembly, which can also be called a receiving module or optical element. The lens assembly collects the light beam from the object space and focuses the collected beam onto the photosensitive unit 301 for imaging. Both the lens assembly and the filtering unit 302 are located on the light-receiving surface side of the photosensitive unit 301. The positions of the lens assembly and the filtering unit 302 are not limited in this application; for example, the filtering unit 302 may be located between the lens assembly and the photosensitive unit 301. Figure 4B As shown. For example, the lens assembly is located between the photosensitive unit 301 and the filter unit 302, as shown. Figure 4C As shown.

[0130] Optionally, if the lens assembly includes multiple lenses, the filter unit 302 may also be located inside the lens assembly. Of course, if the filter unit 302 is a thin film, the filter unit 302 may also be attached to the lens of the lens assembly, or attached to the light-receiving surface of the photosensitive unit 301.

[0131] In one possible implementation, the imaging device 30 may further include an imaging unit for converting the electrical signal output by the photosensitive unit 301 into an image, or extracting spatial detection information from the electrical signal output by the photosensitive unit 301.

[0132] Please see Figure 5 , Figure 5 This is a schematic flowchart illustrating an imaging method provided in an embodiment of this application. Figure 5 The imaging method shown may include one or more steps S501 to S503. For example, some schemes may only include steps S501 and S503. It should be understood that, for ease of description, the description is based on the order of steps S501 to S503, and is not intended to limit the execution to the above order. This application embodiment does not limit the order of execution, the execution time, or the number of executions of one or more of the above steps. Steps S501 to S503 are as follows:

[0133] S501. The imaging device receives the first light beam through the first photosensitive unit and converts the first light beam into a first electrical signal.

[0134] The imaging device is, for example, the imaging device 30 described above, and the first photosensitive unit is, for example, the photosensitive unit 301 described above. The first photosensitive unit may be the photosensitive unit corresponding to the smallest unit in the image; for example, the first photosensitive unit may be the photosensitive unit corresponding to a pixel in the image. Accordingly, the first light beam can be used to generate the light beam corresponding to the smallest unit in the image; for example, the first light beam can be used to generate a pixel in the image.

[0135] In combination with the above Figures 4A to 4C As explained earlier, the first light beam received by the first photosensitive unit passes through a filtering unit. The filtering unit may or may not filter the passing light beam. When the filtering unit does not filter the passing light beam, it can be assumed that the light beam received by the first photosensitive unit comes directly from the object space. Therefore, the first light beam can be a filtered light beam or a light beam that comes directly from the object space. For ease of understanding, we will first take the example of the first light beam coming directly from the object space (i.e., the filtering unit does not filter the passing light beam) for further explanation.

[0136] S502, The imaging device controls the first filtering unit to perform filtering with the first filtering parameters based on the first electrical signal through the processing unit.

[0137] The processing unit is, for example, the processing unit 303 mentioned above. For a description of the processing unit 303, please refer to the foregoing description. It will not be repeated here.

[0138] In one possible implementation, the processing unit controls the first filtering unit to perform filtering with first filtering parameters based on the first electrical signal, including the following steps:

[0139] Step 1: The imaging device determines the light intensity and / or polarization state of the first beam based on the first electrical signal through the processing unit.

[0140] For example, the light intensity of the first beam can be determined based on the first electrical signal in any of the following five ways.

[0141] Method 1: The processing unit determines the light intensity of the first beam by measuring the amplitude of the first electrical signal. It is understood that the light intensity of the first beam is usually proportional to the amplitude of the first electrical signal; therefore, an oscilloscope or other measuring instruments can be used to measure the peak value or effective value of the first electrical signal to obtain the light intensity of the first beam.

[0142] Method 2: The processing unit determines the light intensity of the first beam by measuring the power of the first electrical signal. It is understood that the amplitude of an electrical signal can be used to indicate the magnitude of voltage or current; generally, a larger amplitude indicates a larger voltage or current. Therefore, the power of the first electrical signal can be measured using a wattmeter, voltage and current measurement calculation, oscilloscope measurement, or power analyzer measurement, thereby determining the light intensity of the first beam.

[0143] Method 3: The processing unit can first perform digital-to-analog conversion on the first electrical signal, and then use digital signal processing technology, such as calculating statistical quantities like average value and root mean square value, to evaluate the light intensity of the first electrical signal.

[0144] Method 4: The processing unit can pre-acquire the electrical signal characteristics corresponding to different light intensities and establish calibration curves or tables. After acquiring the first electrical signal, the light intensity of the first beam is determined by looking up the calibration curve or querying the table based on the characteristics of the first electrical signal.

[0145] Method 5: The processing unit can integrate the first electrical signal over time and obtain the light intensity of the first beam based on the integration result.

[0146] For example, by determining the polarization state of the first beam based on the first electrical signal, the polarization state of the first beam can be determined by the light intensity of the first beam corresponding to the first electrical signal and the imaging scene. For instance, if the light intensity of the first beam exceeds a certain threshold and the imaging scene is a basement or has a glass curtain wall, then the first beam is polarized light. As another example, the polarization direction corresponding to ground reflection is usually horizontal, while wall reflection is usually vertical.

[0147] Step 2: The imaging device determines the first filtering parameters based on the light intensity and / or polarization state of the first beam through the processing unit.

[0148] The first filtering parameter is used to filter the light beam before it is received by the first photosensitive unit, so that the imaging device can accurately form an image. It should be noted that the filtering parameters in this application all include a filtering method and a corresponding filtering attribute. The filtering method includes polarization filtering and / or intensity filtering. When the filtering method includes polarization filtering, the corresponding filtering attribute includes the polarization direction of the polarization filter and the degree of light intensity attenuation in that polarization direction. When the filtering method includes intensity filtering, the corresponding filtering attribute includes the degree of light intensity attenuation. For example, the first filtering parameter may include a first filtering method and a corresponding filtering attribute. The first filtering method includes polarization filtering and / or intensity filtering. The filtering attribute corresponding to the first filtering method can be referred to the above description of "filtering attributes corresponding to the filtering method," which will not be repeated here. The following is an exemplary description of how to determine the first filtering parameter based on the light intensity and / or polarization state of the first light beam. The first filtering parameter includes a first filtering method and a corresponding first filtering attribute.

[0149] In combination with the above Figure 1 As described above, when the light intensity exceeds the dynamic range of the imaging device, it can easily affect the normal image generation. For example, under strong light, background blind spots can easily occur. Therefore, it is necessary to suppress the light intensity received by the imaging device so that the imaging device can generate images normally.

[0150] For example, when the light intensity of the first beam is greater than a first threshold, the first filtering method includes intensity filtering, and the first filtering attribute includes the degree of light intensity attenuation caused by intensity filtering.

[0151] The first threshold can be preset. For example, the first threshold is preset based on the performance of the first photosensitive unit. For example, the first threshold is preset based on the dynamic range of the first photosensitive unit. When the dynamic range of the first photosensitive unit is between 1 lux and 10000 lux, the first threshold can be set to 9000 lux or 10000 lux, etc. The first threshold can also be dynamically adjusted based on other light beams received by the imaging device. For example, the imaging device includes multiple photosensitive units, and the first photosensitive unit is one of them. At the same time, the imaging device receives multiple light beams through multiple photosensitive units. The first threshold can be determined by combining the light intensity of the multiple light beams. For example, if the average light intensity of the multiple light beams is 2000 lux, the first threshold can be set to 4000 lux or 5000 lux, etc. This application does not limit how the first threshold is determined based on the light intensity of multiple light beams.

[0152] The above content describes how to set the first threshold. Given the first threshold, it is easy to understand how to determine that the light intensity of the first beam is greater than the first threshold, and thus determine that the first filtering method includes intensity filtering. This will not be elaborated here.

[0153] Furthermore, a first filtering attribute needs to be determined. For example, the first filtering attribute can be determined based on the light intensity of the first beam and a first threshold. For instance, if the light intensity of the first beam is 12000 lux and the first threshold is 10000 lux, to ensure that the light intensity of the beam received by the first photosensitive unit is less than the first threshold, the first filtering attribute can be set to intensity filtering with a light intensity attenuation of 2000 lux, or the first filtering attribute can be set to intensity filtering with a light intensity attenuation of more than 17%. In summary, setting the first filtering attribute is to ensure that the light beam received by the first photosensitive unit meets the requirements, so that the imaging device can generate a more accurate and clearer image, thereby improving the sensing performance of the imaging device.

[0154] In combination with the above Figure 2 As described, reflections on the garage floor can easily be mistaken for parking space markings by the imaging device, leading to parking failure. These reflections are typically polarized light. Furthermore, most light sources in nature produce unpolarized light, while polarized light is usually formed from unpolarized light through reflection, refraction, or scattering. Therefore, most polarized light is interference light and can easily interfere with the imaging device's image formation. Figure 2 The parking garage floor reflects light. Therefore, it is necessary to filter out the polarized light in the beam received by the imaging device so that the imaging device can generate images normally.

[0155] For example, when the first beam is polarized light, the first filtering method includes polarization filtering, and the first filtering attributes include the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation caused by the polarization filtering.

[0156] It's easy to understand that the first filtering method includes polarization filtering when the first beam is polarized light, so we won't elaborate further. When the first beam is polarized light, the polarization direction corresponding to the polarization filtering included in the first filtering attribute can also be determined by determining the polarization direction of the first polarized light. For example, the polarization direction of the first beam may be the same as the polarization direction corresponding to the polarization filtering included in the first filtering attribute. For instance, if the polarization direction of the first beam is horizontal, the polarization direction corresponding to the polarization filtering included in the first filtering attribute is also horizontal.

[0157] Optionally, if the polarization direction of the first beam cannot be determined, a preset polarization direction can be used as the "polarization direction corresponding to the polarization filter", for example, the vertical direction.

[0158] It should be noted that, in this application, "the polarization direction corresponding to the polarization filter" is used to attenuate or filter out "polarized light in the polarization direction corresponding to the polarization filter" in the beam. For example, if the polarization direction of the first beam is horizontal, and the polarization direction corresponding to the polarization filter included in the first filtering attribute is horizontal, then the first filtering unit is used to filter out or attenuate horizontally polarized light.

[0159] Based on the above description, it can be seen that polarized light is usually an interfering beam. Therefore, the polarization filtering intensity attenuation level in the first filtering attribute is typically set to complete filtering. However, in some scenarios, polarized beams can also be used for imaging. For example, polarized beams often contain information about the material or speed of a target object, and can be used to detect this information. Therefore, in this scenario, the polarization filtering intensity attenuation level in the first filtering attribute can be partial filtering. For example, the degree of polarization filtering intensity attenuation in the first filtering attribute can be determined based on the light intensity of the first beam and a second threshold. Regarding the second threshold and how to determine the intensity attenuation level based on the light intensity of the first beam and the second threshold, please refer to the relevant description of the first threshold above, which will not be repeated here. For example, if the light intensity of the first beam is 5000 lux and the second threshold is 4000 lux, the first filtering attribute can be set to polarization filtering attenuate the light intensity by 1000 lux, or the first filtering attribute can be set to polarization filtering attenuate the light intensity by more than 20%.

[0160] To more clearly illustrate the possible scenarios for the first filter parameter, a table can be used to illustrate these scenarios, as shown in Table 1, which presents an example of a first filter parameter.

[0161] Table 1 First Filtering Parameters

[0162]

[0163] In summary, the first filtering method in the first filtering parameter can be polarization filtering or intensity filtering, or it can include both polarization filtering and intensity filtering to meet various filtering requirements, thereby ensuring that the light beam received by the first photosensitive unit does not contain or contains fewer interfering light beams, thus improving the sensing performance of the imaging device.

[0164] Step 3: The imaging device controls the first filtering unit to perform filtering with the first filtering parameters through the processing unit.

[0165] The first filtering unit is, for example, the aforementioned filtering unit 302. For a description of the first filtering unit, please refer to the description of filtering unit 302; it will not be repeated here. Based on the description of step two above, it can be seen that the first filtering unit can perform a variety of filtering functions. For example, the first filtering unit needs to be able to perform polarization filtering and / or intensity filtering, and the filtering attributes corresponding to the filtering methods are also adjustable. Therefore, several filtering units provided in this application will be shown in the following sections, but will not be detailed here.

[0166] Given that the first filtering parameters are clearly defined, this application does not specifically limit the implementation of controlling the first filtering unit to perform filtering with the first filtering parameters through the processing unit. For example, a control signal can be sent wirelessly to the first filtering unit, and then the control unit on the filtering unit can control the first filtering unit to perform filtering with the first filtering parameters according to the control signal. As another example, a control command can be sent directly to the first filtering unit via a wired connection to control the first filtering unit to perform filtering with the first filtering parameters.

[0167] S503, the imaging device receives the second beam after it has been filtered by the first filtering unit with the first filtering parameters through the first photosensitive unit.

[0168] The second beam can be the beam received by the first photosensitive unit after receiving the first beam, or the second beam and the first beam are beams from the same object in the object space, or the beam before filtering corresponding to the second beam has similar characteristics to the first beam, such as having similar or the same light intensity or polarization state.

[0169] As described in step two of S502 above, the first filtering parameter is determined based on the light intensity and / or polarization state of the first beam. For example, if the light intensity of the first beam exceeds a threshold, the first filtering parameter includes intensity filtering. Similarly, if the first beam is polarized light, the first filtering parameter includes polarization filtering. Furthermore, since the first beam and the pre-filtered beams corresponding to the second beam have similar characteristics, the first filtering unit filters the second beam using the first filtering parameter. This ensures that the light intensity of the second beam is within the dynamic range of the first photosensitive unit, and also determines that the second beam contains no polarized light, or that the intensity of the polarized light is within the dynamic range of the first photosensitive unit. Therefore, the image generated by the imaging device based on the second beam does not contain interference information or contains very little interference information, effectively improving the sensing performance of the imaging device. Optionally, the imaging device also filters using the first filtering unit with the first filtering parameter. Optionally, the imaging device also performs imaging based on the second beam.

[0170] The above Figure 5The imaging method shown determines first filtering parameters by analyzing the first electrical signal corresponding to the first beam. Then, it controls a first filtering unit to filter the image using the first filtering parameters, obtaining a second beam. Finally, it performs imaging based on the second beam, enabling the image generated by the imaging device to contain little or no interference information, thereby significantly improving image quality and enhancing the sensing performance of the imaging device.

[0171] It is understandable that objects or light in the environment are dynamically changing. For example, if an imaging device is installed on a vehicle, the light beam received by the first photosensitive unit will continuously adjust as the vehicle moves. This also means that the first filtering unit, using the first filtering parameters, cannot guarantee that the filtered light beam will always meet the requirements, or that it will not contain any or minimal interference beams. In view of this, this application provides another imaging method that generates second filtering parameters based on the light beam filtered by the first filtering unit using the first filtering parameters and the first filtering parameters themselves. Imaging is then performed based on the light beam filtered using the second filtering parameters. This allows for dynamic adjustment of the filtering parameters on the first filtering unit, thereby ensuring that the light beam received by the first photosensitive unit does not contain interference beams or contains minimal interference beams, thus improving the sensing performance of the imaging device.

[0172] Please see Figure 6 , Figure 6 A schematic flowchart of another imaging method provided in this application. Figure 6 The imaging method shown is used to describe the imaging method corresponding to "generating second filtering parameters based on the beam obtained by filtering with first filtering parameters using a first filtering unit and the first filtering parameters, and performing imaging based on the beam obtained by filtering with the second filtering parameters". It is understood that the steps in the embodiments of this application can be regarded as described above. Figure 5 Reasonable variations or additions to the embodiments in this application; or, it is understood that the imaging methods in the embodiments of this application can also be regarded as embodiments that can be executed independently, and this application does not limit them. Figure 6 The imaging method shown includes, but is not limited to, the following steps:

[0173] S601. The imaging device receives the second beam through the first photosensitive unit and converts the second beam into a second electrical signal. The second beam is the beam filtered by the first filtering unit with the first filtering parameters.

[0174] The imaging device is, for example, the imaging device 30 described above, and the first photosensitive unit is, for example, the photosensitive unit 301 described above. A description of the first photosensitive unit can be found in the description of S501 above, and will not be repeated here. The second beam is the beam filtered by the first filtering unit using the first filtering parameters. A description of the second beam can be found in the description of S503 above, and will not be repeated here.

[0175] In one possible implementation, the second beam includes interfering beams. For example, the intensity of the second beam exceeds the maximum intensity that the first photosensitive unit can receive. Another example is that the second beam includes polarized light, or the intensity of the polarized light exceeds the maximum intensity that the first photosensitive unit can receive. In summary, the image quality based on the second beam needs improvement. In this case, if the first photosensitive unit continues to filter the beam with the first filtering parameters and use it for imaging, it is clearly detrimental to obtaining high-quality images.

[0176] S602, The imaging device generates second filtering parameters based on the second electrical signal and the first filtering parameters through the processing unit.

[0177] In one possible implementation, the light intensity and / or polarization state of the second beam can be determined based on the second electrical signal. Then, based on the light intensity and / or polarization state of the second beam, a third filtering parameter needed for filtering the second beam is determined. Further, the second filtering parameter is determined by combining the first and third filtering parameters. The process of determining the light intensity and / or polarization state of the second beam based on the second electrical signal can be referred to the description of "Step One" in S502 above, and will not be repeated here. The process of determining the third filtering parameter needed for filtering the second beam based on the light intensity and / or polarization state can be referred to the description of "Step Two" in S502 above, and will also not be repeated here. For ease of description, the first and third filtering parameters are shown in tabular form below, as exemplarily in Table 2 (an example of the first filtering parameters) and Table 3 (an example of the third filtering parameters). The first filtering parameter includes a first filtering method and a first filtering attribute, and the third filtering parameter includes a third filtering method and a third filtering attribute.

[0178] Table 2 First Filtering Parameters

[0179]

[0180] Table 3 Third Filtering Parameters

[0181] Third filtering method Third filtering attribute Intensity filtering The degree to which intensity filtering attenuates light intensity: reduces light intensity by 2000 lux.

[0182] As shown in Tables 2 and 3 above, the first filtering method is polarization filtering, and the polarization direction corresponding to polarization filtering in the first filtering attribute is the horizontal direction. Polarization filtering attenuates light intensity in the horizontal direction by completely filtering it out. Therefore, the second beam does not include horizontally polarized light. However, the third filtering parameters determined based on the second beam show that the third filtering method is intensity filtering, and the third filtering attribute indicates that intensity filtering attenuates light intensity by 2000 lux. This shows that the light intensity of the second beam exceeds the maximum light intensity that the first photosensitive unit can receive. Therefore, the second filtering parameters determined based on the first and third filtering parameters are shown in Table 4, which is an exemplary second filtering parameter. The second filtering parameters include the second filtering method and the second filtering attribute.

[0183] Table 4 Second Filtering Parameters

[0184]

[0185] It should be noted that the above-described determination of the second filter parameter based on the first and third filter parameters is one possible implementation method for determining the second filter parameter and should not be construed as limiting this application.

[0186] In another possible implementation, the intensity and / or polarization state of the second beam can be determined based on the second electrical signal. Then, based on the intensity and / or polarization state of the second beam and the first filtering parameters, the third beam corresponding to the second beam but not filtered by the first filtering unit is reconstructed. Further, the second filtering parameters are determined based on the third beam. The process of determining the intensity and / or polarization state of the second beam based on the second electrical signal can be referred to the description of "Step One" in S502 above, and will not be repeated here. The intensity and / or polarization state of the second beam can be represented in tabular form, as shown in Table 5, which is an example of the intensity and / or polarization state of the second beam.

[0187] Table 5. Intensity and / or polarization state of the second beam.

[0188] The light intensity of the second beam polarization state of the second beam 8000 lux Unpolarized light

[0189] For ease of understanding, this application also shows another first filtering parameter in tabular form, as shown in Table 6.

[0190] Table 6 First Filtering Parameters

[0191] First filtering method First filtering attribute Intensity filtering The degree to which intensity filtering attenuates light intensity: reduces light intensity by 20%.

[0192] As shown in Tables 5 and 6 above, the light intensity of the second beam is 8000 lux. The first filtering parameter is used to reduce the light intensity by 20%. It can be calculated that the light intensity of the beam before filtering (the third beam) corresponding to the second beam is 10000 lux, and the polarization state is unpolarized.

[0193] Furthermore, the second filtering parameters can be determined based on the third beam. For details on how to determine the second filtering parameters based on the third beam, please refer to the relevant description in "Step Two" of S502 above. For example, if the maximum light intensity that the first photosensitive unit can receive is 7000 lux, the determined second filtering parameters can be represented in tabular form, as shown in Table 7, which is an example of second filtering parameters.

[0194] Table 7 Second Filtering Parameters

[0195] Second filtering method Second filtering attribute Intensity filtering The degree to which intensity filtering attenuates light intensity: reduces light intensity by 30%.

[0196] As shown in Table 7, the second filtering method is intensity filtering, and the second filtering attribute is that the intensity filtering reduces the light intensity by 30%.

[0197] S603, The imaging device receives the light beam filtered by the first filtering unit with the second filtering parameters through the first photosensitive unit.

[0198] For details on how to receive the light beam filtered by the first filter unit with the second filter parameters through the first photosensitive unit, please refer to the above description of S503, which will not be repeated here.

[0199] Optionally, the imaging device can perform imaging based on the beam filtered by the first filtering unit with the second filtering parameters.

[0200] It is understandable that, when the second beam still contains interfering beams, the second filtering parameters are determined by the second beam and the first filtering parameters, so that the first filtering unit can filter out the interfering beams in the beam in a timely manner. This allows the imaging device to obtain an image based on the beam filtered by the first filtering unit with the second filtering parameters, which has high imaging quality and thus helps to improve the sensing performance of the imaging device.

[0201] The above Figure 5 and Figure 6The imaging methods shown are all illustrated using a single photosensitive unit and a single filtering unit as examples to illustrate the imaging methods provided in this application. In actual implementation, the imaging device typically includes multiple photosensitive units and multiple filtering units. In other words, the light beam received by the photosensitive unit in the imaging device is typically used to generate an image corresponding to multiple pixels, and the filtering unit in the imaging device is typically used to filter the light beam corresponding to multiple pixels. Therefore, the imaging method provided in this application will be exemplified below, assuming that the imaging device includes a first photosensitive unit array and a first filtering unit array, where the first photosensitive unit is the photosensitive unit in the first photosensitive unit array and the first filtering unit is the filtering unit in the first filtering array.

[0202] It should be noted that the aforementioned first photosensitive unit array may include multiple photosensitive units, and the first filtering unit array may include multiple filtering units, and there is a correspondence between the multiple photosensitive units in the first photosensitive unit array and the multiple filtering units in the first filtering unit array. For example, one photosensitive unit in the first photosensitive unit array uniquely corresponds to one filtering unit in the first filtering unit array, and when the photosensitive unit and the filtering unit correspond, the light beam received by the photosensitive unit is filtered by the filtering unit. For example, the aforementioned first photosensitive unit and first filtering unit can be considered to have a corresponding relationship.

[0203] For a better understanding, please see Figure 7 , Figure 7 The first filter unit array 701 and the first photosensitive unit array 702 shown each include 10 regions, numbered sequentially from 1 to 10. Regions with the same number in the first filter unit array 701 and the first photosensitive unit array 702 are corresponding regions. For example, region numbered 1 in the first filter unit array 701 corresponds to region numbered 1 in the first photosensitive unit array 702. The light beam received by region numbered 1 in the first photosensitive unit array 702 is filtered by region numbered 1 in the first filter unit array 701.

[0204] In one possible design, a region in the first filter unit array 701 may include one or more filter units, and correspondingly, a region in the first photosensitive unit array 702 may also include one or more photosensitive units.

[0205] In another possible design, the division of regions in the first filter unit array 701 or the first photosensitive unit array 702 is not limited in this application. For example, the region division can be neat, such as... Figure 7 As shown. For example, the boundaries of the divided regions can also be irregular, such as jagged or arc-shaped boundaries. For another example, a region can be composed of two non-adjacent sub-regions, such as... Figure 7Regions 1 and 5 shown can be collectively referred to as one region. It should also be noted that... Figure 7 The positional relationship between the first filter unit array 701 and the first photosensitive unit array 702 shown is exemplary. For example, other optical elements may also be included between the first filter unit array 701 and the first photosensitive unit array 702.

[0206] Please see Figure 8 , Figure 8 A schematic flowchart of another imaging method provided in this application. Figure 8 The imaging method shown is used to describe the imaging method corresponding to "the imaging device includes a first photosensitive unit array and a first filter unit array, wherein the first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filter unit is a filter unit in the first filter array". It is understood that the steps in the embodiments of this application can be considered as described above. Figure 5 or Figure 6 Reasonable variations or additions to the embodiments in this application; or, it is understood that the imaging methods in the embodiments of this application can also be regarded as embodiments that can be executed independently, and this application does not limit them. Figure 8 The imaging method shown includes, but is not limited to, the following steps:

[0207] S801, The imaging device receives a first beam set through a first photosensitive unit array and converts the first beam set into a first electrical signal set.

[0208] The imaging device is, for example, the imaging device 30 described above, and the first photosensitive unit array is, for example, the one described above. Figure 7 The first photosensitive unit array 702 shown includes the aforementioned Figure 5 The first photosensitive unit shown in the diagram receives a light beam that can be used to generate multiple pixels in an image. Correspondingly, the first beam set may include multiple beams for generating pixels in the image; for example, the first beam set may include the first beam described above. The first beam set can be used to generate multiple pixels in an image. It is understood that each beam in the first beam set can be converted into an electrical signal by the photosensitive unit, therefore the first beam set can also be converted into a first electrical signal set, which includes the first electrical signal described above.

[0209] S802, The imaging device controls the first filtering unit array to perform filtering with the first filtering parameter set based on the first electrical signal set by the processing unit.

[0210] The processing unit is, for example, the processing unit 303 mentioned above. For a description of the processing unit 303, please refer to the foregoing description. It will not be repeated here.

[0211] In one possible implementation, the processing unit controls the first filtering unit array to perform filtering with a first filtering parameter set based on the first electrical signal set, including the following steps:

[0212] Step 1: The imaging device, through the processing unit, determines that the first beam set includes interfering beams based on the first electrical signal set.

[0213] For example, determining that the first beam set includes an interfering beam based on the first electrical signal set can be done in any of the following three ways.

[0214] Method 1: The processing unit determines, based on the first electrical signal set, that the first beam set includes beams with light intensity greater than a first threshold; therefore, the first beam set includes interfering beams. For details on how to determine the light intensity of a beam based on electrical signals, please refer to the corresponding content in "Step 1" of S502 above; it will not be repeated here.

[0215] Optionally, the beam with a concentrated light intensity greater than a first threshold is an interfering beam. For an explanation of the first threshold, please refer to the description of the corresponding content in "Step Two" of S502 above; it will not be repeated here.

[0216] Method 2: If the processing unit determines that the average light intensity of the first beam set is greater than the third threshold based on the first electrical signal set, then the first beam set includes interfering beams.

[0217] For example, the light intensity of each beam in the first beam set can be calculated first based on the method shown in "Step 1" of S502 above, and then the average light intensity of the first beam set can be calculated. For example, if the first beam set includes three beams with light intensities of 3000 lux, 4000 lux and 5000 lux respectively, then the average light intensity of the first beam set can be calculated to be 4000 lux.

[0218] The aforementioned third threshold can be preset. For example, the third threshold is preset based on the performance of the first photosensitive unit array. For instance, the third threshold is preset based on the dynamic range of the first photosensitive unit array. When the dynamic range of the first photosensitive unit array is between 1 lux and 10000 lux, the third threshold can be set to 9000 lux or 10000 lux, etc.

[0219] Optionally, the region where the interfering beam is located can be determined based on histogram statistics or pixel value spatial distribution feature extraction. The interfering beam includes beams with light intensity greater than a first threshold, and / or polarized beams.

[0220] Method 3: If the processing unit determines that the first beam set includes polarized light based on the first electrical signal set, then the first beam set includes interfering beams. For details on how to determine the polarization state of the beam based on electrical signals, please refer to the corresponding content in "Step 1" of S502 above; it will not be repeated here.

[0221] Optionally, the polarized beam in the first beam concentration is an interfering beam.

[0222] Optionally, the aforementioned first beam concentration includes the first beam described above.

[0223] Step 2: The imaging device, through the processing unit, determines the first region of the first photosensitive unit array based on the interference beam of the first beam concentration, wherein the first region is the region in the first photosensitive unit array that receives the interference beam of the first beam concentration.

[0224] In step one of S802 above, if the first beam concentration includes an interfering beam, the characteristics of the interfering beam in the first beam concentration can be determined. These characteristics include light intensity, polarization state, corresponding photosensitive unit, and filtering unit. The characteristics of the interfering beam in the first beam concentration will now be illustrated by way of example, using tables and figures.

[0225] For example, the characteristics of the first beam focusing interference beam include: light intensity, polarization state, corresponding photosensitive unit and filtering unit, which can be represented in tabular form, such as Table 8, which is an example of the characteristics of the first beam focusing interference beam.

[0226] Table 8. Characteristics of the first beam's concentrated interference beam

[0227] Name of the interfering beam Light intensity polarization state Corresponding photosensitive unit and filter unit Interference Beam 1 3000 lux Horizontally polarized light Photosensitive unit 2 and filter unit 2 Interference Beam 2 11000 lux Unpolarized light Photosensitive unit 4 and filter unit 4 Interference Beam 3 5000 lux Vertically polarized light Photosensitive unit 5 and filter unit 5 Interference Beam 4 5000 lux Vertically polarized light Photosensitive unit 6 and filter unit 6 Interference Beam 5 13000 lux Unpolarized light Photosensitive unit 8 and filter unit 8

[0228] It should be noted that the inclusion of five interfering beams in the first beam set shown in Table 8 above is exemplary and intended to aid in understanding the imaging method provided in this application, and should not be construed as limiting the scope of this application.

[0229] For a clearer description of the photosensitive unit and filtering unit corresponding to the first beam concentrating interference beam, please refer to [link to relevant documentation]. Figure 9 . Figure 9The area corresponding to the slash is the area that receives the interfering beam. For example, areas numbered 2, 4, 5, 6, and 8 in the first filter unit array 701 are areas that receive the interfering beam. Similarly, areas numbered 2, 4, 5, 6, and 8 in the first photosensitive unit array 702 are areas that receive the interfering beam. Therefore, the first region of the first photosensitive unit array is determined to include areas numbered 2, 4, 5, 6, and 8 in the first photosensitive unit array 702. It should be noted that the aforementioned first region can also include any one of the areas numbered 2, 4, 5, 6, or 8 in the first photosensitive unit array 702. For example, the first region is area numbered 2 in the first photosensitive unit array 702. When describing the first region below, it can also be considered that the first region carries information about the correspondence between the region and the interfering beam. For example, if the first region is area numbered 2 in the first photosensitive unit array 702, the first region can also carry information about the correspondence between the first region and the interfering beam 2. Optionally, the aforementioned... Figure 5 The first photosensitive unit shown is located in the aforementioned first region.

[0230] about Figure 9 The first filter unit array 701 and the first photosensitive unit array 702 shown can be referred to the foregoing. Figure 7 The introduction will not be repeated here. Of course Figure 9 The area shown may include one or more units. For example, the area numbered 2 in the first filter unit array 701 may include one or more filter units. For ease of understanding, the following will refer to... Figure 9 Taking a region consisting of a single unit as an example, we will provide a related introduction.

[0231] Step 3: The imaging device, through the processing unit, determines a first set of filtering parameters based on the first region. The first set of filtering parameters is used to filter the beam before it is received in the first region.

[0232] The first set of filtering parameters includes multiple filtering parameters, each corresponding to a filtering unit, used to adjust the filtering function implemented by the filtering unit. Optionally, each filtering parameter in the first set of filtering parameters may also correspond to a filtering unit for a region, used to adjust the filtering function implemented by the filtering unit within that region.

[0233] For example, referring to the description of "Step Two" in S502 above, the filtering parameters corresponding to the interfering beam are determined based on the characteristics of the first beam concentrating the interfering beam. For instance, the polarization state of interfering beam 1 shown in Table 8 is horizontally polarized light. Therefore, it can be determined that the filtering method in the filtering parameters corresponding to interfering beam 1 is polarization filtering, and the filtering attribute is that the polarization direction corresponding to polarization filtering is horizontal. As another example, the light intensity of interfering beam 5 shown in Table 8 is 13000 lux. Assuming that the maximum light intensity that the first photosensitive unit array can receive is 10000 lux, it can be determined that the filtering method in the filtering parameters corresponding to interfering beam 5 is intensity filtering, and the filtering attribute is that the intensity filtering light intensity attenuation is reduced by 3000 lux. For a more up-to-date demonstration, the filtering parameters corresponding to the first beam concentrating the interfering beam can be displayed in a table, as shown in Table 9, which is an example of the filtering parameters corresponding to the interfering beam shown in Table 8.

[0234] Table 9 Filtering parameters corresponding to the interfering beam

[0235]

[0236] As described above, the first set of filtering parameters includes multiple filtering parameters, each corresponding to a filtering unit, used to adjust the filtering function implemented by the filtering unit. Therefore, after determining the filtering parameters corresponding to the interfering beams in the first beam set, it is also necessary to determine the correspondence between the filtering parameters and the filtering units based on the correspondence between the interfering beams and the filtering units.

[0237] For example, Table 8 above shows the photosensitive units and filtering units corresponding to the interfering beams. For instance, interfering beam 1 corresponds to filtering unit 2, interfering beam 2 corresponds to filtering unit 4, and so on. Therefore, by combining Tables 8 and 9 above, the filtering parameters corresponding to each filtering unit in the first filtering unit array 701 can be determined. For ease of description, this can be represented in tabular form, such as Table 10, which is an exemplary set of first filtering parameters.

[0238] Table 10 First Filter Parameter Set

[0239]

[0240] It should be noted that the " / " in Table 10 above can be used to indicate none, that is, no filtering is required. For example, filtering unit 1, filtering unit 3, filtering unit 7, filtering unit 9, or filtering unit 10 do not require filtering of the passing beam.

[0241] In one possible implementation, the first region of the first photosensitive unit array includes a second region and a third region, which do not overlap. The first photosensitive unit is located in the second region, and the second photosensitive unit is located in the third region. The aforementioned first set of filtering parameters includes a first filtering parameter and a fourth filtering parameter. The first filtering parameter is used to filter the light beam before it is received by the first photosensitive unit (second region), and the fourth filtering parameter is used to filter the light beam before it is received by the second photosensitive unit (third region). The fourth filtering parameter is different from the first filtering parameter.

[0242] Please combine Figure 9 For example, the first region of the first photosensitive unit array includes regions numbered 2, 4, 5, 6, and 8 in the first photosensitive unit array 702; the second region includes region numbered 2 in the first photosensitive unit array 702; and the third region includes region numbered 5 in the first photosensitive unit array 702. It can be understood that either the second or third region can include one or more photosensitive units. For ease of understanding, this example assumes that either the second or third region includes one photosensitive unit. The first photosensitive unit being located in the second region can be understood as the second region being the first photosensitive unit. The second photosensitive unit being located in the third region can be understood as the third region being the second photosensitive unit. The first filtering parameter is used to filter the beam before it is received by the first photosensitive unit; it can be considered to be the filtering parameter corresponding to filtering unit 2 in Table 10 above. The fourth filtering parameter is used to filter the beam before it is received by the second photosensitive unit; it can be considered to be the filtering parameter corresponding to filtering unit 5 in Table 10 above. It is evident that the first filtering parameter and the fourth filtering parameter are different.

[0243] As can be seen from the above implementation, the imaging method provided in this application can perform different filtering methods on the beams received in different regions to achieve the effect of filtering the beams using the most suitable filtering method, thereby effectively improving the imaging quality of the imaging device. Furthermore, as can be seen from Table 10, for filtering units that do not receive interfering beams (e.g., filtering unit 1 or filtering unit 3), the imaging method provided in this application controls them not to filter the passing beams. This allows the imaging method to filter beams that need filtering and not filter beams that do not need filtering, thereby achieving the goal of filtering interfering beams without affecting normal beams, thus improving the sensing performance of the imaging device.

[0244] S803, the imaging device receives the second beam set after being filtered by the first filter unit array with the first filter parameter set through the first photosensitive unit.

[0245] The second beam set can be the beam set received by the first photosensitive unit array after receiving the first beam set, or the second beam set and the first beam set are beam sets from the same object in the object space, or the beam set before filtering corresponding to the second beam set has similar characteristics to the first beam set, for example, the distribution and characteristics of the interfering beams are similar or the same. Optionally, the second beam set includes the second beam shown in S503 above.

[0246] As described in step two of S802 above, the first set of filtering parameters is determined based on the characteristics of the interfering beams in the first beam set. For example, if the intensity of the interfering beam exceeds a threshold, the corresponding filtering parameters include intensity filtering. Similarly, if the interfering beam is polarized light, the corresponding filtering parameters include polarization filtering. Furthermore, since the first beam set and the beam sets before filtering corresponding to the second beam set have similar characteristics, the first filtering unit array filters using the first set of filtering parameters to obtain the second beam set. This ensures that the intensity of the second beam set is within the dynamic range of the first photosensitive unit array, and also determines that there is no polarized light in the second beam set, or that the intensity of the polarized light is within the dynamic range of the first photosensitive unit array. Therefore, the image generated by the imaging device based on the second beam set does not contain interference information or contains very little interference information, effectively improving the sensing performance of the imaging device. Optionally, the imaging device also filters using the first set of filtering parameters through the first filtering unit array. Optionally, the imaging device also performs imaging based on the second beam set.

[0247] In summary, the imaging method provided in this application can determine the filtering parameters of the filtering unit based on the beam received by the photosensitive unit, thereby ensuring that the beam filtered by the filtering unit does not contain or contains fewer interfering beams, thus improving the sensing performance of the imaging device. Furthermore, the aforementioned photosensitive unit can be a photosensitive unit for receiving a single pixel in an image, allowing the imaging method provided in this application to set independent filtering parameters for the beam corresponding to each pixel, maximizing the filtering out of interfering beams and thus maximizing the sensing performance of the imaging device. On the other hand, since the imaging method provided in this application can control the filtering unit to filter the beam using different filtering methods and / or filtering attributes, the filtering unit can filter various forms of interfering beams, thereby improving the sensing performance of the imaging device in various scenarios. Moreover, since the imaging method provided in this application can set different filtering parameters for the beams received by different pixels (regions), the imaging method provided in this application can filter interfering beams without affecting normal beams, ensuring imaging accuracy and thus improving the sensing performance of the imaging device.

[0248] As can be seen from the above description, the imaging method provided in this application places certain requirements on the functionality of the filtering unit 302 in the imaging device 30. For example, the filtering unit 302 needs to be able to perform polarization filtering and / or intensity filtering, and the filtering attributes corresponding to the filtering methods are also adjustable. Therefore, this application provides several filtering units 302 by way of example to implement the various filtering functions required by the filtering unit in the above imaging method. The following is an exemplary description in conjunction with the accompanying drawings.

[0249] The following section, with reference to the accompanying drawings, provides an exemplary description of the filtering unit provided in this application for implementing polarization filtering.

[0250] Please see Figure 10A , Figure 10A A schematic diagram of a filtering unit provided in this application. Figure 10A The filter unit shown is a guest-host effect device, which consists of two transparent electrode layers, liquid crystal material, and dichroic dye. For an introduction to liquid crystal materials, please refer to the aforementioned section on "Liquid Crystal Materials," which will not be repeated here. Similarly, for an introduction to dichroic dyes, please refer to the aforementioned section on "Dichroic Dyes," which will not be repeated here.

[0251] For example, the rotation angle of the liquid crystal molecules can also be adjusted by controlling the voltage difference between the two electrode layers, and the rotation angle of the dye molecules can be adjusted accordingly. Please refer to [link to relevant documentation]. Figure 10B and Figure 10C .in, Figure 10B The angles of the liquid crystal material and the dichroic dye in the filter unit shown are compared to Figure 10A It rotated 30° clockwise. Figure 10C The angles of the liquid crystal material and the dichroic dye in the filter unit shown are compared to Figure 10A It rotated 90° clockwise. Normally, by adjusting the voltage difference between the two electrode layers, the rotation range of the liquid crystal material in the guest-host effect device can be controlled to be [0, 90°].

[0252] In one possible implementation, the filtering degree of the filter unit on polarized light can be controlled by adjusting the voltage difference of the block electrode layer.

[0253] For example, a dichroic dye is a positive dichroic dye molecule, meaning that the polarized light component parallel to the long axis is absorbed, while the polarized light component perpendicular to the long axis is not absorbed. The long and short axes of the dichroic dye can be referenced... Figure 11 The description.

[0254] like Figure 10A As shown, the arrows indicate the direction of light propagation. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules. Therefore, Figure 10AThe filter unit shown does not filter the passing light beam. By controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is adjusted as follows: Figure 10B As shown, the angle between the direction of light propagation and the long axis of the dichroic dye molecule is approximately 30°, making... Figure 10B The filter unit shown partially filters the perpendicularly polarized light beam. Furthermore, by controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is adjusted as follows: Figure 10C As shown, the angle between the direction of light propagation and the long axis of the dichroic dye molecule is 90°. In this case, Figure 10B The filter unit shown will provide full filtering for the perpendicularly polarized beam passing through. It is understood that the above... Figure 10A , Figure 10B and Figure 10C These can be different states of the same filtering unit. For example, Figure 10A The filter unit shown is in its initial state. For example, Figure 10C The filter unit shown is in its initial state.

[0255] For example, a dichroic dye is a negative dichroic dye molecule, meaning that the polarized light component perpendicular to the long axis is absorbed, while the polarized light component parallel to the long axis is not absorbed. The long and short axes of the dichroic dye can be referenced... Figure 11 The description.

[0256] like Figure 10A As shown, the arrows indicate the direction of light propagation. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules. Therefore, Figure 10A The filter unit shown provides complete filtering for perpendicularly polarized light beams. By controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is adjusted as follows: Figure 10B As shown, the angle between the direction of light propagation and the long axis of the dichroic dye molecule is approximately 30°, making... Figure 10B The filter unit shown partially filters the perpendicularly polarized light beam. Furthermore, by controlling the voltage difference between the two electrode layers, the rotation angle of the dichroic dye molecules in the filter unit is adjusted as follows: Figure 10C As shown, it can be seen that the direction of light propagation is parallel to the long axis of the dichroic dye molecules. In this case, Figure 10B The filter unit shown does not filter the passing light beam.

[0257] Based on the above description, we can know that Figures 10A to 10CThe filter unit shown can filter vertically polarized beams. If the filter unit is to filter beams polarized in other directions, then control is required. Figure 10A The dichroic dye in the filter unit shown rotates around the direction of light transmission. For example, if the filter unit filters a horizontally polarized beam, and the dichroic dye is a positively dichroic dye molecule, then it is necessary to control... Figure 10C The dichroic dye in the filter unit shown is rotated 90° around the direction of light transmission.

[0258] For example, a dichroic dye is a positive dichroic dye molecule, meaning that the polarized light component parallel to the long axis is absorbed, while the polarized light component perpendicular to the long axis is not absorbed. The long and short axes of the dichroic dye can be referenced... Figure 11 The description.

[0259] Please see Figure 12A and Figure 12B ,in, Figure 12A This is a front view of the filter unit. Figure 12B This is a top view of the filter unit. The arrows indicate the direction of light propagation. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules in the filter unit. Therefore, Figure 12A and Figure 12B The filter unit shown does not filter the passing light beam. By controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are caused to rotate, such as... Figure 13A (Front view) and Figure 13B As shown in the top view, it can be seen that the angle between the direction of light propagation and the long axis of the dichroic dye molecule is approximately 45°, making... Figure 13A and Figure 13B The filter unit shown partially filters horizontally polarized light beams. Furthermore, by controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are caused to rotate, such as... Figure 14A (Front view) and Figure 14B As shown in the top view, it can be seen that the angle between the direction of light propagation and the long axis of the dichroic dye molecule is 90°. In this case, Figure 14A and Figure 14B The filter unit shown will provide full filtering for horizontally polarized beams. It is understood that the above... Figure 12A , Figure 12B , Figure 13A , Figure 13B , Figure 14A and Figure 14B These can be different states of the same filtering unit. For example, Figure 12A and Figure 12B The filter unit shown is in its initial state. For example, Figure 14Aand Figure 14B The filter unit shown is in its initial state.

[0260] For example, a dichroic dye is a negative dichroic dye molecule, meaning that the polarized light component perpendicular to the long axis is absorbed, while the polarized light component parallel to the long axis is not absorbed. The long and short axes of the dichroic dye can be referenced... Figure 11 The description.

[0261] Please continue reading Figure 12A and Figure 12B ,in, Figure 12A This is a front view of the filter unit. Figure 12B This is a top view of the filter unit. The arrows indicate the direction of light propagation. Polarized light in all directions is perpendicular to the long axis of the dichroic dye molecules; therefore, Figure 12A and Figure 12B The filter unit shown provides complete filtering for horizontally polarized light beams. By controlling the voltage difference between the two electrode layers, the dichroic dye molecules within the filter unit rotate, as shown... Figure 13A (Front view) and Figure 13B As shown in the top view, it can be seen that the angle between the direction of light propagation and the long axis of the dichroic dye molecule is approximately 45°, making... Figure 13A and Figure 13B The filter unit shown partially filters horizontally polarized light beams. Furthermore, by controlling the voltage difference between the two electrode layers, the dichroic dye molecules in the filter unit are caused to rotate, such as... Figure 14A (Front view) and Figure 14B As shown in the top view, it can be seen that the direction of light propagation is parallel to the long axis of the dichroic dye molecules. In this case, Figure 14A and Figure 14B The filter unit shown does not filter the passing light beam. It is understood that the above... Figure 12A , Figure 12B , Figure 13A , Figure 13B , Figure 14A and Figure 14B These can be different states of the same filtering unit. For example, Figure 12A and Figure 12B The filter unit shown is in its initial state. For example, Figure 14A and Figure 14B The filter unit shown is in its initial state.

[0262] The above Figures 10A to 10C The filter unit shown is capable of filtering the vertically polarized beam illustrated. Figure 12A , Figure 12B , Figure 13A , Figure 13B , Figure 14Aand Figure 14B The filter unit shown can filter the horizontally polarized beam illustrated. By adjusting the angle at which the dyeing material is placed in the beam transmission direction, or by directly adjusting the angle at which the filter unit is placed in the beam transmission direction, the filter unit can achieve the effect of filtering polarized light in other directions. These will not be elaborated on here.

[0263] The following section, with reference to the accompanying drawings, provides an exemplary description of the filtering unit provided in this application for implementing intensity filtering.

[0264] Please see Figure 15A and Figure 15B ,in, Figure 15A This is a front view of the filter unit. Figure 15B This is a top view of the filter unit. From Figure 15A and Figure 15B As can be seen, the filter unit includes four layers of dichroic dyes. Observing the orientation of the four layers of dichroic dyes along the direction of light transmission, as shown... Figure 16 As shown. Considering that dichroic dyes are normal dichroic dye molecules, we can know... Figure 15A and Figure 15B The filter unit shown can simultaneously filter polarized beams in multiple directions, thereby reducing the overall intensity of the beam, i.e., achieving intensity filtering. Considering that dichroic dyes are negative dichroic dye molecules, it can be known that... Figure 15A and Figure 15B In the filter unit shown, the long axis of the dichroic dye molecules is parallel to the polarized light in all directions, therefore Figure 15A and Figure 15B The filter unit shown does not filter the passing beam.

[0265] Of course, the filtering intensity can also be conditionally adjusted by controlling the voltage difference between the two electrode layers to cause the dichroic dye molecules in the filter unit to rotate. Figure 17A and Figure 17B As shown, where, Figure 17A This is a front view of the filter unit. Figure 17B This is a top view of the filter unit. Considering that dichroic dyes are normal dichroic dye molecules, we can know... Figure 17A and Figure 17B In the filter unit shown, the long axis of the dichroic dye molecules is perpendicular to the polarized light in all directions, therefore Figure 17A and Figure 17B The filter unit shown does not filter the passed process. Considering that dichroic dyes are positive dichroic dye molecules, it can be known that... Figure 17A and Figure 17BIn the filter unit shown, the long axis of the dichroic dye molecules is perpendicular to the polarized light in each direction, which can filter the polarized beams in multiple directions at the same time, thereby reducing the overall light intensity of the beam, that is, achieving the effect of light intensity filtering.

[0266] The above Figure 15A , Figure 15B , Figure 17A and Figure 17B In another possible realization, a dichroic dye molecule is a normal dichroic dye molecule. Figure 15A , Figure 15B , Figure 17A and Figure 17B Medium dichroism dye molecules can also be negative dichroism dye molecules. It is understandable that, in this case, Figure 17A and Figure 17B The filter unit shown does not filter the passing beam. Figure 17A and Figure 17B In the filter unit shown, the long axis of the dichroic dye molecules is parallel to the polarized light in each direction, which can filter the polarized beams in multiple directions at the same time, thereby reducing the overall light intensity of the beam, that is, achieving the effect of light intensity filtering.

[0267] It should be noted that, Figure 15A , Figure 15B , Figure 17A and Figure 17B The dichroic dye molecules all consist of four layers. However, in specific implementations, this application does not limit the number of layers in the dichroic dye molecules. For example, the filter unit may include 5, 6, or 7 layers of dichroic dye molecules. It should also be noted that... Figure 15A , Figure 15B , Figure 17A and Figure 17B An ellipse with vertical bars is used to represent liquid crystal materials, and an ellipse with horizontal bars is used to represent dichroic dyes.

[0268] The above content introduced the relevant information about the use of the filter unit to implement polarization filtering or intensity filtering. Next, with reference to the accompanying drawings, we will provide an exemplary introduction to the use of the filter unit to simultaneously implement polarization filtering and intensity filtering.

[0269] Please see Figure 18A and Figure 18B ,in, Figure 18A This is a front view of the filter unit. Figure 18B This is a top view of the filter unit. From Figure 18A and Figure 18B As can be seen, the filter unit consists of two layers, used for intensity filtering and polarization filtering respectively. For details on how intensity filtering and polarization filtering are implemented on both sides of the filter unit, please refer to the aforementioned descriptions; they will not be repeated here. Of course, 18A and... Figure 18B In the filter unit shown, the degree of polarization filtering or intensity filtering can also be adjusted by applying a voltage to the transparent electrode layer. For details, please refer to the corresponding content mentioned above, which will not be repeated here.

[0270] In one possible implementation, control is possible. Figure 18A and Figure 18B The filter layer shown in the filter unit is used to implement polarization filtering or intensity filtering. It can also be controlled simultaneously. Figure 18A and Figure 18B The two filter layers in the filter unit shown perform polarization filtering and intensity filtering, but this application does not limit this.

[0271] Please see Figure 19A and Figure 19B ,in, Figure 19A This is a front view of the filter unit. Figure 19B This is a top view of the filter unit. From Figure 19A and Figure 19B As can be seen, the filter unit consists of two layers, both used for polarization filtering and polarization spectroscopy. For details on how polarization filtering is implemented on both sides of the filter unit, please refer to the aforementioned sections; further explanation is omitted here. Of course, the 19A and... Figure 19B In the filter unit shown, the degree of polarization filtering can also be adjusted by applying a voltage to the transparent electrode layer. For details, please refer to the corresponding content mentioned above, which will not be repeated here.

[0272] In one possible implementation, control is possible. Figure 19A and Figure 19B Polarization filtering can be performed on any of the filter layers in the shown filter unit, and it can also be controlled. Figure 19A and Figure 19B The two filter layers in the filter unit shown perform polarization filtering simultaneously, but this application does not limit this. It is understood that when controlling the two filter layers in the filter unit to perform polarization filtering simultaneously... Figure 19A and Figure 19B The filter unit shown can be used to achieve the effect of intensity filtering.

[0273] Please see Figure 20A and Figure 20B ,in, Figure 20A This is a front view of the filter unit. Figure 20B This is a top view of the filter unit. From Figure 20A and Figure 20B As can be seen, the filter unit consists of three layers, used for polarization filtering, intensity filtering, and polarization filtering respectively. Regarding the specific implementation of intensity filtering and polarization filtering on both sides of the filter unit, please refer to the aforementioned descriptions; they will not be repeated here. Of course, 20A and... Figure 20B In the filter unit shown, the filtering degree of polarization filtering or intensity filtering can also be adjusted by applying a voltage to the transparent electrode layer. For details, please refer to the corresponding content mentioned above; it will not be repeated here. Optionally, Figure 20A and Figure 20B The middle layer consists of two filtering layers for polarization filtering, used to filter beams with different polarization directions. For example, they are used to filter beams in the horizontal and vertical directions respectively. Optionally, Figure 20A and Figure 20B The middle two layers are used for polarization filtering, specifically to filter beams polarized in orthogonal directions. Of course, regarding... Figure 20A and Figure 20B The two filtering layers used for polarization filtering are not limited in this application to the direction in which the polarized beam is filtered. It is understood that by setting two filtering layers in the filtering unit to filter polarized light in different directions, the filtering capability of the filtering unit can be improved, thereby meeting a variety of filtering requirements, enabling the imaging device to adapt to a variety of sensing scenarios, and thus improving the sensing performance of the imaging device in various scenarios.

[0274] Of course, when the filtering unit includes a polarization filter layer and an intensity filter layer, the order of the polarization filter layer and the intensity filter layer is not limited in this application. For example, when the filtering unit includes two polarization filter layers, the two polarization filter layers can be located on opposite sides of the intensity filter layer, such as... Figure 20A and Figure 20B As shown, the two polarization filter layers can also be adjacent (not shown in the figure).

[0275] The above Figures 10A to 10C A filter unit for polarization filtering is shown. Figure 12A , Figure 12B , Figure 13A , Figure 13B , Figure 14A and Figure 14B Another filtering unit for polarization filtering is shown. Figure 15A , Figure 15B , Figure 17A and Figure 17B A filtering unit for intensity filtering is shown. Figure 18A and Figure 18B A filter unit capable of being used for both polarization filtering and intensity filtering is shown. Figure 19A and Figure 19B A filter unit comprising two polarization filter layers is shown, while Figure 20A and Figure 20B This illustrates a filtering unit comprising two polarization filter layers and one intensity filter layer. The filtering units shown above can all be used in the aforementioned applications. Figure 5 , Figure 6 or Figure 8 The imaging method shown.

[0276] As described above, the various filter units provided in this application can be in the form of thin films. Therefore, they can be embedded inside various lenses or attached to the surface of various lenses to perform a wide variety of filtering functions. Please see [link to application]. Figure 21 , Figure 21 A schematic diagram illustrating another application scenario provided by this application. Figure 21 The scene shown includes a filtering unit, a photosensitive unit, and a processing unit. The functions performed by the filtering unit, the photosensitive unit, and the processing unit can be referred to the foregoing. Figure 5 , Figure 6 or Figure 8 The functions performed by the first filtering unit, the first photosensitive unit, and the processing unit shown are not elaborated here. Clearly, in Figure 21 In the scenario shown, the processing unit can control the filtering unit to filter the light beam with different filtering parameters, thereby improving the driver's driving experience. For example, if the processing unit detects strong glare or polarized light in the environment, it can control the filtering unit to filter it, reducing the interference of strong glare or polarized light on the driver and thus improving the driver's driving experience.

[0277] The foregoing has provided an exemplary description of the imaging method and filtering unit provided in this application. To better understand the imaging apparatus provided in this application, the functions of each unit / module of the imaging apparatus will be further described below. As mentioned above... Figures 4A to 4C As shown, the imaging device 30 includes a photosensitive unit 301, a filtering unit 302, and a processing unit 303. The photosensitive unit 301 receives a first light beam and converts it into a first electrical signal. The processing unit 303 controls the filtering unit 302 to perform filtering with first filtering parameters based on the first electrical signal. The filtering unit 302 performs filtering with the first filtering parameters. The photosensitive unit 301 also receives a second light beam filtered by the filtering unit 302 with the first filtering parameters. Clearly, the photosensitive unit 301, the filtering unit 302, and the processing unit 303 in the imaging device 30 form a closed loop, allowing the filtering parameters used by the filtering unit 302 to be adjusted according to the light beam received by the photosensitive unit 301, thus timely filtering the light beam before it is received by the photosensitive unit 301 and improving the sensing performance of the imaging device 30.

[0278] Optionally, the first beam can be a beam corresponding to one pixel, or it can be a beam corresponding to multiple pixels.

[0279] Optionally, the imaging device 30 further includes an imaging unit for imaging based on a second beam.

[0280] In one possible implementation, the first filtering parameter is determined by the processing unit 303 based on the first electrical signal.

[0281] In another possible implementation, processing unit 303 is specifically configured to determine the light intensity and / or polarization state of the first beam based on the first electrical signal. Processing unit 303 is specifically configured to determine first filtering parameters based on the light intensity and / or polarization state of the first beam. Processing unit 303 is specifically configured to control filtering unit 302 to perform filtering with the first filtering parameters.

[0282] In another possible implementation, the first filtering parameter includes a first filtering method and a corresponding filtering attribute. When the first filtering method includes polarization filtering, the filtering attribute corresponding to the first filtering method includes the polarization direction corresponding to the polarization filtering and the degree to which the polarization filtering attenuates light intensity in the polarization direction. And / or, when the first filtering method includes intensity filtering, the filtering attribute corresponding to the first filtering method includes the degree to which the intensity filtering attenuates light intensity.

[0283] In another possible implementation, if the light intensity of the first beam is greater than a first threshold, the first filtering method includes intensity filtering. And / or, if the first beam includes polarized light in a first direction, the first filtering method includes polarization filtering, where the polarization direction corresponding to the polarization filtering is the first direction.

[0284] In another possible implementation, the imaging device 30 includes a first photosensitive unit array and a first filtering unit array. The first photosensitive unit array is, for example, the one described above. Figure 7 The first photosensitive unit array 702 shown, and the first filter unit array are, for example, those described above. Figure 7 The first filtering unit array 701 is shown. Photosensitive unit 301 is a photosensitive unit in the first photosensitive unit array, and filtering unit 302 is a filtering unit in the first filtering unit array. The first photosensitive unit array is used to receive a first beam set and convert the first beam set into a first electrical signal set. The first beam set includes the first beam, and the first electrical signal set includes the first electrical signal. The processing unit 303 is specifically used to control the first filtering unit array to perform filtering with a first filtering parameter set based on the first electrical signal set. The first filtering parameter set includes first filtering parameters. The first filtering unit array is used to perform filtering with the first filtering parameter set.

[0285] In another possible implementation, processing unit 303 is specifically configured to determine, based on a first set of electrical signals, that the first beam set includes interfering beams. Processing unit 303 is specifically configured to determine a first set of filtering parameters based on the interfering beams. Processing unit 303 is specifically configured to control a first filtering unit array to perform filtering using the first set of filtering parameters.

[0286] In another possible implementation, if the first beam set includes a beam with an intensity greater than a first threshold, the first beam set includes an interfering beam, which is a beam in the first beam set with an intensity greater than the first threshold. And / or, if the average intensity of the first beam set is greater than a second threshold, the first beam set includes an interfering beam. And / or, if the first beam set includes polarized light, the first beam set includes an interfering beam, which is polarized light in the first beam set.

[0287] In another possible implementation, processing unit 303 is configured to determine a first region of the first photosensitive unit array based on the interfering beam, the first region being the area of ​​the first photosensitive unit array used to receive the interfering beam. Processing unit 303 is also configured to determine a first set of filtering parameters based on the first region, the first set of filtering parameters being used to filter the beam before it is received in the first region.

[0288] In another possible implementation, the interfering beam includes a first beam, and the photosensitive unit 301 is located in a first region.

[0289] In another possible implementation, the first filter parameter set further includes a fourth filter parameter, the first filter unit array further includes a second filter unit, and the first photosensitive unit array further includes a second photosensitive unit. The second photosensitive unit is used to receive the light beam filtered by the second filter unit with the fourth filter parameter. The first filter parameter is different from the fourth filter parameter.

[0290] In another possible implementation, the filtering unit 302 includes a first filtering layer for filtering the beam with fifth filtering parameters. The fifth filtering parameters include a fifth filtering method and a corresponding fifth filtering attribute, which is adjustable. The aforementioned first filtering parameters include the fifth filtering parameters. For example, the first filtering layer may be... Figures 10A to 10C The filter unit shown can also be Figure 12A , Figure 12B , Figure 13A , Figure 13B , Figure 14A and Figure 14B The filter unit shown can also be Figure 15A , Figure 15B , Figure 17A and Figure 17B The filtering unit shown is not limited in this application.

[0291] In another possible implementation, the fifth filtering method is polarization filtering, and the fifth filtering attribute is used to indicate the polarization direction corresponding to the polarization filter and the degree of light intensity attenuation in the polarization direction. For example, when the first filtering layer is Figures 10A to 10CIn the case of the filter unit shown, the fifth filtering method is polarization filtering. The fifth filtering attributes include that the polarization direction corresponding to the polarization filter is perpendicular, and the degree of light intensity attenuation by the polarization filter is adjustable. For example, attenuation of 30% or 80%, etc. As another example, when the first filter layer is... Figure 12A , Figure 12B , Figure 13A , Figure 13B , Figure 14A and Figure 14B In the case of the filter unit shown, the fifth filtering method is polarization filtering. The fifth filtering attributes include that the polarization direction corresponding to the polarization filtering is horizontal, and the degree of attenuation of light intensity by the polarization filtering is adjustable. For example, attenuation of 30% or 80%. In the above embodiment, when the first filtering method is polarization filtering, the first filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation by the polarization filtering in the polarization direction, so that the filter unit 302 can be used to filter polarized light in various directions, and the degree of attenuation is adjustable.

[0292] In another possible implementation, the fifth filtering method is intensity filtering, and the fifth filtering attribute is used to indicate the degree to which intensity filtering attenuates light intensity. Specifically, polarization filtering attenuates the light intensity of the beam in the polarization direction, and intensity filtering attenuates the light intensity of the beam. For example, when the first filtering layer is... Figure 15A , Figure 15B , Figure 17A and Figure 17B In the case of the filtering unit shown, the fifth filtering method is intensity filtering, and the fifth filtering attribute includes adjustable intensity filtering attenuation of light intensity. For example, attenuation of 30% or 80%. In the above embodiment, when the first filtering method is intensity filtering, the first filtering attribute is used to indicate the degree of intensity filtering attenuation of light intensity, so that the filtering unit 302 can adjust the light intensity of the light beam received by the photosensitive unit 301 to a suitable intensity.

[0293] In another possible implementation, the filtering unit 302 further includes a second filtering layer for filtering the beam with a sixth filtering parameter. The sixth filtering parameter includes a sixth filtering mode and a corresponding sixth filtering attribute, and the sixth filtering attribute is adjustable. The fifth filtering mode differs from the sixth filtering mode, and / or the fifth filtering attribute differs from the sixth filtering attribute. The first filtering parameter includes the sixth filtering parameter.

[0294] The fifth filtering method differs from the sixth filtering method, and / or the fifth filtering attribute differs from the sixth filtering attribute. For example, the fifth filtering method is polarization filtering and the sixth filtering method is intensity filtering; or, the fifth filtering method is intensity filtering and the sixth filtering method is polarization filtering; or, both the fifth and sixth filtering methods are polarization filtering, but the polarization filtering directions indicated by the fifth and sixth filtering attributes are different (e.g., the fifth filtering attribute indicates horizontal polarization filtering, and the sixth filtering attribute indicates vertical polarization filtering); or, both the fifth and sixth filtering methods are intensity filtering, but the light intensity attenuation levels indicated by the fifth and sixth filtering attributes are different (e.g., the fifth filtering attribute indicates a 30% light intensity attenuation, and the sixth filtering attribute indicates a 70% light intensity attenuation). In summary, the first and second filtering layers are used to implement different filtering functions, which enables the filtering unit 302 to achieve richer filtering functions to better adapt to the filtering requirements of various scenarios, thereby reducing the interference beam received by the photosensitive unit 301 and improving the sensing performance of the imaging device 30.

[0295] In another possible implementation, the sixth filtering method is polarization filtering. The sixth filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation in the polarization direction. For specific implementation details, please refer to the aforementioned introduction on the fifth filtering method, which is polarization filtering; it will not be repeated here.

[0296] In another possible implementation, the sixth filtering method is intensity filtering, and the sixth filtering attribute is used to indicate the degree to which intensity filtering attenuates light intensity. Specifically, polarization filtering attenuates the light intensity of the beam in the polarization direction, while intensity filtering attenuates the light intensity of the beam. For a detailed implementation, please refer to the aforementioned introduction regarding intensity filtering as the fifth filtering method; it will not be repeated here.

[0297] In another possible implementation, the filtering unit 302 further includes a third filtering layer, which is used to filter the beam with a seventh filtering parameter. The seventh filtering parameter includes a seventh filtering mode and a seventh filtering attribute corresponding to the seventh filtering mode. The seventh filtering attribute is adjustable, and the first filtering parameter includes the seventh filtering parameter. For a description of the third filtering layer, please refer to the above description of the first filtering layer, which will not be repeated here.

[0298] In another possible implementation, both the fifth and seventh filtering methods are polarization filters, but the polarization direction corresponding to the fifth filtering method is different from that corresponding to the seventh filtering method. The sixth filtering method is an intensity filter. Polarization filtering is used to attenuate the light intensity of the beam in the polarization direction corresponding to the polarization filter, while intensity filtering is used to attenuate the light intensity of the beam. For example, the first filtering layer is... Figures 10A to 10CThe filter unit shown has a second filter layer. Figure 15A , Figure 15B , Figure 17A and Figure 17B The filter unit shown, the third filter layer is Figure 12A , Figure 12B , Figure 13A , Figure 13B , Figure 14A and Figure 14B The filter unit shown. Alternatively, a filter unit obtained by combining the first, second, and third filter layers, for example, is... Figure 20A and Figure 20B The filtering unit shown above. The above embodiment enables the filtering unit 302 to simultaneously perform polarization filtering and intensity filtering, and also to filter polarized light in different directions. This allows the filtering unit 302 to meet the filtering requirements of various scenarios, thereby improving the sensing performance of the imaging device 30 in various scenarios.

[0299] In another possible implementation, both the fifth and seventh filtering methods are polarization filters, with the polarization directions corresponding to the fifth and seventh filtering methods being orthogonal to each other. For example, the polarization direction corresponding to the fifth filtering method is vertical, while the polarization direction corresponding to the seventh filtering method is horizontal.

[0300] It is understood that the above-mentioned filter unit 302 belongs to the first filter unit array, and each filter unit in the first filter unit array has the function shown by the above-mentioned filter unit 302.

[0301] In another possible implementation, the first filtering unit includes one or more of the following: guest-host effect liquid crystal (GHLC), metasurface, suspended particle device (SPD), polymer-dispersed liquid crystal (PDLC), polymer-networked liquid crystal (PNLC), photochromic device, or electrochromic device. Correspondingly, the first filtering unit array also includes one or more of the following: guest-host effect liquid crystal (GHLC), metasurface, suspended particle device (SPD), polymer-dispersed liquid crystal (PDLC), polymer-networked liquid crystal (PNLC), photochromic device, or electrochromic device.

[0302] The beneficial effects of some embodiments of the imaging device 30 described above can be found by referring to Figure 5 , Figure 6 or Figure 8 The description of the corresponding content will not be repeated here. Of course, the imaging device 30 described above can also be applied to... Figure 5 , Figure 6 or Figure 8 In the imaging method shown.

[0303] In one possible implementation, the imaging device 30 described above can also be applied to a detection system, such as a lidar system. This detection system includes a transmitting system and a receiving system, wherein the transmitting system is used to emit a detection beam, and the receiving system includes the imaging device 30 described above, and the receiving system is capable of performing the aforementioned functions. Figure 5 , Figure 6 or Figure 8 The imaging method is illustrated. For example, a transmitting system is used to transmit a first probe beam or a second probe beam, and a receiving system is used to receive a first return beam or a second return beam. The first return beam is the aforementioned first beam, and the second return beam is the aforementioned second beam.

[0304] Optionally, the processing unit in the receiving system processes either the first returned beam or the second returned beam. For example, the processing unit processes the first returned beam to control the filtering unit in the receiving system to filter it using a first filtering parameter. The processing unit processes the second returned beam to generate detection results.

[0305] This application also provides a terminal, the terminal including... Figures 4A to 4C The imaging device 30 shown may include the aforementioned detection system.

[0306] Optionally, the terminal can be a smart terminal or transportation tool such as a camera, vehicle, drone, or robot; alternatively, the terminal can also be industrial equipment. It should be understood that the terminal involved in this application can include smart terminals or transportation tools such as vehicles, robots, drones, ships, and vessels. Here, "vehicle" is a broad concept and can refer to transportation tools (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), etc. For example, a robot can be an automated guided vehicle (AGV), a walking conversational robot, a service robot, etc. Industrial equipment includes industrial robots, robotic arms, etc. Leisure and entertainment equipment includes virtual reality (VR) devices, mixed reality (MR) devices, or 4D cinema cabins, etc.

[0307] Alternatively, the imaging device 30 can be installed in a variety of possible locations, such as on the platform of the vehicle's dashboard, or on the top of the cabin, or in one or more locations such as the front, side, or rear of the vehicle.

[0308] This application also provides a computer-readable storage medium storing a computer program or computer instructions, which are executed by a processor to perform the above-described tasks. Figure 5 、and 6 or Figure 8 The method implemented by the imaging device in its possible embodiments.

[0309] This application also provides a computer program product, which, when read and executed by a computer, performs the above-mentioned... Figure 5 、and 6 or Figure 8 In its possible embodiments, the method implemented by the imaging device will be executed.

[0310] In the description of this application, the terms "center," "upper," "lower," "vertical," "horizontal," "left," "right," "inner," "outer," and "side," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. It should be understood that the Z-direction, Y-direction, X-direction, etc., mentioned in some embodiments of this application are referenced to the XYZ Cartesian coordinate system to facilitate the description of features in this solution, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation.

[0311] In this application, the terms "exemplarily" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplarily" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the terms "exemplarily" or "for example" is intended to present the relevant concepts in a specific manner.

[0312] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship.

[0313] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects, and is not for limiting the order, sequence, priority or importance of multiple objects.

Claims

1. An imaging method applied to an imaging device, characterized in that, The imaging device includes a first photosensitive unit, a processing unit, and a first filtering unit; the method includes: The first light beam is received by the first photosensitive unit and converted into a first electrical signal; The processing unit controls the first filtering unit to perform filtering with the first filtering parameters based on the first electrical signal. The first photosensitive unit receives the second beam after it has been filtered by the first filtering unit with the first filtering parameters.

2. The method according to claim 1, characterized in that, The first filtering parameter is determined based on the first electrical signal.

3. The method according to claim 1 or 2, characterized in that, The step of controlling the first filtering unit to perform filtering with the first filtering parameters based on the first electrical signal by the processing unit includes: The processing unit determines the light intensity and / or polarization state of the first beam based on the first electrical signal. The processing unit determines the first filtering parameters based on the light intensity and / or polarization state of the first beam. The processing unit controls the first filtering unit to perform filtering with the first filtering parameters.

4. The method according to claim 3, characterized in that, The first filtering parameters include a first filtering method and the filtering attributes corresponding to the first filtering method; When the first filtering method includes polarization filtering, the filtering attributes corresponding to the first filtering method include the polarization direction corresponding to the polarization filtering and the degree to which the polarization filtering attenuates light intensity in the polarization direction; and / or, When the first filtering method includes intensity filtering, the filtering attribute corresponding to the first filtering method includes the degree of light intensity attenuation caused by the intensity filtering.

5. The method according to claim 4, characterized in that, When the light intensity of the first beam is greater than a first threshold, the first filtering method includes intensity filtering; and / or, When the first beam includes polarized light in a first direction, the first filtering method includes polarization filtering, and the polarization direction corresponding to the polarization filtering is the first direction.

6. The method according to any one of claims 1-5, characterized in that, The imaging device includes a first photosensitive unit array and a first filtering unit array, wherein the first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filtering unit is a filtering unit in the first filtering unit array; The step of receiving the first light beam through the first photosensitive unit and converting the first light beam into a first electrical signal includes: The first photosensitive unit array receives a first beam set and converts the first beam set into a first electrical signal set, wherein the first beam set includes the first beam and the first electrical signal set includes the first electrical signal. The step of controlling the first filtering unit to perform filtering with the first filtering parameters based on the first electrical signal by the processing unit includes: The processing unit controls the first filtering unit array to perform filtering with a first filtering parameter set based on the first electrical signal set, wherein the first filtering parameter set includes the first filtering parameters.

7. The method according to claim 6, characterized in that, The step of controlling the first filtering unit array to perform filtering with the first filtering parameter set based on the first electrical signal set by the processing unit includes: The processing unit determines, based on the first electrical signal set, that the first beam set includes interfering beams; The processing unit determines the first set of filtering parameters based on the interfering beam. The processing unit controls the first filtering unit array to perform filtering with the first filtering parameter set.

8. The method according to claim 7, characterized in that, The step of determining, based on the first electrical signal set, that the first beam set includes interfering beams by the processing unit includes: If, based on the first electrical signal set, the processing unit determines that the first beam set includes beams with light intensity greater than a first threshold, then the first beam set includes interfering beams, which are beams in the first beam set with light intensity greater than the first threshold; and / or, When the processing unit determines, based on the first electrical signal set, that the average light intensity in the first beam set is greater than a second threshold, the first beam set includes interfering beams; and / or, When the processing unit determines, based on the first electrical signal set, that the first beam set includes polarized light, the first beam set includes an interfering beam, which is polarized light from the first beam set.

9. The method according to claim 7 or 8, characterized in that, The step of determining the first set of filtering parameters based on the interfering beam by the processing unit includes: The processing unit determines a first region of the first photosensitive unit array based on the interference beam, and the first region is the area of ​​the first photosensitive unit array used to receive the interference beam. The processing unit determines the first set of filtering parameters based on the first region, and the first set of filtering parameters is used to filter the beam before it is received in the first region.

10. The method according to claim 9, characterized in that, The interfering beam includes the first beam, and the first photosensitive unit is located in the first region.

11. The method according to claim 9 or 10, characterized in that, The first region includes a second region and a third region, the second region and the third region do not overlap, the first photosensitive unit is located in the second region, and the second photosensitive unit is located in the third region; the first filter parameter set also includes a second filter parameter, the second filter parameter is used to filter the beam before it is received by the second photosensitive unit, and the second filter parameter is different from the first filter parameter.

12. The method according to any one of claims 6-11, characterized in that, The step of receiving the second beam filtered by the first filtering unit with the first filtering parameters through the first photosensitive unit includes: The first photosensitive unit array receives a second beam set filtered by the first filtering unit array using the first filtering parameter set, the second beam set including the second beam.

13. The method according to any one of claims 1-12, characterized in that, The first filtering unit includes guest-host type liquid crystal GHLC, metasurface, one or more selected from suspended particle device SPD, polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device or electrochromic device.

14. An imaging device, characterized in that, The imaging device includes a first photosensitive unit, a processing unit, and a first filtering unit; The first photosensitive unit is used to receive the first light beam and convert the first light beam into a first electrical signal; The processing unit is used to control the first filtering unit to perform filtering with the first filtering parameters based on the first electrical signal; The first photosensitive unit is used to receive the second beam after it has been filtered by the first filtering unit with the first filtering parameters.

15. The apparatus according to claim 14, characterized in that, The processing unit is specifically used to determine the light intensity and / or polarization state of the first beam based on the first electrical signal; The processing unit is specifically used to determine the first filtering parameters based on the light intensity and / or polarization state of the first beam. The processing unit is specifically used to control the first filtering unit to perform filtering with the first filtering parameters.

16. The apparatus according to claim 14 or 15, characterized in that, The imaging device includes a first photosensitive unit array and a first filtering unit array, wherein the first photosensitive unit is a photosensitive unit in the first photosensitive unit array, and the first filtering unit is a filtering unit in the first filtering unit array; The first photosensitive unit array is used to receive a first beam set and convert the first beam set into a first electrical signal set, wherein the first beam set includes the first beam and the first electrical signal set includes the first electrical signal. The processing unit is specifically used to control the first filtering unit array to perform filtering with a first filtering parameter set based on the first electrical signal set, wherein the first filtering parameter set includes the first filtering parameters.

17. The apparatus according to claim 16, characterized in that, The first set of filtering parameters further includes a second set of filtering parameters, the first array of filtering units further includes a second filtering unit, and the first array of photosensitive units further includes a second photosensitive unit; the second photosensitive unit is used to receive the light beam filtered by the second filtering unit using the second set of filtering parameters; the first set of filtering parameters is different from the second set of filtering parameters.

18. The apparatus according to any one of claims 14-17, characterized in that, The first filtering unit includes a first filtering layer, which is used to filter the beam with a third filtering parameter. The third filtering parameter includes a first filtering method and a first filtering attribute corresponding to the first filtering method. The first filtering attribute is adjustable. The first filtering parameter includes the third filtering parameter.

19. The apparatus according to claim 18, characterized in that, The first filtering method is polarization filtering, and the first filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation of the polarization filtering in the polarization direction; or, the first filtering method is intensity filtering, and the first filtering attribute is used to indicate the degree of light intensity attenuation of the intensity filtering. The polarization filter is used to attenuate the light intensity of the beam in the polarization direction, and the intensity filter is used to attenuate the light intensity of the beam.

20. The apparatus according to claim 18 or 19, characterized in that, The first filtering unit further includes a second filtering layer, which is used to filter the beam with a fourth filtering parameter. The fourth filtering parameter includes a second filtering method and a second filtering attribute corresponding to the second filtering method. The second filtering attribute is adjustable. The first filtering method is different from the second filtering method, and / or the first filtering attribute is different from the second filtering attribute; The first filtering parameter includes the fourth filtering parameter.

21. The apparatus according to claim 20, characterized in that, The second filtering method is polarization filtering, and the second filtering attribute is used to indicate the polarization direction corresponding to the polarization filtering and the degree of light intensity attenuation of the polarization filtering in the polarization direction; or, the second filtering method is intensity filtering, and the second filtering attribute is used to indicate the degree of light intensity attenuation of the intensity filtering. The polarization filter is used to attenuate the light intensity of the beam in the polarization direction, and the intensity filter is used to attenuate the light intensity of the beam.

22. The apparatus according to claim 20 or 21, characterized in that, The first filtering unit further includes a third filtering layer, which is used to filter the beam with a fifth filtering parameter. The fifth filtering parameter includes a third filtering method and a third filtering attribute corresponding to the third filtering method. The third filtering attribute is adjustable. The first filtering parameter includes the fifth filtering parameter. Both the first filtering method and the third filtering method are polarization filtering, but the polarization direction corresponding to the first filtering method is different from that corresponding to the third filtering method. The second filtering method is intensity filtering. The polarization filter is used to attenuate the light intensity of the beam in the polarization direction corresponding to the polarization filter, and the intensity filter is used to attenuate the light intensity of the beam.

23. The apparatus according to claim 22, characterized in that, Both the first filtering method and the third filtering method are polarization filtering methods, and the polarization direction corresponding to the first filtering method is orthogonal to the polarization direction corresponding to the third filtering method.

24. The apparatus according to any one of claims 14-23, characterized in that, The device further includes a lens assembly; both the first filtering unit and the lens assembly are disposed on the light-receiving surface side of the first photosensitive unit. The first filtering unit is disposed between the first photosensitive unit and the lens assembly; or, the lens assembly is disposed between the first photosensitive unit and the first filtering unit; or, the first filtering unit is disposed inside the lens assembly.

25. The apparatus according to any one of claims 14-24, characterized in that, The first filtering unit includes guest-host type liquid crystal GHLC, metasurface, one or more selected from suspended particle device SPD, polymer dispersed liquid crystal PDLC, polymer network liquid crystal PNLC, photochromic device or electrochromic device.

26. An imaging device, characterized in that, Includes modules or units for performing the method as described in any one of claims 1 to 13.

27. An imaging device, characterized in that, include: processor; When the processor invokes a computer program or instruction in memory, the method as described in any one of claims 1 to 13 is executed.

28. A vehicle end, characterized in that, The vehicle end includes the imaging device according to any one of claims 14 to 25, or the imaging device according to any one of claims 26 to 27.

29. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method according to any one of claims 1-13.

30. A computer program product, characterized in that, The computer program product includes instructions that, when executed by a processor, cause the method according to any one of claims 1-13 to be implemented.

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