Fig. 1. I-ToF imaing principle. (a) I-ToF imaging system; (b) square wave modulation calculation method

Fig. 2. Chip architecture of I-ToF image sensor

Fig. 3. Architecture of image acquisition system

Fig. 4. CSI-2 packet transmission protocol

Fig. 5. Schematic diagram of transmission event

Fig. 6. Flowchart of the LLP submodule

Fig. 7. Flowchart of the memory access module

Fig. 8. Application of FX3 chip. (a) Application of FX3 chip as a coprocessor; (b) FX3 interface signal

Fig. 9. Test system

Fig. 10. Data received by the host computer

Fig. 11. Reconstruction images. Phase shift images of (a) building block, (b) doll, and (c) vase; depth images of (d) building block, (e) doll, and (f) vase