WO1997001111B1 - Improved optical ranging camera - Google Patents

Improved optical ranging camera

Info

Publication number
WO1997001111B1
WO1997001111B1 PCT/IL1996/000020 IL9600020W WO9701111B1 WO 1997001111 B1 WO1997001111 B1 WO 1997001111B1 IL 9600020 W IL9600020 W IL 9600020W WO 9701111 B1 WO9701111 B1 WO 9701111B1
Authority
WO
WIPO (PCT)
Prior art keywords
image
scene
radiation
distance
detector
Prior art date
Application number
PCT/IL1996/000020
Other languages
French (fr)
Other versions
WO1997001111A2 (en
WO1997001111A3 (en
Filing date
Publication date
Priority claimed from IL114278A external-priority patent/IL114278A/en
Priority claimed from IL116223A external-priority patent/IL116223A/en
Application filed filed Critical
Priority to JP9503437A priority Critical patent/JPH11508359A/en
Priority to EP96918825A priority patent/EP0835460B1/en
Priority to AU61359/96A priority patent/AU6135996A/en
Priority to US08/981,357 priority patent/US6057909A/en
Priority to DE69635891T priority patent/DE69635891T2/en
Publication of WO1997001111A2 publication Critical patent/WO1997001111A2/en
Publication of WO1997001111A3 publication Critical patent/WO1997001111A3/en
Publication of WO1997001111B1 publication Critical patent/WO1997001111B1/en

Links

Abstract

Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation (40), having a first modulation function (60), which directs radiation toward a scene; a detector (22), which detects radiation reflected from the scene, modulated by a second modulation function (62), and generates, responsive to said detected modulated radiation, signals responsive to the distance to regions of the scene; a processor (24), which receives signals from the detector and forms an image, based on the signals, having an intensity value distribution indicative of the distance of objects from the apparatus; and a controller (46), which varies at least one of the first and second modulation functions, responsive to the intensity value distribution of the image formed by the processor.

Claims

AMENDED CLAIMS[received by the International Bureau on 14 March 1997 (14.03.97); original claims 1-88 replaced by amended claims 1-86 (14 pages)]
1. Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs modulated radiation toward a scene such that a portion of the radiation from the source is reflected from points in the scene and reaches the apparatus; a detector, which detects radiation reflected from the scene, modulated by a second modulation function, and generates, responsive to said detected modulated radiation, signals responsive to a part of the portion of the reflected radiation, the part being dependent on the distance of a point in the scene, associated with a particular signal, from the apparatus; a processor, which receives signals from the detector and forms an image, based on the signals, having an intensity value distribution indicative of the distance of objects from the apparatus; and a controller, which varies at least one of the first and second modulation functions, responsive to the intensity value distribution ofthe image formed by the processor.
2. Apparatus according to claim 1, wherein the second modulation function is delayed in time relative to the first modulation function, and the controller varies the time delay.
3. Apparatus according to claim 1, wherein the first and second modulation functions comprise pulses having respective characteristic durations, and the controller varies the duration of at least one ofthe pulses.
4. Apparatus according to claim 3, wherein the first and second modulation functions comprise pulses having substantially equal characteristic durations, and the controller varies the duration ofthe pulses in both the first and second modulation functions.
5. Apparatus according to claim 1, and comprising an image analyzer, which identifies an object of interest in the scene, wherein the controller varies the at least one modulation function in response to the distance ofthe object of interest from the apparatus.
64
6. Apparatus according to claim 1, and comprising a rangefinder, which determines the distance of an object of interest from the apparatus, wherein the controller varies the at least one modulation function in response to the distance determined by the rangefinder.
7. Apparatus according to claim 1 , wherein the controller varies the at least one modulation function, so that the detector detects only radiation reflected from regions of the scene at a distance of interest from the apparatus.
8. Apparatus according to claim 7, and comprising an image processor, which receives a first image, formed by the processor, of the regions of the scene at the distance of interest, and mixes the first image with a second image to produce a mixed image.
9. Apparatus according to claim 1 , wherein the detector detects radiation reflected from two objects of interest in the scene, and the controller varies the at least one modulation function so that portions ofthe image corresponding to the two objects have generally equal intensity values.
10. Apparatus according to claim 1 , wherein the detector comprises: a detector modulator, which receives radiation reflected from the scene and modulates it in accordance with the second modulation function; and a detector array, comprising a plurality of detector elements, which detect radiation modulated by the detector modulator and generate, responsive to said detected modulated radiation, signals responsive to the distance to regions of the scene.
1 1. Apparatus according to claim 10, wherein the detector modulator comprises a shutter element array, comprising a plurality of shutter elements.
12. Apparatus according to claim 11, wherein the radiation incident on a first detector element is modulated by a first shutter element, and the radiation incident on a second detector element is modulated by a second shutter element, and wherein the second modulation function includes different first and second modulation sub-functions, which are applied to the first and second shutter elements, respectively.
65
13. Apparatus according to any ofthe preceding claims, wherein the detector includes a color filter, and the image formed by the processor is a color image.
14. Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs radiation toward a scene; a detector, comprising a detector modulator, having a second modulation function, and a detector array, said array comprising a plurality of detector elements, wherein the detector detects radiation reflected from a plurality of parallel spatial segments within the scene and generates, responsive to said detected radiation, signals responsive to the distance to regions of the scene; and a processor, which forms an image including at least some of the plurality of spatial segments and having an intensity value distribution indicative of the distance of objects from the apparatus, wherein each of the plurality of spatial segments has distance bounds, relative to the apparatus, which distance bounds are determined by the detector modulator, and wherein at least one of the plurality of spatial segments has distance bounds that are different from the bounds of at least one other spatial segment.
15. Apparatus according to claim 14, wherein the detector modulator comprises a shutter array, comprising a plurality of shutter elements.
16. Apparatus according to claim 11 or 15, wherein the shutter element array comprises a liquid crystal array.
17. Apparatus according to claim 11 or 15, wherein the shutter element array comprises a microchannel array.
18. Apparatus according to claim 17, wherein the microchannel array comprises a microchannel plate and a plurality of switchable electrodes adjacent to the plate.
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19. Apparatus according to claim 18, wherein the microchannel array comprises a photocathode, and wherein the electrodes comprise conductive, transparent material coated on the photocathode.
20. Apparatus according to claim 19, wherein the conductive, transparent material comprises indium tin oxide.
21. Apparatus according to claim 11 or 15, wherein the shutter element array comprises a linear shutter array.
22. Apparatus according to claim 15, wherein each shutter element is associated with one of the plurality of spatial segments, and wherein the distance bounds of said one of the plurality of spatial segments are determined by the associated shutter element.
23. Apparatus according to claim 15, wherein each of the plurality of shutter elements is associated with a respective group of one or more detector elements.
24. Apparatus according to claim 15, wherein the detector modulator comprises a switching network, which controls the shutter elements according to the second modulation function.
25. Apparatus according to claim 24, wherein application of the second modulation function causes the shutter elements to open and shut sequentially.
26. Apparatus according to claim 24 or 25, wherein the second modulation function comprises a plurality of non-coincident pulses, each of which pulses causes a corresponding shutter element to open and shut.
27. Apparatus according to claim 23, wherein each of the respective groups of one or more detector elements comprises a row of elements of the detector array.
28. Apparatus according to claim 27, wherein each of the respective groups of one or more detector elements comprises a group of mutually-adjacent rows of elements ofthe detector array.
29. Apparatus according to claim 14, wherein the source of radiation produces a line of illumination on the scene, and wherein the detector receives a corresponding line of reflected radiation.
30. Apparatus according to claim 29, and comprising a scanning device, which scans the line of illumination across the scene.
31. Apparatus according to claim 29 or 30, wherein the detector modulator deflects the line of reflected radiation so as to sequentially dwell for a period of time on each of a plurality of rows of elements ofthe detector array.
32. Apparatus according to claim 31, wherein each of the plurality of rows of the array is associated with one of the plurality of spatial segments, and wherein the distance bounds of said one of the plurality of spatial segments are determined by the period of time that the line of reflected radiation dwells on the associated row.
33. Apparatus according to claim 31, wherein the period of time that the line of reflected radiation dwells on each of the plurality of rows is determined by the second modulation function.
34. Apparatus according to claim 14, and comprising a controller, which varies at least one of the first and second modulation functions, responsive to the intensity value distribution of the image formed by the processor.
35. Apparatus according to claim 14, wherein the detector includes a color filter.
36. A system for creating an extended image indicating distances to objects in a scene, comprising: apparatus for creating an image according to claim 14, which forms a plurality of sequential images of the scene, at least one of said plurality of images including one or more regions ofthe scene not included in at least one other of said images; and
68 an image processor, which combines the plurality of images to form an extended image, indicating distances to objects in the scene.
37. A system according to claim 36, and comprising means for translating the apparatus laterally relative to the scene.
38. A system according to claim 37, wherein the apparatus creates images of the scene in a known relation to a rate of translation ofthe apparatus relative to the scene.
39. A system according to claim 37 or 38, wherein the means for translating the apparatus comprise a moving platform, to which the apparatus is mounted.
40. A system according to claim 39, wherein the moving platform comprises an aircraft.
41. A system according to claim 36, and comprising scanning optics, which scan the field of view ofthe apparatus over the scene.
42. Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, which directs radiation toward a scene; telecentric optics, which receive and collimate radiation reflected from the scene; a modulator, which modulates the collimated radiation; a detector, which detects an image formed from the modulated collimated radiation; and a processor, which forms an image having an intensity value distribution indicative of the distance of objects from the apparatus, responsive to the intensity distribution of the detected image, wherein the source and the detector are boresighted, and wherein the modulator that modulates the collimated radiation reflected from the scene does not modulate the radiation directed toward the scene by the source.
43. Apparatus for creating an image indicating distances to objects in a scene, comprising: a modulated source of radiation, having a first modulation function, which directs radiation toward a scene;
69 a first detector, which detects radiation reflected from the scene, modulated by a second modulation function, and generates, responsive to said detected modulated radiation, signals responsive to the distance to regions ofthe scene; a second detector, boresighted with the first detector, which detects radiation reflected from the scene, unmodulated by said second modulation function, and generates, responsive to said detected radiation, signals responsive to the intensity of light reflected from the regions of the scene; a processor, which receives signals from the first and second detectors and forms an image, based on the signals, having an intensity value distribution indicative of the distance of objects from the apparatus.
44. Apparatus according to claim 43, wherein the radiation source is boresighted with the first and second detectors.
45. A system for robot guidance, comprising: apparatus for creating an image indicating distances to objects in a scene, according to any of claims 1, 14, 42 or 43; and a robot, which acts upon an object in the scene, using the distance to the object indicated by the apparatus for guidance.
46. A system for determining dimensions of an article, comprising: apparatus for creating an image of the article, indicating distances to regions of the article, according to any of claims 1, 14, 42 or 43; and a computer, which determines the dimensions of the article, using the image and the indicated distances.
47. A system according to claim 46, wherein the computer compares the dimensions with a standard.
48. A system according to claim 46, wherein the computer determines the volume of the article, using the determined dimensions.
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49. A system for producing a three-dimensional model of an article, comprising: a system for determining dimensions ofthe article, according to claim 46; and rapid prototyping apparatus, which receives the dimensions determined by the system for determining dimensions, and produces the three-dimensional model according to the dimensions.
50. A system according to claim 49, wherein the rapid prototyping apparatus receives image information from the apparatus for creating the image of the article and applies the image information to a surface ofthe three-dimensional model.
51. A system according to claim 50, wherein the image information comprises color information.
52. A system for vehicle guidance, comprising: apparatus for creating an image indicating distances to objects in a scene ahead of the vehicle in a direction of motion thereof, according to any of claims 1, 14, 42 or 43; and a processor, which identifies hazards in the scene, using the image and the indicated distances.
53. A system for endoscopic imaging, comprising: an endoscope, having a distal end for insertion into the body of a subject and a proximal end for coupling of optical apparatus thereto; and apparatus for creating an image, according to any of claims 1, 14, 42 or 43, which is coupled to the proximal end of the endoscope, so as to direct radiation through the endoscope into the body, and detect radiation reflected therefrom.
54. Microchannel array apparatus for modulating a flux of electrons, comprising: a microchannel plate, through which the electrons are accelerated; and a plurality of switchable electrodes adjacent to the microchannel plate, each of which electrodes modulates the acceleration of electrons in a corresponding region ofthe plate.
55. Apparatus according to claim 54, wherein the microchannel array comprises a photocathode, which receives electrons accelerated through the microchannel plate and generates
71 photons responsive to the electrons, and wherein the electrodes comprise conductive, transparent material coated on the photocathode.
56. Apparatus according to claim 55, wherein the conductive, transparent material comprises indium tin oxide.
57. A camera system for forming an image of a scene, comprising: a photoanode, which generates, responsive to radiation incident thereon from the scene, a flux of electrons; microchannel array apparatus, according to claim 55 or claim 56, which receives, modulates and generates photons in response to the flux of electrons; and a detector, which receives the photons and forms the image of the scene responsive thereto.
58. A method for creating an image indicating distances to objects in a scene, comprising: modulating radiation from a radiation source according to a first modulation function, and directing said radiation toward a scene; modulating radiation reflected from the scene according to a second modulation function; detecting said reflected radiation and generating signals responsive to the distance to regions ofthe scene, in response to the detected radiation; forming an image having an intensity value distribution indicative of the distance to objects in the scene; and varying at least one of the first and second modulation functions, responsive to the intensity value distribution of the image.
59. A method according to claim 58, wherein varying at least one ofthe modulation functions comprises delaying the second modulation function relative to the first.
60. A method according to claim 58, wherein the first and second modulation functions comprise pulses, and varying at least one of the modulation functions comprises varying the duration of at least one ofthe pulses.
72
61. A method according to claim 60, wherein the duration of the first modulation function pulse is substantially greater than the duration of the second modulation function pulse.
62. A method according to claim 58, and comprising: identifying at least one object of interest in the scene; and determining the distance to the object, using the intensity value distribution ofthe image.
63. A method according to claim 62, wherein varying at least one ofthe modulation functions comprises varying the modulation function in response to the distance to the at least one object.
64. A method according to claim 63, wherein varying the modulation function in response to the distance to the at least one object comprises: defining a range of distances that includes the distance to the at least one object; and adjusting the modulation function so that detecting reflected radiation comprises detecting radiation from one or more regions ofthe scene that are within the range of distances.
65. A method according to claim 64, wherein identifying at least one object of interest comprises locating a plurality of points on the at least one object, and wherein defining the range of distances comprises defining a plurality of local ranges, each local range including a respective one ofthe plurality of points.
66. A method according to claim 64, wherein adjusting the modulation function comprises adjusting the function so that radiation from objects and regions of the scene that are outside the defined range of distances is not detected.
67. A method according to claim 64, wherein adjusting the modulation function comprises adjusting the function so that radiation from objects and regions ofthe scene that are outside the defined range of distances have a substantially constant intensity value distribution.
68. A method according to claim 64, and comprising forming a first two-dimensional image, said image comprising radiation detected from the one or more regions of the scene that are
73 within the range of distances, and mixing said first two-dimensional image with a second, separately acquired or synthetically generated image, to form a mixed image.
69. A method according to claim 68, and comprising determining the location of a desired zone in the first two-dimensional image, wherein mixing the first two-dimensional image with the second, separately acquired image comprises inserting the second image in the desired zone.
70. A method according to claim 69, wherein inserting the second image in the desired zone comprises scaling the second image to fit in the desired zone.
71. A method according to claim 58, wherein detecting radiation comprises detecting radiation from two objects of interest in the scene, at substantially different respective distances, and wherein varying at least one of the modulation functions comprises varying the modulation function so that the two objects have generally equal intensity values.
72. A method for creating an image indicating distances to objects in a scene, comprising: modulating radiation from a radiation source according to a first modulation function, and directing said radiation toward a scene; defining a plurality of parallel spatial segments within the scene, each said segment having distance bounds; detecting radiation reflected from each of the parallel spatial segments and generating signals responsive to the distance to regions of the scene, in response to the detected radiation; and forming an image having an intensity value distribution indicative of the distance to objects in the scene, wherein defining the plurality of spatial segments comprises defining the distance bounds of each ofthe plurality of segments, and wherein the distance bounds of at least one of the plurality of spatial segments are different from the distance bounds of at least one other spatial segment.
74
73. A method according to claim 72, wherein the distance bounds of a first one of the plurality of spatial segments overlap the distance bounds of a second spatial segment, adjacent thereto.
74. A method according to claim 72, wherein defining a plurality of spatial segments having distance bounds comprises modulating the radiation reflected from each of the segments according to a respective modulation function.
75. A method according to claim 72, wherein detecting radiation comprises accumulating and reading out photoelectric charge produced in response to the radiation, and wherein defining the plurality of spatial segments comprises clearing the photoelectric charge produced in response to the radiation from each of the segments at a respective known, predetermined time interval before accumulating and reading out the charge.
76. A method according to claim 72, wherein directing radiation toward the scene comprises producing a line of radiation and scanning the line across the scene.
77. A method according to claim 72, wherein defining a plurality of spatial segments comprises defining a matrix of mutually adjacent spatial segments, wherein at least one segment within the matrix has different distance bounds from at least one other segment, and wherein forming an image comprises combining the spatial segments within the matrix to produce an extended segment having distance bounds substantially equal to the union of the respective distance bounds ofthe segments in the matrix.
78. A method for creating an extended image indicating distances to objects in a scene, comprising: creating a first image of a scene, according to claim 72; scanning the spatial segments laterally, relative to the scene; creating a second image of the scene, in the same manner as the first image was created; and registering and combining said first image with said second image, to create the extended image.
75
79. A method according to claim 58 or 72, wherein forming an image having an intensity value distribution indicative of the distance to objects comprises normalizing said intensity value distribution.
80. A method according to claim 79, wherein normalizing the intensity value distribution comprises correcting the distribution for varying emissivities ofthe objects.
81. A method according to claim 79, wherein normalizing the intensity value distribution comprises correcting the distribution for different object distances.
82. A method according to claim 58 or 72, wherein detecting radiation comprises filtering the radiation according to color, and wherein forming an image comprises forming a color image.
83. A method for creating a mixed image, including an object of interest superimposed on a separately acquired background image, said method comprising: creating a first image of a scene including the object of interest, said first image indicating distances to objects in the scene; determining the distance to the object, as indicated by the first image; defining a range of distances that includes the distance to the at least one object; removing from the first image objects outside the range of distances to form a filtered image; and superimposing the filtered image on the background image.
84. A method for creating a mixed image of a scene, including a desired inset image inserted into a selected zone in the mixed image, said method comprising: marking a zone in the scene; creating a first image of the scene including the marked zone, said first image indicating distances to objects in the scene; determining the location of the boundaries of the zone in the first image and the distance to the zone, as indicated by the first image;
76 scaling the inset image to fit within the boundaries of the zone, in accordance with the distance to the zone; and superimposing the scaled inset image on the zone in the first image to form a mixed image.
85. A method according to claim 84, and comprising: identifying an object of interest in the first image, wherein the distance to the object of interest is less than the distance to the zone; filtering the first image so as to form a filtered image ofthe object of interest; and superimposing the filtered image ofthe object of interest on the inset image in the zone.
86. A method according to any of claims 83-85, wherein the first image of the scene indicating distances to objects is created according to the method of claim 60.
77
PCT/IL1996/000020 1995-06-22 1996-06-20 Improved optical ranging camera WO1997001111A2 (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP9503437A JPH11508359A (en) 1995-06-22 1996-06-20 Improved optical ranging camera
EP96918825A EP0835460B1 (en) 1995-06-22 1996-06-20 Improved optical ranging camera
AU61359/96A AU6135996A (en) 1995-06-22 1996-06-20 Improved optical ranging camera
US08/981,357 US6057909A (en) 1995-06-22 1996-06-20 Optical ranging camera
DE69635891T DE69635891T2 (en) 1995-06-22 1996-06-20 IMPROVED OPTICAL CAMERA FOR DISTANCE MEASUREMENT

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
IL114278 1995-06-22
IL114278A IL114278A (en) 1995-06-22 1995-06-22 Camera and method
IL116223 1995-12-01
IL116223A IL116223A (en) 1995-12-01 1995-12-01 Telecentric 3d camera and method

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
US08/981,359 Continuation-In-Part US6091905A (en) 1995-06-22 1996-06-20 Telecentric 3D camera and method
PCT/IL1996/000021 Continuation-In-Part WO1997001112A2 (en) 1995-06-22 1996-06-20 Telecentric 3d camera and method of rangefinding

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US08/981,357 A-371-Of-International US6057909A (en) 1995-06-22 1996-06-20 Optical ranging camera
US09/250,322 Continuation-In-Part US6445884B1 (en) 1995-06-22 1999-02-16 Camera with through-the-lens lighting

Publications (3)

Publication Number Publication Date
WO1997001111A2 WO1997001111A2 (en) 1997-01-09
WO1997001111A3 WO1997001111A3 (en) 1997-02-27
WO1997001111B1 true WO1997001111B1 (en) 1997-04-17

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ID=26323086

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/IL1996/000021 WO1997001112A2 (en) 1995-06-22 1996-06-20 Telecentric 3d camera and method of rangefinding
PCT/IL1996/000020 WO1997001111A2 (en) 1995-06-22 1996-06-20 Improved optical ranging camera

Family Applications Before (1)

Application Number Title Priority Date Filing Date
PCT/IL1996/000021 WO1997001112A2 (en) 1995-06-22 1996-06-20 Telecentric 3d camera and method of rangefinding

Country Status (7)

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US (2) US6057909A (en)
EP (2) EP0835460B1 (en)
JP (8) JP3869005B2 (en)
CN (3) CN1101056C (en)
AU (2) AU6135996A (en)
DE (2) DE69635858T2 (en)
WO (2) WO1997001112A2 (en)

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