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

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IMAGING TOF RANGE CAMERAS 173 Boundary conditions Calculation Optical power of 160 LEDs 900mW Beam divergence at the target 7 m Beam divergence 50° Beam area at the target 38 m 2 Target Projected pixel size on the target 180 mm x 40 mm Distance 7.5 m Projected size of photogates in the target Reflectivity of target 36 mm x 40 mm 0.7 Power on projected photogate area 34 µW Objective (CS-mount) Reflected power of projected pixel area 24 µW Focal length 2.6 mm Effective diameter of objective 2.6 mm F/# 1.0 Power on pixel in fW 260 Transmission of lens: 0.7 Energy in pixel 6.5E-15 J Transmission of filter: 0.5 Energy of 1 photon 3.16E-19 J Sensor Number of photons per pixel 20,600 Pixel size 14.5 µm x 12.5 µm Number of electrons per pixel 13,400 Operating conditions Sensitivity of output stage 3.6 µV/electr. Integration time 25 ms Output voltage 48 mV Wavelength 630 nm Quantum efficiency 0.65 Resulting distance accuracy < 9 cm Conversion capacitance 40 fF Amplification of source follower 0.9 Modulation frequency 20 MHz Table 6.2 Optical power budget for 160-LED modulated light source. 6.3.3 3D range measurement Range measurements of 3D scenes are illustrated in Figure 6.19 a to c. Figure 6.19 a shows photographs of the scene taken with a high-resolution b/w camera, in order to give the reader a more detailed impression of the scene. In Figure 6.19 b we show the measured 3D data as a graphical representation, coded in both color and in the z-axis direction. In Figure 6.19 c we superimpose the 2Db/w data of the observed scene, also acquired with our 3D TOF camera, on the 3Dgrid, which results in a more physical impression of the scene.
174 CHAPTER 6 Figure 6.19 a 3D indoor scene: High-resolution b/w photograph. (Total integration time: 100 ms, 10 Hz frame rate.)
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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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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 140 and 141: DEMODULATION PIXELS IN CMOS/CCD 123
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Page 172 and 173: IMAGING TOF RANGE CAMERAS 155 6.1.2
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 188 and 189: IMAGING TOF RANGE CAMERAS 171 Gate
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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