Efficient and Fast Implementation of Embedded Time-of-Flight Ranging System Based on FPGAs

Research output: Research - peer-reviewJournal article

  • Weiguo Zhou
  • Congyi Lyu
  • Xin Jiang
  • Weihua Zhou
  • Peng Li
  • Haoyao Chen
  • Tongtong Zhang
  • Yun Hui Liu

Abstract

Time-of-flight cameras perceive depth information about the surrounding environment with an amplitude-modulated near-infrared light source. The distance between the sensor and objects is calculated through measuring the time the light needs to travel. To be used in fast and embedded applications, such as 3-D reconstruction, visual SLAM, human-robot interactions, and object detection, the 3-D imaging must be performed at high frame rates and accuracy. Thus, this paper presents a real-time field programmable gate arrays platform that calculates the phase shift and then the distance. Experimental results shown that the platform can acquire ranging images at the maximum frame rate of 131fps with a fine measurement precision (appropriately 5.1mm range error at 1.2m distance with the proper integration time). Low resource utilization and power consumption of the proposed system make it very suitable for embedded applications.
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Details

Time-of-flight cameras perceive depth information about the surrounding environment with an amplitude-modulated near-infrared light source. The distance between the sensor and objects is calculated through measuring the time the light needs to travel. To be used in fast and embedded applications, such as 3-D reconstruction, visual SLAM, human-robot interactions, and object detection, the 3-D imaging must be performed at high frame rates and accuracy. Thus, this paper presents a real-time field programmable gate arrays platform that calculates the phase shift and then the distance. Experimental results shown that the platform can acquire ranging images at the maximum frame rate of 131fps with a fine measurement precision (appropriately 5.1mm range error at 1.2m distance with the proper integration time). Low resource utilization and power consumption of the proposed system make it very suitable for embedded applications.
Original languageEnglish
Article number7983345
JournalIEEE Sensors Journal
Volume17
Issue number18
Pages (from-to)5862-5870
Number of pages9
ISSN1530-437X
DOI
StatePublished - Sep 2017
Publication categoryResearch
Peer-reviewedYes

    Research areas

  • Depth information, Field programmable gate arrays (FPGA), Near-infrared (NIR), Time-of-flight
ID: 263380070