PMD [vision] Day Vol. 3 Munich, November 18, PMD Cameras for Automotive & Outdoor Applications. ifm electronic gmbh, V.Frey. Dr.
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![R PMD [vision] Day Vol.](/docs-images/72/67823170/images/1-1.jpg "3 Munich, November 18, 2010 Dr.")
1 R PMD [vision] Day Vol. 3 Munich, November 18, 2010 Dr. Volker Frey ifm electronic gmbh PMD Cameras for Automotive & Outdoor Applications Stand: Seite 1
2 I Working Principle PMD distance measurement by indirect ToF (time of flight) measurement of phase shift between modulation signal & light signal, modulation frequency typ. <30MHz low bandwidth of electronic components required high resolution 3D matrix imagers possible! each pixel detecs distance information start IR-Emitter (LED) PMD Receiver stop correlated modulation of electrodes and light signal! phase shift proportional to distance of target Stand: Seite 2
3 PMD-Principle Signal Correlation A-B ϕ each pixel consists of two inversely phased electrodes A&B N measurements A-B to calculate auto correlation function AMP O signal phase ϕ: amplitude AMP: offset O: distance information signal height of modulated light 2D gray scale image (intensity) of non modulated light ϕ Ο t Stand: Seite 3
4 Suppression of Background Illumination (SBI) active lighting background illumination t t without suppression of background illumination, the ambient light quickly leads to saturation sensor saturation by background illumination is effectively prevented by means of SBI increase of dynamic range suitable for outdoor applications! Stand: Seite 4
5 II Overview PMD electronic PMD 1D Distance Sensor, 1 pixel in production since 2005 high volume in field PMD 3D Camera, pixels measurement of volume, filling level, object size in production since 2005, 2nd gen. since 2009 integrated illumination distance range: accuracy: repeat accuracy: 200 cm cm < 2,0 cm < 0,5 cm PMD 3D Kamera, pixels together with PMDTec 1st prototype since 2009 Stand: Seite 5
6 Resolution Industrial Applications Range 2m - 6m pixels robotics consumer object classification 1 pixel distance sensor pixels conveyors robotics AGVs Mobile Applications Outdoor Increased Range 2D3D camera, pixels agricultural machineries trucks traffic guidance 3D camera, pixels driver assistance pedestrian safety Costs/Pixel Stand: Seite 6
7 III PMD Cameras for Automotive Applications PMD Camera PMD Illumination Stand: Seite 7
8 Motivation In the future vehicles will see the surrounding area in three dimensions Quelle: VW / CARMEQ Stand: Seite 8
9 Evolution 3D Recognition Automotive 3 segment distance information linescan distance information PMD 1st generation Pixel distance information PMD in the future high resolution distance information ifm electronic gmbh - strictly confidential Stand: Seite 9
10 Applications Automotive object detection for safety & comfort algorithms: pedestrians vehicles border lines traffic signs obstacles measurement of object parameters: position disance range size (width, height) rotation relative velocity 2D/3D camera: 2D & 3D camera in one housing 2D imaging processing based on recognized 3D objects reduced ressources for 2D image processing, object prefiltering Stand: Seite 10
11 Videos Videoclip Videoclip Stand: Seite 11
12 Advantages of PMD Technology wide scalability of performance & costs (amount of modulated light) precise measurement of distance range no calculation for distance values required low processing power (e.g. compared to stereo cameras, ) high resolution compared to other TOF Technologies (LIDAR, CV, ) no use of ambient light ideal for ASIL architectures Stand: Seite 12
13 1st Generation PMD Camera Automotive 1024 pixel measurement of distance image & calculation of object list integrated processor for customer algorithms CAN and Flexray interfaces integration behind windscreen Stand: Seite 13
14 PMD Illumination application specific scalability of performance & costs! illumination unit for mid range applications (IR, 850nm) Typ. Distance Range PKW Pedestrian 40m up to 30m illumination unit for short range applications (IR, 850nm) Typ. Distance Range PKW 20m Stand: Seite 14
15 Typical Field of View viewing angle scalable by choice of optical lenses in camera & illumination, typ. 55 Stand: Seite 15
16 Future Architecture with High Resolution PMD redundant PMD information: 2D video- & 3D distance information PMD Chip VGA video image PMD intensity + VGA 3D image PMD distance values 2D image processing 3D image processing Function Algorithm 2D+3D high resolution PMD imager which provides video information & high resolution 3D image at the same time! video: Videoclip Stand: Seite 16
17 IV PMD Camera for Mobile Machines & Traffic Surveillance camera with redundant information of 2D & 3D (one housing) 2D&3D data synchronous with same timebase customer algorithms can use both datas possible configuration: 2D visualisation for drivers + 3D algorithm for automatic obstacle warning seperate illumination unit(s) 9V 32V (Power Supply) -40 C +85 C, IP69K viewing angles 3D camera: 55 H x 20 V high range applications 70 H x 25 V mid range applications 90 H x 30 V near field applications 2D camera 3D camera 2D/3D Camera Illumination Unit Stand: Seite 17
18 Applications for Agricultural Machines spout guidance by Case New Holland Gold Medal on Agritechnica 2009 for Case New Hollland Stand: Seite 18
19 Applications for Agricultural Machines surround surveillance Stand: Seite 19
20 Applications for Trucks blind spot detection Stand: Seite 20
21 Application Traffic Surveillance by Geveko ITS object classification speed driving direction Stand: Seite 21
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