Abstract
Random-modulation continuous wave (RMCW) lidar has found applications in robotics, autonomous vehicles, and security, due to its long un-Ambiguous range, low mutual interference, and the ability to resolve multiple targets in a single measurement [1], [2]. However, the associated time-of-flight (ToF) design is challenging because a matched-filter type of demodulation is required. Prior works have shown ranging ability with cm-level resolutions, while most of them implemented the ToF function with discrete components or FPGA, suffering from low speed, large area/power, and lack of parallelism.