Depth from time-of-flight using machine learning

One or more computer-readable storage devices comprising computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the following operations

• storing frames of raw time-of-flight sensor data received from a time-of-flight sensor;
• and
• operating a trained machine learning component having been trained using training data pairs, a training data pair comprising at least one simulated raw time-of-flight sensor data value and a corresponding simulated ground truth depth value;
• wherein operating the trained machine learning component comprises computing, in a single stage, for an item of the stored raw time-of-flight sensor data, a depth value of a surface depicted by the item, by pushing the item through the trained machine learning component.

A computer-implemented method comprising:

• storing, at a memory, raw time-of-flight sensor data received from a time-of-flight sensor;
• and
• operating, by a processor, a trained machine learning component having been trained using training data pairs, a training data pair comprising at least one simulated raw time-of-flight sensor data value and a corresponding simulated ground truth depth value;
• wherein operating the trained machine learning component comprises computing, in a single stage, for an item of the stored raw time-of-flight sensor data, a depth value of a surface depicted by the item, by pushing the item through the trained machine learning component.