Patent Grant
11644553
One or more aspects of embodiments according to the present disclosure relate to lidar, and more particularly to detection of reflected pulses in the presence of ambient light.
In lidar systems, pulses of light are reflected from a target, and the round-trip delay may be used to estimate the range of the target. However, detecting the reflected light may be challenging when ambient light levels are high.
Thus, there is a need for an improved system and method for the detection of reflected light pulses in the presence of ambient light.
According to an embodiment of the present disclosure, there is provided a method for detecting a peak bin from among a plurality of bins in a window, each of the bins having a lower limit and an upper limit and containing zero or more values, the method including: identifying a first bin, from among a plurality of bins in a first subwindow of the window, the first bin containing n values, n being a positive integer, n being greater than or equal to the number of values in each of the other bins in the first subwindow; calculating a first height-to-area ratio, the first height-to-area ratio being equal to n divided by the number of values in the first subwindow; and comparing the first height-to-area ratio to a first threshold.
In some embodiments, method further includes: illuminating an object with a pulse of light; and measuring a first delay to a detection of a pulse from a photodetector, the photodetector being configured to receive light reflected from the object, wherein a first value of the n values is proportional to the first delay.
In some embodiments, method further includes: determining that the first height-to-area ratio exceeds the first threshold; and estimating a range to the object based on the upper limit of the first bin or on the lower limit of the first bin.
In some embodiments, the estimating of the range to the object includes estimating the range to the object based on the average of the upper limit of the first bin the lower limit of the first bin.
In some embodiments, the first subwindow has a lower limit and an upper limit, and a difference between the upper limit of the first subwindow and the lower limit of the first subwindow is within a second threshold.
In some embodiments, method further includes: identifying a second bin, from among a plurality of bins in a second subwindow of the window, the second bin containing m values, m being a positive integer, m being greater than or equal to the number of values in each of the other bins in the second subwindow; calculating a second height-to-area ratio, the second height-to-area ratio being equal to m divided by the number of values in the second subwindow; and comparing the second height-to-area ratio to the first threshold, wherein the second subwindow overlaps the first subwindow.
In some embodiments, the second subwindow overlaps the first subwindow by an overlap amount.
In some embodiments, the first threshold is within 50% of 0.20.
In some embodiments, method further includes, before the identifying of the first bin: determining that a first received value falls within a second bin; determining that a first bin count register of a plurality of bin count registers is associated with the second bin; and incrementing the first bin count register.
In some embodiments, method further includes, before the identifying of the first bin: determining that a second received value falls within a third bin; determining: that no bin count register of the plurality of bin count registers is associated with the third bin, and that a second bin count register of the plurality of bin count registers is unused; associating the second bin count register with the third bin; and incrementing the second bin count register.
In some embodiments, method further includes, before the identifying of the first bin: determining that a third received value falls within a fourth bin; determining: that no bin count register of the plurality of bin count registers is associated with the fourth bin, and that no bin count register of the plurality of bin count registers is unused; and incrementing a subwindow count register.
According to an embodiment of the present disclosure, there is provided a system, including a processing circuit, the processing circuit being configured to detect a peak bin from among a plurality of bins in a window, each of the bins having a lower limit and an upper limit and containing zero or more values, by: identifying a first bin, from among a plurality of bins in a first subwindow of the window, the first bin containing n values, n being a positive integer, n being greater than or equal to the number of values in each of the other bins in the first subwindow; calculating a first height-to-area ratio, the first height-to-area ratio being equal to n divided by the number of values in the first subwindow; and comparing the first height-to-area ratio to a first threshold.
In some embodiments, system further includes: a laser; and a photodetector, wherein the processing circuit is further configured to: cause the laser to illuminate an object with a pulse of light; and measure a first delay to a detection of a pulse from the photodetector, the photodetector being configured to receive light reflected from the object, wherein a first value of the n values is proportional to the first delay.
In some embodiments, the processing circuit is further configured to: determine that the first height-to-area ratio exceeds the first threshold; and estimate a range to the object based on the upper limit of the first bin or on the lower limit of the first bin.
In some embodiments, the estimating of the range to the object includes estimating the range to the object based on the average of the upper limit of the first bin the lower limit of the first bin.
In some embodiments, the first subwindow has a lower limit and an upper limit, and a difference between the upper limit of the first subwindow and the lower limit of the first subwindow is within a second threshold.
In some embodiments, the processing circuit is further configured to: identifying a second bin, from among a plurality of bins in a second subwindow of the window, the second bin containing m values, m being a positive integer, m being greater than or equal to the number of values in each of the other bins in the second subwindow; calculating a second height-to-area ratio, the second height-to-area ratio being equal to m divided by the number of values in the second subwindow; and comparing the second height-to-area ratio to the first threshold, wherein the second subwindow overlaps the first subwindow.
In some embodiments, the second subwindow overlaps the first subwindow by an overlap amount.
In some embodiments, the first threshold is within 50% of 0.20.
According to an embodiment of the present disclosure, there is provided a system, including: means for processing, the means for processing being configured to detect a peak bin from among a plurality of bins in a window, each of the bins having a lower limit and an upper limit and containing zero or more values, by: identifying a first bin, from among a plurality of bins in a first subwindow of the window, the first bin containing n values, n being a positive integer, n being greater than or equal to the number of values in each of the other bins in the first subwindow; calculating a first height-to-area ratio, the first height-to-area ratio being equal to n divided by the number of values in the first subwindow; and comparing the first height-to-area ratio to a first threshold.
These and other features and advantages of the present disclosure will be appreciated and understood with reference to the specification, claims, and appended drawings wherein:
The detailed description set forth below in connection with the appended drawings is intended as a description of exemplary embodiments of a system and method for the detection of reflected light pulses in the presence of ambient light provided in accordance with the present disclosure and is not intended to represent the only forms in which the present disclosure may be constructed or utilized. The description sets forth the features of the present disclosure in connection with the illustrated embodiments. It is to be understood, however, that the same or equivalent functions and structures may be accomplished by different embodiments that are also intended to be encompassed within the scope of the disclosure. As denoted elsewhere herein, like element numbers are intended to indicate like elements or features.
Each delays may be measured, for example, by starting a counter (configured to count at the frequency of a timing clock) when a start trigger is received (e.g., a start trigger corresponding to the emission of a pulse by the laser or to the arming of the one or more photodetectors 110), and stopping the counter, or transferring its contents to a register, when a stop trigger is received (the stop trigger corresponding to a pulse being generated by a photodetector). As such, each delay may be characterized by a binary delay value, which may be equal to the delay times the timing clock frequency (i.e., the binary delay value may be proportional to the delay). The counter may be part of a timing circuit, which may be connected to or part of the processing circuit 115.
If the delays are collected in a histogram, the histogram may contain a peak (or “signal peak”) 205, as shown in
If the one or more photodetectors 110 receive a significant amount of ambient light, then there may be a high likelihood of any photodetector 110 being triggered by an ambient light photon before it receives a photon reflected from the object. This may result in a low-delay peak that may be referred to as “pile-up” or as an “ambient peak” 210, as shown in
In some embodiments, an algorithm for finding a signal peak 205 may reduce the risk of incorrectly identifying the ambient peak as the signal peak. Referring to
Each of the ranges of the histogram (e.g., the window, each subwindow, and each bin) may have an upper limit and a lower limit, and any delay value that falls between the lower limit and the upper limit may be considered to be “in” or “within” the corresponding range. Each bin may have a range including only one delay value (at the precision (e.g., the clock period) at which the delays are measured), or it may include a plurality of consecutive delay values. The width of any subwindow may be selected based on various factors, including the duration of the laser pulse, the ambient level, and system memory. In some embodiments the subwindow width is chosen to be at least as great as the duration of the laser pulse. The subwindows may be chosen to overlap (e.g., the upper limit of a first subwindow may be greater than the lower limit of a second subwindow and less than the upper limit of the second subwindow) by an overlap amount δ (e.g., in one embodiment, δ=50% of a duration of the laser pulse; in one embodiment δ=0, meaning no overlapping).
If the height-to-area ratio exceeds the first threshold, the algorithm may conclude that the bin having the largest number of values is the signal peak 205; otherwise the algorithm may conclude that it is not. The algorithm may be expressed in pseudo-code as follows:
In the pseudo-code listing above, M is the number of subwindows defined, ti and ti+e are the lower limit and upper limit of the ith subwindow and e>δ, τ is the first threshold, each “event” is the generating of a pulse by a photodetector 110, and t is the corresponding time interval.
In some embodiments, a circuit (e.g., a processing circuit, discussed in further detail below) for detecting a signal peak includes a register for each of the bins in the window. As the delay of each pulse is received by the circuit, the register for the bin within which the delay falls is incremented. When a sufficient number of pulse delay values has been collected, the circuit calculates, within each subwindow, the height-to-area ratio, and compares it to the first threshold.
In some embodiments, the peak detection is performed in a “streaming” fashion which may require significantly fewer registers. Referring to
The term “processing circuit” is used herein to mean any combination of hardware, firmware, and software, employed to process data or digital signals. Processing circuit hardware may include, for example, application specific integrated circuits (ASICs), general purpose or special purpose central processing units (CPUs), digital signal processors (DSPs), graphics processing units (GPUs), and programmable logic devices such as field programmable gate arrays (FPGAs). In a processing circuit, as used herein, each function is performed either by hardware configured, i.e., hard-wired, to perform that function, or by more general purpose hardware, such as a CPU, configured to execute instructions stored in a non-transitory storage medium. A processing circuit may be fabricated on a single printed circuit board (PCB) or distributed over several interconnected PCBs. A processing circuit may contain other processing circuits; for example a processing circuit may include two processing circuits, an FPGA and a CPU, interconnected on a PCB.
As used herein, “a portion of” something means “at least some of” the thing, and as such may mean less than all of, or all of, the thing. As such, “a portion of” a thing includes the entire thing as a special case, i.e., the entire thing is an example of a portion of the thing.
As used herein, when a second number is “within Y %” of a first number, it means that the second number is at least (1−Y/100) times the first number and the second number is at most (1+Y/100) times the first number. As used herein, the term “or” should be interpreted as “and/or”, such that, for example, “A or B” means any one of “A” or “B” or “A and B”.
As used herein, when a method (e.g., an adjustment) or a first quantity (e.g., a first variable) is referred to as being “based on” a second quantity (e.g., a second variable) it means that the second quantity is an input to the method or influences the first quantity, e.g., the second quantity may be an input (e.g., the only input, or one of several inputs) to a function that calculates the first quantity, or the first quantity may be equal to the second quantity, or the first quantity may be the same as (e.g., stored at the same location or locations in memory) as the second quantity.
It will be understood that, although the terms “first”, “second”, “third”, etc., may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer or section from another element, component, region, layer or section. Thus, a first element, component, region, layer or section discussed herein could be termed a second element, component, region, layer or section, without departing from the spirit and scope of the inventive concept.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the inventive concept. As used herein, the terms “substantially,” “about,” and similar terms are used as terms of approximation and not as terms of degree, and are intended to account for the inherent deviations in measured or calculated values that would be recognized by those of ordinary skill in the art.
As used herein, the singular forms “a” and “an” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising”, when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. Expressions such as “at least one of,” when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list. Further, the use of “may” when describing embodiments of the inventive concept refers to “one or more embodiments of the present disclosure”. Also, the term “exemplary” is intended to refer to an example or illustration. As used herein, the terms “use,” “using,” and “used” may be considered synonymous with the terms “utilize,” “utilizing,” and “utilized,” respectively.
It will be understood that when an element or layer is referred to as being “on”, “connected to”, “coupled to”, or “adjacent to” another element or layer, it may be directly on, connected to, coupled to, or adjacent to the other element or layer, or one or more intervening elements or layers may be present. In contrast, when an element or layer is referred to as being “directly on”, “directly connected to”, “directly coupled to”, or “immediately adjacent to” another element or layer, there are no intervening elements or layers present.
Any numerical range recited herein is intended to include all sub-ranges of the same numerical precision subsumed within the recited range. For example, a range of “1.0 to 10.0” or “between 1.0 and 10.0” is intended to include all subranges between (and including) the recited minimum value of 1.0 and the recited maximum value of 10.0, that is, having a minimum value equal to or greater than 1.0 and a maximum value equal to or less than 10.0, such as, for example, 2.4 to 7.6. Any maximum numerical limitation recited herein is intended to include all lower numerical limitations subsumed therein and any minimum numerical limitation recited in this specification is intended to include all higher numerical limitations subsumed therein.
Although exemplary embodiments of a system and method for the detection of reflected light pulses in the presence of ambient light have been specifically described and illustrated herein, many modifications and variations will be apparent to those skilled in the art. Accordingly, it is to be understood that a system and method for the detection of reflected light pulses in the presence of ambient light constructed according to principles of this disclosure may be embodied other than as specifically described herein. The invention is also defined in the following claims, and equivalents thereof.
The present application claims priority to and the benefit of U.S. Provisional Application No. 63/011,873, filed Apr. 17, 2020, entitled “PILE-UP PROOF DEPTH MEASURE FOR SPAD 3D CAMERAS UNDER ALL AMBIENT CONDITIONS” the entire content of which is incorporated herein by reference. This application is related to U.S. patent application Ser. No. 16/379,782, filed Apr. 9, 2019, the entire content of which is incorporated herein by reference.
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