Apparatus for and method of range sensor based on direct time-of-flight and triangulation

A range sensor, comprising:

• a light source configured to project light;
• an image sensor including a two-dimensional (2D) pixel array;
• collection optics;
• and
• a controller connected to the light source, the image sensor, and the collection optics, and configured to:
• operate the range sensor in a first mode for a distant object and operate the range sensor in a second mode for a near object;
• determine a range of the distant object in the first mode based on a direct time-of-flight of the light from the light source to the distant object and from the distant object to a first area including one or more pixels included in an infinity row of the 2D pixel array of the image sensor;
• determine a range of the near object in the second mode based on a triangulation of the near object using the light and a second area including one or more pixels not included in the infinity row of the 2D pixel array.

A method of a range sensor, comprising:

• projecting, by a light source, light;
• collecting, by collection optics, the light reflected off objects;
• determining, by a controller connected to the light source, an image sensor including a two-dimensional (2D) pixel array, and the collection optics, a range of a distant object based on a direct time-of-flight of the light from the light source to the distant object and from the distant object to a first area including one or more included in an infinity row of the 2D pixel array of the image sensor;
• and
• determining, by the controller, a range of a near object based on a triangulation of the near object using the light and a second area including one or more pixels not included in the infinity row of the 2D pixel array.