3D Time-of-flight distance measurement with custom - Universität ...

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DEMODULATION PIXELS IN CMOS/CCD 107 Quantized sensor output Quantized sensor output 1600 1400 1200 1000 800 600 400 200 0 1200 1000 800 600 400 200 0 200kHz 1 2 3 4 Sampling point 2MHz 1 2 3 4 Sampling point 0° 90° 180° 270° 0° 90° 180° 270° Quantized sensor output Quantized sensor output 1400 1200 1000 800 600 400 200 0 1200 1000 800 600 400 200 0 1MHz 1 2 3 4 Sampling point 10MHz 1 2 3 4 Sampling point Figure 5.4 4-tap lock-in pixel (with one output diffusion): Demodulation measurements at 0°, 90°, 180° and 270° phase for different modulation frequencies (200 kHz-10 MHz, � sampling frequencies: 800 kHz-40 MHz). Integration time: 0.5 ms, LED: 630 nm, square wave modulated, 50% duty cycle. Demodulation measurements with the 4-tap lock-in pixel are shown in Figure 5.4 for different modulation frequencies. We see from this figure that the demodulation works excellently for frequencies up to 1 MHz. For higher frequencies the contrast decreases and the 3 rd sampling point integrates an additional signal offset, probably due to different transfer efficiencies of the single transfer gates. 0° 90° 180° 270° 0° 90° 180° 270°
108 CHAPTER 5 (a) (c) Quantized sensor output 1500 1400 1300 1200 1100 1000 900 800 700 600 500 0ns 10ns 20ns 30ns 40ns 50ns 1 2 3 4 Sampling point Measured delay in nanoseconds 50 45 40 35 30 25 20 15 10 5 0 Quantized sensor output Measured delay Error 1200 1150 1100 1050 1000 950 900 850 800 0 10 20 30 40 50 Real delay in nanoseconds 0ns 10ns 20ns 30ns 40ns 50ns 1 2 3 4 Sampling point Figure 5.5 4-tap lock-in pixel (with one output diffusion): Phase measurements at 10 MHz, (a) without and (b) with correction of 3 rd sampling point. (c) Measured delay vs. real delay after correction of 3 rd sampling point. Standard deviation of measurement error: 1.2 ns. (1.2% of modulation period). Phase measurements performed with the 4-tap pixel at 10 MHz modulation frequency (40 MHz sampling frequency) are shown in Figure 5.5. For these measurements an offset value of 250 quantization levels (estimated empirically) had to be subtracted from the 3 rd sampling point. Figure 5.5 (a) illustrates the originally measured sampling point data for different signal delays, (b) shows the same data after the offset subtraction from the 3 rd sampling point. The achieved time resolution is pretty poor: 1.2 nanoseconds. Also, in a real application, the measurement of the different sampling point sensitivities for each pixel in the array 10 8 6 4 2 0 -2 -4 -6 -8 -10 Error in nanoseconds (b)
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3D Time-of-flight distance measurem
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To my parents
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Meinen Eltern
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II 4. Power budget and resolution l
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Abstract Since we are living in a t
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centimeter accuracy. With the singl
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X Eine elegantere Methode zur Entfe
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INTRODUCTION 1 1. Introduction One
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INTRODUCTION 3 light source observe
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INTRODUCTION 5 Propagation time, ho
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INTRODUCTION 7 Chapter 3 gives a sh
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OPTICAL TOF RANGE MEASUREMENT 9 2.
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OPTICAL TOF RANGE MEASUREMENT 13 pr
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OPTICAL TOF RANGE MEASUREMENT 15 hi
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OPTICAL TOF RANGE MEASUREMENT 17 Pu
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OPTICAL TOF RANGE MEASUREMENT 19 Ad
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OPTICAL TOF RANGE MEASUREMENT 23 wh
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OPTICAL TOF RANGE MEASUREMENT 25 δ
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OPTICAL TOF RANGE MEASUREMENT 27 c(
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OPTICAL TOF RANGE MEASUREMENT 29 A
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OPTICAL TOF RANGE MEASUREMENT 31 ph
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OPTICAL TOF RANGE MEASUREMENT 33 Ts
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OPTICAL TOF RANGE MEASUREMENT 35 f1
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OPTICAL TOF RANGE MEASUREMENT 37 an
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OPTICAL TOF RANGE MEASUREMENT 39 in
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OPTICAL TOF RANGE MEASUREMENT 41 Ss
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OPTICAL TOF RANGE MEASUREMENT 43 Fr
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OPTICAL TOF RANGE MEASUREMENT 45 1
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50 CHAPTER 3 the smearing effect, r
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52 CHAPTER 3 3.1 Silicon properties
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54 CHAPTER 3 (a) Figure 3.3 Optical
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Page 95 and 96: 78 CHAPTER 3 charge carriers the CT
Page 97 and 98: 80 CHAPTER 3 without causing short
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Page 111 and 112: 94 CHAPTER 4 Cmod = 1 QE(λ) = 0.65
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IMAGING TOF RANGE CAMERAS 157 gate
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IMAGING TOF RANGE CAMERAS 159 6.2 2
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IMAGING TOF RANGE CAMERAS 161 n+ di
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IMAGING TOF RANGE CAMERAS 163 pixel
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IMAGING TOF RANGE CAMERAS 165 Power
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IMAGING TOF RANGE CAMERAS 167 Delay
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IMAGING TOF RANGE CAMERAS 169 6.3 3
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IMAGING TOF RANGE CAMERAS 171 Gate
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IMAGING TOF RANGE CAMERAS 173 Bound
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IMAGING TOF RANGE CAMERAS 175 Figur
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IMAGING TOF RANGE CAMERAS 177 Final
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IMAGING TOF RANGE CAMERAS 179 #5 #6
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SUMMARY AND PERSPECTIVE 181 7. Summ
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SUMMARY AND PERSPECTIVE 183 into th
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SUMMARY AND PERSPECTIVE 185 or phas
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188 CHAPTER 8 8.2 Typical parameter
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190 CHAPTER 8 Spectral luminous int
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192 CHAPTER 8 MCD03S: Conditions SC
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194 CHAPTER 8 MCD06S: Measurement c
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196 [BRK] Brockhaus, “Naturwissen
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198 [KAI] I. Kaisto, et al., “Opt
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200 [SP1] T. Spirig et al., “The
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ACKNOWLEDGMENTS 203 Acknowledgments
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206 Publication list 1. R. Lange, P
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