Victoria University of Wellington published PhD thesis "Development of a Compact, Configurable, Real-time Range Imaging System" based on PMD19k image sensor. Performance of the currently available ToF cameras is summarized in a nice table (Fotonic uses Canesta sensors, not clear which generation):
The thesis goes into many details of designing ToF camera, choosing its right components and acessing the performance. Overall, it looks like step by step camera design guide.
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