CPC G01S 17/894 (2020.01) [G01S 7/4865 (2013.01); G06T 7/521 (2017.01); G06T 7/80 (2017.01)] | 19 Claims |
1. A depth camera assembly (DCA) comprising:
a sensor including:
a plurality of pixels configured to capture images of a local area, and
an array of time-to-digital converters coupled to the plurality of pixels, each time-to-digital converter in the array including an oscillator and a counter, each pixel in a group of pixels of the plurality of pixels associated with a respective multiplexer of a plurality of multiplexers, the respective multiplexer configured to:
select between a first signal from that pixel, a second signal from the oscillator and a third signal from another counter of another time-to-digital converter in the array as an output signal, and
provide the output signal to the counter to increment a value of the counter; and
a controller configured to:
estimate, during a first portion of an image frame, a plurality of depth values for the plurality of pixels, each depth value of the plurality of depth values estimated based on the value of the counter,
perform, during a second portion of the image frame, intensity measurements for the plurality of pixels, and
calibrate, during a third portion of the image frame, the plurality of depth values using the intensity measurements.
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