Performance of pixel detectors in a TOF imaging system is dynamically
adjusted to improve dynamic range to maximize the number of pixel
detectors that output valid data. The invention traverses the
system-acquired z depth, the brightness, and the active brightness
images, and assigns each pixel a quantized value. Quantization values
encompass pixels receiving too little light, normal light, to too much
light. Pixels are grouped into quantized category groups, whose
populations are represented by a histogram. If the number of pixels in
the normal category exceeds a threshold, no immediate corrective action
is taken. If the number of pixel receiving too little (or too much) light
exceeds those receiving too much (or too little) light, the invention
commands at least one system parameter change to increase (or decrease)
light reaching the pixels. Controllable TOF system parameters can include
exposure time, common mode resets, video gain, among others.