Patent Description:
A ToF module is conventionally covered by a cover glass in order to protect the ToF module from the environment. The cover glass may influence measurements of the ToF module. Further, various other characteristics such as temperature may influence the measurements of the ToF module.

Document <CIT> proposes optoelectronic modules operable to recognize spurious reflections and to compensate for errors caused by spurious reflections. Document <CIT> proposes an optical system that detects light, which is reflected at an emission surface of the optical system, in order characterize the transparency of the emission surface.

There may be a demand for characterization of a ToF sensor and/or a cover covering a ToF sensor.

The demand is satisfied by the subject matter of the appended claims.

An example relates to a method for characterizing a ToF sensor and/or a cover covering the ToF sensor. The method comprises performing at least one coded modulation measurement with the ToF sensor for obtaining measurement data for light reflected from the cover back to the ToF sensor. A measurement range of the ToF sensor is configured to end shortly after the cover for the at least one coded modulation measurement. An illumination element of the ToF sensor for emitting the light generates the light for the at least one coded modulation measurement based on an illumination signal exhibiting an alternating series of high and low pulses of varying duration. Electronic circuitry of a light capturing element of the ToF sensor for measuring the light reflected from the cover is driven for the at least one coded modulation measurement based on a reference signal exhibiting an alternating series of high and low pulses of varying duration. Further, the method comprises determining characterization data based on the measurement data. The characterization data indicate a quantity related to the ToF sensor and/or the cover. The pulse durations of the high and low pulses in the illumination signal and the reference signal and a time-shift between the illumination signal and the reference signal are adjusted to mitigate a response of the time-of-flight sensor to reflections of objects behind the cover for the at least one coded modulation measurement.

Another example relates to an apparatus for characterizing a ToF sensor and/or a cover covering the ToF sensor. The apparatus comprises a ToF sensor configured to perform at least one coded modulation measurement for obtaining measurement data for light reflected from the cover back to the ToF sensor. A measurement range of the ToF sensor is configured to end shortly after the cover for the at least one coded modulation measurement. An illumination element of the ToF sensor for emitting the light is configured to generate the light for the at least one coded modulation measurement based on an illumination signal exhibiting an alternating series of high and low pulses of varying duration. Electronic circuitry of a light capturing element of the ToF sensor for measuring the light reflected from the cover is configured to be driven for the at least one coded modulation measurement based on a reference signal exhibiting an alternating series of high and low pulses of varying duration. The apparatus further comprises a processing circuit configured to determine characterization data based on the measurement data. The characterization data indicate a quantity related to the ToF sensor and/or the cover. The pulse durations of the high and low pulses in the illumination signal and the reference signal and a time-shift between the illumination signal and the reference signal are adjusted to mitigate a response of the time-of-flight sensor to reflections of objects behind the cover for the at least one coded modulation measurement.

Accordingly, while further examples are capable of various modifications and alternative forms, some particular examples thereof are shown in the figures and will subsequently be described in detail. However, this detailed description does not limit further examples to the particular forms described. Further examples may cover all modifications, equivalents, and alternatives falling within the scope of the disclosure. Same or like numbers refer to like or similar elements throughout the description of the figures, which may be implemented identically or in modified form when compared to one another while providing for the same or a similar functionality.

It will be understood that when an element is referred to as being "connected" or "coupled" to another element, the elements may be directly connected or coupled via one or more intervening elements. If two elements A and B are combined using an "or", this is to be understood to disclose all possible combinations, i.e. only A, only B as well as A and B, if not explicitly or implicitly defined otherwise. An alternative wording for the same combinations is "at least one of A and B" or "A and/or B". The same applies, mutatis mutandis, for combinations of more than two Elements.

Whenever a singular form such as "a", "an" and "the" is used and using only a single element is neither explicitly nor implicitly defined as being mandatory, further examples may also use plural elements to implement the same functionality. It will be further understood that the terms "comprises", "comprising", "includes" and/or "including", when used, specify the presence of the stated features, integers, steps, operations, processes, acts, elements and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, processes, acts, elements, components and/or any group thereof.

<FIG> illustrates a flowchart of an example of a method <NUM> for characterizing a ToF sensor and/or a cover covering the ToF sensor. The method <NUM> will be described in the following further with reference to <FIG> which illustrates an exemplary arrangement of a ToF sensor <NUM> and a cover <NUM> covering the ToF sensor <NUM>.

The method <NUM> comprises performing <NUM> at least one Coded Modulation (CM) measurement with the ToF sensor <NUM> for obtaining measurement data for light reflected from the cover <NUM> back to the ToF sensor <NUM>. In general, any number of CM measurement may be performed. For example, exactly one (i.e. a single) CM measurement may be performed for obtaining the measurement data. In other examples, at least two, three, four or more CM measurements may be performed for obtaining the measurement data. In other words, the measurement of the cover <NUM> comprises one or several frames.

As can be seen from <FIG>, light <NUM> is emitted by an illumination element <NUM> of the ToF sensor <NUM> in each CM measurement. The illumination element <NUM> generates the light <NUM> based on an illumination signal exhibiting an alternating series of high and low pulses of varying duration (length). Accordingly, the light <NUM> is a series of light pulses with varying pulse length and varying pulse spacing. For example, the illumination element <NUM> may comprise one or more Light-Emitting Diodes (LEDs) or one or more laser diodes (e.g. one or more Vertical-Cavity Surface-Emitting Lasers, VCSELs) which are fired based on the illumination signal.

The light <NUM> is reflected from the cover <NUM> back to the ToF sensor <NUM>. In particular, the light <NUM> is reflected (at least in part) from the cover <NUM> towards a light capturing element <NUM> of the ToF sensor <NUM>. The light <NUM> may be reflected at a surface of the cover <NUM> and/or inside (within) the cover <NUM>. The reflected light is denoted by the reference sign <NUM> in <FIG>. The reflected light <NUM> arrives at the ToF sensor <NUM> without leaving the module. The light capturing element <NUM> measures the reflected light <NUM>. The light capturing element <NUM> may comprise various components such as e.g. optics (e.g. one or more lenses) and electronic circuitry. For example, the electronic circuitry may comprise an image sensor comprising a plurality of photo-sensitive elements or pixels (e.g. each comprising a Photonic Mixer Device, PMD) and driver electronics for the image sensor. All or only selected elements/pixels of the plurality of photo-sensitive elements/pixels may be used for measuring the reflected light <NUM>. A reference signal is used for driving the electronic circuitry of the light capturing element <NUM> (e.g. the photo-sensitive elements or pixels) for measuring the reflected light <NUM>. Similarly to what is described above for the illumination signal used for driving the illumination element <NUM>, the reference signal exhibits an alternating series of high and low pulses of varying duration (length). It is to be noted that the illumination signal and the reference signal used for a CM measurement may be identical, time-shifted (phase-shifted) with respect to each and/or be different from each other. Further, if more than one CM measurement is performed, different illumination signals and/or reference signals may be used for the individual CM measurements.

Typically, the illumination element <NUM> and the light capturing element <NUM> are arranged in a common cavity that is (at least partly) covered by the cover <NUM> in order to protect the ToF sensor <NUM> from dust, moisture, dirt, etc. The cover <NUM> may, e.g., be made up of glass, plastics or any other suitable material. For example, the cover <NUM> may be a glass cover of a mobile phone or an automotive ToF system. In some examples, the cover <NUM> may be a display such as an OLED (Organic Light Emitting Diode) display or a micro LED display, or a part thereof. It is to be noted that the cover <NUM> may be any element that is capable of protecting the ToF sensor <NUM> from the surrounding environment and that is at least partially transparent for the modulated light <NUM> emitted by the illumination element <NUM>.

A measurement range of the ToF sensor is configured to end shortly (e.g. immediately) after the cover for the at least one CM measurement according to method <NUM>. This is exemplarily depicted in <FIG> illustrating the measurement range <NUM> of the ToF sensor <NUM>. The measurement range <NUM> is the distance (depth) range in which the ToF sensor <NUM> is capable of sensing a distance of an object to the ToF sensor <NUM> based on the light reflected from the object back to the ToF sensor <NUM>. In the example of <FIG>, the measurement range <NUM> begins at a distance d<NUM> to the ToF sensor <NUM> and ends at a distance di to the ToF sensor <NUM>. The distance d<NUM> limiting the measurement range <NUM> shortly (e.g. immediately) follows the distance dc denoting the distance of the cover <NUM> to the ToF sensor <NUM>. For example, the measurement range <NUM> of the ToF sensor <NUM> may end less than <NUM>, <NUM>, <NUM>, <NUM>, <NUM> or <NUM> after the cover <NUM> (i.e. the distance di may differ by less than, e.g., <NUM>, <NUM>, <NUM>, <NUM>, <NUM> or <NUM> from the distance dc).

The measurement range of the ToF sensor <NUM> for the at least one CM measurement is adjusted by adjusting the pulse durations (lengths) of the high and low pulses in the illumination signal and the reference signal. Further, the measurement range of the ToF sensor <NUM> is adjusted by adjusting a time-shift (phase shift) between the illumination signal and the reference signal. By using CM for the modulation of the light <NUM>, the response of the ToF sensor <NUM> is restricted to distances similar to the light path between the ToF sensor <NUM> and the cover <NUM>. According to the invention, the modulation code(s) underlying the illumination signal and the reference signal may, is/are selected to have a steep slope in order to mitigate a response of the ToF sensor <NUM> to reflections of objects behind the cover <NUM>. Accordingly, only light which is reflected by the cover <NUM> is measured.

The ToF sensor <NUM> generates and outputs measurement data based on the light arriving at the light capturing element <NUM>. Due to the restriction of the measurement range <NUM> of the ToF sensor <NUM>, the ToF sensor is (substantially) only sensitive to the reflected light <NUM> arriving at the light capturing element <NUM> from the cover <NUM>. Therefore, measurement data for (of) light reflected from the cover <NUM> back to the ToF sensor <NUM> is obtained for the at least one CM measurement.

The method <NUM> additionally comprises determining <NUM> characterization data based on the measurement data for the light reflected from the cover <NUM> back to the ToF sensor <NUM>. The characterization data indicate a quantity related to the ToF sensor <NUM> and/or the cover <NUM>.

The cover <NUM> is a known object with known reflectivity at a known, fixed distance to the ToF sensor <NUM>. Accordingly, the light path of the light <NUM> to the cover <NUM> and back to the ToF sensor <NUM> has a fixed distance. Taking into account the knowledge about the cover <NUM>, the reflected light <NUM> arriving at the light capturing element <NUM> from the cover <NUM> allows to characterize ToF sensor <NUM> and the cover <NUM>. Hence, the method <NUM> may allow to characterize the ToF sensor <NUM> and/or the cover <NUM> by means of the characterization data derived from the measurement data for light reflected from the cover <NUM> back to the ToF sensor <NUM>.

The characterization data may be of various types and may indicate various quantities related to the ToF sensor and/or the cover. In the following, some exemplary types of characterization data will be described in detail. However, it is to be noted that the present disclosure is not limited to the examples described in the following.

According to some examples, the characterization data indicate a distance error correction value for correcting distance values determined based on depth measurements performed by the ToF sensor <NUM>. ToF sensors such as the ToF sensor <NUM> conventionally suffer from a distance (depth) measurement error (offset), which may depend on various factors such as a temperature or aging. For example, the generation of the illumination signal and the driver electronics operation is temperature dependent. Accordingly, the temperature may affect the indirect light path over the cover <NUM>. The distance measurement error is to be compensated in order to obtain correct distance (depth) measurement results. As described in the following, the known path distance between the cover <NUM> and the ToF sensor <NUM> and the obtained measurement data enable to correct for this error.

To obtain the distance error correction value, determining <NUM> the characterization data comprises determining a measured distance of the cover <NUM> to the ToF sensor <NUM> based on the measurement data. In other words, the distance of the cover <NUM> to the ToF sensor <NUM> is measured via the at least one CM measurement. Further, determining <NUM> the characterization data comprises determining the distance error correction value based on a comparison of the measured distance of the cover <NUM> to the ToF sensor <NUM> to the known distance of the cover <NUM> to the ToF sensor <NUM>. By comparing the measured distance of the cover <NUM> to the ToF sensor <NUM> to the known distance of the cover <NUM> to the ToF sensor <NUM>, a discrepancy between the measured distance of the cover <NUM> to the ToF sensor <NUM> and the actual distance of the cover <NUM> to the ToF sensor <NUM> may be determined and the distance error correction value may be derived therefrom.

Assuming that a distance value is indicating a distance of the ToF sensor <NUM> to an object in a scene (not illustrated in <FIG>) sensed by the ToF sensor <NUM> is determined based on one or more depth measurements performed by ToF sensor <NUM>, the method <NUM> may further comprise correcting the distance value using the determined distance error correction value. For example, the distance error correction value may be a distance error correction offset which is added to or subtracted from the distance value, or the distance error correction value may be a factor which is multiplied with the distance value. Accordingly, the distance value suffering from the distance measurement error of the ToF sensor <NUM> may be corrected in order to provide an error corrected distance value.

For example, if the light capturing element <NUM> comprises a plurality of photo-sensitive elements or pixels, a respective distance error correction value may be determined for each or at least part of the plurality of photo-sensitive elements or pixels. In other words, the distance error correction value may be calculated based on a pixel-by-pixel basis.

In other examples, the characterization data indicate a measured output power of the illumination element <NUM>. The output power of the illumination element <NUM> may depend on various factors such as a temperature or aging. The reflectivity of the cover <NUM> is assumed to be substantially constant. Accordingly, the reflected light <NUM> arriving at the light capturing element <NUM> is proportional to the output power of the illumination element <NUM>. By digitizing the reflected light <NUM> arriving at the light capturing element <NUM>, the current output power of the illumination element <NUM> may be measured. For example, if the output power of the illumination element <NUM> is drifting due to temperature variations, the drift in output power may be measured and be used as an input of a control system (controller) of the illumination element <NUM> in order to regulate the emitted optical power. Accordingly, a constant optical power output of the illumination element <NUM> may be achieved. For example, a constant optical power output of the illumination element <NUM> for different temperatures may be achieved. For example, the illumination signal for controlling the illumination element <NUM> may be generated based on the characterization data according to the method <NUM>. By varying the illumination signal based on the characterization data, the output power of the illumination element <NUM> may be controlled. Similarly, duty cycle adaptation, pulse skipping or exposure time adaptation may be performed based on the characterization data in order to achieve a (substantially) constant average output power of the illumination element <NUM>. For example, a control algorithm for controlling light emission by the illumination element <NUM> may receive the characterization data as input. Alternatively or additionally, the reference signal for driving the electronic circuitry of the light capturing element <NUM> may be generated based on the characterization data according to the method <NUM>. By varying the reference signal based on the characterization data, the operation of the light capturing element <NUM> may be adapted to the measured output power of the illumination element <NUM>.

In case the illumination element <NUM> comprises more than one light source (e.g. an LED or a VCSEL), the method <NUM> may be applied for each of the light sources separately in order to measure the output power of the light sources of the illumination element <NUM> separately. Accordingly, each of the light sources of the illumination element <NUM> may be controlled individually based on the respective measured output power.

In still other examples, the characterization data indicate a condition of the cover. Different conditions of the cover <NUM> affect the reflectivity of the cover <NUM> and may, hence, affect (influence) the light emission and/or reception characteristics of the ToF sensor <NUM>. The reflectivity of the cover <NUM> is known for at least one specific condition of the cover <NUM>. Accordingly, the reflected light <NUM> may be used to classify the condition of the cover. The condition of the cover <NUM> may, e.g., indicate at least one of the following: no foreign material present on the cover <NUM>, presence of foreign material (e.g. dust, fluid drops) on the cover <NUM>, presence of dirt on the cover <NUM>, presence of one or more finger print marks on the cover <NUM>, presence of fluid on the cover <NUM>. For example, the presence of dirt on the cover <NUM> may influence the reflectivity of the cover such that the reflected light <NUM> exhibits a certain characteristic. Accordingly, the obtained measurement data for the at least one CM measurement while dirt is present on the cover <NUM> may exhibit a certain characteristic. By comparing the obtained measurement data for the at least one CM measurement while dirt is present on the cover <NUM> with reference data for one or more predefined conditions of the cover <NUM>, the condition of the cover <NUM> may be determined.

In some examples, the method <NUM> may further comprise outputting characterization data to other circuitry (e.g. an application processor).

The method <NUM> may be used during operation of the ToF sensor <NUM>. For example, the at least one CM measurement for obtaining the measurement data may be performed in a sequence of depth measurements for obtaining a depth image. Accordingly, the determined characterization data may be used in the process of the obtaining the depth image. For example, if the determined characterization data indicate a distance error correction value as described above, a distance value determined based on the sequence of depth measurements may be corrected using the distance error correction value in the process of the obtaining the depth image. Similarly, if the characterization data indicate a measured output power of the illumination element <NUM>, the output power of the illumination element <NUM> during the sequence of depth measurements may be controlled based on the measured output power in order to achieve a (substantially) constant average output power of the illumination element <NUM> during the sequence of depth measurements. The at least one CM measurement for obtaining the measurement data may be performed at an arbitrary position in the sequence of depth measurements for obtaining a depth image.

In other examples, the at least one CM measurement for obtaining the measurement data may be performed sporadically, i.e. independent from performing in a sequence of depth measurements for obtaining a depth image. For example, the at least one CM measurement for obtaining the measurement data may be performed if there are no reflective objects in a scene sensed by the ToF sensor <NUM> which might affect the measurement(s). Accordingly, the method <NUM> may further comprise performing one or more depth measurements of a scene with the ToF sensor <NUM> and determining, based on the one or more depth measurements of the scene (e.g. based on the data obtained from the one or more depth measurements), whether any photo-sensitive element (pixel) of the light capturing element <NUM> that is (intended) to be used for the at least one CM measurement is receiving light reflected from any object in the scene back to the ToF sensor <NUM>. (Only) If no photo-sensitive element (pixel) to be used for the at least one CM measurement is receiving light reflected from any object in the scene back to the ToF sensor <NUM>, the at least one CM measurement for obtaining the measurement data is performed.

According to method <NUM>, the characterization data may be stored in a (data) memory together with temperature data indicating a temperature at the ToF sensor <NUM> during the at least one CM measurement for obtaining the measurement data. The temperature at the ToF sensor <NUM> may, e.g., indicate the temperature at the illumination element <NUM>, the light capturing element <NUM> or a sub-element thereof. For example, one or more temperature sensors may be arranged at the ToF sensor <NUM> for measuring the temperature and providing the temperature data. The characterization data may, e.g., be stored in the memory together with the temperature data during operation of the ToF sensor <NUM> or at a factory calibration. The memory may be a memory of the ToF sensor <NUM> or an external memory accessible for the ToF sensor <NUM>.

In addition to the characterization data further pieces of characterization data may be stored in the memory. Each of the further pieces of characterization data may be stored together with a respective piece of temperature data indicating a temperature at the ToF sensor <NUM> different from the temperature during the at least one CM measurement for obtaining the measurement data. For example, multiple CM measurement may be done at different temperatures in order to obtain respective pieces of characterization data for different temperatures. Accordingly, the characterization data may serve as calibration data for different temperatures, i.e.be temperature dependent calibration data. For obtaining characterization data for a target (desired) temperature, the method <NUM> may comprise controlling the ToF sensor <NUM> to heat up to the target temperature (e.g. by controlling the ToF sensor <NUM> to continuously perform ToF measurements until the target temperature is reached), and to perform the at least one CM measurement for obtaining the measurement data once (after) the target temperature has been reached.

The stored temperature dependent calibration data may be used by the ToF sensor <NUM> for (e.g. regularly, repeatedly) adjusting its operation based on the current temperature. For example, the method <NUM> may comprise measuring a current temperature at the ToF sensor <NUM> (e.g. using the above described temperature sensor(s)). Further, the method <NUM> may comprise selecting one of the characterization data and the further pieces of characterization data based on a comparison of the current temperature and the temperatures indicated by the respective temperature information (i.e. the pieces of temperature data) stored in the memory together with the characterization data and the further pieces of characterization data. The method <NUM> may additionally comprise operating the ToF sensor <NUM> using the selected one of the characterization data and the further pieces of characterization data. For example, if the pieces of characterization data indicate for different temperatures a respective distance error correction value, a suitable distance error correction value for the current temperature may be selected based on a simple temperature measurement at the ToF sensor <NUM>. Similarly, if the pieces of characterization data indicate for different temperatures a respective measured output power of the illumination element <NUM>, suitable calibration data for the current temperature for controlling the illumination element <NUM> may be selected based on a simple temperature measurement at the ToF sensor <NUM>. In other words, only the temperature may be measured at operation in order to select corresponding calibration data for error correction.

Further, a respective piece of characterization data stored in the memory together with a respective piece of temperature data may be updated with characterization data newly determined according to the method <NUM> for the same temperature as indicated by the stored piece of temperature data.

As described above for various examples, light reflected by the cover <NUM> may be used for system temperature compensation.

An example of an apparatus <NUM> for characterizing a ToF sensor and/or a cover covering the ToF sensor according to the proposed technique is further illustrated in <FIG>. The apparatus <NUM> comprises a ToF sensor <NUM>. The ToF sensor <NUM> comprises an illumination element <NUM> and a light capturing element <NUM> for performing ToF measurements according to the above described technique. The illumination element <NUM> and the light capturing element <NUM> are arranged in a common cavity <NUM> that is (at least in part) covered by a cover <NUM>. In particular, the ToF sensor <NUM> is configured to perform at least one CM measurement for obtaining measurement data for light reflected from the cover <NUM> back to the ToF sensor <NUM>. A measurement range of the ToF sensor <NUM> is configured to end shortly (e.g. immediately) after the cover <NUM> for the at least one CM measurement.

Further, the apparatus <NUM> comprises a processing circuit <NUM>. For example, the processing circuit <NUM> may be a single dedicated processor, a single shared processor, or a plurality of individual processors, some of which or all of which may be shared, a digital signal processor (DSP) hardware, an application specific integrated circuit (ASIC) or a field programmable gate array (FPGA). The processing circuit <NUM> may optionally be coupled to, e.g., read only memory (ROM) for storing software, random access memory (RAM) and/or nonvolatile memory. The processing circuit <NUM> is configured to perform processing according to the above described technique. In particular, the processing circuit <NUM> is configured to determine characterization data based on the measurement data. The characterization data indicate a quantity related to the ToF sensor <NUM> and/or the cover <NUM>.

The apparatus <NUM> may further comprise further hardware - conventional and/or custom.

The examples as described herein may be summarized as follows:
Some examples relate to a method for characterizing a ToF sensor and/or a cover covering the ToF sensor is provided. The method comprises performing at least one coded modulation measurement with the ToF sensor for obtaining measurement data for light reflected from the cover back to the ToF sensor. A measurement range of the ToF sensor is configured to end shortly after the cover for the at least one coded modulation measurement. Further, the method comprises determining characterization data based on the measurement data. The characterization data indicate a quantity related to the ToF sensor and/or the cover.

According to some examples, an illumination element of the ToF sensor for emitting the light and a light capturing element of the ToF sensor for measuring the light reflected from the cover are arranged in a common cavity that is covered by the cover.

In some examples, at least two coded modulation measurements are performed for obtaining the measurement data.

According to some examples, the characterization data indicate a distance error correction value for correcting distance values determined based on depth measurements performed by the ToF sensor, and determining the characterization data comprises: determining a measured distance of the cover to the ToF sensor based on the measurement data; and determining the distance error correction value based on a comparison of the measured distance of the cover to the ToF sensor to a known distance of the cover to the ToF sensor.

In some examples, the method further comprises correcting, using the distance error correction value, a distance value indicating a distance of the ToF sensor to an object in a scene sensed by the ToF sensor, wherein the distance value is determined based on depth measurements performed by the ToF sensor.

According to some examples, the characterization data indicate a measured output power of an illumination element of the ToF sensor for emitting the light.

In some examples, the method further comprises: generating, based on the characterization data, an illumination signal for controlling the illumination element of the ToF sensor; and/or generating, based on the characterization data, a reference signal for driving electronic circuitry of a light capturing element of the ToF sensor for measuring the light reflected from the cover.

According to some examples, the characterization data indicate a condition of the cover.

In some examples, the condition of the cover indicates at least one of the following: no foreign material present on the cover, presence of foreign material on the cover, presence of dirt on the cover, presence of a finger print mark on the cover, presence of fluid on the cover.

According to some examples, the method further comprises storing the characterization data in a memory together with temperature data indicating a temperature at the ToF sensor during the at least one coded modulation measurement for obtaining the measurement data.

In some examples, in addition to the characterization data further pieces of characterization data are stored in the memory, wherein each of the further pieces of characterization data is stored together with a respective piece of temperature data indicating a temperature at the ToF sensor different from the temperature during the at least one coded modulation measurement for obtaining the measurement data, and wherein the method further comprises: measuring a current temperature at the ToF sensor; selecting one of the characterization data and the further pieces of characterization data based on a comparison of the current temperature and the temperatures indicated by the pieces of temperature data stored in the memory together with the characterization data and the further pieces of characterization data; and operating the ToF sensor using the selected one of the characterization data and the further pieces of characterization data.

According to some examples, the ToF sensor comprises a light capturing element for measuring the light reflected from the cover and the method further comprises: performing one or more depth measurements of a scene with the ToF sensor; determining, based on the one or more depth measurements of the scene, whether any photo-sensitive element of the light capturing element that is to be used for the at least one CM measurement is receiving light reflected from any object in the scene back to the ToF sensor; and, if no photo-sensitive element to be used for the at least one CM measurement is receiving light reflected from any object in the scene back to the ToF sensor, performing the at least one CM measurement for obtaining the measurement data.

In some examples, the at least one coded modulation measurement for obtaining the measurement data is performed in a sequence of depth measurements for obtaining a depth image.

Other examples relate to an apparatus for characterizing a ToF sensor and/or a cover covering the ToF sensor. The apparatus comprises a ToF sensor configured to perform at least one coded modulation measurement for obtaining measurement data for light reflected from the cover back to the ToF sensor. A measurement range of the ToF sensor is configured to end shortly after the cover for the at least one coded modulation measurement. The apparatus further comprises a processing circuit configured to determine characterization data based on the measurement data. The characterization data indicate a quantity related to the ToF sensor and/or the cover.

According to some examples, an illumination element of the ToF sensor for emitting light and a light capturing element of the ToF sensor for measuring the light reflected from the cover are arranged in a common cavity that is covered by the cover.

Examples of the present disclosure may provide a ToF reference measurement based on the reflection of a cover (glass).

Claim 1:
A method (<NUM>) for characterizing a time-of-flight sensor and/or a cover covering the time-of-flight sensor, the method (<NUM>) comprising:
performing (<NUM>) at least one coded modulation measurement with the time-of-flight sensor for obtaining measurement data for light reflected from the cover back to the time-of-flight sensor, wherein a measurement range of the time-of-flight sensor is configured to end shortly after the cover for the at least one coded modulation measurement, wherein an illumination element of the time-of-flight sensor for emitting the light generates the light for the at least one coded modulation measurement based on an illumination signal exhibiting an alternating series of high and low pulses of varying duration, and wherein electronic circuitry of a light capturing element of the time-of-flight sensor for measuring the light reflected from the cover is driven for the at least one coded modulation measurement based on a reference signal exhibiting an alternating series of high and low pulses of varying duration; and
determining (<NUM>) characterization data based on the measurement data, wherein the characterization data indicate a quantity related to the time-of-flight sensor and/or the cover,
wherein the pulse durations of the high and low pulses in the illumination signal and the reference signal and a time-shift between the illumination signal and the reference signal are adjusted by means of selecting the at least one modulation code underlying the illumination signal and the reference signal, to have a steep slope
to mitigate a response of the time-of-flight sensor to reflections of objects behind the cover for the at least one coded modulation measurement.