Time-of-flight sensing system

A signal processor configured to receive time-of-flight sensing data associated with an array of pixels, the signal processor comprising:

• phase calculation circuitry configured to receive the time-of-flight sensing data and to generate corresponding phase data based on the time-of-flight sensing data;
• phase denoise circuitry configured to receive the phase data, to generate first denoised phase data by applying a first filter to the phase data, and to generate second denoised phase data by applying a second filter to the phase data;
• depth disambiguation circuitry configured to receive the first denoised phase data and to perform a depth disambiguation operation based on the first denoised phase data;
• and
• depth calculation circuitry configured to receive the second denoised phase data and to perform a depth calculation operation based on the second denoised phase data.

A sensor module configured to perform time-of-flight sensing comprising:

• an array of sensor pixels configured to generate pixel data indicative of phase data for a time-of-flight sensing operation;
• and
• phase denoise circuitry configured to perform a bilateral filtering operation on phase data from a center pixel using phase data from neighboring pixels to generate denoised phase data by:
• determining a vector sum of pixel data from the center pixel and from the neighboring pixels;
• and
• rotating vectors associated with the pixel data from the neighboring pixels relative to a vector associated with the pixel data from the center pixel.