# A direct time-of-flight image sensor with in-pixel surface detection and dynamic vision

arXiv: https://arxiv.org/abs/2209.11772 · HTML: https://mlsanity.com/paper/2209.11772/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 0 of its 37 references that are in the map.
- First posted on arXiv 23 Sep 2022.

## Built on by (most cited first, 4 of 4)

- [Count-Free Single-Photon 3D Imaging with Race Logic](https://mlsanity.com/paper/2307.04924/) (2023)
- [Video super-resolution for single-photon LIDAR](https://mlsanity.com/paper/2210.10474/) (2022)
- [Direct Time-of-Flight Measurement Accuracy Improvement With Perimeter-Gated SPADs](https://mlsanity.com/paper/2607.02546/) (2026)
- [STEMPix: A Phase-Transition-Material-Based Pixel Sensor for Resolving Edge-Movement Direction](https://mlsanity.com/paper/2609.04435/) (2026)

## Abstract (arXiv)

3D flash LIDAR is an alternative to the traditional scanning LIDAR systems, promising precise depth imaging in a compact form factor, and free of moving parts, for applications such as self-driving cars, robotics and augmented reality (AR). Typically implemented using single-photon, direct time-of-flight (dToF) receivers in image sensor format, the operation of the devices can be hindered by the large number of photon events needing to be processed and compressed in outdoor scenarios, limiting frame rates and scalability to larger arrays. We here present a 64x32 pixel (256x128 SPAD) dToF imager that overcomes these limitations by using pixels with embedded histogramming, which lock onto and track the return signal. This reduces the size of output data frames considerably, enabling maximum frame rates in the 10 kFPS range or 100 kFPS for direct depth readings. The sensor offers selective readout of pixels detecting surfaces, or those sensing motion, leading to reduced power consumption and off-chip processing requirements. We demonstrate the application of the sensor in mid-range LIDAR.