阅读说明：本技术 飞行时间相机 (Time-of-flight camera ) 是由 Z·徐 于 2018-12-28 设计创作，主要内容包括：一种确定到场景中的特征的距离的方法,该方法包括：发射以调制频率调制的结构光,以利用结构化照明图案照明场景；以及对于采样相移ψk和扰动相移λ<Sub>n</Sub>的每个组合,以发射光的调制频率调制光电传感器的灵敏度,但是相对于发射光的相位相移了一相位θ<Sub>k,n</Sub>＝(ψk+λ<Sub>n</Sub>)；以及对于θ<Sub>k,n</Sub>以360o求模得到的每个值,在不同曝光期间记录由场景中的特征反射的光,并使用所记录的光来提供场景的范围图像。(A method of determining distances to features in a scene, the method comprising: emitting structured light modulated at a modulation frequency to illuminate a scene with a structured illumination pattern; and for sample phase shift ψ k and perturbation phase shift λ n Modulates the sensitivity of the photosensor at the modulation frequency of the emitted light, but is phase-shifted by a phase θ relative to the phase of the emitted light k,n ＝(ψk+λ n ) (ii) a And for theta k,n Light reflected by features in the scene is recorded during different exposures, each value modulo 360 °, and the recorded light is used to provide a range image of the scene.)

1. A continuous wave time-of-flight (CW-TOF) camera operable to determine distances to features in a scene, the CW-TOF camera comprising:

a light source operable to emit light to illuminate the scene;

a photosensor having a plurality of pixels configured to record an amount of light reflected by features in the scene by the emitted light; and

a controller configured to:

controlling the light source to emit structured light modulated at a modulation frequency to illuminate the scene with a structured illumination pattern; and

for each combination of a sampling phase shift of the plurality of different sampling phase shifts and a perturbation phase shift of the plurality of different perturbation phase shifts:

modulating the sensitivity of the photosensor at the modulation frequency of the emitted light, but phase-shifted relative to the phase of the emitted light by a phase equal to the sum of the sampling phase-shift and the perturbation phase-shift;

for each value modulo 360 ° of the summation, turning on the photosensor for a different exposure period to record the light reflected by the feature; and

determining a distance to the feature based on the light recorded by the pixel.

2. The CW-TOF camera according to claim 1 wherein turning on the photosensor for different exposure periods comprises: for each sampling phase shift, turning on the photosensor for a different exposure period for each of the plurality of different perturbation phase shifts.

3. The CW-TOF camera according to claim 2 wherein the controller is configured to control the light source to modify the structured light with an optical pattern modifier sequence synchronized with a perturbation phase shift sequence.

4. The CW-TOF camera according to claim 3 wherein determining a distance from a feature imaged on a pixel of the photosensor comprises: summing voltages representing light recorded by the pixels during each of the exposure periods to provide summed voltages, and using the summed voltages to determine a propagation phase delay and thereby determine the distance.

5. The CW-TOF camera according to claim 1 wherein the structured illumination pattern is a stationary illumination pattern comprising a plurality of different types of stationary illumination regions.

6. The CW-TOF camera according to claim 5 wherein turning on the photosensor for different exposure periods for each value modulo 360 ° by the summation comprises: for each sampling phase shift, turning on the photosensor for a different exposure period for each of the plurality of different perturbation phase shifts.

7. The CW-TOF camera according to claim 5 wherein turning on the photosensor for different exposure periods for each value modulo 360 ° by the summation comprises: turning on the photosensor for a number of exposure period perturbations equal to the number of different values modulo the sum by 360 °.

8. The CW-TOF camera according to claim 5 wherein determining a distance from a feature imaged on a given pixel located in a stationary illumination region comprises: for each sampling phase shift, a summation of a plurality of voltages is determined, each voltage representing light recorded by a pixel in the photosensor for a different perturbation phase shift.

9. The CW-TOF camera according to claim 8 wherein the plurality of voltages includes a voltage representative of light recorded by the given pixel for a first perturbation phase shift of the plurality of perturbation phase shifts and a voltage representative of light recorded by a pixel from a feature located in a stationary illumination region of a type different from the stationary illumination region type, wherein the feature imaged by the given pixel is for a second perturbation phase shift λ ™ different from the first perturbation phase shift_nAnd (4) positioning.

10. The CW-TOF camera according to claim 9 wherein the voltage summation comprises a voltage provided by a pixel imaging a feature located in a stationary illumination region that is phase shifted with respect to each perturbation paired with the stationary illumination region.

11. The CW-TOF camera according to claim 10 wherein the controller is configured to pair the perturbation phase shift with a stationary illumination region using a bijective mapping of the perturbation phase shift to the stationary illumination region.

12. The CW-TOF camera according to claim 10 wherein the controller is configured to pair the perturbation phase shift with a stationary illumination region using a flood mapping of the perturbation phase shift to the stationary illumination region.

13. A method of determining distances to features in a scene, the method comprising:

emitting structured light modulated at a modulation frequency to illuminate a scene with a structured illumination pattern; and

for each combination of a sampling phase shift of the plurality of different sampling phase shifts and a perturbation phase shift of the plurality of different perturbation phase shifts:

modulating the sensitivity of the photosensor having pixels configured to record light at a modulation frequency of the emitted light, but phase-shifted relative to the phase of the emitted light by a phase equal to a summation of the sampling phase-shift and the perturbation phase;

for each value modulo 360 ° of the summation, turning on the photosensor for a different exposure period to record light reflected by features in the scene; and

determining a distance to the feature based on the light recorded by the pixel.

14. The method of claim 13, wherein turning on the photosensor for different exposure periods with each value modulo 360 ° for the summation comprises: turning on the photosensor for a number of exposure periods that is less than the number of the plurality of sampling phases multiplied by the number of the plurality of perturbation phase shifts.

15. The method of claim 13 or 14, wherein illuminating the scene with a structured illumination pattern comprises: the scene is illuminated with a stationary illumination pattern comprising a plurality of different types of stationary illumination areas.