SBIR Phase I: GHz Time-of-Flight Depth Sensing for Robotic Bin Picking

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The broader impact/commercial impact of this project will be to create a depth vision system that acceleratesthe transition to intelligent automation. The intelligent automation movement is driven by the opportunityto increase human productivity, and it can be seen in all domains: from Siemen?s self-organizingmanufacturing plants to Amazon?s proposed delivery drones. This project aims to improve robotic vision,which is currently a limitation to greater autonomy. The research uses innovations in semiconductorphysics to create time-of-flight depth cameras that reach new levels of spatial resolution and fidelity. Thesecameras, in conjunction with rapidly evolving software that uses depth data to model the physical world,give robotic systems the human-like abilities they need to perform more complicated tasks in dynamicenvironments. Robotics will become increasingly effective at the navigation, material handling, and objectmanipulation tasks that are the basis of so many manufacturing and logistics processes. The projectoutcomes will advance the state-of-the-art in depth vision technology, and provide a prototype camera thatcan be used to test a variety of challenging object recognition tasks.This Small Business Innovation Research (SBIR) Phase I project addresses an important limitation in depthcameras that use the phase delay time-of-flight (TOF) method. Existing TOF cameras use ?pixel-leveldemodulation?: specially designed photodetector arrays where each pixel performs both light detection anddemodulation. This design limits the modulation frequency, and thus depth accuracy, because the highfrequency signals create excessive noise and parasitic capacitances. The authors propose an alternative?optical demodulation? design wherein light is demodulated by a single fast optical shutter, and thencollected by a separate conventional image sensor. By separating light modulation from light detection,parasitic capacitances are eliminated and it is possible to reach high frequencies with acceptable powerconsumption and noise. The research program will develop new optical shutters that demonstrate thesecharacteristics, and integrate the shutters into a functioning prototype depth camera. Success will show thatTOF cameras can be produced with substantially higher spatial resolution and design flexibility.