Analysis and estimation of NEP and DR in CMOS TOF-3D image sensor based on MDSI

Hafiane, Mohamed Lamine; Wagner, Wilfried; Dibi, Z.; Manck, O.

doi:10.1016/j.sna.2011.05.014

Cited by 6 publications

(5 citation statements)

References 9 publications

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“…For example, recent works demonstrate the benefits of using a band-pass optical filter to increase the sensor performance and also attenuate the background light [52].…”

Section: Depth Measurement Errors and Calibrationmentioning

confidence: 99%

ToF cameras for active vision in robotics

Alenyà

Foix

Torras

2014

Sensors and Actuators A: Physical

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ToF cameras are now a mature technology that is widely being adopted to provide sensory input to robotic applications. Depending on the nature of the objects to be perceived and the viewing distance, we distinguish two groups of applications: those requiring to capture the whole scene and those centered on an object. It will be demonstrated that it is in this last group of applications, in which the robot has to locate and possibly manipulate an object, where the distinctive characteristics of ToF cameras can be better exploited.After presenting the physical sensor features and the calibration requirements of such cameras, we review some representative works highlighting for each one which of the distinctive ToF characteristics have been more essential. Even if at low resolution, the acquisition of 3D images at frame-rate is one of the most important features, as it enables quick background/foreground segmentation. A common use is in combination with classical color cameras. We present three developed applications, using a mobile robot and a robotic arm, to exemplify with real images some of the stated advantages.

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“…For example, recent works demonstrate the benefits of using a band-pass optical filter to increase the sensor performance and also attenuate the background light [52].…”

Section: Depth Measurement Errors and Calibrationmentioning

confidence: 99%

ToF cameras for active vision in robotics

Alenyà

Foix

Torras

2014

Sensors and Actuators A: Physical

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“…Despite the pulsed light sensor shows a better minimum NED for the considered integration times, it can be seen that the CW-modulated sensor shows generally better performance: indeed, the points of sensor [13] are closer to the origin. This can be explained by two considerations: one is the equivalent modulation frequency, which is lower for the pulsed light sensor, and the other is the highest sensitivity of the modulated light sensor, thanks to the very low integration capacitance value.…”

Section: Comparison Of Sensorsmentioning

confidence: 90%

“…Recently, in [13] several figures of merit were introduced: anyway, some of them tend to be misleading or of difficult evaluation. As an example, the so called "background light support" is giving the background light intensity which brings to saturation the detector, however, this number is not indicative of the effect that the background light can have on the distance measurement, which becomes problematic well before reaching the saturation of the signal.…”

Section: Figures Of Meritmentioning

confidence: 99%

“…Some measurements to evaluate the introduced figures of merit have been done using sensors developed in FBK, namely [2] and [13], based on pulsed and modulated techniques, respectively.…”

Section: Experimental Evaluationmentioning

confidence: 99%

“…Figure 5. Measured noise equivalent distance (NED) and correlated power responsivity (PR corr ) for sensors [2] and [13].…”

Section: Comparison Of Sensorsmentioning

confidence: 99%

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Figures of Merit for Indirect Time-of-Flight 3D Cameras: Definition and Experimental Evaluation

Perenzoni

Stoppa

2011

Remote Sensing

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Indirect Time-of-Flight (I-TOF) cameras can be implemented in a number of ways, each with specific characteristics and performances. In this paper a comprehensive analysis of the implementation possibilities is developed in order to model the main performances with a high level of abstraction. After the extraction of the main characteristics for the high-level model, several figures of merit (FoM) are defined with the purpose of obtaining a common metric: noise equivalent distance, correlated and uncorrelated power responsivity, and background light rejection ratio. The obtained FoMs can be employed for the comparison of different implementations of range cameras based on the I-TOF method: specifically, they are applied for several different sensors developed by the authors in order to compare their performances.

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