Abstract: Techniques for generating high resolution images based on ToF sensor data are discussed herein. A vehicle may generate a composite image by combining multiple images, such as a first image and a second image. Since the images may be captured at different times and/or positions in the environment, to accurately combine the images, the ToF device may compensate for the motion of the vehicle. Thus, the ToF device may unproject the pixels of the first image into a three-dimensional point cloud. Further, the ToF device may update the position of the points in the point cloud. Based on the updated point cloud, the ToF device can determine a motion vector which may be applied to the first image to generate an updated image. The ToF device can determine a composite image by combining the updated image with the second image. The vehicle can be controlled based on the composite image.

Abstract: Techniques for determining a phase delay of a received light signal are discussed herein. A vehicle may emit a continuous light signal from a ToF device. The ToF device may include a sensor receiver configured to receive the signal after the signal reflects off surface(s) in the environment. To determine the distance between the ToF device and the surface(s), the vehicle may sample the received signal at two or more offsets and identify regions of overlap between the offset signals and the received signal. The vehicle can determine area measurements of the overlapping regions and use such area measurements to determine normalized amplitudes for each of the overlapping regions and, based on comparing such values, determine linear equation(s) corresponding to the phase delay. The vehicle can evaluate such linear equations to determine the phase delay of the received light signal. The vehicle can be controlled based on the phase delay.

Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Sensor data generated by the time-of-flight sensor can return unreliable pixels, e.g., in the case of over-exposure or saturation. In some examples, composite sensor data can be generated based on information from multiple exposures captured at different exposure times. In examples, pixels in a first exposure are matched to pixels in a second exposure to account for relative movement of the vehicle and the detected object in the composite sensor data.

Abstract: Sensors, including time-of-flight sensors, may be used to detect objects in an environment. In an example, a vehicle may include a time-of-flight sensor that images objects around the vehicle, e.g., so the vehicle can navigate relative to the objects. Composite sensor data can be generated based on information from multiple exposures captured at different exposure times. In examples, a first depth determination technique is applied to a first subset of pixels and a second depth determination technique is applied to a second subset of the pixels. The first subset of pixels may correspond to pixels that are associated with a highly-reflective surface.