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Full realization of a solid-state 3-D range imager based on the pulsed time-of-flight method is presented. The system uses block-based segmented illumination in the transmitter realized with a 16-element common anode laser diode bar. The receiver is based on a single chip 2-D SPAD&#x002F;TDC 0.35 &#x03BC;m CMOS array with 32 &#x00D7; 128 SPAD pixels and 257 TDCs. Segmentation of the illumination improves the SN<sub>BG</sub>R in the detection and results in simpler receiver realization than in the commonly used flood-illumination approach. The system is capable of producing cm-accurate 3-D range images within a FOV of 40&#x00B0; &#x00D7; 10&#x00B0; up to a range of 15 m in normal office lighting at a frame rate of &#x223C;30 fps using a low average illumination power of only 2.6 mW. In background illumination of &#x223C;20 klux, 3-D range images were captured at a distance of &#x223C;13 m using the gated SPAD approach at a frame rate of &#x223C;1 fps.

Solid-State Pulsed Time-of-Flight 3-D Range Imaging Using CMOS SPAD Focal Plane Array Receiver and Block-Based Illumination Techniques