RANGE CAMERA AND RANGE IMAGE ACQUISITION METHOD

摘要

For acquiring a 3-D image of a scene, the scene is illuminated with modulated light emitted by an illumination unit and imaged onto an array of lock-in pixels. The previously emitted light after impinges on the lock-in pixels after it has been scattered or reflected in the scene. One measures the modulation phase, the modulation amplitude and the background level of the light impinging on each of the lock-in pixels. Range information of the scene is computed based upon the measured modulation phase. Computing the range information comprises determining the ratio between the background level and the modulation amplitude of the light detected at the lock-in pixels, mapping the ratio onto a phase measurement error using a predetermined calibration function and compensating for the phase measurement error in the computed range information.