Fig. 1. Schematic diagram of iTOF camera

Fig. 2. Comparison of depth data between unsaturated and oversaturated gray values

Fig. 3. Gain calculation curves of ordinary visible light camera^[27]

Fig. 4. Linear responsivity curves of ordinary visible light camera^[27]

Fig. 5. Schematic diagram of test device

Fig. 6. Four-phase linear responsivity curves

Fig. 7. Fitting calculation curves of linear responsivity of P0 phase

Fig. 8. System gain curves for four phases

Fig. 9. Gain fitting curves of P0 phase

Fig. 10. Simulation curves of distances and average gray values of four phases

Fig. 11. Comparison of simulation depth values with depth true values

Fig. 12. Measurement results at different exposure times

Fig. 13. Comparison of gray value curves between experiment and simulation

Fig. 14. Relative errors between experiment and simulation