A method for determining a distance to an object using an amplitude modulated continuous wave range imaging device includes emitting a modulated illumination signal. The modulated illumination signal is modulated with a pseudo random code. An image sensor is modulated based on the pseudo random code
A method for determining a distance to an object using an amplitude modulated continuous wave range imaging device includes emitting a modulated illumination signal. The modulated illumination signal is modulated with a pseudo random code. An image sensor is modulated based on the pseudo random code to capture a plurality of samples of the modulated illumination signal reflected from the object. A phase shift between the plurality of samples and the modulated illumination signal is determined.
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1. A method for determining a distance to an object using an amplitude modulated continuous wave range imaging device, the method comprising: emitting, using an illumination device, a modulated illumination signal, wherein the modulated illumination signal is modulated with a pseudo random code;modu
1. A method for determining a distance to an object using an amplitude modulated continuous wave range imaging device, the method comprising: emitting, using an illumination device, a modulated illumination signal, wherein the modulated illumination signal is modulated with a pseudo random code;modulating an image sensor based on the pseudo random code to capture a plurality of samples of the modulated illumination signal reflected from the object, wherein the image sensor uses an integration process to average the reflected signal for each of the plurality of samples;determining an imaging window within which the reflected modulated illumination signals are accepted, wherein the imaging window occurs where the image sensor modulation pseudo random code is correlated with the captured modulated reflected illumination pseudo random code, wherein the image sensor modulation pseudo random code and the captured modulated reflected illumination pseudo random code become uncorrelated outside the imaging window, and wherein the integration of the uncorrelated signals forms a signal equivalent to constant background illumination; anddetermining a phase shift between the plurality of samples and the modulated illumination signal. 2. The method of claim 1 further comprising: determining a distance from the amplitude modulated continuous wave range imaging device to the object based upon the phase shift. 3. The method of claim 2 further comprising: defining the pseudo random code based on a target back edge for the imaging window. 4. The method of claim 2 further comprising: identifying the object in the plurality of images; andin response to detecting that the object is moving away from or towards the amplitude modulated continuous wave range imaging device, performing at least of one the following to move the imaging window: changing the pseudo random code;changing a time delay between emitting the pseudo random code in the modulated illumination signal and when the pseudo random code modulates the image sensor; orchanging a frequency of the modulated illumination signal. 5. The method of claim 1 further comprising: setting a time delay between emitting the pseudo random code in the modulated illumination signal and when the pseudo random code modulates the image sensor. 6. The method of claim 1, wherein the modulated illumination signal is modulated with a pseudo random code mixed with a continuous wave. 7. The method of claim 6 further comprising: setting a time delay between emitting the pseudo random code in the modulated illumination signal and when the pseudo random code modulates the image sensor. 8. The method of claim 7, wherein the time delay is set based upon a target front edge for an imaging window. 9. The method of claim 7 further comprising: defining the pseudo random code based on a target back edge for the imaging window. 10. A non-transitory computer-readable medium encoded with a computer program for determining a distance to an object using an amplitude modulated continuous wave range imaging device, the computer program having computer executable instructions for: causing an illumination device to emit a modulated illumination signal, wherein the modulated illumination signal is modulated with the pseudo random code;causing an image sensor to be modulated based on the pseudo random code to capture a plurality of samples of the modulated illumination signal reflected from the object, wherein the image sensor uses an integration process to average the reflected signal for each of the plurality of samples;determining an imaging window within which the reflected modulated illumination signals are accepted, wherein the imaging window occurs where the image sensor modulation pseudo random code is correlated with the captured modulated reflected illumination pseudo random code, wherein the image sensor modulation pseudo random code and the captured modulated reflected illumination pseudo random code become uncorrelated outside the imaging window, and wherein the integration of the uncorrelated signals forms a signal equivalent to constant background illumination; anddetermining a phase shift between the plurality of samples and the modulated illumination signal. 11. The computer-readable medium of claim 10, the computer program further comprising instructions for: determining a distance from the amplitude modulated continuous wave range imaging device to the object based upon the phase shift. 12. The computer-readable medium of claim 11, the computer program further comprising instructions for: defining the pseudo random code based on a target back edge for the imaging window. 13. The computer-readable medium of claim 11, the computer program further comprising instructions for: identifying the object in the plurality of images; andin response to detecting that the object is moving away from or towards the amplitude modulated continuous wave range imaging device, performing at least of one the following to move the imaging window: changing the pseudo random code;changing a time delay between emitting the pseudo random code in the modulated illumination signal and when the pseudo random code modulates the image sensor; orchanging a frequency of the modulated illumination signal. 14. The computer-readable medium of claim 10, the computer program further comprising instructions for: setting a time delay between emitting the pseudo random code in modulated illumination signal and when the pseudo random code modulates the image sensor. 15. The computer-readable medium of claim 10, wherein the modulated illumination signal is modulated with a pseudo random code mixed with a continuous wave. 16. The computer-readable medium of claim 15, the computer program further comprising instructions for: setting a time delay between emitting the pseudo random code in the modulated illumination signal and when the pseudo random code modulates the image sensor. 17. The computer-readable medium of claim 16, wherein the time delay is set based upon a target front edge for an imaging window. 18. The computer-readable medium of claim 16, the computer program further comprising instructions for: defining the pseudo random code based on a target back edge for the imaging window. 19. An amplitude modulated continuous wave range imaging device for determining a distance to an object, comprising: an illumination device configured to emit a modulated illumination signal, wherein the modulated illumination signal is modulated with a pseudo random code;an image sensor configured to integrate a received signal, wherein the signal is averaged over the integration period to form a plurality of samples of the modulated illumination signal reflected off of the object, wherein the image sensor is configured to be modulated with the pseudo random code;an imaging window formed by the correlation of the sampling modulation pseudo random code and the received reflected illumination modulation pseudo random code, wherein the sampling modulation pseudo random code and the received reflected illumination modulation pseudo random code become uncorrelated outside the imaging window, and wherein the integration of the uncorrelated signals forms a signal equivalent to constant background illumination; anda processor configured to determine a phase shift between the modulated illumination signal and the plurality of samples. 20. The device of claim 19, wherein the processor is further configured to define a time delay between when the pseudo random code in the modulated illumination signal is emitted and when the pseudo random code modulates the image sensor. 21. The device of claim 19, wherein the processor is further configured to define the pseudo random code based upon a target back edge of the imaging window. 22. The device of claim 19, wherein the modulated illumination signal is modulated with a pseudo random code mixed with a continuous wave. 23. The device of claim 22, wherein the processor is further configured to set a time delay between when the pseudo random code in the modulated illumination signal is emitted and when the pseudo random code modulates the image sensor. 24. The device of claim 23, wherein the processor is further configured to set the time delay based upon a target front edge of an imaging window. 25. The device of claim 24, wherein the processor is further configured to define the pseudo random code based upon a target back edge of the imaging window.
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이 특허에 인용된 특허 (7)
Wheel, Peter J., Agile pseudo-noise coded ranging ladar.
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