An in-pixel histogramming time-to-digital converter(hTDC)based on octonary search and 4-tap phase detection is presented,aiming to improve frame rate while ensuring high precicion.The proposed hTDC is a 12-bit two-ste...An in-pixel histogramming time-to-digital converter(hTDC)based on octonary search and 4-tap phase detection is presented,aiming to improve frame rate while ensuring high precicion.The proposed hTDC is a 12-bit two-step converter consisting of a 6-bit coarse quantization and a 6-bit fine quantization,which supports a time resolution of 120 ps and multiphoton counting up to 2 GHz without a GHz reference frequency.The proposed hTDC is designed in 0.11μm CMOS process with an area consumption of 6900μm^(2).The data from a behavioral-level model is imported into the designed hTDC circuit for simulation verification.The post-simulation results show that the proposed hTDC achieves 0.8%depth precision in 9 m range for short-range system design specifications and 0.2%depth precision in 48 m range for long-range system design specifications.Under 30×10^(3) lux background light conditions,the proposed hTDC can be used for SPAD-based flash LiDAR sensor to achieve a frame rate to 40 fps with 200 ps resolution in 9 m range.展开更多
同时定位与地图构建(simultaneous localization and mapping,SLAM)技术在无人化装备上有着广泛的应用,可实现室内或室外自主的定位建图任务。该文首先对视觉和激光SLAM基本框架进行介绍,详细阐述前端里程计、后端优化、回环检测以及地...同时定位与地图构建(simultaneous localization and mapping,SLAM)技术在无人化装备上有着广泛的应用,可实现室内或室外自主的定位建图任务。该文首先对视觉和激光SLAM基本框架进行介绍,详细阐述前端里程计、后端优化、回环检测以及地图构建这四个模块的作用以及所采用的算法;在这之后梳理归纳视觉/激光SLAM发展历程中的经典算法并分析其优缺点以及在此之后优秀的改进方案;此外,列举当前SLAM技术在生活中的典型应用场景,展示在自动驾驶、无人化装备等领域的重要作用;最后讨论SLAM系统当前的发展趋势和研究进展,以及在未来应用中需要考虑的挑战和问题,包括多类型传感器融合、与深度学习技术的融合以及跨学科合作的关键作用。通过对SLAM技术的全面分析和讨论,为进一步推动SLAM技术的发展和应用提供深刻的理论指导和实践参考。展开更多
基金National Key Research and Development Program of China(2022YFB2804401)。
文摘An in-pixel histogramming time-to-digital converter(hTDC)based on octonary search and 4-tap phase detection is presented,aiming to improve frame rate while ensuring high precicion.The proposed hTDC is a 12-bit two-step converter consisting of a 6-bit coarse quantization and a 6-bit fine quantization,which supports a time resolution of 120 ps and multiphoton counting up to 2 GHz without a GHz reference frequency.The proposed hTDC is designed in 0.11μm CMOS process with an area consumption of 6900μm^(2).The data from a behavioral-level model is imported into the designed hTDC circuit for simulation verification.The post-simulation results show that the proposed hTDC achieves 0.8%depth precision in 9 m range for short-range system design specifications and 0.2%depth precision in 48 m range for long-range system design specifications.Under 30×10^(3) lux background light conditions,the proposed hTDC can be used for SPAD-based flash LiDAR sensor to achieve a frame rate to 40 fps with 200 ps resolution in 9 m range.
文摘同时定位与地图构建(simultaneous localization and mapping,SLAM)技术在无人化装备上有着广泛的应用,可实现室内或室外自主的定位建图任务。该文首先对视觉和激光SLAM基本框架进行介绍,详细阐述前端里程计、后端优化、回环检测以及地图构建这四个模块的作用以及所采用的算法;在这之后梳理归纳视觉/激光SLAM发展历程中的经典算法并分析其优缺点以及在此之后优秀的改进方案;此外,列举当前SLAM技术在生活中的典型应用场景,展示在自动驾驶、无人化装备等领域的重要作用;最后讨论SLAM系统当前的发展趋势和研究进展,以及在未来应用中需要考虑的挑战和问题,包括多类型传感器融合、与深度学习技术的融合以及跨学科合作的关键作用。通过对SLAM技术的全面分析和讨论,为进一步推动SLAM技术的发展和应用提供深刻的理论指导和实践参考。
