Indirect Time of Flight LiDARs can indirectly calculate the scene's depth from the phase shift angle between transmitted and received laser signals with amplitudes modulated at a predefined frequency. Unfortunately, this method generates ambiguity in calculated depth when the phase shift angle value exceeds $2\pi$. Current state-of-the-art methods use raw samples generated using two distinct modulation frequencies to overcome this ambiguity problem. However, this comes at the cost of increasing laser components' stress and raising their temperature, which reduces their lifetime and increases power consumption. In our work, we study two different methods to recover the entire depth range of the LiDAR using fewer raw data sample shots from a single modulation frequency with the support of sensor's gray scale output to reduce the laser components' stress and power consumption.

翻译：间接飞行时间激光雷达通过测量以预定频率调制的发射与接收激光信号之间的相位偏移角，可间接计算场景深度。然而，当相位偏移角超过$2\pi$时，该方法会产生深度歧义。现有先进方法通过使用两种不同调制频率生成的原始采样数据来解决此歧义问题，但这会增加激光组件的应力并提升其温度，从而缩短使用寿命并增加功耗。本研究中，我们探索了两种方法，在单调制频率下利用更少的原始数据采样次数，并借助传感器的灰度输出，恢复激光雷达的全深度范围，从而降低激光组件的应力与功耗。