main.bib

% Background
@misc{keisatsu,
  author = {{National Police Agency}},
  title = {{Traffic Accident Statistics}},
  howpublished = {\url{https://www.npa.go.jp/publications/statistics/koutsuu/toukeihyo.html}},
  note = {Accessed: 2022-2-2}
}
@misc{sae,
  author = {{SAE}},
  title = {{Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles}},
  howpublished = {\url{https://www.sae.org/standards/content/j3016_202104/}},
  note = {Accessed: 2022-2-2}
}

@misc{tesla,
  author = {{Tesla Inc.}},
  title = {{Artificial Intelligence & Autopilot}},
  howpublished = {\url{https://www.tesla.com/AI}},
  note = {Accessed: 2022-2-2}
}
@article{montemerlo2008junior,
  title={Junior: The stanford entry in the urban challenge},
  author={Montemerlo, Michael and Becker, Jan and Bhat, Suhrid and Dahlkamp, Hendrik and Dolgov, Dmitri and Ettinger, Scott and Haehnel, Dirk and Hilden, Tim and Hoffmann, Gabe and Huhnke, Burkhard and others},
  journal={Journal of field Robotics},
  volume={25},
  number={9},
  pages={569--597},
  year={2008},
  publisher={Wiley Online Library}
}

@inproceedings{lang2019pointpillars,
  title={Pointpillars: Fast encoders for object detection from point clouds},
  author={Lang, Alex H and Vora, Sourabh and Caesar, Holger and Zhou, Lubing and Yang, Jiong and Beijbom, Oscar},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  pages={12697--12705},
  year={2019}
}

@inproceedings{qi2018frustum,
  title={Frustum pointnets for 3d object detection from rgb-d data},
  author={Qi, Charles R and Liu, Wei and Wu, Chenxia and Su, Hao and Guibas, Leonidas J},
  booktitle={Proceedings of the IEEE conference on computer vision and pattern recognition},
  pages={918--927},
  year={2018}
}

@article{yeong2021sensor,
  title={Sensor and sensor fusion technology in autonomous vehicles: A review},
  author={Yeong, De Jong and Velasco-Hernandez, Gustavo and Barry, John and Walsh, Joseph and others},
  journal={Sensors},
  volume={21},
  number={6},
  pages={2140},
  year={2021},
  publisher={Multidisciplinary Digital Publishing Institute}
}

@inproceedings{loufusion,
  title={{An Early Fusion Complementary RADAR-LiDAR TRX in 65nm CMOS Supporting Gear-Shifting Sub-cm Resolution for Smart Sensing and Imaging}},
  author={Lou, Liheng and Tang, Kai and Fang, Zhongyuan and Wang, Yisheng and Chen, Bo and Guo, Ting and Feng, Xiaohua and Liu, Siyu and Wang, Wensong and Zheng, Yuanjin},
  booktitle={2021 IEEE International Solid-State Circuits Conference (ISSCC)},
  volume={64},
  pages={220--222},
  year={2021},
  organization={IEEE}
}

@misc{honda,
  author = {{Asahi Shimbun}},
  title = {{Honda rolls out world’s first level 3 automated car for the public}},
  howpublished = {\url{https://www.asahi.com/ajw/articles/14242632}},
  note = {Accessed: 2022-2-2}
}

@article{seo2021direct,
  title={{Direct TOF scanning LiDAR sensor with two-step multievent histogramming TDC and embedded interference filter}},
  author={Seo, Hyeongseok and Yoon, Heesun and Kim, Dongkyu and Kim, Jungwoo and Kim, Seong-Jin and Chun, Jung-Hoon and Choi, Jaehyuk},
  journal={IEEE Journal of Solid-State Circuits},
  volume={56},
  number={4},
  pages={1022--1035},
  year={2021},
  publisher={IEEE}
}

% radar
@article{lee2010fully,
  title={{A fully-integrated 77-GHz FMCW radar transceiver in 65-nm CMOS technology}},
  author={Lee, Jri and Li, Yi-An and Hung, Meng-Hsiung and Huang, Shih-Jou},
  journal={IEEE Journal of Solid-State Circuits},
  volume={45},
  number={12},
  pages={2746--2756},
  year={2010},
  publisher={IEEE}
}

@article{mitomo201077,
  title={{A 77 GHz 90 nm CMOS transceiver for FMCW radar applications}},
  author={Mitomo, Toshiya and Ono, Naoko and Hoshino, Hiroaki and Yoshihara, Yoshiaki and Watanabe, Osamu and Seto, Ichiro},
  journal={IEEE journal of solid-state circuits},
  volume={45},
  number={4},
  pages={928--937},
  year={2010},
  publisher={IEEE}
}

% iTOF
@article{kawahito2007cmos,
  title={{A CMOS time-of-flight range image sensor with gates-on-field-oxide structure}},
  author={Kawahito, Shoji and Halin, Izhal Abdul and Ushinaga, Takeo and Sawada, Tomonari and Homma, Mitsuru and Maeda, Yasunari},
  journal={IEEE Sensors Journal},
  volume={7},
  number={12},
  pages={1578--1586},
  year={2007},
  publisher={IEEE}
}
@inproceedings{bamji2018impixel,
  title={{IMpixel 65nm BSI 320MHz demodulated TOF Image sensor with 3$\mu$m global shutter pixels and analog binning}},
  author={Bamji, Cyrus S and Mehta, Swati and Thompson, Barry and Elkhatib, Tamer and Wurster, Stefan and Akkaya, Onur and Payne, Andrew and Godbaz, John and Fenton, Mike and Rajasekaran, Vijay and others},
  booktitle={2018 IEEE International Solid-State Circuits Conference-(ISSCC)},
  pages={94--96},
  year={2018},
  organization={IEEE}
}
@article{bamji20140,
  title={{A 0.13 $\mu$m CMOS system-on-chip for a 512$\times$ 424 time-of-flight image sensor with multi-frequency photo-demodulation up to 130 MHz and 2 GS/s ADC}},
  author={Bamji, Cyrus S and O'Connor, Patrick and Elkhatib, Tamer and Mehta, Swati and Thompson, Barry and Prather, Lawrence A and Snow, Dane and Akkaya, Onur Can and Daniel, Andy and Payne, Andrew D and others},
  journal={IEEE Journal of Solid-State Circuits},
  volume={50},
  number={1},
  pages={303--319},
  year={2014},
  publisher={IEEE}
}
@article{keel2019vga,
  title={{A VGA Indirect Time-of-Flight CMOS Image Sensor With 4-Tap 7M Global-Shutter Pixel and Fixed-Pattern Phase Noise Self-Compensation}},
  author={Keel, Min-Sun and Jin, Young-Gu and Kim, Youngchan and Kim, Daeyun and Kim, Yeomyung and Bae, Myunghan and Chung, Bumsik and Son, Sooho and Kim, Hogyun and An, Taemin and others},
  journal={IEEE Journal of Solid-State Circuits},
  volume={55},
  number={4},
  pages={889--897},
  year={2019},
  publisher={IEEE}
}

% MEMS
@inproceedings{akita2017imager,
  title={{An imager using 2-D single-photon avalanche diode array in 0.18-$\mu$m CMOS for automotive LIDAR application}},
  author={Akita, Hironobu and Takai, Isamu and Azuma, Kenta and Hata, Takehiro and Ozaki, Noriyuki},
  booktitle={2017 Symposium on VLSI Circuits},
  pages={C290--C291},
  year={2017},
  organization={IEEE}
}
@article{ito2013system,
  title={{System Design and Performance Characterization of a MEMS-Based Laser Scanning Time-of-Flight Sensor Based on a 256x64-pixel Single-Photon Imager}},
  author={Ito, Kota and Niclass, Cristiano and Aoyagi, Isao and Matsubara, Hiroyuki and Soga, Mineki and Kato, Satoru and Maeda, Mitsutoshi and Kagami, Manabu},
  journal={IEEE Photonics Journal},
  volume={5},
  number={2},
  pages={6800114--6800114},
  year={2013},
  publisher={IEEE}
}



% 1550nm
@inproceedings{chung202119,
  title={{Optical Phased-Array FMCW LiDAR with On-Chip Calibration}},
  author={Chung, SungWon and Nakai, Makoto and Idres, Samer and Ni, Yongwei and Hashemi, Hossein},
  booktitle={2021 IEEE International Solid-State Circuits Conference (ISSCC)},
  volume={64},
  pages={286--288},
  year={2021},
  organization={IEEE}
}
@inproceedings{behroozpour201611,
  title={{Chip-scale electro-optical 3D FMCW lidar with 8$\mu$m ranging precision}},
  author={Behroozpour, Behnam and Sandborn, Phillip AM and Quack, Niels and Seok, Tae Joon and Matsui, Yasuhiro and Wu, Ming C and Boser, Bernhard E},
  booktitle={2016 IEEE International Solid-State Circuits Conference (ISSCC)},
  pages={214--216},
  year={2016},
  organization={Ieee}
}
@article{poulton2017coherent,
  title={{Coherent solid-state LIDAR with silicon photonic optical phased arrays}},
  author={Poulton, Christopher V and Yaacobi, Ami and Cole, David B and Byrd, Matthew J and Raval, Manan and Vermeulen, Diedrik and Watts, Michael R},
  journal={Optics letters},
  volume={42},
  number={20},
  pages={4091--4094},
  year={2017},
  publisher={Optical Society of America}
}

% Flash
@inproceedings{ximenes2018256,
  title={{A 256$\times$ 256 45/65nm 3D-stacked SPAD-based direct TOF image sensor for LiDAR applications with optical polar modulation for up to 18.6 dB interference suppression}},
  author={Ximenes, Augusto Ronchini and Padmanabhan, Preethi and Lee, Myung-Jae and Yamashita, Yuichiro and Yaung, Dun-Nian and Charbon, Edoardo},
  booktitle={2018 IEEE International Solid-State Circuits Conference-(ISSCC)},
  pages={96--98},
  year={2018},
  organization={IEEE}
}
@inproceedings{padmanabhan20217,
  title={{A 256$\times$ 128 3D-Stacked (45nm) SPAD FLASH LiDAR with 7-Level Coincidence Detection and Progressive Gating for 100m Range and 10klux Background Light}},
  author={Padmanabhan, Preethi and Zhang, Chao and Cazzaniga, Marco and Efe, Baris and Ximenes, Augusto R and Lee, Myung-Jae and Charbon, Edoardo},
  booktitle={2021 IEEE International Solid-State Circuits Conference (ISSCC)},
  volume={64},
  pages={111--113},
  year={2021},
  organization={IEEE}
}
@inproceedings{lindner2018252,
  title={{A 252$\times$ 144 SPAD pixel FLASH LiDAR with 1728 dual-clock 48.8 ps TDCs, integrated histogramming and 14.9-to-1 compression in 180nm CMOS technology}},
  author={Lindner, Scott and Zhang, Chao and Antolovic, Ivan Michel and Wolf, Martin and Charbon, Edoardo},
  booktitle={2018 IEEE Symposium on VLSI Circuits},
  pages={69--70},
  year={2018},
  organization={IEEE}
}


% Niclass
@article{niclass20130,
  title={{A 0.18-um CMOS SoC for a 100-m-Range 10-Frame/s 200x96-Pixel Time-of-Flight Depth Sensor}},
  author={Niclass, Cristiano and Soga, Mineki and Matsubara, Hiroyuki and Ogawa, Masaru and Kagami, Manabu},
  journal={IEEE Journal of solid-state circuits},
  volume={49},
  number={1},
  pages={315--330},
  year={2013},
  publisher={IEEE}
}
@article{liu201960,
  title={{A 60-m range 6.16-mW laser-power linear-mode LiDAR system with multiplex ADC/TDC in 65-nm CMOS}},
  author={Liu, Maliang and Liu, Haizhu and Li, Xiongzheng and Zhu, Zhangming},
  journal={IEEE Transactions on Circuits and Systems I: Regular Papers},
  volume={67},
  number={3},
  pages={753--764},
  year={2019},
  publisher={IEEE}
}
@article{niclass2008128,
  title={{A 128x128 Single-Photon Image Sensor With Column-Level 10-Bit Time-to-Digital Converter Array}},
  author={Niclass, Cristiano and Favi, Claudio and Kluter, Theo and Gersbach, Marek and Charbon, Edoardo},
  journal={IEEE Journal of Solid-State Circuits},
  volume={43},
  number={12},
  pages={2977--2989},
  year={2008},
  publisher={IEEE}
}
@article{niclass2012100,
  title={{A 100-m Range 10-Frame/s 340x96-Pixel Time-of-Flight Depth Sensor in 0.18um CMOS}},
  author={Niclass, Cristiano and Soga, Mineki and Matsubara, Hiroyuki and Kato, Satoru and Kagami, Manabu},
  journal={IEEE Journal of Solid-State Circuits},
  volume={48},
  number={2},
  pages={559--572},
  year={2012},
  publisher={IEEE}
}


% SPAD
@article{niclass2005design,
  title={{Design and characterization of a CMOS 3-D image sensor based on single photon avalanche diodes}},
  author={Niclass, Cristiano and Rochas, Alexis and Besse, P-A and Charbon, Edoardo},
  journal={IEEE Journal of Solid-State Circuits},
  volume={40},
  number={9},
  pages={1847--1854},
  year={2005},
  publisher={IEEE}
}

@article{niclass2007spad,
  title={{A single photon avalanche diode implemented in 130-nm CMOS technology}},
  author={Niclass, Cristiano and Gersbach, Marek and Henderson, Robert and Grant, Lindsay and Charbon, Edoardo},
  journal={IEEE Journal of selected topics in quantum electronics},
  volume={13},
  number={4},
  pages={863--869},
  year={2007},
  publisher={IEEE}
}

@article{zappa2007spad,
  title={{Principles and features of single-photon avalanche diode arrays}},
  author={Zappa, Franco and Tisa, Simone and Tosi, Alberto and Cova, Sergio},
  journal={Sensors and Actuators A: Physical},
  volume={140},
  number={1},
  pages={103--112},
  year={2007},
  publisher={Elsevier}
}

@article{stoppa2009spad,
  title={{Single-photon avalanche diode CMOS sensor for time-resolved fluorescence measurements}},
  author={Stoppa, David and Mosconi, Daniel and Pancheri, Lucio and Gonzo, Lorenzo},
  journal={IEEE Sensors Journal},
  volume={9},
  number={9},
  pages={1084--1090},
  year={2009},
  publisher={IEEE}
}

% Velodyne
@misc{velodyne,
  author = {{Velodyne}},
  title = {{VELODYNE’S HDL-64E: A HIGH DEFINITION LIDAR™ SENSOR FOR 3-D APPLICATIONS}},
  howpublished = {\url{http://velodynelidar.com/docs/papers/HDL%20white%20paper_OCT20 07_web.pdf}},
  note = {Accessed: 2022-2-2}
}
@misc{velopatent,
 title={{High Definition LiDAR System}},
 author={Hall, David},
 year={US Patent No. 8767190}
 }
 
 @misc{aptivpatent,
 title={{Varying waveforms across frames in frequency-modulated continuous-wave (fmcw) lidar systems}},
 author={Chenghui Hao},
 year={European Patent Office No. 3936889}
 }


% Ouster
% homepage
@misc{ouster,
  author = {{Ouster}},
  title = {{OS-2}},
  howpublished = {\url{https://ouster.com/products/scanning-lidar/os2-sensor/}},
  note = {Accessed: 2022-2-2}
}

% Toshiba
% isscc2018, 2020, vlsi2019
@article{yoshioka201820,
  title={{A 20-ch TDC/ADC Hybrid Architecture LiDAR SoC for 240x96 Pixel 200-m Range Imaging With Smart Accumulation Technique and Residue Quantizing SAR ADC}},
  author={Yoshioka, Kentaro and Kubota, Hiroshi and Fukushima, Tomonori and Kondo, Satoshi and Ta, Tuan Thanh and Okuni, Hidenori and Watanabe, Kaori and Hirono, Masatoshi and Ojima, Yoshinari and Kimura, Katsuyuki and others},
  journal={IEEE Journal of Solid-State Circuits},
  volume={53},
  number={11},
  pages={3026--3038},
  year={2018},
  publisher={IEEE}
}
@inproceedings{yoshioka201820ch,
  title={{A 20ch TDC/ADC hybrid SoC for 240$\times$ 96-pixel 10\%-reflection< 0.125\%-precision 200m-range imaging LiDAR with smart accumulation technique}},
  author={Yoshioka, Kentaro and Kubota, Hiroshi and Fukushima, Tomonori and Kondo, Satoshi and Ta, Tuan Thanh and Okuni, Hidenori and Watanabe, Kaori and Ojima, Yoshinari and Kimura, Katsuyuki and Hosoda, Sohichiroh and others},
  booktitle={2018 IEEE International Solid-State Circuits Conference-(ISSCC)},
  pages={92--94},
  year={2018},
  organization={IEEE}
}
@inproceedings{ta20202d,
  title={{A 2D-SPAD Array and Read-Out AFE for Next-Generation Solid-State LiDAR}},
  author={Ta, Tuan Thanh and Kubota, Hiroshi and Kokubun, Koichi and Sugimoto, Toshiki and Hirono, Masatoshi and Sengoku, Mitsuhiro and Katagiri, Hisaaki and Okuni, Hidenori and Kondo, Satoshi and Ohtsuka, Shinichi and others},
  booktitle={2020 IEEE Symposium on VLSI Circuits},
  pages={1--2},
  year={2020},
  organization={IEEE}
}
@article{kondo2020automotive,
  title={{An Automotive LiDAR SoC for 240$\times$ 192-Pixel 225-m-Range Imaging With a 40-Channel 0.0036-mm 2 Voltage/Time Dual-Data-Converter-Based AFE}},
  author={Kondo, Satoshi and Kubota, Hiroshi and Katagiri, Hisaaki and Ota, Yutaka and Hirono, Masatoshi and Ta, Tuan Thanh and Okuni, Hidenori and Ohtsuka, Shinichi and Ojima, Yoshinari and Sugimoto, Tomohiko and others},
  journal={IEEE Journal of Solid-State Circuits},
  volume={55},
  number={11},
  pages={2866--2877},
  year={2020},
  publisher={IEEE}
}

@inproceedings{yoshioka2021through,
  title={{Through the Looking Glass: Diminishing Occlusions in Robot Vision Systems with Mirror Reflections}},
  author={Yoshioka, Kentaro and Okuni, Hidenori and Ta, Tuan Thanh and Sai, Akihide},
  booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={1578--1584},
  year={2021},
  organization={IEEE}
}

@misc{ieee,
  author = {{IEEE}},
  title = {{Toshiba’s Light Sensor Paves the Way for Cheap Lidar}},
  howpublished = {\url{https://spectrum.ieee.org/toshibas-light-sensor-highresolution-lidar}},
  note = {Accessed: 2022-2-2}
}

@article{gariepy2015single,
  title={{Single-photon sensitive light-in-fight imaging}},
  author={Gariepy, Genevieve and Krstaji{\'c}, Nikola and Henderson, Robert and Li, Chunyong and Thomson, Robert R and Buller, Gerald S and Heshmat, Barmak and Raskar, Ramesh and Leach, Jonathan and Faccio, Daniele},
  journal={Nature communications},
  volume={6},
  number={1},
  pages={1--7},
  year={2015},
  publisher={Nature Publishing Group}
}

% Sony
% iedm, ISSCC
@inproceedings{kumagai2021189x600,
  title={{A 189x600 Back-Illuminated Stacked SPAD Direct Time-of-Flight Depth Sensor for Automotive LiDAR Systems}},
  author={Kumagai, Oichi and Ohmachi, Junichi and Matsumura, Masao and Yagi, Shinichiro and Tayu, Kenichi and Amagawa, Keitaro and Matsukawa, Tomohiro and Ozawa, Osamu and Hirono, Daisuke and Shinozuka, Yasuhiro and others},
  booktitle={2021 IEEE International Solid-State Circuits Conference (ISSCC)},
  volume={64},
  pages={110--112},
  year={2021},
  organization={IEEE}
}
@inproceedings{ito2020back,
  title={{A Back Illuminated 10$\mu$m SPAD Pixel Array Comprising Full Trench Isolation and Cu-Cu Bonding with Over 14\% PDE at 940nm}},
  author={Ito, K and Otake, Y and Kitano, Y and Matsumoto, A and Yamamoto, J and Ogasahara, T and Hiyama, H and Naito, R and Takeuchi, K and Tada, T and others},
  booktitle={2020 IEEE International Electron Devices Meeting (IEDM)},
  pages={16--6},
  year={2020},
  organization={IEEE}
}

% TDC
@article{leetdc,
  title={{A 1 GHz ADPLL With a 1.25 ps Minimum-Resolution Sub-Exponent TDC in 0.18um CMOS}},
  author={Lee, Seon-Kyoo and Seo, Young-Hun and Park, Hong-June and Sim, Jae-Yoon},
  journal={IEEE Journal of Solid-State Circuits},
  volume={45},
  number={12},
  pages={2874--2881},
  year={2010},
  publisher={IEEE}
}

@article{elkholytdc,
  title={{A 3.7 mW low-noise wide-bandwidth 4.5 GHz digital fractional-N PLL using time amplifier-based TDC}},
  author={Elkholy, Ahmed and Anand, Tejasvi and Choi, Woo-Seok and Elshazly, Amr and Hanumolu, Pavan Kumar},
  journal={IEEE Journal of Solid-State Circuits},
  volume={50},
  number={4},
  pages={867--881},
  year={2015},
  publisher={IEEE}
}

% attack
@inproceedings{cao2019adversarial,
  title={{Adversarial sensor attack on lidar-based perception in autonomous driving}},
  author={Cao, Yulong and Xiao, Chaowei and Cyr, Benjamin and Zhou, Yimeng and Park, Won and Rampazzi, Sara and Chen, Qi Alfred and Fu, Kevin and Mao, Z Morley},
  booktitle={Proceedings of the 2019 ACM SIGSAC conference on computer and communications security},
  pages={2267--2281},
  year={2019}
}

@inproceedings{sun2020towards,
  title={{Towards Robust $\{$LiDAR-based$\}$ Perception in Autonomous Driving: General Black-box Adversarial Sensor Attack and Countermeasures}},
  author={Sun, Jiachen and Cao, Yulong and Chen, Qi Alfred and Mao, Z Morley},
  booktitle={29th USENIX Security Symposium (USENIX Security 20)},
  pages={877--894},
  year={2020}
}