Time of flight sensing
An embodiment method for operating a device includes determining, based on data collected by a first sensor, first information between the first sensor and an object; determining, based on data collected by a second sensor, second information between the second sensor and the object; and determining a distance between the device and the object based on comparing the first information and the second information.
1. A method for time of flight sensing using a device, the method comprising:
emitting a light pulse towards an object;
determining, based on data collected by a first sensor, first information between the first sensor and the object, wherein the first information comprises amplitude, ambient, histogram data from the first sensor;
emitting a modulated signal towards the object;
determining, based on data collected by a second sensor, second information between the second sensor and the object, wherein the second information comprises amplitude, ambient data from the second sensor; and
determining a distance between the device and the object based on comparing the first information and the second information, wherein determining the distance between the device and the object comprises determining an edge boundary of a plurality of objects detected in a field of view of the second sensor by comparing the amplitude, ambient, histogram data from the first sensor with the amplitude, ambient data from the second sensor.
2. The method of claim 1 , wherein the first information further comprises a distance estimate and the second information comprises a distance estimate.
3. The method of claim 1 , wherein determining the first information comprises:
determining, based on the data collected by the first sensor, a strength estimate of received signal at each zone of the first sensor;
deriving a histogram based on the data collected by the first sensor for each zone of the first sensor; and
determining based on the data collected by the first sensor an average level of received signal for each zone of the first sensor.
4. The method of claim 1 , wherein determining the second information comprises:
determining, based on the data collected by the second sensor, a strength estimate of received signal for each pixel of the second sensor, the second sensor comprising a plurality of pixels; and
determining, based on the data collected by the second sensor, an average level of received signal for each pixel of the plurality of pixels.
5. The method of claim 1 , further comprising generating a mask defining the plurality of objects within each overlapping zone of the first and second sensors and identifying a corresponding depth of each of the plurality of objects.
6. The method of claim 5 , further comprising applying the mask and the depth identified to a depth image.
7. The method of claim 1 , wherein the second sensor has a greater spatial resolution than the first sensor.
8. The method of claim 1 , wherein the first sensor is a direct time of flight (dToF) and the second sensor is an indirect time of flight (iToF) sensor.
9. The method of claim 8 , wherein the first information or the second information comprises a distance estimate.
10. The method of claim 1 , wherein the first sensor comprises a single photon avalanche diode (SPAD), wherein the second sensor comprises a photosensitive device.
11. A device for time of flight sensing, the device comprising:
a first sensor attached to the device;
a first light source coupled with the first sensor;
a second sensor attached to the device;
a second light source coupled with the first sensor;
a controller; and
a non-transitory memory storing a program to be executed in the controller, the program comprising instructions when executed cause the controller to:
emit a first light pulse from the first light source,
determine, based on data collected by the first sensor, a first information for a field of view of the first sensor, wherein the first information comprises amplitude, ambient, histogram data from the first sensor,
emit a modulated signal from the second light source,
determine, based on data collected by the second sensor, a second information for a field of view of the second sensor, wherein the second information comprises amplitude, ambient data from the second sensor, and
determine a distance between the device and a plurality of objects based on comparing the first information with the second information, wherein determining the distance between the device and the plurality of objects comprises determining an edge boundary of the plurality of objects detected in the field of view of the second sensor by comparing the amplitude, ambient, histogram data from the first sensor with the amplitude, ambient data from the second sensor.
12. The device of claim 11 , wherein the first information further comprises a distance estimate and the second information comprises a distance estimate.
13. The device of claim 11 ,
wherein the instructions to determine the first information comprise instructions to:
determine, based on the data collected by the first sensor, a strength estimate of received signal at each zone of the first sensor,
derive a histogram based on the data collected by the first sensor for each zone of the first sensor, and
determine, based on the data collected by the first sensor, an average level of received signal for each zone of the first sensor;
wherein the instructions to determine the second information comprises instructions to:
determine, based on the data collected by the second sensor, a strength estimate of received signal for each pixel of the second sensor, the second sensor comprising a plurality of pixels; and
determine, based on the data collected by the second sensor, an average level of received signal for each pixel of the plurality of pixels.
14. The device of claim 11 , wherein the program comprises further instructions when executed cause the controller to: generate a mask defining the plurality of objects within each overlapping zone of the first and second sensors and identifying a corresponding depth of each of the plurality of objects, and apply the mask and the depth identified to a depth image.
15. The device of claim 11 , wherein the second sensor has a greater spatial resolution than the first sensor, and wherein the first sensor is a direct time of flight (dToF) and the second sensor is an indirect time of flight (iToF) sensor.
16. A method for time of flight sensing using a device, the method comprising:
emitting a light pulse towards an object;
determining, based on first data collected by a first sensor, first information between the first sensor and the object;
emitting a modulated signal towards the object;
collecting second data with a second sensor, the second data being generated using a modulated reflected signal from the object;
determining, based on the second data, second information between the second sensor and the object;
determining a distance between the device and the object based on comparing the first information and the second information; and
generating a mask defining a plurality of objects within each overlapping zone of the first and second sensors and identifying a corresponding depth of each of the plurality of objects.
17. The method of claim 16 , further comprising using the mask with the distance to generate a final depth map.
18. The method of claim 16 , wherein the data collected by the first sensor is generated using a reflected light pulse from the object.
19. The method of claim 16 , wherein the modulated signal is a continuous wave signal.
20. The method of claim 16 , wherein the modulated signal is a pulse train.