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Application of lidar techniques to time-of-flight range imaging

机译：激光雷达技术在飞行时间范围成像中的应用

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Amplitude modulated continuous wave (AMCW) time-of flight (ToF) range imaging cameras measure distance by illuminating the scene with amplitude modulated light and measuring the phase difference between the transmitted and reflected modulation envelope. This method of optical range measurement suffers from errors caused by multiple propagation paths, motion, phase wrapping and non-ideal amplitude modulation. In this paper a ToF camera is modified to operate in modes analogous to continuous wave (CW) and stepped frequency continuous wave (SFCW) lidar. In CW operation the velocity of objects can be measured. CW measurement of velocity was linear with true velocity (R² = 0.9969). Qualitative analysis of a complex scene confirms that range measured by SFCW is resilient to errors caused by multiple propagation paths, phase wrapping and non-ideal amplitude modulation which plague AMCW operation. In viewing a complicated scene through a translucent sheet, quantitative comparison of AMCW with SFCW demonstrated a reduction in the median error from −1.3 m to −0.06 m with inter-quartile range of error reduced from 4.0 m to 0.18 m.
机译：调幅连续波（AMCW）飞行时间（ToF）范围成像相机通过使用调幅光照射场景并测量透射和反射调制包络之间的相位差来测量距离。这种光学测距方法受多种传播路径，运动，相位包裹和非理想幅度调制所引起的误差的困扰。在本文中，对ToF摄像机进行了修改，使其以类似于连续波（CW）和步进频率连续波（SFCW）激光雷达的模式运行。在连续波操作中，可以测量物体的速度。连续波速度的测量与真实速度成线性关系（R²= 0.9969）。对复杂场景的定性分析证实，SFCW测量的范围可以抵抗由困扰AMCW操作的多个传播路径，相位包裹和非理想幅度调制引起的误差。通过半透明的薄片查看复杂的场景时，AMCW与SFCW的定量比较表明，中值误差从-1.3 m减小到-0.06 m，四分位间误差范围从4.0 m减小到0.18 m。

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