US Patent 10229502 Temporal time-of-flight

A depth detection apparatus is described which has a memory and a computation logic. The memory stores frames of raw time-of-flight sensor data received from a time-of-flight sensor, the frames having been captured by a time-of-flight camera in the presence of motion such that different ones of the frames were captured using different locations of the camera and/or with different locations of an object in a scene depicted in the frames. The computation logic has functionality to compute a plurality of depth maps from the stream of frames, whereby each frame of raw time-of-flight sensor data contributes to more than one depth map.