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

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IMAGING TOF RANGE CAMERAS 171 Gate voltage in volts 10 8 6 4 2 0 1st CCD gate 32th CCD gate 0 50 100 150 200 Time in ns Relative amplitude 1 0.8 0.6 0.4 0.2 0 1st CCD gate 32th CCD gate 1.00E+05 1.00E+06 1.00E+07 1.00E+08 1.00E+09 Frequency in Hz Figure 6.16 Time response and amplitude spectrum of the modulation gates in the 64 x 25 pixels TOF-imager. The cut-off frequencies are, for the 1 st and the last (64 th ) gate: 270 MHz and for the 32 nd gate: 55 MHz. 6.3.2 System architecture The complete 3D camera system is shown in Figure 6.17. Again, system flexibility was an important factor in the camera design. The TOF-imager is controlled by the sequencer and driver boards introduced in Section 6.1; only the firmware had to be programmed anew for the sequencer. Figure 6.17 Imaging time-of-flight range camera (3D). Left: open housing: from left to right: LED board, LED driver board, heat sink for LED drivers, camera driver board, sequencer board. Right: housing closed. (Size: 95 mm (H) x 125 mm (W) x 105 mm (D))
172 CHAPTER 6 In order to adapt the camera to different application needs, we have produced the LED module as a stacked 2 PCB- module, one carrying the driving electronics and the other one carrying the LEDs. So it is possible to easily change the LED type and thus the wavelength of the light source. Figure 6.18 shows the 630 nm and an 820 nm LED module, each containing 160 LEDs. Figure 6.18 LED modules for the 3D camera (160 LEDs). Left: 630 nm module (visible), right: 820 nm module (NIR, invisible). The 630 nm module offers a total optical power of 900 mW. The optical power of the HPWT-DH00 LEDs used for the 160-LED 630 nm module is, unfortunately, only about 5.5 mW (@ 50mA), rather than the 8.5 mW (@ 50mA) for the line sensor module (the distributor could only deliver LEDs of a lower power category). The total optical power of the 630 nm module is therefore about 900 mW. Optical power budget Since, in contrast to the line camera, we cannot increase the light intensity on the object by additional optics, in general we receive less light in each pixel than with the line camera. Therefore, we increase the integration time to 100 ms (4⋅25 ms, 10 Hz frame rate). With the 2.6 mm 1:1.0 CS-mount lens used, we can calculate the number of electrons received per pixel as a function of the target reflectivity and distance. This optical power budget is given in Table 6.2. The range resolution for a target at 7.5 m distance with a reflectivity of 0.7 is better than 9 cm.
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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 21 pr
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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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56 CHAPTER 3 Quantum efficiency in
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58 CHAPTER 3 The different operatio
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60 CHAPTER 3 (a) (b) Depletion widt
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62 CHAPTER 3 Very special processes
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64 CHAPTER 3 1 kT Dn = ⋅ vth ⋅
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66 CHAPTER 3 The proportionality fa
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68 CHAPTER 3 difference of only 1 V
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70 CHAPTER 3 Flicker noise is cause
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72 CHAPTER 3 A s = sf ⋅ q C ⎡ V
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74 CHAPTER 3 amount of the charge p
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76 CHAPTER 3 substrate (Equation 3.
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78 CHAPTER 3 charge carriers the CT
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80 CHAPTER 3 without causing short
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82 CHAPTER 3 Over an address decode
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84 CHAPTER 3 Orbit’s 2.0µm CMOS/
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86 CHAPTER 4 Figure 4.1 P lens Lamb
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88 CHAPTER 4 Required optical power
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90 CHAPTER 4 4.2 Noise limitation o
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92 CHAPTER 4 number of pseudo-backg
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94 CHAPTER 4 Cmod = 1 QE(λ) = 0.65
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96 CHAPTER 4 Range accuracy (std) i
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DEMODULATION PIXELS IN CMOS/CCD 99
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Page 138 and 139: DEMODULATION PIXELS IN CMOS/CCD 121
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Page 174 and 175: IMAGING TOF RANGE CAMERAS 157 gate
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Page 178 and 179: IMAGING TOF RANGE CAMERAS 161 n+ di
Page 180 and 181: IMAGING TOF RANGE CAMERAS 163 pixel
Page 182 and 183: IMAGING TOF RANGE CAMERAS 165 Power
Page 184 and 185: IMAGING TOF RANGE CAMERAS 167 Delay
Page 186 and 187: IMAGING TOF RANGE CAMERAS 169 6.3 3
Page 190 and 191: IMAGING TOF RANGE CAMERAS 173 Bound
Page 192 and 193: IMAGING TOF RANGE CAMERAS 175 Figur
Page 194 and 195: IMAGING TOF RANGE CAMERAS 177 Final
Page 196 and 197: IMAGING TOF RANGE CAMERAS 179 #5 #6
Page 198 and 199: SUMMARY AND PERSPECTIVE 181 7. Summ
Page 200 and 201: SUMMARY AND PERSPECTIVE 183 into th
Page 202: SUMMARY AND PERSPECTIVE 185 or phas
Page 205 and 206: 188 CHAPTER 8 8.2 Typical parameter
Page 207 and 208: 190 CHAPTER 8 Spectral luminous int
Page 209 and 210: 192 CHAPTER 8 MCD03S: Conditions SC
Page 211 and 212: 194 CHAPTER 8 MCD06S: Measurement c
Page 213 and 214: 196 [BRK] Brockhaus, “Naturwissen
Page 215 and 216: 198 [KAI] I. Kaisto, et al., “Opt
Page 217 and 218: 200 [SP1] T. Spirig et al., “The
Page 220 and 221: ACKNOWLEDGMENTS 203 Acknowledgments
Page 222: 206 Publication list 1. R. Lange, P
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