iToF和dToF

iToF(indirect Time-of-Flight 间接飞行时间法)

iToF是通过对发光信号强度进行编码（如正弦波编码），编码的光束经过一段距离后会发生“相位”变化，在探测器端通过对比原始相位和反射光的相位即可获得相位变化，间接得到飞行时间，从而得到距离信息

iTOF use modulated signal (e.g. sinusoidal wave) to retrieve phase of the modulated signal,and calculate the distance indirectly from this information. iTOF requires special type of iTOF image sensors.

dToF (direct Time-of-Flight 直接飞行时间法)

ToF是通过集成高精度时间数字转换电路(TDC)的单光子芯片SPAD芯片直接测量光脉冲的飞行时间，多次统计后得到距离信息

dTOF(direct time-of-flight) directly measures the emission and receiving time difference of a laser pulse, it requires sensitive light sensors (APD, SPAD, etc. ) and fast electronics design
(TDC and other circuits)

iToF vs dToF

项目	iToF	dToF
Working Principle	测试过程中进行相位相关光子累积，根据相位相关光子累积结果求解相位差，进而求解光子飞行时间（indirect -ToF），完成解距	测试过程中通过TDC/ADC手段直接对光子飞行时间进解算（direct -ToF），进而完成解距
Array Sensors	CIS with phase detection capability (special iTOF sensors)	SPAD array
Light sources	LED, VCSEL	EEL, VCSEL
Distance	Short （a few meters）	Medium~long （~hundred meters）
Spatial resolution	High (can reach VGA)	Low
Power Consumption	Low（1~2 W）	Low to medium（>10 W）
Cost	Low	High
Anti-Ambient light	Weak	Good
Anti-Cross-talk	Support	Support
FoV	Large	Usually small