飞行时间成像系统的数字仿真技术
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摘要
飞行时间传感器的仿真主要用于评估基于光相位信息的深度数据的处理算法,现有的方法包括基于对场景三维模型生成的特定噪声模式的仿真模型和基于光信号传播的物理过程仿真模型两大类,为飞行时间成像系统建立了特定的仿真平台.但现有的工作并未考虑环境光干扰对测量数据间的非线性耦合关系,而这种关系是附着/着陆敏感器的重要设计要素之一.本文针对小行星附着任务的需求,研究并建立了包含环境光矢量的飞行时间成像仿真环境,验证了包括环境光模型的飞行时间成像仿真方法,对于飞行时间成像技术在光照条件下的成像性能的评估具有重要意义和应用前景.
The simulation of the time-of-flight sensor is mainly used to evaluate the processing algorithm of the depth data. Existing simulation models include two types,one is based on a specific noise pattern generated from a three-dimensional model of a scene,and the other one is a physical process simulation model based on optical signal propagation. The simulation model of time-of-flight imaging is implemented based on physical processes of optical signal propagation. The system is oriented to the needs of engineering applications. The full physical process of time-of-flight imaging is modeled,and the simulation parameters are set according to specific sensors. The depth data of the scene is generated the impact of parameter changes on depth data is evaluated and this model is used to analyze typical errors in time-of-flight imaging.
The simulation of the time-of-flight sensor is mainly used to evaluate the processing algorithm of the depth data. Existing simulation models include two types,one is based on a specific noise pattern generated from a three-dimensional model of a scene,and the other one is a physical process simulation model based on optical signal propagation. The simulation model of time-of-flight imaging is implemented based on physical processes of optical signal propagation. The system is oriented to the needs of engineering applications. The full physical process of time-of-flight imaging is modeled,and the simulation parameters are set according to specific sensors. The depth data of the scene is generated the impact of parameter changes on depth data is evaluated and this model is used to analyze typical errors in time-of-flight imaging.
引文
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[2]郭宁博,陈向宁,薛俊诗.基于飞行时间法的红外相机研究综述[J].兵器装备工程学报,2017(3):160-167.GUO N B,CHEN X N,XUE J S.Research overview of infrared camera based on time of flight[J].Journal of Ordnance Equipment Engineering,2017(3):160-167.
[3]KELLER M,ORTHMANN J,KOLB A,et al.A simulation framework for time-of-flight sensors[C]∥Signals,Circuits and Systems,2007.ISSCS 2007.International Symposium on.IEEE,2007.
[4]LAMBERS M,HOBERG S,KOLB A.Simulation of time-of-flight sensors for evaluation of chip layout variants[J].IEEE Sensors Journal,2015,15(7):4019-4026.
[5]MEISTER S,NAIR R,KONDERMANN D.Simulation of time-of-flight sensors using global illumination[J].In Vision,Modeling&Visualization;The Eurographics Association:Geneve,Switzerland,2013.
[6]LEFLOCH D,HOEGG T,KOLB A.Real-time motion artifacts compensation of tof sensors data on gpu[C]∥Three-Dimensional Imaging,Visualization,and Display2013.International Society for Optics and Photonics,2013,8738.
[7]李相银,姚敏玉.激光原理技术及应用[M].哈尔滨:哈尔滨工业大学出版社.2004.
[8]金伟其,胡威捷.辐射度光度与色度及其测量[M].北京:北京理工大学出版社.2011.
[9]RITSCHEL T,DACHSBACHER C,GROSCH T,et al.The state of the art in interactive global illumination[J].Computer Graph Forum 2012,31,160-188.
[10]HOEGG T,LEFLOCH D,KOLB A.Real-time motion artifact compensation for PMD-ToF images[M]∥Timeof-flight and depth imaging.Sensors,algorithms,and applications.Springer,Berlin,Heidelberg,2013:273-288.
[11]KOLB A,BARTH E,KOCH R,et al.Time-of-flight cameras in computer graphics[C]∥Computer Graphics Forum.Oxford,UK:Blackwell Publishing Ltd,2010,29(1):141-159.
[12]STRZODKA R,DOGGETT M,KOLB A.Scientific computation for simulations on programmable graphics hardware[J].Simulation Modelling Practice&Theory,2005,13(8):667-680.
[13]Texas Instruments Inc..OPT8241 3D time-of-flight Sensor[M].Dallas,2015.
[14]SANZ C V.Introductory techniques for 3-D computer vision.emmanuele trucco-alessandro verri[J].Journal of Computer Science&Technology,2000,1.
[15]CONDE M H,ZHANG B,KAGAWA K,et al.Lowlight image enhancement for multiaperture and multitap systems[J].IEEE Photonics Journal,2016,8(2):1-25.
[16]LINDNER M,SCHILLER I,KOLB A,et al.Time-offlight sensor calibration for accurate range sensing[J].Computer Vision and Image Understanding,2010,114(12):1318-1328.
[17]J?HNE B.EMVA 1288 standard for machine vision:objective specification of vital camera data[J].Optik&Photonik,2010,5(1):53-54.
[18]KIM S,CHA S,PARK H,et al.Time of flight image sensor with 7um pixel and 640×480 resolution[C]∥2013 Symposium on VLSI Technology.New York:IEEE,2013:T146-T147.
[19]PANCHERI L,MASSARI N,PERENZONI M,et al.AQVGA-range image sensor based on buried-channel demodulator pixels in 0.18μm CMOS with extended dynamic range[C]∥2012 IEEE International Solid-State Circuits Conference.New York:IEEE,2012:394-396.
[20]ISO-12233.Photography Electronic still picture imagingResolution and spatial frequency responses,2014.
[21]SCHMIDT M,J?HNE B.A physical model of time-offlight 3D imaging systems,including suppression of ambient light[C]∥Workshop on Dynamic 3D Imaging.Berlin,Heidelberg,Springer,2009:1-15.
[22]MUTNY M,NAIR R,GOTTFRIED J M.Learning the correction for multi-path deviations in time-of-flight cameras[J].ar Xiv preprint ar Xiv:1512.04077,2015.
[23]王乐,罗宇,王海宽,等.To F深度相机测量误差校正模型[J].系统仿真学报,2017,29(10):2323-2328.WANG LE,LUO YU,WANG HAIKUAN,et al.Measurement error correction model of tof depth camera[J].Journal of System Simulation,2017,29(10):2323-2328.
[24]梁斌,何英,邹瑜,等.To F相机在空间非合作目标近距离测量中的应用[J].宇航学报,2016,37(9):1080-1088.LIANG BIN,HE YING,ZOU YU,et al.Application of time-of-flight camera for relative measurement of non-cooperation target in close range[J].Journal of Astronautics,2016,37(9):1080-1088.
[25]雷玉堂.光电检测技术[M].北京:中国计量出版社.2009.
[26]HEINOL H,XU Z,SCHWARTE R,et al.Electro-optical correlation arrangement for fast 3D cameras:properties and facilities of this electro-optical mixer device[C]∥SPIE-EOS-Sensors,Sensor Systems,and Sensor Data Processing,München,1997.