Time-of-flight sensing system

The invention relates to a time of flight (TOF) sensing system. The TOF sensing system may include a lighting module and a sensor module. The sensor module may include an array of sensor pixels, each sensor pixel configured to perform a plurality of measurements to generate corresponding pixel data for TOF sensing operations. The signal processing circuitry may generate phase data based on the pixel data. A phase de-noising circuit in the signal processing circuit may perform different types of filtering operations on the phase data, such as performing two bilateral filters of different intensities. The lower fidelity denoised phase data may be used for depth disambiguation, while the higher fidelity denoised phase data may be used for depth calculation. If desired, the phase denoising circuit may perform an averaging operation on one or both of these filtering operations using a Cartesian coordinate representation and effectively using a piecewise linear triangular approximation. 本发明涉及一种飞行时间(TOF)感测系统，该TOF感测系