US Patent 10939089 Calibration apparatus for time of flight depth sensor

A calibration assembly for calibrating a depth sensor. The calibration assembly includes a pathway and a controller coupled to a depth sensor. The pathway is coupled to a light source, and a pulse of light from the light source is directed through the pathway to the depth sensor at a first time. The controller determines a second time at which a measurement of the light pulse detected at an augmented pixel of the depth sensor is read out. The controller computes a readout delay for the augmented pixel based on the first time, the second time, and an estimated travel time for the light pulse from the light source to the augmented pixel. The controller stores the readout delay, and a depth camera that includes the depth sensor is configured to calibrate out the readout delay relative to other augmented pixels of the depth sensor.