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A hardware implementation of phase calculator for extracting 3D depth image from TOF(Time-Of-Flight) sensor is described. The designed phase calculator, which adopts a pipelined architecture to improve throughput, performs arctangent operation using vectoring mode of CORDIC algorithm. Fixed-point MATLAB modeling and simulations are carried out to determine the optimized bit-widths and number of iteration. The designed phase calculator is verified by FPGA-in-the-loop verification using MATLAB/Simulink, and synthesized with a TSMC 0.18- CMOS cell library. It has 16,000 gates and the estimated throughput is about 9.6 Gbps at 200Mhz@1.8V.

A Design of High-speed Phase Calculator for 3D Depth Image Extraction from TOF Sensor Data