Time-of-flight (TOF) range sensors acquire distances by means of an optical signal delay measurement. As the signal travels at the speed of light, distance resolutions in the subcentimeters range require a time measurement resolution that is in the picoseconds range. However, typical clock synthesizers and digital buffers possess cycle-to-cycle jitter values of up to hundreds of picoseconds, which can potentially have a noticeable impact on the TOF system performances. In this publication, we investigate the influence of two common types of cycle-to-cycle jitter distributions on the measured distance. This includes a random Gaussian distribution, which is caused by, e.g., stochastic noise sources, and a discrete jitter distribution, which is found when timing constraints fail in synchronous digital designs. It was demonstrated that a Gaussian cycle-to-cycle jitter has only a negligible impact on the performance of the TOF distance sensors up to a standard deviation of 1 ns of the Gaussian jitter distribution. However, even the discrete cycle-to-cycle jitter investigated in its simplest form lowers the distance precision of the TOF sensor by a factor of 2.86, i.e., the standard deviation increases from 2.9 to 8.3 mm.
Within this work a single pixel Time-of-Flight (TOF) based range finder is presented. The sensor is fabricated in a 0.35 μm 1P4M CMOS process occupying an area of 45 × 60 μm2 at ~50% fill factor. It takes advantage of the integrated PIN photodiode, representing, to the best knowledge of the author, the first reported TOF device done in this technology with a PIN detector. The measurement results show a standard deviation of 1 cm for a total integration time of 2.2 ms and a received optical power of 10 nW. Furthermore, the maximal measured integration time per single phase step is slightly below 1 ms, being an improvement by the factor of 40 over the previous work using a similar approach. As proven with the measurements, the background light influence on the measured distance can be neglected even if the dc light is by the factor of 600 larger than the modulation signal.
Time-of-Flight (TOF) 3D cameras determine the distance information by means of a propagation delay measurement. The delay value is acquired by correlating the sent and received continuous wave signals in discrete phase delay steps. To reduce the measurement time as well as the resources required for signal processing, the number of phase steps can be decreased. However, such a change results in the arising of a crucial systematic distance dependent distance error. In the present publication we investigate this phase dependent error systematically by means of a fiber based measurement setup. Furthermore, the phase shift is varied with an electrical delay line device rather than by moving an object in front of the camera. This procedure allows investigating the above mentioned phase dependent error isolated from other error sources, as, e.g., the amplitude dependent error. In other publications this error is corrected by means of a look-up table stored in a memory device. In our paper we demonstrate an analytical correction method that dramatically minimizes the demanded memory size. For four phase steps, this approach reduces the error dramatically by 89.4 % to 13.5 mm at a modulation frequency of 12.5 MHz. For 20.0 MHz, a reduction of 86.8 % to 11.5 mm could be achieved.
Correlation based time-of-flight systems suffer from a temperature dependent distance measurement error induced by the illumination source of the system. A change of the temperature of the illumination source, results in the change of the bandwidth of the used light emitters, which are light emitting diodes (LEDs) most of the time. For typical illumination sources this can result in a drift of the measured distance in the range of ~20 cm, especially during the heat up phase. Due to the change of the bandwidth of the LEDs the shape of the output signal changes as well. In this paper we propose a method to correct this temperature dependent error by investigating this change of the shape of the output signal. Our measurements show, that the presented approach is capable of correcting the temperature dependent error in a large range of operation without the need for additional hardware.
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