• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.230-236
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• 2018

3D depth perception has played an important role in robotics, and many sensory methods have also proposed for it. As a photodetector for 3D sensing, single photon avalanche diode (SPAD) is suggested due to sensitivity and accuracy. We have researched for applying a SPAD chip in our fusion system of time-of-fight (ToF) sensor and stereo camera. Our goal is to upsample of SPAD resolution using RGB stereo camera. Currently, we have 64 x 32 resolution SPAD ToF Sensor, even though there are higher resolution depth sensors such as Kinect V2 and Cube-Eye. This may be a weak point of our system, however we exploit this gap using a transition of idea. A convolution neural network (CNN) is designed to upsample our low resolution depth map using the data of the higher resolution depth as label data. Then, the upsampled depth data using CNN and stereo camera depth data are fused using semi-global matching (SGM) algorithm. We proposed simplified fusion method created for the embedded system.

• Nuclear Engineering and Technology
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• v.53 no.2
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• pp.618-625
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• 2021

In this paper, the single-photon avalanche diodes (SPADs) featuring three different p-well implantation doses (∅_p-well) of 5.0 × 10¹², 4.0 × 10¹², and 3.0 × 10¹² atoms/cm² under the identical device layouts were fabricated and characterized to evaluate the effects of field enhanced mechanisms on primary dark pulses due to the maximum electric field. From the I-V curves, the breakdown voltages were found as 23.2 V, 40.5 V, and 63.1 V with decreasing ∅_p-well, respectively. By measuring DCRs as a function of temperature, we found a reduction of approximately 8% in the maximum electric field lead to a nearly 72% decrease in the DCR at V_ex = 5 V and T = 25 ℃. Also, the activation energy increased from 0.43 eV to 0.50 eV, as decreasing the maximum electric field. Finally, we discuss the importance of electric field engineering in reducing the field-enhanced mechanisms contributing to the DCR in SPADs and the benefits on the SPADs related to different types of radiation detection applications.