SPAD 2 DISTANCE MEASURING APPARATUS AND METHOD USING TWO-STEP TRACKING BASED ON SPAD SENSORS

摘要

The present invention relates to a distance measurement apparatus using SPAD sensor-based two-step tracking, which is capable of accurately measuring a distance to a target, and a method thereof. According to the present invention, the distance measurement apparatus comprises: a bit generation unit generating a coarse bit for first tracking from sensing data for measuring a distance to a target, and generating a fine bit for second tracking for accurately measuring the distance to the target corresponding to the coarse bit; a coarse bit processing unit receiving the coarse bit to address the coarse bit in any one histogram bin corresponding to the received coarse bit among a plurality of histogram bins, and outputting the coarse bit, as a reference coarse bit, corresponding to one histogram bin exceeding a preset threshold value among the plurality of histogram bins; and a fine bit processing unit outputting fine bits corresponding to the reference coarse bit.