论文标题
具有像素表面检测和动态视觉的直接飞行时间传感器
A direct time-of-flight image sensor with in-pixel surface detection and dynamic vision
论文作者
论文摘要
3D Flash LiDAR是传统扫描激光雷达系统的替代方法，有望在紧凑的外形中具有精确的深度成像，并且没有运动部件，例如自动驾驶汽车，机器人技术和增强现实（AR）等应用。通常使用单光子，直接飞行时间（DTOF）接收器以图像传感器格式实现，设备的操作可能会受到需要在室外场景中进行处理和压缩的大量光子事件，限制帧速率和可扩展性到较大阵列的限制性。我们在这里提出了一个64x32像素（256x128 Spad）DTOF成像器，该Imager通过将像素与嵌入式直方图使用像素一起克服这些限制，该直方机锁定并跟踪返回信号。这大大降低了输出数据帧的大小，可在10 kfps范围内或100 kfps的最大帧速率进行直接深度读数。该传感器可选择性地读数以检测表面或传感运动的像素，从而减少功耗和芯片外处理要求。我们演示了传感器在中端激光雷达中的应用。
3D flash LIDAR is an alternative to the traditional scanning LIDAR systems, promising precise depth imaging in a compact form factor, and free of moving parts, for applications such as self-driving cars, robotics and augmented reality (AR). Typically implemented using single-photon, direct time-of-flight (dToF) receivers in image sensor format, the operation of the devices can be hindered by the large number of photon events needing to be processed and compressed in outdoor scenarios, limiting frame rates and scalability to larger arrays. We here present a 64x32 pixel (256x128 SPAD) dToF imager that overcomes these limitations by using pixels with embedded histogramming, which lock onto and track the return signal. This reduces the size of output data frames considerably, enabling maximum frame rates in the 10 kFPS range or 100 kFPS for direct depth readings. The sensor offers selective readout of pixels detecting surfaces, or those sensing motion, leading to reduced power consumption and off-chip processing requirements. We demonstrate the application of the sensor in mid-range LIDAR.
