Determining phase orders in tof imaging

Abstract

Examples are disclosed that relate to determining phase orders for phase data in a time-of-flight camera sensor, for use in unwrapping the phase data. One example provides a computing system comprising a depth sensor comprising a pluralityof pixels, an illumination source, and a storage machine holding instructions executable by a logic machine to control the illumination source to output amplitude-modulated light at two or more modulation frequencies. The instructions are further executable to, for each pixel, make two or more phase measurements corresponding to different modulation frequencies, based at least on the two or more phase measurements, determine a series of phase order sets, determine a most likely phase order set by comparing the series of phase order sets to a line representing an evolution of phase with distance, and based on the most likely phase order set, determine a distance value associated with the pixel.