TOF三维成像技术具有帧内并行主动探测、获取景物信息的实时性好、环境光影响小、测量精度高、抗运动干扰性强、平均功耗低等优势, 在三维智能感知、工业检测、SLAM等领域有着广泛的应用前景, 特别是在自主导航,驾驶控制与智能系统中作为获取实时三维成像信息的传感器得到了迅速发展。研究了两类TOF成像的原理及特点, 论述了其系统组成, 并将TOF成像原理与其他主流三维成像技术进行了对比, 对其主要误差来源和类型进行了归类和分析, 研究了测量误差模型。TOF成像作为新一代三维成像技术仍处于发展阶段, 可以有效提升智能系统的成像感知能力和测量水平, 推动了相关领域的技术进步。

Time of flight(TOF) three-dimensional imaging technology has the advantages of active parallel detection in the frame, good real-time acquisition of scene information, small influence of ambient light, high accuracy of detection data, strong anti-sport interference and low average power consumption. In three-dimensional intelligent sensing, industrial inspection, SLAM and other fields have a wide range of applications, especially in autonomous navigation, driving control and intelligent systems as a real-time three-dimensional imaging information of the sensor has been rapidly developed. The principle and characteristics of two kinds of TOF imaging were studied. Two types of TOF imaging principle and characteristics, system composition were discussed. TOF imaging system was compared with other mainstream three-dimensional imaging technology. Its main source of error and type was classified and analyzed, its error model was studied. As a new generation of three-dimensional imaging technology, TOF is still in the development stage, which can effectively enhance the imaging perception and measurement level of the intelligent system and promote the technological progress in related fields.