FMCW depth imaging is a coherent 3D imaging modality analogous to SS-OCT. Due to constraints of mechanical steering mirrors, meter-scale FMCW depth cameras typically suffer from low data rates (<1Hz 3D map rate). Here, we describe the design and construction of a high-speed FMCW depth camera that employs a grating for beam steering and a telescope for angular FOV magnification. Our camera produces 3D depth maps at 33Hz, each consisting of 475x500 pixels, spanning a depth range of 32.8cm with sub-millimeter depth localization accuracy. Our FMCW depth camera is suitable for room-scale real-time 3D imaging applications, particularly computer vision applications.
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