Method and apparatus for controlling time of flight confidence map based depth noise and depth coverage range

摘要

A method and apparatus for fixing a depth map wrap-around error and a depth map coverage by a confidence map. The method includes dynamically determining a threshold for the confidence map threshold based on an ambient light environment, wherein the threshold is reconfigurable depending on LED light strength distribution in TOF sensor, extracting, via the digital processor, four phases of Time Of Flight raw data from the Time Of Flight sensor data, computing a phase differential signal array for fixed point utilizing the four phases of the Time Of Flight raw data, computing the depth map, confidence map and the average light signal strength utilizing the phase differential signal array, obtaining the dynamic confidence map threshold for wrap around error correction utilizing the average light signal strength, and correcting the depth map wrap-around error utilizing the depth map, the confidence map and the dynamic confidence map threshold.