Abstract: An imaging system includes an illumination element for emitting light and an imaging sensor having at least one photo-sensitive element that includes a first element with a modifiable first charge level and a second element with a modifiable second charge level. Control circuitry is configured to, during a first phase, control the illumination element to emit light towards a scene and drive the photo-sensitive element such that charge carriers generated in the photo-sensitive element by light received from the scene modify the first charge level. The control circuitry is configured to, during a second phase, control the illumination element to pause emission of the light and drive the photo-sensitive element such that charge carriers generated in the photo-sensitive element by light received modify the second charge level, and to generate a gray-scale image of the scene based on the first and second charge levels.

Abstract: A method for determining a reflectivity value indicating a reflectivity of an object is provided. The method includes performing a Time-of-Flight (ToF) measurement using a ToF sensor. A correlation function of the ToF measurement increases over distance within a measurement range of the ToF sensor such that an output value of the ToF sensor for the ToF measurement is independent of the distance between the ToF sensor and the object. The method further includes determining the reflectivity value based on the output value of the ToF sensor for the ToF measurement.

Abstract: Examples relate to a method, an apparatus and a computer program for determining distance information based on Time of Flight (ToF) sensor data. The method includes obtaining the ToF sensor data, determining one or more saturated regions within the ToF sensor data, determining distance information for one or more boundary regions located adjacent to the one or more saturated regions based on the ToF sensor data, and determining distance information for at least a part of the one or more saturated regions based on the distance information of the one or more boundary regions.

Abstract: Techniques for obtaining reflectance measurements using a time-of-flight (ToF) measurement device. An example method comprises obtaining a distance measurement, using one or more pixels in a ToF sensor, obtaining an intensity measurement corresponding to the distance measurement, using the one or more pixels, and calculating a reflectance value, based on the distance measurement, the intensity measurement, and a reflectance calibration factor. In some embodiments, the calibration distance is obtained by measuring a reference distance to a calibration surface, using a reference pixel in the ToF sensor, and obtaining the calibration distance from the measured reference distance.

Abstract: A sensor device is provided. The sensor device includes an image sensor having a plurality of photo-sensitive pixels configured to measure light received from a scene. The image sensor is configured to output image data indicative of measurement values of at least part of the plurality of photo-sensitive pixels. Additionally, the sensor device includes processing circuitry configured to determine a histogram based on the image data. The histogram represents a distribution of the measurement values. The processing circuitry is further configured to determine whether an object is present in the scene based on the histogram. In addition, the sensor device includes interface circuitry configured to output presence data indicating whether the object is present in the scene.

Abstract: A localization apparatus includes: a time-of-flight circuit configured to emit a first modulated light signal and to receive reflections of the first modulated light signal from at least three devices; a processing circuit configured to determine, based on the first modulated light signal and the reflections, positions of the at least three devices in a first coordinate system associated with the apparatus; and a receive circuit configured to receive second modulated signals from the at least three devices, the second modulated signals including data indicating positions of the at least three devices in a second coordinate system. The processing circuit is further configured to determine a position and orientation of the apparatus in the second coordinate system based on the positions of the at least three devices in the first coordinate system and the data indicating the positions of the at least three devices in the second coordinate system.

Abstract: A tag for time-of-flight (ToF) applications includes: at least three light sources configured to controllably emit light; a light detector configured to receive one or more modulated light signals from a ToF camera system; and a processing circuit configured to determine one or more time periods in which the ToF camera system is sensitive for light reception and control the at least three light sources to sequentially and individually emit light according to a predefined lighting pattern during the one or more time periods. Corresponding apparatuses and methods for determining rotation and/or translation parameters for conversion between different coordinate systems are also provided.

Abstract: Provided is a method for compensating light reflections from a cover of a time-of-flight camera in an image of a scene that is sensed by the time-of-flight camera. The method includes receiving the image of the scene from the time-of-flight camera. Further, the method includes modifying the image of the scene using a reference image to obtain a compensated image of the scene. Pixels of the reference image indicate reference values exclusively related to light reflections from the cover of the time-of-flight camera. Additionally, the method includes outputting the compensated image.

Abstract: An electronic device is provided. The electronic device includes: a display device including a plurality of light-emitting elements for displaying an optical image on a front side of the display device; an illumination element integrated into the display device and configured to emit light for illuminating a scene in front of the front side of the display device; an optical sensor configured to sense reflections of the light from the scene; an optical transmitter configured to transmit an optical control signal encoded with control information for controlling light emission by the illumination element; and an optical receiver integrated into the display device and configured to receive the optical control signal and generate an electrical control signal based on the optical control signal. The electronic device further includes a driver circuit integrated into the display device and configured to drive the illumination element based on the electrical control signal.

Abstract: A method for compensating stray light caused by an object in a scene that is sensed by a time-of-flight camera is provided. The method includes receiving an image of the scene from the time-of-flight camera. Further, the method includes controlling the time-of-flight camera to capture a reference image of the scene using a code modulated signal for illumination such that a measurement range of the time-of-flight camera is limited to a distance range around the object. The method additionally includes modifying the image of the scene or an image derived therefrom using the reference image to obtain a compensated image of the scene. The method includes outputting the compensated image.

Abstract: Techniques for simultaneous time-of-flight (ToF) measurement and information signal transmission. An information signal is superimposed on a series of light pulses by emitting the series of light pulses in groups of N regularly-spaced pulses and selectively varying time intervals between successive groups of pulses, such that the resulting varying time intervals between successive groups of emitted pulses are indicative of values of the information signal. Pixels configured to demodulate received light using a pulsed reference signal derived from the modulating signal are controlled to generate pixel signal values, each being indicative of a time-of-flight from the ToF measurement device to an object and back. This controlling comprises varying time intervals between successive groups of reference signal pulses in the same way time intervals between the emitted pulses are varied, so that the superimposition of the information signal has no effect on the ToF measurements.

Abstract: Provided is a method for determining depth motion relative to a time-of-flight camera in a scene sensed by the time-of-flight camera. The method includes determining a first auxiliary depth image from a first set of phase images out of a sequence of phase images of the scene. The sequence of phase images is taken by the time-of-flight camera for a single time-of-flight depth measurement. A second auxiliary depth image is determined from a second set of phase images out of the sequence of phase images. The phase images of the second set of phase images are different from the phase images of the first set of phase images. Information about depth motion relative to the time-of-flight camera for at least part of the scene is determined based on a comparison of depth values represented by pixels in the first auxiliary depth image and the second auxiliary depth image.

Abstract: Distance ambiguities arising from indirect time-of-flight (ToF) measurements are resolved by using additional information from two or more coded-modulation measurements. An indirect ToF measurement is performed for a pixel of an image processor, to obtain a value indicative of an apparent distance to an imaged object or scene. First and second coded-modulation measurements are also performed, using respective combination of modulation code and reference signals, such that correlation peaks corresponding to these measurements overlap and cover respective first and second adjoining ranges of distances to imaged objects. First and second mask values are determined from the correlation values obtained from the coded-modulation measurements and are used to determine whether the value indicating the apparent distance indicates an actual distance within the first range of distances or within the second range of distances.

Abstract: An apparatus for detecting a specular surface in a scene is provided. The apparatus includes an illumination device configured to emit polarized light towards the scene. The apparatus further includes an imaging system configured to capture a first image of the scene based on light emanating from the scene. The light emanating from the scene includes one or more reflection of the emitted polarized light. The imaging system is further configured to capture a second image of the scene based on filtered light. The apparatus further includes a polarization filter configured to generate the filtered light by filtering the light emanating from the scene. The apparatus further includes processing circuitry configured to determine presence of the specular surface in the scene based on a comparison of the first image and the second image.

Abstract: A Time-of-Flight (ToF) sensor includes a plurality of photo-sensitive sensor pixels each including at least two charge storages and a drain terminal. Further, the ToF sensor includes a common charge storage coupled to drain terminals of the plurality of photo-sensitive sensor pixels. For a TOF measurement, the plurality of photo-sensitive sensor pixels are configured to, via the drain terminals, drain part of charge carriers generated during the ToF measurement by incident light caused by one or more objects outside a target measurement range of the ToF sensor. Further, for the ToF measurement, the plurality of photo-sensitive sensor pixels are configured to selectively store another part of the charge carriers in the at least two charge storages of each of the plurality of photo-sensitive sensor pixels. The common charge storage accumulates electrical energy conveyed by currents output by the drain terminals and outputs first data indicative of the accumulated electrical energy.

Abstract: A method for Time-of-Flight (ToF) sensing of a scene is provided. The method includes performing, by a ToF sensor including at least one photo-sensitive sensor pixel, a plurality of first ToF measurements using a first modulation frequency in order to obtain first measurement values. A respective correlation function of each of the plurality of first ToF measurements is periodic and exhibits an increasing amplitude over distance within a measurement range of the ToF sensor. The method further includes determining a distance to an object in the scene based on the first measurement values. Performing the plurality of first ToF measurements includes for at least one of the plurality of first ToF measurements controlling the photo-sensitive sensor pixel to selectively store, in at least two charge storages of the photo-sensitive sensor pixel, part of charge carriers generated in the photo-sensitive sensor pixel during the at least one of the plurality of first ToF measurements by incident light.

Abstract: An apparatus for sensing a scene is provided. The apparatus includes an illumination element configured to illuminate the scene with modulated light. Additionally, the apparatus includes an optical sensor configured to receive reflected light from the scene. The optical sensor includes at least one photo-sensitive sensor pixel configured to store charge carriers generated in the photo-sensitive sensor pixel by the reflected light in at least one charge storage of the photo-sensitive sensor pixel during a measurement. The at least one photo-sensitive sensor pixel is further configured to selectively prevent the charge carriers from reaching the at least one charge storage during the measurement to strictly monotonically increase a sensitivity of the at least one photo-sensitive sensor pixel over distance for reflected light originating within a measurement range of the optical sensor.

Abstract: A sensor device is provided. The sensor device includes an image sensor having a plurality of photo-sensitive pixels configured to measure light received from a scene. The image sensor is configured to output image data indicative of measurement values of at least part of the plurality of photo-sensitive pixels. Additionally, the sensor device includes processing circuitry configured to determine a histogram based on the image data. The histogram represents a distribution of the measurement values. The processing circuitry is further configured to determine whether an object is present in the scene based on the histogram. In addition, the sensor device includes interface circuitry configured to output presence data indicating whether the object is present in the scene.

Abstract: Examples relate to a method for determining distance information of an object using a Time of Flight (ToF) system and to a ToF system. The method includes emitting modulated light towards the object using a light source. The method includes measuring a reflection of the modulated light using a ToF sensor module. The reflection of the modulated light is generated by successive reflections of the modulated light by the object and by an additional reflective surface. The method includes determining the distance information of the object based on the measured reflection of the modulated light.

Abstract: A method for determining an intensity value representing an intensity of light reflected from an object in a scene is provided. The method includes performing a Time-of-Flight (ToF) measurement of the scene using a ToF sensor. A light-intensity-independent correlation function of a photo-sensitive pixel of the ToF sensor exhibits a plateau in a target measure-ment range for the ToF measurement. The object is located within the target measurement range. The method further includes determining the intensity value based on an output of the photo-sensitive pixel for the ToF measurement.