Range finding array camera
First Claim
1. An electro-optical camera system comprising:
- light source means;
light beam modulating means in communication with said light source means for modulating light received from said light source means;
optical focusing means for directing said modulated light through a medium and at a target and for receiving light backscattered from said target and directing said backscattered light through said light beam modulating means wherein said light beam modulating means modulates said backscattered light;
photodetector means having a plurality of pixels, said photodetector means for receiving said backscattered light from said light beam modulating means and detecting at least three intensity levels associated with a period of modulation back through said light beam modulating means for each of said pixels;
frequency modulating means for varying the frequency of modulation of said light beam modulating means; and
computer means for determining the frequency modulation period at each of said pixels as the frequency of modulation of said light beam modulating means is varied wherein range data of the target is determined.
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Abstract
An electro-optical camera system is presented. In accordance with the present invention, a light source (e.g. laser) is modulated by an electro-optic modulator (such as a Pockels cell) and transmitted out through an optical system toward a static target scene. The light backscattered from the target scene is then focused by the same optics back through the same Pockels cell onto a two-dimensional array camera such as a CCD or a CID (charge-couple device or charge injection device). A computer determines the frequency modulation period of each pixel in the array as the frequency of the electro-optic modulator is varied. This period is inversely proportional to the range of the target in the direction defined by the pixel location. Thus, all three spatial coordinates (two angles and a range) of each target area sensed by each pixel are determined. The computer will display the array of range data using a suitable output device such as a video display unit or a printer.
138 Citations
26 Claims
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1. An electro-optical camera system comprising:
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light source means; light beam modulating means in communication with said light source means for modulating light received from said light source means; optical focusing means for directing said modulated light through a medium and at a target and for receiving light backscattered from said target and directing said backscattered light through said light beam modulating means wherein said light beam modulating means modulates said backscattered light; photodetector means having a plurality of pixels, said photodetector means for receiving said backscattered light from said light beam modulating means and detecting at least three intensity levels associated with a period of modulation back through said light beam modulating means for each of said pixels; frequency modulating means for varying the frequency of modulation of said light beam modulating means; and computer means for determining the frequency modulation period at each of said pixels as the frequency of modulation of said light beam modulating means is varied wherein range data of the target is determined. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 26)
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22. A method for providing range data of a target using an electro-optical camera system including the steps of:
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generating a light beam; modulating the light beam using a light beam modulator; directing the modulating light beam through a medium and at a target; receiving light backscattered from the target and directing the backscattered light back through said light beam modulator wherein the received backscattered light is modulated; detecting at least three intensity levels associated with a period of modulation back through said light beam modulator for each of a plurality of pixels; and converting said period associated with said intensity levels at each of said pixels into range data of the target. - View Dependent Claims (23)
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24. An apparatus for providing range data of a target using an electro-optical camera system including:
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means for generating a light beam; means for modulating the light beam using a light beam modulator; means for directing the modulated light beam through a medium and at a target; means for receiving light backscattered from the target and directing the backscattered light back through said light beam modulator wherein the received backscattered light is modulated; means for detecting at least three intensity levels associated with a period of modulation back through said light beam modulator for each of a plurality of pixels; and means for converting said period associated with said intensity levels at each of said pixels into range data of the target. - View Dependent Claims (25)
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Specification