Key points are not available for this paper at this time.
W to 3.1mW average power. The SPADs are gated with 3ns pulses with 500ps skew. Intensity images and depth maps are shown both indoors and outdoors at 10m in 120 klux background light with telemetry up to 100m, having better than 2% accuracy.
Yildirim et al. (Wed,) studied this question.