Method and system to correct motion blur and reduce signal transients in time-of-flight sensor systems
First Claim
1. In a time-of-flight (TOF) system that emits at least first and second periodic signals of optical energy spaced apart in phase by at least about 90°
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a detection system comprising;
an array of blocks of four pixel detectors, each pixel detector comprising an optical energy collection area, an associated logic circuit, and an associated storage region to store collected charge detected by said pixel detector; and
a phase clock unit outputting to each of said blocks at least two clock phase signals spaced-apart by at least about 90°
;
each said logic circuit coupled to receive one of said clock phase signals and delaying as required the received clock phase signal such that adjacent pixel detectors receive a clock phase signal shifted about 90°
from adjacent pixel detectors;
each said storage region receiving accumulated detection-generated charge when the associated pixel detector receives an active state clock phase signal.
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Accused Products
Abstract
TOF system shutter time needed to acquire image data in a time-of-flight (TOF) system that acquires consecutive images is reduced, thus decreasing the time in which relative motion can occur. In one embodiment, pixel detectors are clocked with multi-phase signals and integration of the four signals occurs simultaneously to yield four phase measurements from four pixel detectors within a single shutter time unit. In another embodiment, phase measurement time is reduced by a factor (1/k) by providing super pixels whose collection region is increased by a factor “k” relative to a normal pixel detector. Each super pixel is coupled to k storage units and four-phase sequential signals. Alternatively, each pixel detector can have k collector regions, k storage units, and share common clock circuitry that generates four-phase signals. Various embodiments can reduce the mal-effects of clock signal transients upon signals, and can be dynamically reconfigured as required.
116 Citations
29 Claims
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1. In a time-of-flight (TOF) system that emits at least first and second periodic signals of optical energy spaced apart in phase by at least about 90°
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a detection system comprising;
an array of blocks of four pixel detectors, each pixel detector comprising an optical energy collection area, an associated logic circuit, and an associated storage region to store collected charge detected by said pixel detector; and a phase clock unit outputting to each of said blocks at least two clock phase signals spaced-apart by at least about 90°
;each said logic circuit coupled to receive one of said clock phase signals and delaying as required the received clock phase signal such that adjacent pixel detectors receive a clock phase signal shifted about 90°
from adjacent pixel detectors;each said storage region receiving accumulated detection-generated charge when the associated pixel detector receives an active state clock phase signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a detection system comprising;
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10. For use with a time-of-flight (TOF) system that emits at least first and second periodic signals of optical energy spaced apart in phase by at least about 90°
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a method to reduce motion blur resulting from relative motion between said TOF system and said target object, the method comprising the following steps;
(a) providing an array of blocks of four pixel detectors, each pixel detector comprising an optical energy collection area, an associated logic circuit, and an associated storage region to store collected charge detected by said pixel detector; and (b) providing a phase clock unit outputting to each of said blocks at least two clock phase signals spaced-apart by at least about 90°
;each said logic circuit coupled to receive one of said clock phase signals and delaying as required the received clock phase signal such that adjacent pixel detectors receive a clock phase signal shifted 90°
from adjacent pixel detectors;each said storage region receiving accumulated detection-generated charge when the associated pixel detector receives an active state clock phase signal. - View Dependent Claims (11, 12, 13, 14, 15)
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a method to reduce motion blur resulting from relative motion between said TOF system and said target object, the method comprising the following steps;
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16. In a time-of-flight (TOF) system that emits at least first and second periodic signals of optical energy spaced apart in phase by at least about 90°
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a detection system comprising;
an array of pixel detectors, each pixel detector comprising an optical energy collection area larger than a conventional pixel detector collection area by a factor of about four, an associated logic circuit, and four associated storage regions to store collected charge detected by said pixel detector; and a phase clock unit outputting to each said pixel detector a common clock phase signal from which said associated logic circuit generates four clock phase signals spaced-apart from each other by at least about 90°
;each said storage region receiving accumulated detection-generated charge when one of said four clock phase signals is in an active state. - View Dependent Claims (17, 18, 19)
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a detection system comprising;
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20. For use with a time-of-flight (TOF) system that emits at least first and second periodic signals of optical energy spaced apart in phase by at least about 90°
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a method to reduce at least one of motion blur resulting from relative motion between said TOF system and said target object, and phase clock switching transients, the method comprising the following steps;
(a) providing an array of pixel detectors, each pixel detector comprising an optical energy collection area larger than a conventional pixel detector collection area by a factor of about four, an associated logic circuit, and four associated storage regions to store collected charge detected by said pixel detector; and (b) outputting to each pixel detector a common clock phase signal from which said associated logic circuit generates four clock phase signals spaced-apart from each other by at least about 90°
;each of said storage region receiving accumulated detection-generated charge when one of said four clock phase signals is in an active state. - View Dependent Claims (21, 22, 23)
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a method to reduce at least one of motion blur resulting from relative motion between said TOF system and said target object, and phase clock switching transients, the method comprising the following steps;
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24. In a time-of-flight (TOF) system that emits at least first and second periodic signals of optical energy spaced apart in phase by at least about 90°
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a detection system comprising;
an array of pixel detectors, each pixel detector comprising four optical energy collection areas, four storage regions, each of said regions associated with one of said four optical energy collection areas to store collected charge detected by said pixel detector, and a common logic circuit coupled to receive from said TOF system a single clock phase signal and to generate therefrom and couple to said pixel detectors four clock signals phase-shifted from each other by about 90°
;each said storage region receiving accumulated detection-generated charge when an associated collection area of said pixel detector receives an active state clock phase signal; wherein relative to a TOF system that requires more phase clock cycles for detection, said detection system reduces at least one of (a) motion blur measurement error due to relative motion between said detection system and said target object, and (b) signal integrity error resulting from phase clock switching transients. - View Dependent Claims (25, 26)
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a detection system comprising;
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27. For use with a time-of-flight (TOF) system that emits at least first and second periodic signals of optical energy spaced apart in phase by at least about 90°
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a method to reduce at least one of motion blur resulting from relative motion between said TOF system and said target object, and clock signal transients, the method comprising the following steps;
(a) providing a detection system comprising an array of blocks of four pixel detectors, each pixel detector comprising four optical energy collection areas, four storage regions, each of said regions associated with one of said four optical energy collection area to store collected charge detected by said pixel detector, and a common logic circuit coupled to receive from said TOF system a single clock phase signal and to generate therefrom and couple to said pixel detectors four clock signals phase-shifted from each other by about 90°
; and(b) providing said single clock phase signal from said TOF system; each of said storage regions receiving accumulated detection-generated charge when an associated collection area of said pixel detector receives an active state clock phase signal; wherein relative to a TOF system that requires more phase clock cycles for detection said method reduces at least one of motion blur measurement error due to relative motion between said detection system and said target object, and signal integrity error resulting from clock switching transients. - View Dependent Claims (28, 29)
- and that determines distance Z to a target object by detecting and examining relative phase shift in optical energy signals reflected from the target object, a method to reduce at least one of motion blur resulting from relative motion between said TOF system and said target object, and clock signal transients, the method comprising the following steps;
Specification