Depth Sensor Histogram Peak Selection for Accurate Ranging
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Solution Overview
Problem
Existing depth sensors face challenges in accurately detecting peak information from a histogram for precise depth measurement, leading to potential inaccuracies in depth estimation.
Innovation Solution
A depth sensor is configured to divide time bins into local periods, extract peak count values, remove invalid peaks, and select the largest valid peak count value for accurate depth measurement, utilizing components like an inflection point extractor, noise filter, and selectors to enhance detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If LiDAR accumulates hit count values into a plurality of time bins to measure depth, then depth measurement capability is achieved, but accuracy in detecting peak information from the histogram deteriorates
Solution Approach 1:
The patent divides the histogram data into multiple local periods, analyzing peak information within each segment rather than treating the entire histogram as a single unit. This segmentation allows for more precise local peak detection while maintaining overall depth measurement capability
Solution Approach 2:
The patent extracts peak count values from specific local periods within the histogram, separating the peak detection process from the overall histogram analysis. This extraction focuses computational attention on relevant regions, improving peak information detection accuracy without sacrificing depth measurement capability
2Reliability
If the depth sensor processes all hit count values from the histogram, then comprehensive depth data is obtained, but computational complexity and processing time increase
Solution Approach 1:
By dividing the histogram into local periods and processing each segment independently to extract peak values, the patent reduces the computational burden compared to analyzing all hit count values globally, while maintaining measurement reliability through systematic coverage of all regions
Solution Approach 2:
The patent performs preliminary extraction of peak count values from local periods before final depth calculation. This preliminary processing identifies key information points in advance, reducing the complexity of subsequent depth measurement operations
Data Source
AI summary
Disclosed is a depth sensor including an extractor configured to, based on an input histogram, divide a plurality of time bins into a plurality of local periods and extract a plurality of peak count values corresponding to the plurality of local periods among a plurality of hit count values, the input histogram representing the plurality of hit count values according to the plurality of time bins, a remover configured to remove at least one invalid peak count value from among the plurality of peak count values and generate a plurality of local count values, and a selector configured to select a largest value among the plurality of local count values as a final peak count value.