SYSTEMS AND TECHNIQUES FOR DETERMINING RANGE AND RANGE-RATE USING TIME-OF-FLIGHT SENSORS

Systems and techniques are provided for determining range and range-rate in time-of-flight sensors. An example method includes determining a first depth map that is based on a first image frame and a second image frame, wherein the first image frame and the second image frame correspond to a first set of image frames received from a time-of-flight sensor; calculating, based on the first depth map, a first set of three-dimensional optical flow data between the first image frame and the second image frame; performing three-dimensional warping of at least one image frame from the first set of image frames using the first set of three-dimensional optical flow data to yield a first realigned image frame; and determining a second depth map that is based on the first realigned image frame.