We present a 3D ToF (Time-of-Flight) image sensor with adaptive charge subtraction scheme for background light
suppression. The proposed sensor can alternately capture high resolution color image and high quality depth map in each
frame. In depth-mode, the sensor requires enough integration time for accurate depth acquisition, but saturation will
occur in high background light illumination. We propose to divide the integration time into N sub-integration times
adaptively. In each sub-integration time, our sensor captures an image without saturation and subtracts the charge to
prevent the pixel from the saturation. In addition, the subtraction results are cumulated N times obtaining a final result
image without background illumination at full integration time. Experimental results with our own ToF sensor show high
background suppression performance. We also propose in-pixel storage and column-level subtraction circuit for chiplevel
implementation of the proposed method. We believe the proposed scheme will enable 3D sensors to be used in
out-door environment.
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