CPC H04N 13/254 (2018.05) [G01C 3/14 (2013.01); G01S 17/86 (2020.01); G01S 17/894 (2020.01); G06T 7/593 (2017.01); H04N 13/239 (2018.05); H04N 13/296 (2018.05); G06T 2207/10012 (2013.01); H04N 2013/0081 (2013.01)] | 20 Claims |
1. An imaging system configured to use time-of-flight imaging and stereo imaging, the imaging system comprising:
a light emitting component configured to emit first light to illuminate a scene;
a light detecting component that includes:
an array of time-of-flight pixels, wherein:
each time-of-flight pixel is configured to detect second light that is reflected from the first light and determine (i) phase shift data based on a phase shift between the first light and the second light and (ii) intensity data based on an amplitude of the second light; and
each time-of-flight pixel includes a lone photo-sensing diode and at least one of (i) two transfer gates or (ii) two photo gates; and
a plurality of micro-lenses, wherein each micro-lens is shared by at least two time-of-flight pixels in the array; and
a controller configured to:
determine disparity data using the intensity data of each of the at least two time-of-flight pixels shared by an individual micro-lens; and
determine a distance between an object in the scene based in part on at least one of the phase shift data determined for each time-of-flight pixel in the array or the disparity data determined in association with the individual micro-lens of the plurality of micro-lenses.
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