A 128 x 128 SPAD Dynamic Vision-Triggered Time of Flight Imager

Research output: Contribution to conferencePaperpeer-review


A 128 x 128 SPAD motion detection-triggered time of flight (ToF) sensor is implemented in 40nm CMOS. The sensor combines vision and ToF ranging functions to only acquire depth frames when inter-frame intensity changes are detected. The 40μm x 20μm pixel integrates two 16-bit time-gated counters to acquire ToF histograms and repurposes them to compare two vision frames without requirement for additional out-of-pixel frame memory resources. An embedded ToF and vision processor performs on-chip vision frame comparison and binary frame output compression as well as controlling the time-resolved histogram sampling. The sensor achieves a maximum 20kfps in vision modality and 500fps in motion detection-triggered ToF over a measured 2.55m range with 1.6cm accuracy. The vision function reduces the sensor power consumption by 70% over continuous ToF operation and allows the sensor to gate the ToF laser emitter to reduce the system power when no motion activity is observed.
Original languageEnglish
Number of pages4
Publication statusE-pub ahead of print - 18 Nov 2019
EventEuropean Solid-State Circuits Conference: ESSCIRC - Krakow, Poland
Duration: 24 Sep 201926 Sep 2019


ConferenceEuropean Solid-State Circuits Conference
Abbreviated titleESSCIRC 2019

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