Time-of-flight sensor for getting shape model of automobiles toward digital 3D imaging approach of autonomous driving

Robust, fast and reliable examination of the surroundings is essential for further advancements in autonomous driving and robotics. Time-of-Flight (ToF) camera sensors are a key technology to measure surrounding objects and their distances on a pixel basis in real-time. Environmental effects, like rain in front of the sensor, can influence the distance accuracy of the sensor. Here we use an optical ray-tracing based procedure to examine the rain effect on the ToF image. Simulation results are presented for experimental rain droplet distributions, characteristic of intense rainfall at rates of 25 mm/h and 100 mm/h. The ray-tracing based simulation data and results serve as an input for developing and testing rain signal suppression strategies.

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A Physical Model of Time-of-Flight 3D Imaging Systems, Including Suppression of Ambient Light

Dynamic 3D Imaging - Lecture Notes in Computer Science ◽

10.1007/978-3-642-03778-8_1 ◽

2009 ◽

pp. 1-15 ◽

Cited By ~ 8

Author(s):

Mirko Schmidt ◽

Bernd Jähne

Keyword(s):

Physical Model ◽

3D Imaging ◽

Time Of Flight ◽

Imaging Systems ◽

Ambient Light

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Fabrication and performance of a 128-element crossed-electrode relaxor array, for a novel 3D imaging approach

2017 IEEE International Ultrasonics Symposium (IUS) ◽

10.1109/ultsym.2017.8091940 ◽

2017 ◽

Author(s):

Katherine Latham ◽

Christopher Samson ◽

Christopher Ceroici ◽

Roger J. Zemp ◽

Jeremy A. Brown

Keyword(s):

3D Imaging ◽

Imaging Approach ◽

And Performance

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Laser Sensors for Displacement, Distance and Position

Sensors ◽

10.3390/s19081924 ◽

2019 ◽

Vol 19 (8) ◽

pp. 1924 ◽

Cited By ~ 4

Author(s):

Young Soo Suh

Keyword(s):

Manufacturing Industry ◽

Time Of Flight ◽

Autonomous Driving ◽

Sensor Technology ◽

Laser Sensor ◽

Laser Sensors ◽

Interferometric Sensors ◽

Industry Applications ◽

Surface Profiles ◽

Traditional Manufacturing

Laser sensors can be used to measure distances to objects and their related parameters (displacements, position, surface profiles and velocities). Laser sensors are based on many different optical techniques, such as triangulation, time-of-flight, confocal and interferometric sensors. As laser sensor technology has improved, the size and cost of sensors have decreased, which has led to the widespread use of laser sensors in many areas. In addition to traditional manufacturing industry applications, laser sensors are increasingly used in robotics, surveillance, autonomous driving and biomedical areas. This paper outlines some of the recent efforts made towards laser sensors for displacement, distance and position.

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Time of Flight 3D Imaging using VCSEL Beam Scanner

2019 24th Microoptics Conference (MOC) ◽

10.23919/moc46630.2019.8982868 ◽

2019 ◽

Author(s):

Ibuki Fujioka ◽

Ruixiao Li ◽

Zeuku Ho ◽

Xiaodong Gu ◽

Fumio Koyama

Keyword(s):

3D Imaging ◽

Time Of Flight

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Modeling and Analysis of a Direct Time-of-Flight Sensor Architecture for LiDAR Applications

Sensors ◽

10.3390/s19245464 ◽

2019 ◽

Vol 19 (24) ◽

pp. 5464 ◽

Cited By ~ 4

Author(s):

Preethi Padmanabhan ◽

Chao Zhang ◽

Edoardo Charbon

Keyword(s):

Background Noise ◽

3D Imaging ◽

Dynamic Range ◽

Time Of Flight ◽

Operating Conditions ◽

Exposure Limits ◽

Depth Sensing ◽

Wide Dynamic Range ◽

High Background ◽

Time Gating

Direct time-of-flight (DTOF) is a prominent depth sensing method in light detection and ranging (LiDAR) applications. Single-photon avalanche diode (SPAD) arrays integrated in DTOF sensors have demonstrated excellent ranging and 3D imaging capabilities, making them promising candidates for LiDARs. However, high background noise due to solar exposure limits their performance and degrades the signal-to-background noise ratio (SBR). Noise-filtering techniques based on coincidence detection and time-gating have been implemented to mitigate this challenge but 3D imaging of a wide dynamic range scene is an ongoing issue. In this paper, we propose a coincidence-based DTOF sensor architecture to address the aforementioned challenges. The architecture is analyzed using a probabilistic model and simulation. A flash LiDAR setup is simulated with typical operating conditions of a wide angle field-of-view (FOV = 40 ° ) in a 50 klux ambient light assumption. Single-point ranging simulations are obtained for distances up to 150 m using the DTOF model. An activity-dependent coincidence is proposed as a way to improve imaging of wide dynamic range targets. An example scene with targets ranging between 8–60% reflectivity is used to simulate the proposed method. The model predicts that a single threshold cannot yield an accurate reconstruction and a higher (lower) reflective target requires a higher (lower) coincidence threshold. Further, a pixel-clustering scheme is introduced, capable of providing multiple simultaneous timing information as a means to enhance throughput and reduce timing uncertainty. Example scenes are reconstructed to distinguish up to 4 distinct target peaks simulated with a resolution of 500 ps. Alternatively, a time-gating mode is simulated where in the DTOF sensor performs target-selective ranging. Simulation results show reconstruction of a 10% reflective target at 20 m in the presence of a retro-reflective equivalent with a 60% reflectivity at 5 m within the same FOV.

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