System and method for determining range in 3D imaging systems

• US 7,453,553 B2
• Filed: 03/26/2007
• Issued: 11/18/2008
• Est. Priority Date: 07/06/2004
• Status: Active Grant

• Current Assignee: Topcon Positioning Systems Incorporated (Topcon Corporation)
• Original Assignee: Dimsdale Engineering, LLC
• Inventors: Dimsdale, Jerry
• Primary Examiner(s): Tarcza; Thomas H.
• Assistant Examiner(s): Ratcliffe; Luke D
• Application Number:
  US11/691,256
• Publication Number:
  US 20070252974A1
• Time in Patent Office: 603 Days
• Field of Search: 356 301- 315, 356 401- 41, 356 501- 515, 356 6- 22
• US Class Current: 356/5.1
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/894 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487
• CPC Class Codes: G01S 7/4868 Controlling received signal intensity or exposure of sensor
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating

Abstract

A system and method of imaging an object. An array of detectors is mounted in an image plane. Each detector in the array of detectors is connected to a timing circuit having an interpolator, wherein the interpolator includes a first circuit which charges a first capacitor at a different rate than it discharges. An optical pulse is transmitted toward an object so that a portion of the optical pulse is reflected from the object as a reflected pulse and a first value representative of when the optical pulse was transmitted toward the object is recorded. The reflected pulse is detected at one or more detectors and a pulse characteristic of the pulse and a second value representative of when the reflected pulse arrived at the detector are recorded. Range to the object is then calculated as a function of the first and second values and the reflected pulse characteristic.

Claims

1. A method of imaging an object, comprising:

mounting an array of detectors in an image plane;

connecting each detector in the array of detectors to a timing circuit having one or more interpolators, wherein each interpolator includes one or more interpolator circuits, wherein each interpolator circuit charges a capacitor at a different rate than it discharges;

transmitting an optical pulse toward an object so that a portion of the optical pulse is reflected from the object as a reflected pulse, wherein transmitting the optical pulse includes recording a first value, wherein the first value is representative of when the optical pulse was transmitted toward the object;

detecting arrival of the reflected pulse at one or more detectors within the array of detectors, wherein detecting arrival of the reflected pulse includes;

determining a reflected pulse characteristic representative of the reflected pulse'"'"'s amplitude; and

recording a second value, wherein the second value is representative of when the reflected pulse arrived at the detector; and

measuring range to the object as a function of the first and second values and the reflected pulse characteristic.

2. The method according to claim 1, wherein determining a reflected pulse characteristic includes integrating the reflected pulse over a predetermined interval of time.

3. The method according to claim 1, wherein determining a reflected pulse characteristic includes detecting peak amplitude.

4. The method according to claim 1, wherein recording a second value includes monitoring the detector to detect when the reflected pulse passes through a threshold, recording a detection time corresponding to when the reflected pulse passed through the threshold and correcting the detection time as a function of the reflected pulse characteristic.

5. The method according to claim 1, wherein two or more interpolator circuits are cascaded and wherein recording a second value includes initiating a first interpolator circuit on arrival of the reflected pulse at the detector and initiating a second interpolator circuit after the first interpolator circuit reaches a predetermined voltage.

6. The method according to claim 1, wherein transmitting an optical pulse includes directing a portion of the optical pulse to a detector and wherein recording a first value includes detecting arrival of the portion of the optical pulse at the detector.

7. The method according to claim 1, wherein transmitting an optical pulse includes connecting a resonator/attenuator to the array of detectors and directing the optical pulse into the resonator/attenuator such that the resonator/attenuator transmits two or more optical pulses to the array of detectors.

8. The method according to claim 1, wherein recording a second value includes initiating one of the interpolator circuits on arrival of the reflected pulse at the detector and capturing a circuit voltage representative of charge across the first capacitor on a subsequent clock edge.

9. The method according to claim 8, wherein initiating one of the interpolator circuits includes discharging the interpolator circuit'"'"'s capacitor at a first rate until a subsequent transition of the master clock.

10. The method according to claim 8, wherein initiating one of the interpolator circuits includes:

discharging the interpolator circuit'"'"'s capacitor at a first rate until a subsequent transition of the master clock; and

capturing voltage across the interpolator circuit'"'"'s capacitor.

11. A system for rendering a three-dimensional image of an object, comprising:

a laser, wherein the laser generates an optical pulse and projects the optical pulse on an object so that it is reflected as a reflected pulse;

a detector array, wherein the detector array includes a plurality of detectors, wherein the detectors are oriented to receive the reflected pulse;

a timing circuit connected to the detector array, wherein the timing circuit determines when the reflected pulse reached a detector on the detector array, wherein the timing circuit includes one or more interpolators, wherein each interpolator includes one or more interpolator circuits, wherein each interpolator circuit charges a capacitor at a different rate than it discharges the capacitor; and

a processor connected to the timing circuit, wherein the processor calculates transit time for the optical pulse as time between when the optical pulse was projected on the object and when a pulse reflected from the object reached detectors on the detector array in order to determine range to the object.

12. The system according to claim 11, wherein each interpolator circuit includes:

a timing capacitor which can be set to a predetermined initial state;

means for charging said capacitor at a first predetermined rate when a pulse is detected; and

means for discharging said capacitor at a second predetermined rate until said capacitor returns to its initial state.

13. The system according to claim 11, wherein the timing circuit includes means for storing a value representative of a peak of the reflected pulse.

14. The system according to claim 11, wherein the timing circuit includes means for storing a value representative of integration of the reflected pulse.

15. The system according to claim 11, wherein the detector array further includes means for coupling a resonator/attenuator between the laser and the detector array.

16. A device for imaging one or more three dimensional objects, including:

a pulsed light source;

means for transmitting light toward said objects;

optics for collecting light during the time for light to transit from said pulsed light source, reflect from said objects, be collected and focused by said optics

one or more detectors, wherein the detectors are oriented for receiving the collected light and converting the collected light into an electrical signal;

timing means, connected to the one or more detectors, for determining a transit time for a pulse to leave the pulsed light source, reflect off the objects and return to one or more of the plurality of deflectors, wherein the timing means includes one or more interpolators, wherein each interpolator includes a circuit which charges at a different rate than it discharges; and

calibration means, connected between the light transmitting means and the detectors, wherein the calibration means includes a resonator.

17. The device according to claim 16, wherein the resonator includes a coupler connected to an optical fiber.

18. The device according to claim 16, wherein the light source is a laser.

19. The device according to claim 18, wherein the detectors are avalanche photodiodes operating in non-linear Geiger mode.

20. The device according to claim 18, wherein pulse duration is less than 100 psec.