Direct time-of-flight (dToF) ranging sensors based on single-photon avalanche diodes (SPADs) have been used as a prominent depth-sensing devices. Time-to-digital converters (TDCs) and histogram builders have become the standard for dToF sensors. However, one of the main current issues is the bin width of the histogram, which limits the accuracy of depth without TDC architecture modifications. SPAD-based light detection and ranging (LiDAR) systems require new methods to overcome their inherent drawbacks for accurate 3D ranging. In this work, we report an optimal matched filter to process the raw data of the histogram to obtain high-accuracy depth. This method is performed by feeding the raw data of the histogram into the different matched filters and using the Center-of-Mass (CoM) algorithm for depth extraction. Comparing the measurement results of different matched filters, the filter with the highest depth accuracy can be obtained. Finally, we implemented a dToF system-on-chip (SoC) ranging sensor. The sensor is made of a configurable array of 16 × 16 SPADs, a 940 nm vertical-cavity surface-emitting laser (VCSEL), an integrated VCSEL driver, and an embedded microcontroller unit (MCU) core to implement the best matched filter. To achieve suitably high reliability and low cost, the above-mentioned features are all packaged into one module for ranging. The system resulted in a precision of better than 5 mm within 6 m with 80% reflectance of the target, and had a precision better than 8 mm at a distance within 4 m with 18% reflectance of the target.
Keywords: Center-of-Mass; MCU; SPAD; dToF; matched filter; precision; ranging sensor; reflectance.