Abstract: A time of flight sensor has an image region and a storage region on a device which may be a CCD. A pulse of light illuminates an object, and an image illumination stripe is recorded on the image region. In a distance determining step, the image region is clocked after emitting the pulse of light and the row in which the image illumination stripe is illuminated gives a measure of the distance to the object. The apparatus can self calibrated by emitting a pulse of light without clocking the image region.

Abstract: A time of flight sensor has a photosensitive image region (1) comprising a linear array of M pixels; a storage region (2) comprising M columns of N storage elements, and transfer circuitry to transfer data along the M columns of storage from an input storage element connected to a respective one of the M pixels along column of N storage elements to an output storage element at a transfer frequency Ft, each row of M storage elements storing data captured at the same time; and a readout section (3) arranged to read out data from the output end of the M columns of the storage region at a readout frequency Fr. In this way the readout frequency and transfer frequency may be separately controlled. An amplifier (4) may be connected to the readout section. An optical shield (5) may shield the storage elements leaving the photosensitive image region unshielded. The elements may be elements of a charge coupled array.

Abstract: A time of flight distance measurement system has a light emitter (8) emitting a pulsed fan beam and a time of flight sensor (6) which may be a CCD with a photosensitive image region, a storage region not responsive to light and a readout section. Circuitry is arranged to control the time of flight sensor (6) to capture image data of the pulsed illumination stripe along a row of pixels and to transfer the captured image data to the storage section. The circuitry adjusts the phase of the clocking of the image region with respect to the emission of a pulsed fan beam to collect a plurality of image illumination stripes at a respective plurality of phase shifts; and a processor combines the data from the plurality of image illumination stripes at the plurality of phase shifts to determine the distance to the object.

Abstract: A time of flight sensor has an image region (8) and a storage region (10) on a device which may be a CCD. A pulse of light illuminates an object, and an image illumination stripe is recorded on the image region. In a distance determining step, the image region is clocked after emitting the pulse of light and the row in which the image illumination stripe is illuminated gives a measure of the distance to the object. The apparatus can self calibrate by emitting a pulse of light without clocking the image region.

Abstract: A time of flight sensor has a photo-sensitive image region (1) comprising a linear array of M pixels; a storage region (2) comprising M columns of N storage elements, and transfer circuitry to transfer data along the M columns of storage from an input storage element connected to a respective one of the M pixels along column of N storage elements to an output storage element at a transfer frequency Ft, each row of M storage elements storing data captured at the same time; and a readout section (3) arranged to read out data from the output end of the M columns of the storage region at a readout frequency Fr. In this way the readout frequency and transfer frequency may be separately controlled. An amplifier (4) may be connected to the readout section. An optical shield (5) may shield the storage elements leaving the photosensitive image region unshielded. The elements may be elements of a charge coupled array.