Fast-Gated 16 x 16 SPAD Array With 16 on-Chip 6 ps Time-to-Digital Converters for Non-Line-of-Sight Imaging

We present the design and characterization of a fully-integrated array of 16 x 16 Single-Photon Avalanche Diodes (SPADs) with fast-gating capabilities and 16 on-chip 6 ps time-to-digital converters, which has been embedded in a compact imaging module. Such sensor has been developed for Non-Line-Of-Sight imaging applications, which require: i) a narrow instrument response function, for a centimeter-accurate single-shot precision; ii) fast-gated SPADs, for time-filtering of directly reflected photons; iii) high photon detection probability, for acquiring faint signals undergoing multiple scattering events. Thanks to a novel multiple differential SPAD-SPAD sensing approach, SPAD detectors can be swiftly activated in less than 500 ps and the full-width at half maximum of the instrument response function is always less than 75 ps (60 ps on average). Temporal responses are consistently uniform throughout the gate window, showing just few picoseconds of time dispersion when 30 ns gate pulses are applied, while the differential non-linearity is as low as 250 fs. With a photon detection probability peak of 70% at 490 nm, a fill-factor of 9.6% and up to 1.6 . 10(8) photon time-tagging measurements per second, such sensor fulfills the demand for fully-integrated imaging solutions optimized for non-line-of-sight imaging applications, enabling to cut exposure times while also optimizing size, weight, power and cost, thus paving the way for further scaled architectures

Advanced photon counting techniques for long-range depth imaging

The Time-Correlated Single-Photon Counting (TCSPC) technique has emerged as a candidate approach for Light Detection and Ranging (LiDAR) and active depth imaging applications. The work of this Thesis concentrates on the development and investigation of functional TCSPC-based long-range scanning time-of-flight (TOF) depth imaging systems. Although these systems have several different configurations and functions, all can facilitate depth profiling of remote targets at low light levels and with good surface-to-surface depth resolution. Firstly, a Superconducting Nanowire Single-Photon Detector (SNSPD) and an InGaAs/InP Single-Photon Avalanche Diode (SPAD) module were employed for developing kilometre-range TOF depth imaging systems at wavelengths of ~1550 nm. Secondly, a TOF depth imaging system at a wavelength of 817 nm that incorporated a Complementary Metal-Oxide-Semiconductor (CMOS) 32×32 Si-SPAD detector array was developed. This system was used with structured illumination to examine the potential for covert, eye-safe and high-speed depth imaging. In order to improve the light coupling efficiency onto the detectors, the arrayed CMOS Si-SPAD detector chips were integrated with microlens arrays using flip-chip bonding technology. This approach led to the improvement in the fill factor by up to a factor of 15. Thirdly, a multispectral TCSPC-based full-waveform LiDAR system was developed using a tunable broadband pulsed supercontinuum laser source which can provide simultaneous multispectral illumination, at wavelengths of 531, 570, 670 and ~780 nm. The investigated multispectral reflectance data on a tree was used to provide the determination of physiological parameters as a function of the tree depth profile relating to biomass and foliage photosynthetic efficiency. Fourthly, depth images were estimated using spatial correlation techniques in order to reduce the aggregate number of photon required for depth reconstruction with low error. A depth imaging system was characterised and re-configured to reduce the effects of scintillation due to atmospheric turbulence. In addition, depth images were analysed in terms of spatial and depth resolution

Automotive Three-Dimensional Vision Through a Single-Photon Counting SPAD Camera

We present an optical 3-D ranging camera for automotive applications that is able to provide a centimeter depth resolution over a mbox{40}^{\circ} \times mbox{20}^{\circ} field of view up to 45 m with just 1.5 W of active illumination at 808 nm. The enabling technology we developed is based on a CMOS imager chip of 64 \times 32 pixels, each with a single-photon avalanche diode (SPAD) and three 9-bit digital counters, able to perform lock-in time-of-flight calculation of individual photons emitted by a laser illuminator, reflected by the objects in the scene, and eventually detected by the camera. Due to the SPAD single-photon sensitivity and the smart in-pixel processing, the camera provides state-of-the-art performance at both high frame rates and very low light levels without the need for scanning and with global shutter benefits. Furthermore, the CMOS process is automotive certified

Design of a low-noise optoelectronic amplifier channel for a laser radar

Abstract. The goal of this Master’s thesis is to find and develop the best topologies and circuit structures for a low-noise amplifier channel for a laser radar application. In this work different topologies, their strengths, weaknesses and challenges are studied. Low-noise optoelectronic amplifier channels have been used extensively in a variety of applications such as wireless communication, optical receivers and laser radar. The common constraint for all the mentioned applications is the noise. The optical input signal for optoelectronic receivers can be very weak. In order to detect the signal reliably and accurately, the receiver must not add significant noise to the input signal. Therefore, this thesis concentrates on improving the signal to noise ratio (SNR) by minimizing the noise sources, filtering the high frequency noise and amplifying the signal. In addition, the delay of the whole channel should be constant with respect to signal strength, supply voltage etc. variations. This low-noise optoelectronic amplifier channel can be employed in a laser radar to detect the distance of several kilometers.Pienikohinaisen optoelektronisen vahvistinkanavan suunnittelu lasertutkasovellukseen. Tiivistelmä. Tämän diplomityön tavoitteena on etsiä ja kehittää sopivia piiriratkaisuja ja -rakenteita lasertutkan pienikohinaiseen vahvistinkanavaan. Työssä tutkittiin eri rakenteita, niiden vahvuuksia, heikkouksia ja haasteita. Pienikohinaisia optoelektronisia vahvistinkanavia on käytetty paljon useissa sovelluksissa kuten langattomassa viestinnässä, optisissa vastaanottimissa ja lasertutkissa. Näissä sovelluksissa yhteisenä haasteena on kohina. Optoelektronisen vastaanottimen tulosignaali voi olla hyvin heikko, joten tarkan ja luotettavan vastaanoton varmistamiseksi vastaanottimen itsessään tulee olla hyvin pienikohinainen. Tässä työssä keskityttiinkin signaalikohinasuhteen (SNR) optimointiin minimoimalla itse kohinalähteet, suodattamalla korkeataajuista kohinaa ja vahvistamalla signaalia. Lisäksi koko kanavan viive oli pidettävä mahdollisimman vakiona eri signaalitasoilla, eri lämpötiloissa, eri käyttöjännitteillä jne. Työssä kehitettyä optoelektronista vahvistinkanavaa voidaan käyttää lasertutkissa mittaamaan etäisyyksiä kilometrien päässä oleviin kohteisiin

An overview of lidar imaging systems for autonomous vehicles

Lidar imaging systems are one of the hottest topics in the optronics industry. The need to sense the surroundings of every autonomous vehicle has pushed forward a race dedicated to deciding the final solution to be implemented. However, the diversity of state-of-the-art approaches to the solution brings a large uncertainty on the decision of the dominant final solution. Furthermore, the performance data of each approach often arise from different manufacturers and developers, which usually have some interest in the dispute. Within this paper, we intend to overcome the situation by providing an introductory, neutral overview of the technology linked to lidar imaging systems for autonomous vehicles, and its current state of development. We start with the main single-point measurement principles utilized, which then are combined with different imaging strategies, also described in the paper. An overview of the features of the light sources and photodetectors specific to lidar imaging systems most frequently used in practice is also presented. Finally, a brief section on pending issues for lidar development in autonomous vehicles has been included, in order to present some of the problems which still need to be solved before implementation may be considered as final. The reader is provided with a detailed bibliography containing both relevant books and state-of-the-art papers for further progress in the subject.Peer ReviewedPostprint (published version

Proof-of-concept of a single-point Time-of-Flight LiDAR system and guidelines towards integrated high-accuracy timing, advanced polarization sensing and scanning with a MEMS micromirror

Dissertação de mestrado integrado em Engenharia Física (área de especialização em Dispositivos, Microssistemas e Nanotecnologias)The core focus of the work reported herein is the fulfillment of a functional Light Detection and Ranging (LiDAR) sensor to validate the direct Time-of-Flight (ToF) ranging concept and the acquisition of critical knowledge regarding pivotal aspects jeopardizing the sensor’s performance, for forthcoming improvements aiming a realistic sensor targeted towards automotive applications. Hereupon, the ToF LiDAR system is implemented through an architecture encompassing both optical and electronical functions and is subsequently characterized under a sequence of test procedures usually applied in benchmarking of LiDAR sensors. The design employs a hybrid edge-emitting laser diode (pulsed at 6kHz, 46ns temporal FWHM, 7ns rise-time; 919nm wavelength with 5nm FWHM), a PIN photodiode to detect the back-reflected radiation, a transamplification stage and two Time-to-Digital Converters (TDCs), with leading-edge discrimination electronics to mark the transit time between emission and detection events. Furthermore, a flexible modular design is adopted using two separate Printed Circuit Boards (PCBs), comprising the transmitter (TX) and the receiver (RX), i.e. detection and signal processing. The overall output beam divergence is 0.4º×1º and an optical peak power of 60W (87% overall throughput) is realized. The sensor is tested indoors from 0.56 to 4.42 meters, and the distance is directly estimated from the pulses transit time. The precision within these working distances ranges from 4cm to 7cm, reflected in a Signal-to-Noise Ratio (SNR) between 12dB and 18dB. The design requires a calibration procedure to correct systematic errors in the range measurements, induced by two sources: the timing offset due to architecture-inherent differences in the optoelectronic paths and a supplementary bias resulting from the design, which renders an intensity dependence and is denoted time-walk. The calibrated system achieves a mean accuracy of 1cm. Two distinct target materials are used for characterization and performance evaluation: a metallic automotive paint and a diffuse material. This selection is representative of two extremes of actual LiDAR applications. The optical and electronic characterization is thoroughly detailed, including the recognition of a good agreement between empirical observations and simulations in ZEMAX, for optical design, and in a SPICE software, for the electrical subsystem. The foremost meaningful limitation of the implemented design is identified as an outcome of the leading-edge discrimination. A proposal for a Constant Fraction Discriminator addressing sub-millimetric accuracy is provided to replace the previous signal processing element. This modification is mandatory to virtually eliminate the aforementioned systematic bias in range sensing due to the intensity dependency. A further crucial addition is a scanning mechanism to supply the required Field-of-View (FOV) for automotive usage. The opto-electromechanical guidelines to interface a MEMS micromirror scanner, achieving a 46º×17º FOV, with the LiDAR sensor are furnished. Ultimately, a proof-of-principle to the use of polarization in material classification for advanced processing is carried out, aiming to complement the ToF measurements. The original design is modified to include a variable wave retarder, allowing the simultaneous detection of orthogonal linear polarization states using a single detector. The material classification with polarization sensing is tested with the previously referred materials culminating in an 87% and 11% degree of linear polarization retention from the metallic paint and the diffuse material, respectively, computed by Stokes parameters calculus. The procedure was independently validated under the same conditions with a micro-polarizer camera (92% and 13% polarization retention).O intuito primordial do trabalho reportado no presente documento é o desenvolvimento de um sensor LiDAR funcional, que permita validar o conceito de medição direta do tempo de voo de pulsos óticos para a estimativa de distância, e a aquisição de conhecimento crítico respeitante a aspetos fundamentais que prejudicam a performance do sensor, ambicionando melhorias futuras para um sensor endereçado para aplicações automóveis. Destarte, o sistema LiDAR é implementado através de uma arquitetura que engloba tanto funções óticas como eletrónicas, sendo posteriormente caracterizado através de uma sequência de testes experimentais comumente aplicáveis em benchmarking de sensores LiDAR. O design tira partido de um díodo de laser híbrido (pulsado a 6kHz, largura temporal de 46ns; comprimento de onda de pico de 919nm e largura espetral de 5nm), um fotodíodo PIN para detetar a radiação refletida, um andar de transamplificação e dois conversores tempo-digital, com discriminação temporal com threshold constante para marcar o tempo de trânsito entre emissão e receção. Ademais, um design modular flexível é adotado através de duas PCBs independentes, compondo o transmissor e o recetor (deteção e processamento de sinal). A divergência global do feixe emitido para o ambiente circundante é 0.4º×1º, apresentando uma potência ótica de pico de 60W (eficiência de 87% na transmissão). O sensor é testado em ambiente fechado, entre 0.56 e 4.42 metros. A precisão dentro das distâncias de trabalho varia entre 4cm e 7cm, o que se reflete numa razão sinal-ruído entre 12dB e 18dB. O design requer calibração para corrigir erros sistemáticos nas distâncias adquiridas devido a duas fontes: o desvio no ToF devido a diferenças nos percursos optoeletrónicos, inerentes à arquitetura, e uma dependência adicional da intensidade do sinal refletido, induzida pela técnica de discriminação implementada e denotada time-walk. A exatidão do sistema pós-calibração perfaz um valor médio de 1cm. Dois alvos distintos são utilizados durante a fase de caraterização e avaliação performativa: uma tinta metálica aplicada em revestimentos de automóveis e um material difusor. Esta seleção é representativa de dois cenários extremos em aplicações reais do LiDAR. A caraterização dos subsistemas ótico e eletrónico é minuciosamente detalhada, incluindo a constatação de uma boa concordância entre observações empíricas e simulações óticas em ZEMAX e elétricas num software SPICE. O principal elemento limitante do design implementado é identificado como sendo a técnica de discriminação adotada. Por conseguinte, é proposta a substituição do anterior bloco por uma técnica de discriminação a uma fração constante do pulso de retorno, com exatidões da ordem sub-milimétrica. Esta modificação é imperativa para eliminar o offset sistemático nas medidas de distância, decorrente da dependência da intensidade do sinal. Uma outra inclusão de extrema relevância é um mecanismo de varrimento que assegura o cumprimento dos requisitos de campo de visão para aplicações automóveis. As diretrizes para a integração de um micro-espelho no sensor concebido são providenciadas, permitindo atingir um campo de visão de 46º×17º. Conclusivamente, é feita uma prova de princípio para a utilização da polarização como complemento das medições do tempo de voo, de modo a suportar a classificação de materiais em processamento avançado. A arquitetura original é modificada para incluir uma lâmina de atraso variável, permitindo a deteção de estados de polarização ortogonais com um único fotodetetor. A classificação de materiais através da aferição do estado de polarização da luz refletida é testada para os materiais supramencionados, culminando numa retenção de polarização de 87% (tinta metálica) e 11% (difusor), calculados através dos parâmetros de Stokes. O procedimento é independentemente validado com uma câmara polarimétrica nas mesmas condições (retenção de 92% e 13%)

Noise shaping Asynchronous SAR ADC based time to digital converter

Time-to-digital converters (TDCs) are key elements for the digitization of timing information in modern mixed-signal circuits such as digital PLLs, DLLs, ADCs, and on-chip jitter-monitoring circuits. Especially, high-resolution TDCs are increasingly employed in on-chip timing tests, such as jitter and clock skew measurements, as advanced fabrication technologies allow fine on-chip time resolutions. Its main purpose is to quantize the time interval of a pulse signal or the time interval between the rising edges of two clock signals. Similarly to ADCs, the performance of TDCs are also primarily characterized by Resolution, Sampling Rate, FOM, SNDR, Dynamic Range and DNL/INL. This work proposes and demonstrates 2nd order noise shaping Asynchronous SAR ADC based TDC architecture with highest resolution of 0.25 ps among current state of art designs with respect to post-layout simulation results. This circuit is a combination of low power/High Resolution 2nd Order Noise Shaped Asynchronous SAR ADC backend with simple Time to Amplitude converter (TAC) front-end and is implemented in 40nm CMOS technology. Additionally, special emphasis is given on the discussion on various current state of art TDC architectures.Electrical and Computer Engineerin

Range-finding SPAD array with smart laser-spot tracking and TDC sharing for background suppression

We present the design and experimental characterization of a CMOS sensor based on Single-Photon Avalanche Diodes for direct Time-Of-Flight single-point distance ranging, under high background illumination for short-range applications. The sensing area has a rectangular shape (40 W 10 SPADs) to deal with the backscattered light spot displacement across the detector, dependent on target distance, due to the non-confocal optical setup. Since only few SPADs are illuminated by the laser spot, we implemented a smart laser-spot tracking within the active area, so to define the specific Region-Of-Interest (ROI) with only SPADs hit by signal photons and a smart sharing of the timing electronics, so to significantly improve Signal-to-Noise Ratio (SNR) of TOF measurements and to reduce overall chip area and power consumption. The timing electronics consists of 80 Time-to-Digital Converter (TDC) shared among the 400 SPADs with a self-reconfigurable routing, which dynamically connects the SPADs within the ROI to the available TDCs. The latter have 78 ps resolution and 20 ns Full-Scale Range (FSR), i.e., up to 2 m maximum distance range. An on-chip histogram builder block accumulates TDC conversions so to provide the final TOF histogram. We achieve a precision better than 2.3 mm at 1 m distance and 80% target reflectivity, with 3 klux halogen lamp background illumination and 2 kHz measurement rate. The sensor rejects 10 klux of background light, still with a precision better than 20 mm at 2 m