09 - Scientific and electric apparatus and instruments
Goods & Services
LIDAR apparatus; object tracking apparatus being a LIDAR
apparatus; 3D scanning apparatus being a 3D scanner; 3D
mapping apparatus being a 3D scanner; environment modeling
apparatus being a computer; range detection apparatus being
a LIDAR apparatus; distance detection apparatus being a
LIDAR apparatus; distance light detection and ranging
apparatus; light detection and ranging apparatus; LIDAR
system comprised of computer hardware and recorded software
for light detection and ranging all sold as a component of
LIDAR apparatus; LIDAR apparatus for use with autonomous
vehicles; distance detection apparatus being a LIDAR
apparatus for use with autonomous vehicles, aviation,
defense, rail, security, logistics, industrial automation,
and point cloud generation applications; LIDAR apparatus for
use with smart infrastructure; recorded and downloadable
computer operating software for advanced driver assistance
systems; downloadable and recorded visualizer software that
tracks, measures, models, and provides information on
physical environments; visualization apparatus consisting of
a sensor, computing hardware, communication device, and
software to sense, measure, control, and communicate data on
surroundings; visualization sensor device; visualization
computing hardware; visualization sensor software for
sensing, measuring, tracking, controlling and communicating
visual information and data; visualization sensors,
computing hardware, software for sensing, measuring,
tracking, controlling and communicating data.
09 - Scientific and electric apparatus and instruments
Goods & Services
LIDAR apparatus; object tracking apparatus being a LIDAR
apparatus; 3D scanning apparatus being a 3D scanner; 3D
mapping apparatus being a 3D scanner; environment modeling
apparatus being a computer; range detection apparatus being
a LIDAR apparatus; distance detection apparatus being a
LIDAR apparatus; distance light detection and ranging
apparatus; light detection and ranging apparatus; LIDAR
system comprised of computer hardware and recorded software
for light detection and ranging all sold as a component of
LIDAR apparatus; LIDAR apparatus for use with autonomous
vehicles; distance detection apparatus being a LIDAR
apparatus for use with autonomous vehicles; LIDAR apparatus
for use with smart infrastructure; recorded and downloadable
computer operating software for advanced driver assistance
systems; downloadable and recorded visualizer software that
tracks, measures, models, and provides information on
physical environments; visualization apparatus consisting of
a sensor, computing hardware, communication device, and
software to sense, measure, control, and communicate data on
surroundings; visualization sensor device; visualization
computing hardware; visualization sensor software for
sensing, measuring, tracking, controlling and communicating
visual information and data; visualization sensors,
computing hardware, software for sensing, measuring,
tracking, controlling and communicating data.
3.
DIGITAL CONTROL OF LASERS AND ASSOCIATED SYSTEMS, METHODS, AND DEVICES
An example system includes a laser source that includes a pump laser including multiple first laser diodes configured to generate optical energy, a current source, and multiple first switches, a first switch in series with a first laser diode and configured to receive a pump drive signal and control activation of the first laser diode based on the pump drive signal. The laser source further includes a seed laser including a second laser diode configured generate an optical beam and a second switch configured to receive a seed drive signal and to control current flow through the second laser diode based on the seed drive signal, and an optical amplifier configured to receive the optical beam and the optical energy and to generate a laser pulse. The example system further includes a system controller configured to generate the pump drive signal and the seed drive signal.
H01S 3/0941 - Processes or apparatus for excitation, e.g. pumping using optical pumping by coherent light of a semiconductor laser, e.g. of a laser diode
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
H01S 3/10 - Controlling the intensity, frequency, phase, polarisation or direction of the emitted radiation, e.g. switching, gating, modulating or demodulating
H01S 3/13 - Stabilisation of laser output parameters, e.g. frequency or amplitude
Light detection and ranging (lidar) technology is capable of using light to measure the distance to objects in a field of view. A lidar system typically comprises a lidar transmitter, a lidar receiver, and a clock. The lidar transmitter transmits light into the field of view, and the light is reflected back to the lidar receiver after striking objects in the field of view. Techniques are described herein for encoding channel information into light transmissions so that the lidar receiver can use the encoded channel information to reduce the out-of-channel noise in channel-specific photodetection signals.
09 - Scientific and electric apparatus and instruments
Goods & Services
LIDAR apparatus; object tracking apparatus being a LIDAR apparatus; 3D scanning apparatus being a 3D scanner; 3D mapping apparatus being a 3D scanner; environment modeling apparatus being a computer; range detection apparatus being a LIDAR apparatus; distance detection apparatus being a LIDAR apparatus; distance light detection and ranging apparatus; light detection and ranging apparatus; LIDAR system comprised of computer hardware and recorded software for light detection and ranging all sold as a component of LIDAR apparatus; LIDAR apparatus for use with autonomous vehicles; distance detection apparatus being a LIDAR apparatus for use with autonomous vehicles, aviation, defense, rail, security, logistics, industrial automation, and point cloud generation applications; LIDAR apparatus for use with smart infrastructure; recorded and downloadable computer operating software for advanced driver assistance systems; downloadable and recorded visualizer software that tracks, measures, models, and provides information on physical environments; Visualization apparatus consisting of a sensor, computing hardware, communication device, and software to sense, measure, control, and communicate data on surroundings; Visualization sensor device; Visualization computing hardware; Visualization sensor software for sensing, measuring, tracking, controlling and communicating visual information and data; visualization sensors, computing hardware, software for sensing, measuring, tracking, controlling and communicating data
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
LIDAR apparatus; object tracking apparatus being a LIDAR apparatus; 3D scanning apparatus being a 3D scanner; 3D mapping apparatus being a 3D scanner; environment modeling apparatus being a computer; range detection apparatus being a LIDAR apparatus; distance detection apparatus being a LIDAR apparatus; distance light detection and ranging apparatus; light detection and ranging apparatus; LIDAR system comprised of computer hardware and recorded software for light detection and ranging all sold as a component of LIDAR apparatus; LIDAR apparatus for use with autonomous vehicles; distance detection apparatus being a LIDAR apparatus for use with autonomous vehicles; LIDAR apparatus for use with smart infrastructure; recorded and downloadable computer operating software for advanced driver assistance systems; downloadable and recorded visualizer software that tracks, measures, models, and provides information on physical environments; Visualization apparatus consisting of a sensor, computing hardware, communication device, and downloadable and recorded software to sense, measure, control, and communicate data on surroundings; Visualization sensor device; Visualization computing hardware; Downloadable and recorded visualization sensor software for sensing, measuring, tracking, controlling and communicating visual information and data; visualization sensors, computing hardware, downloadable and recorded software for sensing, measuring, tracking, controlling and communicating data Providing information the field of Lidar technologies; Providing a website featuring technical information about Lidar sensors, systems, and software-defined Lidar technologies
09 - Scientific and electric apparatus and instruments
Goods & Services
LIDAR apparatus; object tracking apparatus being a LIDAR apparatus; 3D scanning apparatus being a 3D scanner; 3D mapping apparatus being a 3D scanner; environment modeling apparatus being a computer; range detection apparatus being a LIDAR apparatus; distance detection apparatus being a LIDAR apparatus; distance light detection and ranging apparatus; light detection and ranging apparatus; LIDAR system comprised of computer hardware and recorded software for light detection and ranging all sold as a component of LIDAR apparatus; LIDAR apparatus for use with autonomous vehicles; distance detection apparatus being a LIDAR apparatus for use with autonomous vehicles; LIDAR apparatus for use with smart infrastructure; recorded and downloadable computer operating software for advanced driver assistance systems; downloadable and recorded visualizer software that tracks, measures, models, and provides information on physical environments; Visualization apparatus consisting of a sensor, computing hardware, communication device, and downloadable and recorded software to sense, measure, control, and communicate data on surroundings; Visualization sensor device; Visualization computing hardware; Downloadable and recorded visualization sensor software for sensing, measuring, tracking, controlling and communicating visual information and data; visualization sensors, computing hardware, downloadable and recorded software for sensing, measuring, tracking, controlling and communicating data
09 - Scientific and electric apparatus and instruments
Goods & Services
Visualization apparatus consisting of a sensor, computing
hardware, communication device, and software to sense,
measure, control, and communicate data on surroundings;
visualization sensor device; visualization computing
hardware; visualization sensor software for sensing,
measuring, tracking, controlling and communicating visual
information and data; artificial intelligence supported
visualization sensors, computing hardware, software for
sensing, measuring, tracking, controlling and communicating
data.
09 - Scientific and electric apparatus and instruments
Goods & Services
Visualization apparatus in the nature of a lidar apparatus consisting of a sensor for the determination of positions and distances, computing hardware being computer hardware for use with lidar-based 3D perception systems, communication device being wireless communications device for data transmission, downloaded and recorded software for sensing, measuring, controlling, and communicating data relating to surroundings, in particular, data relating to distance and object detection, all the foregoing sold as a unit; Visualization sensor device, namely, lidar apparatus and proximity sensors; Visualization computing hardware being computer hardware for use with lidar-based 3D perception systems; Downloadable and recorded visualization sensor software for use in sensing, measuring, tracking, controlling and communicating visual information and data relating to distance detection, object detection, and surrounding detection; Artificial intelligence supported visualization sensors being lidar apparatus and proximity sensors, computing hardware being computer hardware for use with lidar-based 3D perception systems, and downloadable computer software using artificial intelligence (AI) for sensing, measuring, tracking, controlling and communicating data relating to distance detection, object detection, and surrounding detection, sold as a unit
10.
IMAGING SYSTEM AND METHOD WITH ADAPTIVE SCANNING ACTIVE ILLUMINATION
Systems and methods can employ an emitter with adaptive active illumination in combination with a receiver that images a field of view illuminated by the emitter. An example active illumination camera system may comprise a light source that generates light output for sequentially illuminating a scene, a scanner that scannably steers the light output to targeted regions in the scene, a photodetector array comprising a photodetector array having a plurality of photodetector pixels that sense incident light from the scene and generate signals representative of the sensed incident light via integration of photo-generated charge for the pixels over time, and a circuit that generates image frames of the scene based on the generated signals, identifies regions of interest in the scene, and dynamically controls the light source and the scanner so that the steered light output exhibits a pattern that targets the identified regions with an increase in light energy
Light detection and ranging (lidar) technology is capable of using light to measure the distance to objects in a field of view. A lidar system typically comprises a lidar transmitter, a lidar receiver, and a clock. The lidar transmitter transmits light into the field of view, and the light is reflected back to the lidar receiver after striking objects in the field of view. Techniques are described herein for encoding channel information into light transmissions so that the lidar receiver can use the encoded channel information to reduce the out-of-channel noise in channel-specific photodetection signals.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
H04B 10/508 - Pulse generation, e.g. generation of solitons
A ladar system capable of operating in a ladar mode and an optical communication mode is disclosed. When operating in the ladar mode, a ladar transmitter and ladar receiver cooperate to transmit ladar pulses that are used for ranging to targets in a field of view. When operating in an optical communication mode, ladar pulses are used to transmit data messages to locations in the field of view that are determined to have devices that are capable of receiving the optically communicated data messages.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 27/12 - Beam splitting or combining systems operating by refraction only
G02B 27/14 - Beam splitting or combining systems operating by reflection only
Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a parameter value for use by the ladar system with respect to the new ladar pulse shot. Examples of such adaptively controlled parameter values can include shot energy, receiver parameters, shot selection, camera settings, and others.
A lidar system that includes a laser source and a scannable mirror can also include a circuit that schedules a variable rate firing of a plurality of upcoming laser pulse shots by the laser source using a laser energy model as compared to a plurality of energy requirements applicable to the upcoming laser pulse shots, and wherein the laser energy model takes into consideration a retention of energy in the laser source after the upcoming laser pulse shots are fired and quantitatively predicts available energy amounts for the upcoming laser pulse shots from the laser source based on a history of prior laser pulse shots by the laser source. The laser energy model is capable of modeling the energy available for laser pulse shots in the laser source over very short time intervals (such as 10-100 nanoseconds).
Systems and methods are disclosed that employ a photodetector having a field of view. The photodetector generates signals indicative of photon detections in response to incident light over time. A circuit generates first histogram data and second histogram data in a memory based on the generated signals during first and second collection subframes of a frame respectively using first and second mappings of time to bins respectively, wherein the second mapping of time to bins for the second collection subframe exhibits shorter bin widths than the first mapping of time to bins for the first collection subframe. A range to a target in in the field of view is resolvable in the event of a pile-up condition for the photodetector based on (1) data indicative of a coarse range estimate derived from the first histogram data and (2) data indicative of a range adjustment derived from the second histogram data.
Systems and methods are disclosed that employ a photodetector having a field of view. The photodetector generates signals indicative of photon detections in response to incident light over time. A circuit generates first histogram data and second histogram data in a memory based on the generated signals during first and second collection subframes of a frame respectively using first and second mappings of time to bins respectively, wherein the second mapping of time to bins for the second collection subframe exhibits shorter bin widths than the first mapping of time to bins for the first collection subframe. A range to a target in in the field of view is resolvable in the event of a pile-up condition for the photodetector based on (1) data indicative of a coarse range estimate derived from the first histogram data and (2) data indicative of a range adjustment derived from the second histogram data.
Present implementations include a LIDAR system comprised of a scanning emitter and a static receiver having a detector pixel array. According to some aspects, the present embodiments reduce the physical dimensions of the detector array while maintaining effective optical performance of the system, thereby reducing overall cost, power and size of the system. In some embodiments, this is achieved by selectively emitting and receiving light in one or more wavelength bands corresponding to one or more sets of directions in which the light is emitted and received.
Systems and methods can employ an emitter with adaptive active illumination in combination with a receiver that images a field of view illuminated by the emitter. An example active illumination camera system may comprise a light source that generates light output for sequentially illuminating a scene, a scanner that scannably steers the light output to targeted regions in the scene, a photodetector array comprising a photodetector array having a plurality of photodetector pixels that sense incident light from the scene and generate signals representative of the sensed incident light via integration of photo-generated charge for the pixels over time, and a circuit that generates image frames of the scene based on the generated signals, identifies regions of interest in the scene, and dynamically controls the light source and the scanner so that the steered light output exhibits a pattern that targets the identified regions with an increase in light energy
Techniques for resolving a range to an object using histograms are disclosed. A frame collection time for a depth-image frame is divided into a plurality of different collection subframes, where each collection subframe encompasses a plurality of light pulse cycles. Counts of accumulated photon detections by a pixel during the different collection subframes are allocated to histogram bins using different bin maps for the collection subframes. Each bin map defines a different mapping of time to bins for the light pulse cycles within its applicable collection subframe, and each mapping defines a bin width for its bins so that its bin map covers a maximum detection range for the depth-image frame. A range to an object in the pixel's field of view (within the maximum detection range) can be resolved according to a combination of peak bin positions in the histogram data with respect to the different collection subframes.
Techniques for resolving a range to an object using histograms are disclosed. A frame collection time for a depth-image frame is divided into a plurality of different collection subframes, where each collection subframe encompasses a plurality of light pulse cycles. Counts of accumulated photon detections by a pixel during the different collection subframes are allocated to histogram bins using different bin maps for the collection subframes. Each bin map defines a different mapping of time to bins for the light pulse cycles within its applicable collection subframe, and each mapping defines a bin width for its bins so that its bin map covers a maximum detection range for the depth-image frame. A range to an object in the pixel's field of view (within the maximum detection range) can be resolved according to a combination of peak bin positions in the histogram data with respect to the different collection subframes.
Embodiments of the present disclosure relate generally to terrain mapping, and more particularly to a method and system for maintaining a normalized view of a terrain during an airborne data collection process. Embodiments include an intelligent sensing methodology that, on a near-real time basis, continually monitors the geometry and instantaneous height of the immediate region (voxel) under collection by an airborne sensor, thus maintaining complete, continual situational awareness of the topography under investigation. In this manner, swath asymmetries and occlusions resulting from pronounced elevation peaks can be fully assessed, quantified, and remedied at the terminus of and/or during each scan. In some embodiments, this is done by adjusting the platform's collection system scan parameters (e.g. by adjusting a scan angle for the affected direction) on a scan-by-scan basis to eliminate such asymmetries and occlusions from each collection swath.
A lidar system comprises (1) a first lens having a first field of view that receives incident light from the first field of view, (2) a second lens having a second field of view that receives incident light from the second field of view, wherein the second lens is adjustable to cause an adjustment of the second field of view, and (3) a switch that controls which of the first and second lenses are used for detecting returns from laser pulse shots based on where the laser pulse shots are targeted in a field of view that encompasses the first and second fields of view.
Techniques for imaging such as lidar imaging are described where a plurality of light steering optical elements are moved (such as rotated) to align different light steering optical elements with (1) an optical path of emitted optical signals at different times and/or (2) an optical path of optical returns from the optical signals to an optical sensor at different times. Each light steering optical element corresponds to a zone within the field of view and provides (1) steering of the emitted optical signals incident thereon into its corresponding zone and/or (2) steering of the optical returns from its corresponding zone to the optical sensor so that movement of the light steering optical elements causes the imaging system to step through the zones on a zone-by-zone basis according to which of the light steering optical elements becomes aligned with the optical path of the emitted optical signals and/or the optical path of the optical returns over time.
Techniques for imaging such as lidar imaging are described where a plurality of light steering optical elements are moved (such as rotated) to align different light steering optical elements with an optical path of emitted optical signals at different times and/or an optical path of optical returns from the optical signals to an optical sensor at different times. Each light steering optical element corresponds to a zone within the field of view and provides steering of the emitted optical signals incident thereon into its corresponding zone and/or steering of the optical returns from its corresponding zone to the optical sensor so that movement of the light steering optical elements causes the imaging system to step through the zones on a zone-by-zone basis.
G01S 17/02 - Systems using the reflection of electromagnetic waves other than radio waves
G01S 17/88 - Lidar systems, specially adapted for specific applications
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
26.
Hyper temporal lidar with controllable tilt amplitude for a variable amplitude scan mirror
A lidar system comprises a lidar transmitter and a control circuit. The lidar transmitter fires laser pulse shots into a field of view and comprises a variable amplitude scan mirror for directing the laser pulse shots at targeted range points in the field of view (FOV). The control circuit (1) controls changes in a tilt amplitude of the variable amplitude scan mirror and (2) schedules the laser pulse shots according to a plurality of criteria, including criteria that take into account a settle time arising from controlled changes in the tilt amplitude. These controlled changes can include (1) a first tilt amplitude corresponding to a wide FOV coverage zone within the FOV and (2) a second tilt amplitude corresponding to a narrow FOV coverage zone within the FOV, wherein the second tilt amplitude is less than the first tilt amplitude.
A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view via a mirror that scans through a plurality of scan angles can use (1) a laser energy model to model the available energy in the laser source over time and (2) a mirror motion model to model motion of the mirror over time. A shot list for the upcoming laser pulse shots that are modeled according to the laser energy and mirror motion models can further be controlled based on eye safety and/or camera safety models to prevent the lidar system firing too much laser energy into defined spatial areas over defined time periods and thus reduce the risk of damage to eyes and/or cameras in the field of view.
Example implementations can include a method of real-time detection of and geometry generation for physical ground planes, the method including generating a point cloud based on one or more detected points, the detected points being reflected from one or more projected points of focused light projected onto an environment, slicing, in accordance with at least one coordinate space threshold, one or more threshold points from the point cloud to generate a first sliced point cloud excluding the threshold points, slicing, in accordance with at least one residual threshold, one or more residual points from the first sliced point cloud to generate a second sliced point cloud excluding the residual points, generating a ground plane aligned with one or more points of the second point cloud in the coordinate space, and calculating a geometric characteristic of the second ground plane.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
29.
SYSTEMS AND METHODS OF REAL-TIME DETECTION OF AND GEOMETRY GENERATION FOR PHYSICAL GROUND PLANES
Example implementations can include a method of real-time detection of and geometry generation for physical ground planes, the method including generating a point cloud based on one or more detected points, the detected points being reflected from one or more projected points of focused light projected onto an environment, slicing, in accordance with at least one coordinate space threshold, one or more threshold points from the point cloud to generate a first sliced point cloud excluding the threshold points, slicing, in accordance with at least one residual threshold, one or more residual points from the first sliced point cloud to generate a second sliced point cloud excluding the residual points, generating a ground plane aligned with one or more points of the second point cloud in the coordinate space, and calculating a geometric characteristic of the second ground plane.
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
30.
Systems and methods of calibration of low fill-factor sensor devices and object detection therewith
The present disclosure relates to calibration of actively illuminated low fill-factor sensor devices and object detection, including capturing one or more returns in a first scan direction, assigning first timestamps corresponding to one or more of the returns in the first scan direction, identifying one or more peaks corresponding to intensity of one or more of the returns, correlating peak timestamps with one or more time intervals, the peak timestamps being associated with the peaks, generating a scan timing interval based on the peak timestamps, and calibrating one or more input devices or output devices based on the scan timing interval.
The present disclosure relates to calibration of actively illuminated low fill-factor sensor devices and object detection, including capturing one or more returns in a first scan direction, assigning first timestamps corresponding to one or more of the returns in the first scan direction, identifying one or more peaks corresponding to intensity of one or more of the returns, correlating peak timestamps with one or more time intervals, the peak timestamps being associated with the peaks, generating a scan timing interval based on the peak timestamps, and calibrating one or more input devices or output devices based on the scan timing interval.
A lidar system comprises a lidar receiver that includes a first lens and a second lens. The first lens has a first field of view (FOV). The second lens has a second FOV, wherein the second FOV is encompassed by and narrower than the first FOV. A switch can control which of the first and second lenses are used for detecting returns from laser pulse shots based on where the laser pulse shots are targeted in a FOV that encompasses the first and second FOVs. The lidar receiver can include multiple readout channels for reading out signals from a photodetector array that senses light passed by the first and/or second lenses. Furthermore, the first and/or second lenses can be adjustable so that their respective FOVs are adjustable. Furthermore, shot scheduling for the lidar system can take into consideration potential changes in tilt amplitude of a variable amplitude scan mirror.
A lidar system comprising (1) a first lens having a first field of view (FOV) that receives incident light from the first FOV, (2) a second lens having a second FOV that receives incident light from the second FOV, wherein the second field of view is encompassed by and narrower than the first FOV, and (3) photodetector circuitry that senses incident light passed by the first and second lenses. The photodetector circuitry can include multiple channels of readout circuitry for reading out (1) a first return signal in a first of the channels for detecting a return from a laser pulse shot that targets a location in the second FOV, wherein the first return signal is based on incident light passed by the first lens, and (2) a second return signal in a second of the channels for detecting the return, wherein the second return signal is based on incident light passed by the second lens.
A lidar system comprises a photodetector circuit and a signal processing circuit. The photodetector circuit comprises an array of pixels for sensing incident light. The signal processing circuit processes a signal representative of the sensed incident light to detect a reflection of a laser pulse from a target within a field of view. The signal processing circuit can comprise a plurality of matched filters that are tuned to different reflected pulse shapes for detecting pulse reflections within the incident light, and wherein the signal processing circuit applies the signal to the matched filters to determine an obliquity and/or brightness (e.g., retro-reflectivity) for the target based how the matched filters respond to the applied signal. Furthermore, the determined target obliquity can be used for orienting the lidar system to a frame of reference (such as the horizon) in response to movements (such as tilting) of the lidar system.
A lidar system can include a lidar transmitter and a lidar receiver, where the lidar transmitter controllably transmits a pulse burst toward a target in a field of view. This pulse burst transmission can be performed in response to a detection of the target, and the lidar receiver can resolve an angle to the target based on returns from the pulse burst. The pulse burst can include a first pulse fired at a first shot angle and a second pulse fired at a second shot angle. Predictive laser energy modeling can be used to schedule the pulse burst, and this modeling can take into account a variable laser seed energy if applicable. Furthermore, the lidar system can controllably switch between a baseline scan mode and a pulse burst mode in response to target detections or other conditions.
A lidar system comprises a first lens, a second lens, and a switch. The first lens has a first field of view that receives incident light from the first field of view. The second lens has a second field of view that receives incident light from the second field of view, wherein the second field of view is encompassed by and narrower than the first field of view. The switch controls which of the first and second lenses are used for detecting returns from laser pulse shots based on where the laser pulse shots are targeted in a field of view that encompasses the first and second fields of view. The switch may comprise an optical switch or an electronic switch.
G01S 7/48 - Details of systems according to groups , , of systems according to group
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
G01S 7/4913 - Circuits for detection, sampling, integration or read-out
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
37.
HYPER TEMPORAL LIDAR WITH CONTROLLABLE DETECTION INTERVALS
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The detection intervals can vary across different shots, and at least some of the detection intervals can be controlled to be of different durations than the shot intervals that correspond to such detection intervals.
A lidar system having a lidar transmitter and lidar receiver that are in a bistatic arrangement with each other can be deployed in a climate-controlled compartment of a vehicle to reduce the exposure of the lidar system to harsher elements so it can operate in more advantageous environments with regards to factors such as temperature, moisture, etc. In an example embodiment, the bistatic lidar system can be connected to or incorporated within a rear view mirror assembly of a vehicle.
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G01S 17/18 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
A lidar system comprises (1) a lidar transmitter that switches from a baseline scan pattern to a pulse burst mode in response to a detection of a target in a field of view for the lidar transmitter, wherein the lidar transmitter transmits a pulse burst toward the target when in the pulse burst mode, and (2) a lidar receiver that refines an angle to the target based on returns from the pulse burst.
A lidar system includes a lidar transmitter and a control circuit. The lidar transmitter can controllably fire a plurality of laser pulse shots into a field of view, and the control circuit can (1) detect a target based on a return from a laser pulse shot fired at a first shot angle, and (2) in response to the detected target, (i) schedule a pulse burst to be fired at the target, wherein the pulse burst comprises a second laser pulse shot to be fired at a second shot angle and a third laser pulse shot to be fired at a third shot angle, wherein the first shot angle is between the second and third shot angles, and (ii) control the lidar transmitter to fire the scheduled pulse burst.
A lidar system comprises an optical amplification laser source, a mirror, and a control circuit. The optical amplification laser source can generate laser pulses for transmission as laser pulses shots into a field of view, the optical amplification laser source comprising a seed laser, a pump laser, and an optical amplifier. The mirror can be is scannable to control where the laser pulse shots are fired into the field of view, and the control circuit can control the seed laser to adjust its seed energy to control energy levels for a first laser pulse shot and a second laser pulse shot within a pulse burst to be transmitted from the optical amplification laser source via the mirror.
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing).
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing).
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can derive the detection intervals based on map data indicative of a geographic location for the system.
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can determine the detection intervals using a cost function that optimizes determination of the detection intervals for a plurality of the laser pulse shots from a shot list.
A lidar receiver can employ multiple readout channels that are capable of simultaneously reading out sensed signals from different pixel sets of a photodetector array in order to detect different returns from different laser pulse shots. In doing so, the lidar receiver can support the use of overlapping detection intervals when collecting signal data for detecting the different returns from the different laser pulse shots.
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The detection intervals can vary across different shots, and at least some of the detection intervals can be controlled to be of different durations than the shot intervals that correspond to such detection intervals.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G01S 17/18 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01J 1/42 - Photometry, e.g. photographic exposure meter using electric radiation detectors
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01J 1/02 - Photometry, e.g. photographic exposure meter Details
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
48.
Hyper temporal lidar with controllable pulse bursts to resolve angle to target
A lidar system can include a lidar transmitter and a lidar receiver, where the lidar transmitter controllably transmits a pulse burst toward a target in a field of view and where the lidar receiver resolves an angle to the target based on returns from the pulse burst. The pulse burst can include a first pulse fired at a first shot angle and a second pulse fired at a second shot angle.
A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view via a mirror that scans through a plurality of scan angles can use (1) a laser energy model to model the available energy in the laser source over time and (2) a mirror motion model to model motion of the mirror over time. The mirror can exhibit a variable scan amplitude, and a control circuit can then evaluate whether benefits such as a shorter completion time for firing laser pulse shots at a list of range points can be achieved by changing the mirror's scan amplitude. When making such decisions, the control circuit can take into account a settle time for the variable amplitude mirror that arises from changing the mirror's scan amplitude.
A lidar system that includes a laser source and a scannable mirror can be controlled to fire laser pulse shots from the laser source toward targeted range points via the scannable mirror at a variable rate of firing those laser pulse shots. A control circuit for the lidar system can determine a shot order of the targeted laser pulse shots for the variable rate firing based on a plurality of simulations of different shot order candidates with respect to a laser energy model that models how much energy is available from the laser source for laser pulse shots over time as compared to a plurality of energy requirements for the targeted laser pulse shots. Parallelized logic resource in the control circuit can be used to perform the simulations in parallel to support low latency shot scheduling.
A lidar system that includes a laser source can be controlled to fire laser pulse shots from the laser source at a variable rate of firing those laser pulse shots. The fired laser pulse shots can include scheduled laser pulse shots that are targeted at range points in the field of view. The fired laser pulse shots can also include marker shots that bleed energy out of the laser source in order to avoid reaching a threshold for available energy in the laser source and/or regulate energy amounts for the targeted laser pulse shots. A laser energy model that models how much energy is available from the laser source for laser pulse shots over time can be used to model future available energies for the laser source and determine whether any marker shots should be fired.
A lidar system that includes a laser source and a scannable mirror can be controlled to schedule the firing of laser pulse shots at range points in a field of view. A first mirror motion model can be used to govern the scheduling of the laser pulse shots, and a second mirror motion model can be used to govern when firing commands are to be generated for the scheduled laser pulse shots. The first and second mirror motion models model motion of the scannable mirror over time. A system controller can use the first mirror motion model as a coarse mirror motion model for the purpose of shot scheduling, while a beam scanner controller can use the second mirror motion model as a fine mirror motion model for the purposes of generating firing commands for the laser source.
A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view can use a laser energy model to model the available energy in the laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing.
A lidar system that includes a variable energy laser source and transmits laser pulses produced by the variable energy laser source toward range points in a field of view can use a laser energy model to model the available energy in the variable energy laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing. The laser energy model is capable of modeling a variable rate of energy buildup in the variable energy laser source per unit time.
A lidar system that includes a laser source can be controlled to schedule the firing of laser pulse shots at range points in a field of view. As part of this scheduling, the system can prioritize which elevations will be targeted with shots before other elevations based on defined criteria. Examples of such criteria can include prioritizing elevations corresponding to a horizon, prioritizing elevations which contain objects of interest (e.g., nearby objects, fast moving objects, objects heading toward the lidar system, etc).
A lidar system that includes a laser source and a scannable mirror can be controlled to adaptively schedule the firing of laser pulse shots at range points in a field of view. A first plurality of laser pulse shots that are fired during a scan of the mirror in a first scan direction can trigger the detection of a region of interest in the field of view. In response to this detection, a second plurality of laser shots targeting the region of interest can be scheduled for the next return scan of the mirror in the opposite direction.
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can use estimates of potential ranges to targeted range points to define the detection intervals.
G01S 17/18 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
58.
Hyper Temporal Lidar with Controllable Detection Intervals Based on Environmental Conditions
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can use data indicative of environmental conditions for the lidar receiver's field of view to define the detection intervals.
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
59.
Hyper temporal lidar with controllable detection intervals based on regions of interest
A lidar receiver that includes a photodetector circuit can be controlled so that the detection intervals used by the lidar receiver to detect returns from fired laser pulse shots are closely controlled. Such control over the detection intervals used by the lidar receiver allows for close coordination between a lidar transmitter and the lidar receiver where the lidar receiver is able to adapt to variable shot intervals of the lidar transmitter (including periods of high rate firing as well as periods of low rate firing). The lidar receiver can define the detection intervals based on a region in the field of view that a laser pulse shot is targeting (e.g., setting longer detection intervals for laser pulse shots targeting a horizon region, setting shorter detection intervals for laser pulse shots targeting a region that intersects within the ground within a relatively short distance of the lidar system).
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G01S 17/18 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
B60W 40/02 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to ambient conditions
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01J 1/42 - Photometry, e.g. photographic exposure meter using electric radiation detectors
B60R 1/12 - Mirror assemblies combined with other articles, e.g. clocks
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01J 1/02 - Photometry, e.g. photographic exposure meter Details
G01S 17/86 - Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
60.
Hyper temporal lidar with multi-processor return detection
A lidar receiver can employ multiple processors to distribute the workload of processing returns from laser pulse shots. Activation/deactivation times of pixel sets that are used by the lidar receiver to sense returns can be used to define which samples in a return buffer will be used for processing to detect each return, and multiple processors can share the workload of processing these samples in an effort to improve the latency of return detection.
G01S 17/36 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
A lidar system comprises a photodetector circuit and a signal processing circuit. The photodetector circuit comprises an array of pixels for sensing incident light. The signal processing circuit processes a signal representative of the sensed incident light to detect a reflection of a laser pulse from a target within a field of view. The signal processing circuit can comprise a plurality of matched filters that are tuned to different reflected pulse shapes for detecting pulse reflections within the incident light, and wherein the signal processing circuit applies the signal to the matched filters to determine an obliquity for the target based how the matched filters respond to the applied signal.
G01S 17/18 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
62.
Hyper Temporal Lidar Using Multiple Matched Filters to Determine Target Retro-Reflectivity
A lidar system comprises a photodetector circuit and a signal processing circuit. The photodetector circuit comprises an array of pixels for sensing incident light. The signal processing circuit processes a signal representative of the sensed incident light to detect a reflection of a laser pulse from a target within a field of view. The signal processing circuit can comprise a matched filter corresponding to a retro-reflective target that is tuned to a reflected pulse shape that exhibits a vertical clipping relative to a transmitted pulse shape for the laser pulse that is indicative of the retro-reflective target, and wherein the signal processing circuit determines a retro-reflector status for the target based how the matched filter responds to the applied signal.
A lidar system comprises (1) an array of pixels for sensing incident light and (2) a circuit for processing a signal representative of the sensed incident light to detect a reflection of a laser pulse from a target within a field of view. The circuit can comprise a plurality of matched filters that are tuned to different reflected pulse shapes for detecting pulse reflections within the incident light, and wherein the circuit (1) applies the signal to the matched filters to determine an obliquity for the target based how the matched filters respond to the applied signal and (2) determines a correction angle based on the determined target obliquity, the correction angle for orienting the field of view to a frame of reference in response to a tilting of the lidar system. In an example embodiment, the circuit can comprise a signal processing circuit that performs the signal application and correction angle determination operations. In another example embodiment, the circuit can comprise (1) a signal processing circuit that performs the signal application operation and (2) a receiver controller circuit that performs the correction angle determination operation.
G01S 17/18 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein range gates are used
G01S 17/894 - 3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
H01S 3/00 - Lasers, i.e. devices using stimulated emission of electromagnetic radiation in the infrared, visible or ultraviolet wave range
A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view via a mirror that scans through a plurality of scan angles can use (1) a laser energy model to model the available energy in the laser source over time and (2) a mirror motion model to model motion of the mirror over time. Time slots for transmitting the targeted laser pulses can be identified using the mirror motion model, and a schedule for these pulses can be determined using energies predicted for the pulses at these time slots according to the laser energy model. Linking the model of mirror motion with the model of laser energy provides highly precise granularity when scheduling laser pulses targeted at specific range points in the field of view.
A lidar system that includes a laser source and transmits laser pulses produced by the laser source toward range points in a field of view can use a laser energy model to model the available energy in the laser source over time. The timing schedule for laser pulses fired by the lidar system can then be determined using energies that are predicted for the different scheduled laser pulse shots based on the laser energy model. This permits the lidar system to reliably ensure at a highly granular level that each laser pulse shot has sufficient energy to meet operational needs, including when operating during periods of high density/high resolution laser pulse firing. The laser energy model is capable of modeling the energy available for laser pulses in the laser source over very short time intervals (such as 10-100 nanoseconds).
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 27/12 - Beam splitting or combining systems operating by refraction only
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G02B 27/14 - Beam splitting or combining systems operating by reflection only
A lidar system that includes a laser source and a scannable mirror can be controlled to maximize the firing of laser pulse shots per scan line of the scannable mirror. For example, a control circuit for the lidar system can (1) process a pool of range points to be targeted with a plurality of shots from the laser source, (2) schedule shots for a single scan of the mirror along the first axis in a given scan direction to target as many of the range points from the pool as permitted by a laser energy model as compared to a plurality of energy requirements relating to the shots, and (3) control a firing of the scheduled shots during the single scan of the mirror in the given scan direction so that the scheduled shots are fired into the field of view toward the targeted range points via the mirror.
Ladar System with Intelligent Selection of Shot Patterns Based on Field of View Data A ladar transmitter that transmits ladar pulses toward a plurality of range points in a field of view can be controlled to target range points based on any of a plurality of defined shot patterns. Each defined shot pattern can be instantiated to identify various coordinates in the field of view that are to be targeted by a ladar pulses. A processor can process data about the field of view such as range data and/or camera data to make selections as to which of the defined shot patterns should be selected over time.
Disclosed herein are various embodiments for a ladar system that includes an adaptive ladar receiver whereby the active pixels in a photodetector array used for reception of ladar pulse returns can be adaptively controlled based at least in part on where the ladar pulses were targeted by the ladar transmitter.
Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.
Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where feedback control is used to finely control mirror scan positions.
Disclosed herein are various embodiments for a ladar system that includes an adaptive ladar receiver whereby the active pixels in a photodetector array used for reception of ladar pulse returns can be adaptively controlled based at least in part on where the ladar pulses were targeted by the ladar transmitter.
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/08 - Systems determining position data of a target for measuring distance only
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/66 - Tracking systems using electromagnetic waves other than radio waves
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
A ladar system and related method are disclosed where the system includes a ladar transmitter and a ladar receiver. The ladar transmitter transmits ladar pulses into a field of view, and the ladar receiver receives ladar pulse returns from objects in the field of view. The ladar receiver comprises a cross-receiver, the cross-receiver comprising a first 1D array of photodetector cells and a second 1D array of photodetector cells that are oriented differently relative to each other.
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/499 - Details of systems according to groups , , of systems according to group using polarisation effects
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
74.
Ladar system and method with frequency domain shuttering
A ladar system and related method are disclosed where a ladar transmitter transmits ladar pulses toward a plurality of range points, and a ladar receiver receives ladar returns from the range points, wherein the ladar receiver comprises a photo receiver. A sensor can be used to sense background light levels, and a control circuit can (1) measures the sensed background light levels and (2) provide frequency domain shuttering with respect to the photo receiver based on the measured background light levels.
G01S 17/00 - Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
G01S 7/499 - Details of systems according to groups , , of systems according to group using polarisation effects
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 27/12 - Beam splitting or combining systems operating by refraction only
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G02B 27/14 - Beam splitting or combining systems operating by reflection only
Disclosed herein are various embodiments of an adaptive ladar receiver and associated method whereby the active pixels in a photodetector array used for reception of ladar pulse returns can be adaptively controlled based at least in part on where the ladar pulses were targeted. Additional embodiments disclose improved imaging optics for use by the receiver and further adaptive control techniques for selecting which pixels of the photodetector array are used for sensing incident light.
Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a control parameter for use by the ladar receiver with respect to the new ladar pulse shot.
Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a shot energy for use by the ladar system with respect to the new ladar pulse shot.
Systems and methods are disclosed where a ladar system synthetically fills a ladar frame. A ladar transmitter can employ compressive sensing to interrogate a subset of range points in a field of view. Returns from this subset of range points correspond to a sparse ladar frame, and interpolation can be performed on these returns to synthetically fill the ladar frame.
A ladar system and related method are disclosed where the ladar system comprises first and second receivers. The first receiver receives a ladar return from a ladar pulse with a known transmit polarization. The second receiver receives the ladar return from the ladar pulse with the known transmit polarization. The ladar system also includes a control circuit that (1) measures incident polarizations at the first and second receivers with respect to the received ladar return and (2) separates a retro-reflective portion of the received ladar return from a non-retro-reflective portion of the received ladar return based on the measured incident polarization and the known transmit polarization.
Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a control setting for use by a ladar system camera.
A ladar system and related method are disclosed where the ladar system includes a sensor that senses background light levels. A control circuit of the ladar system (1) measures the sensed background light levels and (2) controllably adjusts a pulse duration for a new ladar pulse based on the measured background light levels. A ladar transmitter can then transmit the new ladar pulse, wherein the new ladar pulse has the adjusted pulse duration. In an example embodiment, this technique for adaptive pulse duration can be employed in the ladar system where the ladar transmitter and ladar receiver are arranged in a bistatic architecture.
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
83.
Adaptive control of Ladar systems using spatial index of prior Ladar return data
Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a parameter value for use by the ladar system with respect to the new ladar pulse shot. Examples of such adaptively controlled parameter values can include shot energy, receiver parameters, shot selection, camera settings, and others.
Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help adapt a shot selection for use by the ladar system with respect to new ladar pulse shots.
Disclosed herein is a ladar system that includes a ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. In an example embodiment, a mirror can be included in the optical path between a lens and photodetector in the ladar receiver, where the mirror (1) directs light within the light from the lens that corresponds to a first light spectrum in a first direction for reception by the camera and (2) directs light within the light from the lens that corresponds to a second light spectrum in a second direction for reception by the photodetector, wherein the second light spectrum includes ladar pulse reflections for processing by the ladar system.
A ladar transmitter that transmits ladar pulses toward a plurality of range points in a field of view can be controlled to target range points based on any of a plurality of defined shot list frames. Each defined shot list frame can identify various coordinates in the field of view that are to be targeted by a ladar pulses for a given ladar frame. A processor can process data about the field of view such as range data and/or camera data to make selections as to which of the defined shot list frames should be selected for a given frame of ladar data.
Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor's field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. Also disclosed herein is a ladar system that includes a ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. Also disclosed are techniques where a ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses. Further still, a ladar transmitter is disclosed that can be controlled to target range points based on any of a plurality of defined shot list frames. A processor can process data about the field of view such as range data and/or camera data to make selections as to which of the defined shot list frames should be selected for a given frame of ladar data.
Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor's field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. Also disclosed herein is a ladar system that includes ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. Also disclosed are techniques where a ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses.
Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor's field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. The ladar system can perform compressive sensing to target the field of view with a plurality of ladar pulses.
A ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses. For example, ladar pulses in a cluster can be spaced apart but overlapping with at least one of the other ladar pulses in that cluster at a specified distance in the field of view. A ladar receiver can then process the reflections from the cluster to computer intra-frame motion data, such as intra-frame velocity and intra-frame acceleration for an object.
Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where feedback control is used to finely control mirror scan positions.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/02 - Systems using the reflection of electromagnetic waves other than radio waves
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/02 - Systems using the reflection of electromagnetic waves other than radio waves
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G02B 27/12 - Beam splitting or combining systems operating by refraction only
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G02B 27/14 - Beam splitting or combining systems operating by reflection only
Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.
Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.
Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between "own" ladar pulse reflections and "interfering" ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.
Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.
