# US 7,609,367 B2 · Method and device for 3D imaging

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- Number: US 7,609,367 B2
- Document ID: US7609367B2
- Status: Granted
- Kind: B2
- Application number: 12/066,318
- Filed: 2006-09-01
- Published: 2008-10-02
- Granted: 2009-10-27
- Earliest claimed: 2005-09-09
- Assignees: Iee International Electronics & Engineering S.A.
- Inventors: Claude Watgen; Laurent Lamesch
- Web page: https://patentgrep.com/patent/US7609367B2

## CPC

- G01S 17/36: with phase comparison between the received signal and the contemporaneously transmitted signal
- G01S 17/894: Three-dimensional [3D] imaging with simultaneous measurement of time-of-flight at a two-dimensional [2D] array of receiver pixels, e.g. time-of-flight cameras or flash lidar
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES

## Abstract

A method for 3D imaging of an actively illuminated target region includes emitting intensity-modulated light at a variable modulation frequency into the target region, the emitted light is scattered/reflected in the target region depending on the optical properties of the objects or beings present therein, a scattered and/or reflected fraction of the light is detected during an integration time interval by phase-sensitive integration in each pixel of an imaging sensor, the modulation phase between the emitted and the detected light is determined and spatially resolved, and distance information is calculated based on the spatially resolved modulation phase and an average frequency of the modulation frequency.

## Claims

### Claim 1

A method for 3D imaging of a target region using a 3D imaging sensor that includes an array of pixels, said method comprising:
emitting light into said target region; said emitted light being intensity-modulated at a modulation frequency;
detecting by phase-sensitive integration in each pixel a scattered and/or reflected part of said light during an integration time interval;
then determining for each pixel a modulation phase between emitted light and detected light; and
varying said modulation frequency over said integration time interval; and
calculating distance information;
wherein
said distance information is calculated, for each pixel, based on said modulation phase and an average frequency of said modulation frequency over said integration time interval.

### Claim 2 (depends on 1)

A method according to claim 1, wherein said modulation frequency is continuously varied over said integration time interval.

### Claim 3 (depends on 1)

A method according to claim 1, wherein said modulation frequency is varied in discrete steps over said integration time interval.

### Claim 4 (depends on 3)

A method according to claim 3, wherein said discrete steps have equal duration and/or equal step height.

### Claim 5

A 3D imaging system comprising:
signal generation means for generating a modulation signal with a variable modulation frequency;
an illumination unit operationally connected to said signal generation means for emitting intensity-modulated light with said modulation frequency into a target region;
a 3D imaging sensor including an array of pixels, said 3D imaging sensor being operationally connected to said signal generation means for detecting, by phase-sensitive integration in each pixel, a scattered and/or reflected part of said light during an integration time interval and for then determining, for each pixel, a modulation phase between emitted light and detected light; and
an evaluation unit operationally connected to said signal generation means and said imaging sensor for calculating distance information
wherein said evaluation unit comprises a frequency average builder for providing an average frequency of said variable modulation frequency over said integration time interval, said distance information being calculated based on said modulation phase and said average frequency.

### Claim 6 (depends on 5)

A 3D imaging system according to claim 5, wherein said signal generation means comprises a voltage-controlled oscillator.

### Claim 7 (depends on 5)

A 3D imaging system according to claim 5, wherein said signal generation means comprises a multiplexer for switching between different values of said modulation frequency and a controller for controlling said multiplexer by a control signal.

### Claim 8 (depends on 5)

A 3D imaging system according to claim 5, wherein said signal generation means comprises a numerically controlled oscillator and a controller for controlling said numerically controlled oscillator by a control signal.

### Claim 9 (depends on 7)

A 3D imaging system according to claim 7, wherein said controller is operationally connected to said frequency average builder, said frequency average builder being able to provide said average frequency of said modulation frequency based on said control signal.

### Claim 10 (depends on 8)

A 3D imaging system according to claim 8, wherein said controller is operationally connected to said frequency average builder, said frequency average builder being able to provide said average frequency of said modulation frequency based on said control signal.