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WO2003030521A1 - Appareil de prise de vues, en particulier pour acquerir des images tridimensionnelles d'objets ou de scenes - Google Patents

Appareil de prise de vues, en particulier pour acquerir des images tridimensionnelles d'objets ou de scenes Download PDF

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Publication number
WO2003030521A1
WO2003030521A1 PCT/DE2002/003671 DE0203671W WO03030521A1 WO 2003030521 A1 WO2003030521 A1 WO 2003030521A1 DE 0203671 W DE0203671 W DE 0203671W WO 03030521 A1 WO03030521 A1 WO 03030521A1
Authority
WO
WIPO (PCT)
Prior art keywords
pmd
pixel elements
scenes
image recorder
dimensionally
Prior art date
Application number
PCT/DE2002/003671
Other languages
German (de)
English (en)
Inventor
Helmut Riedel
Original Assignee
Conti Temic Microelectronic Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Conti Temic Microelectronic Gmbh filed Critical Conti Temic Microelectronic Gmbh
Publication of WO2003030521A1 publication Critical patent/WO2003030521A1/fr

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
    • H04N25/46—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled by combining or binning pixels

Definitions

  • Image recorder in particular for the three-dimensional detection of objects or scenes
  • the invention relates to an image recorder, in particular for the three-dimensional detection of objects or scenes, according to the preamble of patent claim 1.
  • PMD image sensors for taking distance images (3D images) can be realized.
  • PMD image sensors which are known, for example, from WO 99/60629 A1, are currently being developed in order to be able to detect the vehicle interior as well as the environment of the vehicle in three-dimensional fashion in traffic engineering applications.
  • the recording process requires active, modulated scene lighting, but the available light output is limited.
  • the limitation is on the one hand given by physical boundary conditions such as e.g. the performance of the lighting sources used, but also by legal regulations regarding the safety of the eyesight of the lighting.
  • the available light power in a PMD P ⁇ xel not enough to ensure sufficiently high signal / noise ratios in the measurement can.
  • One way to improve this situation is to increase the integration time of the PMD pixels in order to use more scene lighting photons. In applications where short measurement times are required, such as in the detection of moving scenes, but eliminates this possibility.
  • the invention has for its object to provide an image sensor according to the preamble of claim 1, which can be adjusted to existing environmental parameters such as the outgoing of an object brightness or light output.
  • the imager of claim 1 has the advantages of being capable of transition from low lateral resolution images to higher lateral resolution images. It can go from exposures with a higher lateral resolution to images with a lower lateral resolution as well, for example, for a detail resolution, the existing light output is not sufficient, so in favor of a good
  • Signal to noise ratio is changed to a lower resolution.
  • the invention is particularly suitable for recording range images (3D images), for example, in order to capture the vehicle interior and the environment of the vehicle three-dimensionally in traffic engineering applications.
  • Advantageous embodiments of the article according to claim 1 are specified in the subclaims.
  • FIG. 1 shows the basic wiring of photosensitive pixel elements for signal readout using the example of a PMD pixel
  • Fig. 5 the change of the lateral image resolution by Caribbeanfas-. sen of the photosensitive, arranged in a hexagonal lattice structure pixel elements.
  • FIG. 1 shows the basic connection of photosensitive pixel elements for signal readout on the example of a PMD pixel 1 as a photoelement.
  • a PMD pixel 1 represents a so-called "active pixel", ie the charge carriers generated by the photo effect are further processed directly in the pixel 1 by active electronic components for the signal readout.
  • a transistor T1 is used to reset the PMD pixel 1
  • a transistor T2 is used to sample the photovoltage, which is held on a capacitor C during the readout phase.
  • a transistor T3 is connected as a source follower, which buffers the photosignal during the readout phase.
  • N1 Between the drain-source path of the transistor T1 and the drain-source path of the transistor T2 is a network node N1, and between the drain-source path of the transistor T2 and the gate of the transistor T3 is a network node N2.
  • N1' and N2 ' For the second half of symmetrically constructed PMD pixels 1 are the corresponding components with T1 ', T2', T3 'and C and the corresponding network nodes denoted by N1' and N2 '.
  • switches S1 For parallel connection of individual PMD pixels 1, their respective nodes N1 are connected to one another via switch S1 (FIG. 2). Further switches S2 ( Figure 2) also connect the respective nodes N2, so that also the integration capacity can be adapted to the increased pixel area. Corresponding designations for the corresponding switches of the second half of a PMD pixel 1 are S1 'and S2'.
  • the switches S1 and S2 can be operated independently.
  • all the photosensitive surfaces may be connected via the switches S1
  • only a smaller number of integration capacitances C or C may be connected via the switches S2 and S2 '. This procedure makes it possible to increase the signal swing at the connected integration capacitors C and C, respectively
  • an image sensor 2 in particular a PMD image sensor, a plurality of PMD pixel elements 1 are arranged orthogonally and each PMD pixel element 1 is connected to its orthogonally adjacent PMD pixel elements 1. Since each network node N1, N2, N1 'or N2' of a first PMD pixel 1 via a respective switch S1,
  • S2, S1 'or S2' is connected to the network nodes N1, N2, N1 'or N2' of a second, a third and a fourth adjacent PMD pixel 1, resulting in 16 switchable connections between a PMD pixel 1 and the four PMD pixels 1 adjacent to it.
  • Pixel 1 according to FIG. 2, the addressing of the individual PMD pixels 1 as well as the connection of the individual connections between the network nodes N1, N2, N1 'or N2' can take place via horizontal and vertical address registers, as shown in FIG.
  • a horizontal address register 3 and a vertical address register 4 take over the signal readout of the PMD pixels 1, while two more horizontal and vertical address registers 5 and 6 or 7 and 8, the switches S1 and S1 'and S2 and S2' for the lines and columns of Actuate the array arrangement of the PMD pixels 1.
  • any desired pixel pattern can be configured.
  • FIGS. 4a-d show, by way of example, how a PMD imager 2 with 8x8 PMD pixels 1 in FIG. 4a can be converted into the 4x4 resolutions in FIG. 4b, 2x2 in FIG. 4c and into a large single pixel in FIG. 4d can be converted, for example, to be able to measure the distance to a lit object despite low radiation power.
  • the summary of the PMD pixels 1 does not need to follow a regular pattern, but can also be made freely selectable and adapted to the respective scene to be examined. Thus, e.g. also individual clusters of PMD pixels 1 are formed in a so-called "region of interest (ROI)".
  • ROI region of interest
  • a PMD imager 2 with e.g. In extreme cases, 32x16 pixels can be converted into a single PMD pixel 1, which has 512 times the detector area, by an electrical parallel connection of all the photosensitive areas of the PMD pixels 1. This increase in area directly causes the 512-fold photocurrent and thus a dramatically increased electrical detector signal. If fewer PMD pixels 1 are connected in parallel, the said PMD image recorder 2 can be varied in its lateral resolution within wide limits.
  • the PMD pixels 1 of a PMD image sensor 2 can also be arranged hexagonally, as shown in FIG. 5. Even in such an embodiment, PMD pixels 1 can be combined in pairs or in blocks. Moreover, the hexagonal arrangement also offers the advantage of being able to realize a likewise hexagonal "superlattice" by combining in each case seven PMD pixels 1 according to FIG. 5. Circles 9 in FIG. 5 show the PMD pixels 1, which are each arranged around a central PMD pixel 1 in the superlattice. In a hexagonal arrangement according to FIG. 5, a connection with the neighboring pixels 1 results in a total of 24 switchable connections per PMD pixel 1.
  • a dynamic adaptation of the pixel area of an image recorder 2 makes it possible, for example, first to roughly scan a scene to be examined with a very low lateral resolution in a first image clock. By successively increasing the resolution in the following image clocks, further detail information about the scene can then be obtained.
  • a signal threshold of the individual PMD pixels 1 are defined, which is required for reliable measurement of the distance values.
  • the further dynamic increase of the lateral resolution is then ended in favor of a better signal-to-noise ratio.
  • the invention shows a euartigen image sensor, which is particularly suitable for the three-dimensional detection of objects or scenes and which comprises a plurality of two-dimensionally arranged photosensitive pixel elements.
  • a programmable circuit arrangement any number of adjacent pixel elements can be connected together in a static or dynamic manner in parallel.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Measurement Of Optical Distance (AREA)

Abstract

L'invention concerne un appareil de prise de vues permettant en particulier d'acquérir des images tridimensionnelles d'objets ou de scènes. Etant donné que le flux lumineux réfléchi à partir d'une scène à analyser diminue proportionnellement avec l'éloignement par rapport aux objets individuels, il ne reste généralement à disposition, en particulier lors de l'acquisition de scènes de trafic en 3D au moyen de l'appareil de prises de vue, qu'un flux lumineux extrêmement réduit pour produire des signaux électriques permettant de mesurer les distances. En particulier dans le cas d'objets éloignés possédant des propriétés de réflexion médiocres, le flux lumineux à disposition ne suffit pas pour garantir des rapports signal/bruit suffisamment élevés lors de la mesure. Selon l'invention, pour améliorer cette situation, on utilise un appareil de prises de vue, en particulier pour acquérir des images tridimensionnelles d'objets ou de scènes, comprenant une pluralité d'éléments de pixel photosensibles disposés en deux dimensions, caractérisé par un système de connexion programmable permettant d'interconnecter en parallèle un nombre quelconque d'éléments de pixels voisins. L'invention est adaptée en particulier à l'acquisition d'images télémétriques (images 3D), par exemple pour acquérir des images tridimensionnelles de l'habitacle et de l'environnement d'un véhicule dans des applications liées aux techniques de la circulation.
PCT/DE2002/003671 2001-09-27 2002-09-27 Appareil de prise de vues, en particulier pour acquerir des images tridimensionnelles d'objets ou de scenes WO2003030521A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10147808.9 2001-09-27
DE10147808A DE10147808A1 (de) 2001-09-27 2001-09-27 Bildaufnehmer, insbesondere zur dreidimensionalen Erfassung von Objekten oder Szenen

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WO2003030521A1 true WO2003030521A1 (fr) 2003-04-10

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DE (1) DE10147808A1 (fr)
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Cited By (3)

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Publication number Priority date Publication date Assignee Title
EP1953568A1 (fr) * 2007-01-29 2008-08-06 Robert Bosch Gmbh Élément semi-conducteur d'imageur, système de caméra et procédé de production d'une image
WO2009089938A1 (fr) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Système et procédé pour mesurer un créneau de stationnement
DE102010055865A1 (de) 2010-12-22 2011-07-28 Daimler AG, 70327 Kameravorrichtung für einen Kraftwagen

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Publication number Priority date Publication date Assignee Title
DE102011089629B4 (de) 2010-12-22 2022-08-04 pmdtechnologies ag Lichtlaufzeitkamera und Verfahren zum Betreiben einer solchen

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EP1089555A1 (fr) * 1999-09-29 2001-04-04 General Electric Company Méthode et dispositif pour lire une surface de détecteurs dans un système de prise d'images à rayon X
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WO1996035372A2 (fr) * 1995-05-11 1996-11-14 University Of Massachusetts Medical Center Systeme pour imagerie radiographique quantitative
WO1999060629A1 (fr) * 1998-05-18 1999-11-25 Rudolf Schwarte Dispositif et procede pour la detection de la phase et de l'amplitude d'ondes electromagnetiques
EP1089555A1 (fr) * 1999-09-29 2001-04-04 General Electric Company Méthode et dispositif pour lire une surface de détecteurs dans un système de prise d'images à rayon X
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1953568A1 (fr) * 2007-01-29 2008-08-06 Robert Bosch Gmbh Élément semi-conducteur d'imageur, système de caméra et procédé de production d'une image
WO2009089938A1 (fr) * 2008-01-16 2009-07-23 Robert Bosch Gmbh Système et procédé pour mesurer un créneau de stationnement
US8422737B2 (en) 2008-01-16 2013-04-16 Robert Bosch Gmbh Device and method for measuring a parking space
DE102010055865A1 (de) 2010-12-22 2011-07-28 Daimler AG, 70327 Kameravorrichtung für einen Kraftwagen

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