Smart sensor architecture for real-time high-resolution range finding

In this paper, a smart sensor architecture for real-time and high-resolution active range finding is presented. It realizes not only a high frame rate enough for real-time 3- D measurement, but also a high pixel resolution due to a small pixel circuit, and a high sub-pixel accuracy due to a gravity center calculation using an intensity profile. Simulation results show the ultimate frame rate is 32.6k fps (i.e. 31.8 range _map/sec) in a 1024 × 1024 pixel sensor. A 3-bit intensity profile allows a sub-pixel accuracy under 0.1 pixel. A 128 × 128 smart sensor has been developed and successfully tested. A 2-D image, a range map and a texture-mapped 3-D image have been acquired by the active range finding system using the fabricated sensor.