초록 ▼

A method and apparatus for generating three-dimensional range images of spatial objects, wherein a short-time illumination of the object is performed, for instance using laser diodes. An image sensor is used that has a high light sensitivity, pixel resolution and can be read out randomly, this senso

A method and apparatus for generating three-dimensional range images of spatial objects, wherein a short-time illumination of the object is performed, for instance using laser diodes. An image sensor is used that has a high light sensitivity, pixel resolution and can be read out randomly, this sensor also having an integration time that can be adjusted for each pixel. By evaluating the backscattered laser pulses in two integration windows with different integration times and by averaging over several laser pulses, three-dimensional range images can be picked up with a high reliability in, for example, 5 ms at the most.

대표청구항 ▼

1. A method for picking up a three-dimensional range image of spatial objects using an optoelectronic sensor with pixel resolution having electronic short-time integrators for each pixel element within the sensor, wherein an integration time can be adjusted, comprising the steps of:illuminating an o

1. A method for picking up a three-dimensional range image of spatial objects using an optoelectronic sensor with pixel resolution having electronic short-time integrators for each pixel element within the sensor, wherein an integration time can be adjusted, comprising the steps of:illuminating an object having a plurality of object points with one or more light pulses each having a predetermined period .DELTA.L; sensing light pulses with the sensor that have been backscattered by object points of the object at corresponding pixels of the sensor within a predetermined short integration time .DELTA.A, where .DELTA.A.ltoreq..DELTA.L, and wherein a time instant for a beginning of the predetermined short integration time .DELTA.A precedes incidence of the first backscattered light pulse at the sensor, which corresponds to a nearest object point; registering intensities of each of the sensed light pulses that have been backscattered by the object points; and computing distance values from different registered intensities of the backscattered light pulses resulting from their different transit times.