微软的C. Bamji等人在IEEE Trans. Electron Devices上发表了一篇题为“间接飞行时间技术综述”的论文（2022年6月）。
摘要：间接飞行时间（iToF）相机的工作原理是用调制光照亮场景，并通过将背反射光与不同的门控信号相结合来推断每个像素的深度。本文重点介绍调幅连续波 （AMCW） 飞行时间 （ToF），由于其鲁棒性和稳定性特性，它是 iToF 最常见的形式。本文解释并绘制了驱动iToF性能的品质因数，并总结了驱动相机最终性能的系统参数，比较了不同的iToF像素和芯片架构，并解释了从像素输出值中提取深度的基本相量方法，讨论了像素大小的演变，显示了性能随时间推移的改进。深度管道在过滤和增强数据方面发挥着关键作用，随着时间的推移，随着现在可用的复杂去噪方法，深度管道也得到了极大的改进。本文解释了环境光弹性和多路径不变性等关键的剩余挑战，并参考了最先进的缓解技术，最后，列出了iToF的应用程序、用例和优势。
（Abstract：Indirect time-of-flight (iToF) cameras operate by illuminating a scene with modulated light and inferring depth at each pixel by combining the back-reflected light with different gating signals. This article focuses on amplitude-modulated continuous-wave (AMCW) time-of-flight (ToF), which, because of its robustness and stability properties, is the most common form of iToF. The figures of merit that drive iToF performance are explained and plotted, and system parameters that drive a camera’s final performance are summarized. Different iToF pixel and chip architectures are compared and the basic phasor methods for extracting depth from the pixel output values are explained. The evolution of pixel size is discussed, showing performance improvement over time. Depth pipelines, which play a key role in filtering and enhancing data, have also greatly improved over time with sophisticated denoising methods now available. Key remaining challenges, such as ambient light resilience and multipath invariance, are explained, and state-of-the-art mitigation techniques are referenced. Finally, applications, use cases, and benefits of iToF are listed.）
