间接飞行时间相机性能参数的测量方法与验证  

Measurement method and verification of performance parameters of indirect time-of-flight depth camera

作　　者：刘佳鑫 关新[1,2] 曹中祥 华宝成 李林[1,2,3] LIU Jiaxin;GUAN Xin;CAO Zhongxiang;HUA Baocheng;LI Lin(Beijing Institute of Control Engineering,Beijing 100094,China;Science and Technology on Space Intelligence Control Laboratory,Beijing 100094,China;Space Optoelectronic Measurement and Perception Laboratory,Beijing 100190,China)

机构地区：[1]北京控制工程研究所,北京100094 [2]空间智能控制技术全国重点实验室,北京100094 [3]空间光电测量与感知实验室,北京100190

出　　处：《应用光学》2025年第2期395-403,共9页Journal of Applied Optics

基　　金：国家自然科学基金(52275083);北京市科技新星计划资助。

摘　　要：间接飞行时间(indirect time of flight,iTOF)相机在三维环境感知领域有着广泛的应用前景。根据iTOF相机成像原理,当曝光时间过大导致相机工作在非线性区时,解算的深度信息也会引入额外的偏差,从而影响测量准确度。为了进一步提高飞行时间相机的应用精度,根据飞行时间相机的光学成像机理,提出一种针对飞行时间相机的性能参数测量方法,通过实验和计算间接得到飞行时间深度相机的系统增益等性能参数,将其代入飞行时间相机的光学成像模型,即可得到距离与相机输出灰度值的对应曲线。建模与实验结果的相对误差可以达到20%以内,平均相对误差为0.16%。这些性能参数和仿真模型用于指导iTOF相机在不同场景使用时的积分时间选择,可以有效解决因使用不当引入非线性误差而降低距离测量精度的问题。Indirect time of flight(iTOF)camera has a wide application prospect in the field of threedimensional environmental perception.According to the imaging principle of iTOF camera,its imaging quality is closely related to the exposure time.When the exposure time is too large causing the camera to work in the nonlinear area,the depth information of the solution will also introduce additional biases and thereby affecting the accuracy of the measurement results.In order to further improve the application accuracy of time-of-flight camera,according to the optical imaging mechanism of time-of-flight camera,a method was put forward to measure the performance parameters of time-of-flight camera.Through experiments and calculations,the global system gain and other performance parameters of time-of-flight depth camera were indirectly obtained,then the corresponding curves between distance and camera output gray value could be obtained by substituting them into the optical imaging model of time-of-flight camera,and the necessity of measuring related performance parameters was verified by experimental results.The relative error between modeling and experimental results can be within 20%,and the average relative error is 0.16%.These performance parameters and simulation models are used to guide the integration time selection of iTOF cameras when used in different scenarios,which can effectively solve the problem of reducing distance measurement accuracy due to the introduction of non-linear errors by improper use.

关 键 词：深度相机 相机性能参数 四相位测距法 飞行时间原理 

分 类 号：TN215[电子电信—物理电子学] TP391[自动化与计算机技术—计算机应用技术]