# An Overview of Depth Cameras and Range Scanners Based on Time-of-Flight Technologies

arXiv: https://arxiv.org/abs/2012.06772 · HTML: https://mlsanity.com/paper/2012.06772/

## Key facts

- Cited by 20 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Dec 2020.

## Built on by (most cited first, 20 of 20)

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- [SpiderCam: Low-Power Snapshot Depth from Differential Defocus](https://mlsanity.com/paper/2603.17910/) (2026)
- [LookUp3D: Data-Driven 3D Scanning](https://mlsanity.com/paper/2405.14882/) (2024)
- [Learnable Burst-Encodable Time-of-Flight Imaging for High-Fidelity Long-Distance Depth Sensing](https://mlsanity.com/paper/2505.22025/) (2025)
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- [A Vision for Multisensory Intelligence: Sensing, Science, and Synergy](https://mlsanity.com/paper/2601.04563/) (2026)

## Abstract (arXiv)

Time-of-flight (TOF) cameras are sensors that can measure the depths of scene-points, by illuminating the scene with a controlled laser or LED source, and then analyzing the reflected light. In this paper, we will first describe the underlying measurement principles of time-of-flight cameras, including: (i) pulsed-light cameras, which measure directly the time taken for a light pulse to travel from the device to the object and back again, and (ii) continuous-wave modulated-light cameras, which measure the phase difference between the emitted and received signals, and hence obtain the travel time indirectly. We review the main existing designs, including prototypes as well as commercially available devices. We also review the relevant camera calibration principles, and how they are applied to TOF devices. Finally, we discuss the benefits and challenges of combined TOF and color camera systems.