ОПТОЭЛЕКТРОННОЕ УСТРОЙСТВО

Оптоэлектронное устройство предназначено для определения высотного профиля объекта. Устройство содержит датчик расстояния, устройство отклонения. Датчик снабжен излучающим передатчиком и принимающим приемником. Высотный профиль объекта определяется в устройстве обработки данных по выходным данным датчика расстояния и по соответствующим углам отклонения передаваемых световых лучей. Устройство отклонения снабжено передающей оптикой и исполнительным устройством. Передающая оптика периодически приводится в отклоняющее движение посредством исполнительного устройства. Перед приемником расположена принимающая оптика. Оси излучения передаваемых световых лучей и принимаемых световых лучей проходят на удалении друг от друга. Технический результат - создание устройства нечувствительного к внешним возмущающим влияниям. 1 н. и 29 з.п.ф-лы, 5 ил.

ОПТИКО-ЭЛЕКТРОННЫЙ КООРДИНАТОР

Изобретение относится к измерительной технике. Технический результат - увеличение числа определяемых информативных параметров точечных объектов. Оптико-электронный координатор, содержащий объектив и окуляр телескопической системы, анализатор изображений, конденсор и приемник излучения. Новым решением в изобретении является поляризационный анализатор изображений, состоящий из 2 линейных поляризаторов, причем первый поляризатор выполнен в виде 3 полосок поляризационной пленки, нанесенных на вращающуюся клиновую пластину через 45o, а второй поляризатор установлен неподвижно. 3 ил.

DEVICE FOR MEASURING COORDINATES OF EXTENT LIGHT SOURCE

Steuer- und Auswerteeinheit, LiDAR-System, Arbeitsvorrichtung und Verfahren zum Steuern

Die vorliegende Erfindung betrifft ein Steuer- und Auswerteeinheit (40) für ein LiDAR-System (1) zur optischen Erfassung eines Sichtfeldes (50), insbesondere für eine Arbeitsvorrichtung oder ein Fahrzeug, mit einer Sendeeinheit (70) zum Steuern des Erzeugens und Aussendens von Lichtpulsen als Primärlicht (57) in das Sichtfeld (50) und mit einer Empfangseinheit (80) zum Steuern des Empfangens und des Auswertens aus dem Sichtfeld (50) empfangenen Sekundärlichts (58), bei welcher die Empfangseinheit (80) als analoge Einheit aufgebaut ist und Mittel zur im Wesentlichen analogen Verarbeitung von – zu empfangenem Sekundärlicht (58) korrespondierenden – empfangenen Signalen aufweist.

Vorrichtung zur Zeit-zu-Digital-Wandlung mit geregelter zeitlicher Wavelet-Kompression mittels eines Sende-Wavelets mit geregelter Verzögerung und eines Analyse-Wavelets

Die Vorrichtung führt ein Verfahren zur Bestimmung der Verzögerungszeit eines ersten Wavelets in einer Übertragungsstrecke (I1) aus. Hierzu wird das erste Wavelet zu einem Zeitpunkt nach einem Referenzzeitpunkt in die Übertragungstrecke hineingesendet. Nach Durchgang durch die Übertragungsstrecke wird das verzögerte und typischerweise deformierte Wavelet mit einem zweiten Wavelet skalar-multipliziert. Das Ergebnis wird mit einem Referenzwert verglichen. Zu einem Schneidezeitpunkt (ts) schneidet der Skalar-Produktwert den Referenzwert. In Abhängigkeit von diesem Schneidezeitpunkt (ts) bezogen auf den Referenzzeitpunkt wird die Verzögerung des ersten und/oder zweiten Wavelets gegenüber dem Referenzzeitpunkt geregelt. Eine Amplitudenregelung findet nicht statt.

Laser-Radar-System

Kfz-TOF-Kamera mit einem LED-Scheinwerfer als Lichtquelle

Es wird eine neue Ansteuerung für eine LED vorgeschlagen, um mittels dieser LED kurze Lichtpulse hoher Leuchtstärke erzeugen zu können. Die Ansteuerung erfolgt vorschlagsgemäß über eine H-Brücke in der Art, dass die LED besonders schnell mit Ladungsträgern geflutet werden kann bzw., dass Ladungsträger besonders schnell aus der LED wieder entfernt werden können. Bei Verwendung von LEDs in den Grundfarben können nicht nur Helligkeitslichtpulse, sondern auch Farbwinkelpulse erzeugt werden, die insbesondere zur Lichtlaufzeitmessung, bevorzugt mittels Lichtlaufzeitkameras (TOF-Kameras) genutzt werden können. Bevorzugt werden Kfz-Scheinwerfer mit solchen Leuchtmitteln mit einer solchen H-Brücken- Ansteuerung bestückt. Sie können für vielfältige Zwecke im Kfz eingesetzt werden.

Lichtlaufzeitzähler mit Korrekturschaltung

Range finding for industrial use and for ultra short time laser spectroscopy

The method applies the principle of transit time measurement of an optical measurement pulse reflected from a target object and received by a detector. The detector determines a measurement time which is coupled in a defined manner with the time of reception of the optical measurement pulse. The interval between the measured time and that of the transmission time of the reference time point coupled in a defined manner with the optical measurement point is used to determine the transit time. For measuring the transit times ultra-short pulses with a high optical power level and pulse sequence frequency with a low mean power are used.

Laserradargerät und Objekt-Ermittlungsverfahren

Ein Laserradargerät umfasst: ein Projektions-Bauteil, das wiederholt einen Arbeitsablauf eines Projizierens von Messlicht, welches ein gepulster Laserstrahl ist, auf einen vorgegebenen Überwachungsbereich in einem Messzeitraum, der eine vorgegebene erste Länge aufweist, durchführt, wobei der Arbeitsablauf in c Zyklen (c 2) in einem Ermittlungszeitraum, der eine vorgegebene zweite Länge aufweist, wiederholt wird; einen Licht-Empfänger, der n1 (n1 2) Licht-Empfangselemente aufweist, und reflektiertes Licht des Messlichts in Richtungen empfängt, die unterschiedlich voneinander sind; eine Auswahlvorrichtung, die Licht-Empfangssignale der n1 Licht-Empfangselemente in jedem Messzeitraum auswählt, und n2 (n2 2) Licht-Empfangssignale ausgibt; ein Abtast-Bauteil, das die Licht-Empfangssignale, die von der Auswahlvorrichtung ausgegeben werden, s-(s 2)Mal abtastet, jedes Mal, wenn das Messlicht projiziert wird; und einen Detektor, der einen Arbeitsablauf eines Ermittelns eines Objekts in einem Ermittlungszeitraum-basierten-Zeitraum ...

Betriebsverfahren für ein LiDAR-System, Steuereinheit für ein LiDAR-System, LiDAR-System und Arbeitsvorrichtung

Die vorliegende Erfindung betrifft Betriebsverfahren für ein LiDAR-System (1) vom Flashtyp, bei welchem aufeinanderfolgend Pulse erzeugten Primärlichts (57) in ein Sichtfeld (50) zu dessen Beleuchtung ausgesandt werden, aus dem Sichtfeld (50) stammendes Sekundärlicht (58) empfangen, detektiert und ausgewertet wird und eine Abtastfrequenz, mit welcher Pulse oder Gruppen von Pulsen des Primärlichts (57) ausgesandt werden, eine Anzahl Pulsen des Primärlichts (57) in einer Gruppe von Pulsen und/oder ein oder mehrere einen jeweiligen Puls des Primärlichts (57) charakterisierende Pulsparameter zeitlich variiert werden.

DETEKTIONSSYSTEM MIT ERHÖHTER RAUSCHTOLERANZ

Lidar with interference detection

A distance measurement device comprising a light-sending unit for sending pulsed light toward an object of measurement where a distance thereto is measured, a light-receiving unit for receiving incident light including pulsed reflection light reflected by the object, a distance measurement unit for measuring the time from the sending of the pulsed light to the receiving of the incident light and calculating the distance to the object, and an interference detection unit for determining whether interference light exists in the incident light, based on the intensity of the incident light.

LASER TRANSPONDER FOR DEACTIVATING ONE LASERGEST TZTEN SPEED BERWACHUNGSVORRICHTUNG

OPTICAL SYSTEM FOR A MEANS LIGHT PULSES A WORKING RADAR DEVICE

RANGEFINDER

PROCEDURE AND DEVICE FOR THE DERIVATIVE OF GEODETIC DISTANCE INFORMATION

DISTANCE-MEASURING LASER SCANNER FOR THE COLLECTION OF OBJECTS IN A MONITORED AREA

Optical imagins system with optical delay lines

LASER TRANSPONDER FOR DISABLING A LASER-BASED SPEED MONITOR

METHOD AND SYSTEM FOR MEASURING RADAR REFLECTIVITY AND DOPPLER SHIFT BY MEANS OF A PULSE RADAR

Characteristics of a target are measured by a radar or sonar. Pulses (101, 102, 103) are transmitted and in between (X) the transmissions of pulses a signal is received which depends on the transmitted pulses and on the distribution of the characteristics measured at different ranges. The distribution at different ranges of the characteristics measured is determined by representing it by means of a substantially linear system of equations in which the variables are the values of the characteristics measured at desired ranges, and by solving the system of equations for the variables. The transmitted pulses form a cyclically repeated pulse code or a continuously changing pulse train.

ROOM OCCUPANCY SENSING APPARATUS AND METHOD

A building comprising a plurality of rooms (10) includes a room occupancy sensing apparatus. A light source (20) emits a series of light pulses (22), a plurality of waveguides deliver light from the light source to output nodes (60) located in the rooms, and a signal capture unit (30) receives output signals resulting from light reflected by objects in the rooms. The apparatus detects movement, of for example a person (40), in a room and ascertains the room concerned by virtue of (i) detecting a difference between the shape of the waveform of the signal (24 i) received at the signal capture unit (30) in response to a first emitted light pulse and the shape of the waveform of the signal (24m) received at the signal capture unit in response to a second emitted light pulse and (ii) relating said reflected light pulses to the appropriate output node and therefore to the room (10) associated with that output node (60).

SYSTEM FOR TRAFFIC INFORMATION ACQUISITION IN VEHICLES

The invention concerns traffic information acquisition systems for vehicles, which systems have a first opto-electrical transceiver on the vehicle side and a second opto-electrical transceiver provided at predetermined locations in traffic lanes. The first transceiver emits a first signal and receives and decodes a second signal from the second transceiver. The second transceiver receives the first signal from the first transceiver and sends back a coded, second signal to the first transceiver. The first transceiver is in the form of a reflection-operating time-distance measuring device. The emitted optical distance-measuring pulse signal is simultaneously the signal received by the second transceiver. The second transceiver emits the second signal after a delay time following reception of the first signal. The delay time should be longer than the maximum amount of time required for a distance measurement. It is thereby ensured that a signal from the second transceiver is not erroneously ...

SYSTEM AND METHOD FOR DISCRIMINATING BETWEEN DIRECT AND REFLECTED ELECTROMAGNETIC ENERGY

An energy beam threat discrimination system (110) adapted for use with laser beam energy (134). The system (110) includes a first detector (114) for detecting a first laser signal. A second detector (112) detects a coherent laser signal. A timer circuit (124, 126) establishes a time interval between the detection of the first laser signal and the detection of the coherent laser signal and provides an output (130) in response thereto. A control circuit (128, 130) determines, based on the output (130), if the first laser signal and/or the second laser signal is threatening. In a specific embodiment, the first detector (114) provides an event detection flag (118) as an output in response to the detection of a first laser signal. The first detector (114) includes a high sensitivity laser light detector (142), a preamplifier (144), and an analog threshold circuit (146). The coherent detector (112) provides a coherent detection flag (116) as an output in response to the detection of the coherent ...

SYSTEM AND METHOD FOR DISCRIMINATING BETWEEN DIRECT AND REFLECTED ELECTROMAGNETIC ENERGY

An energy beam threat dis- crimination system (110) adapted for use with laser beam energy (134). The system (110) includes a first detector (114) for detecting a first laser signal. A second detec- tor (112) detects a coherent laser signal. A timer circuit (124, 126) establishes a time interval between the detection of the first laser sig- nal and the detection of the coher- ent laser signal and provides an output (130) in response thereto. A control circuit (128, 130) deter- mines, based on the output (130), if the first laser signal and/or the second laser signal is threatening. In a specific embodiment, the first detector (114) provides an event detection flag (118) as an output in response to the detection of a first laser signal. The first detector (114) includes a high sensitivity laser light detector (142), a pre-amplifie r (144), and an analog threshold circuit (146). The coherent detector (112) provides a coherent detection flag (116) as an output in response to the detection ...

Anordnung zum Feststellen von Änderungen in einem periodischen Wellenzug

Schaltungsanordnung in einer Sender-Empfängereinheit zum Anzeigen, wenn ein Gegenstand eine vom Sender ausgehende Strahlung zum Empfänger reflektiert

Procedure for the admission of an object area.

OPTOELECTRONIC DEVICE

Microwave photon broadband radar imaging chip, system

Laser beam control method, corresponding device, apparatus and computer program product

RETURN-WAVE PHASE CONTROLLED ADAPTIVE ARRAY

MULTICOLOURED RANGEFINDER

LIDAR PULSED SEMICONDUCTOR OPTICAL AMPLIFIER

L'invention se situe dans le domaine de l'observation de l'atmosphère par un lidar. Elle concerne un lidar pulsé agencé pour la détermination d'une propriété de l'atmosphère, telle qu'une vitesse du vent. Le lidar comprend : ▪ un laser maître (11) apte à générer un faisceau laser maître (Fm), ▪ un amplificateur optique (13) agencé pour amplifier le faisceau laser maître (Fm) en fonction d'un signal de pompage (Sp), ▪ un générateur d'impulsions (14) agencé pour générer le signal de pompage (Sp), et ▪ un capteur (18) agencé pour recevoir une partie du faisceau laser de mesure rétrodiffusé par le volume de mesure, appelée faisceau laser de retour (Fret), et générer un signal de mesure (Smes) comprenant une information représentative d'une caractéristique du faisceau laser de retour (Fret). Selon l'invention, l'amplificateur optique est un amplificateur optique à semi-conducteur (13), et le signal de pompage (Sp) est déterminé de sorte que l'amplificateur optique à semi-conducteur génère un ...

ＳＭＩ 센서 및 대응하는 센서 디바이스를 동작시키는 방법

... 본 발명은 SMI 센서 및 대응하는 SMI 센서 디바이스를 동작시키는 방법에 관한 것이다. 본 방법에서, 디바이스의 레이저(1)는 레이저 펄스를 주기적으로 방출하고, 그 레이저 펄스에 뒤이어 보다 낮은 진폭을 갖는 레이저 방사의 방출 기간이 후속하도록 제어된다. 레이저 펄스의 펄스 폭은, 물체(3)에서의 반사 후에 펄스가 보다 낮은 진폭을 갖는 레이저 방사의 방출 기간 동안 레이저(1)에 재진입하도록 선택된다. 대응하는 SMI 신호는 증가된 신호 대 노이즈 비를 가진다.

DRIVER CIRCUITRY FOR CAPACITIVE TRANSDUCERS

The present disclosure relates to driver circuitry for driving a capacitive transducer. The circuitry comprises: output stage circuitry (330) configured to receive an input signal and to drive the capacitive transducer (340) to produce the output signal; variable voltage power supply circuitry (320) configured to output a supply voltage for the charge drive output stage circuitry, wherein the supply voltage output by the variable voltage power supply circuitry varies based on the input signal; a supply capacitor (326,328) for receiving the supply voltage output by the variable voltage power supply circuitry; a reservoir capacitor (360); and circuitry for transferring charge between the reservoir capacitor and the supply capacitor (400).

LIGHT CONTROL DEVICE, LIGHT CONTROL METHOD, AND PROGRAM

This light control device is installed on a moving body and is provided with a light emission/reception unit that has an emission unit and a light-receiving unit. The emission unit emits light, and the light-receiving unit receives light that is reflected by a target object in the vicinity of the moving body. A control unit, by continuously shifting the light emitted by the emission unit in a first direction and a second direction that intersects with the first direction, controls the emission unit such that the shifting path of the light emitted by the emission unit is helical.

Methods and devices to determine the wavelength of a laser beam

Methods for wavelength determination of a monochromatic light beam are described. The methods involve a detector unit containing at least one pair of photo detectors. One of the detectors in each detector pair is covered with a variable attenuator and the other is not covered by the variable attenuator. The optical transmission coefficient of the variable attenuator is a monotonic function of wavelength. Under illumination of a monochromatic light, the photocurrents produced in the detectors with and without the variable attenuator are compared. The relative values of the photocurrents are used to determine the wavelength of the monochromatic light.

System for traffic information acquisition in vehicles

The invention concerns traffic information acquisition systems for vehicles, which systems have a first opto-electrical transceiver on the vehicle side and a second opto-electrical transceiver provided at predetermined locations in traffic lanes. The first transceiver emits a first signal and receives and decodes a second signal from the second transceiver. The second transceiver receives the first signal from the first transceiver and sends back a coded, second signal to the first transceiver. The first transceiver is in the form of a reflection-operating time-distance measuring device. The emitted optical distance-measuring pulse signal is simultaneously the signal received by the second transceiver. The second transceiver emits the second signal after a delay time following reception of the first signal. The delay time should be longer than the maximum amount of time required for a distance measurement. It is thereby ensured that a signal from the second transceiver is not erroneously ...

Apparatus and method to identify targets through opaque barriers

The present invention is a method and apparatus that provides detection, characterization, and intuitive dissemination of targets. This disclosure combines improvements to ultra-wideband (UWB) sensing and machine target characterization with a means to convey data in a format that is quickly and readily understood by practitioners of the technology. The invention is well suited for Situational Awareness (SA) support in areas that are occluded by rain, fog, dust, darkness, distance, foliage, building walls, and any material that can be penetrated by ultra-wideband RF signals. Sense Through The Wall (STTW) performance parameters including target range, stand-off distance, and probability of detection are improved herein by combining a dynamically positioned sliding windowing function with orthogonal feature vectors that include but are not limited to time amplitude decay, spectral composition, and propagation time position in the return signal data. This invention is particularly useful for ...

PULSED ILLUMINATION IN A HYPERSPECTRAL, FLUORESCENCE, AND LASER MAPPING IMAGING SYSTEM

Pulsed hyperspectral, fluorescence, and laser mapping imaging in a light deficient environment is disclosed. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The system includes a controller configured to synchronize timing of the emitter and the image sensor. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises one or more of a hyperspectral emission, a fluorescence emission, or a laser mapping pattern.

Distance-measuring laser scanner for detecting objects in a surveillance range

Es wird ein entfernungsmessender Laserscanner (10) zur Erfassung von Objekten in einem Überwachungsbereich (18) mit einem Lichtsender (12) zum Aussenden von Lichtpulsen (14, 42, 44), einer Ablenkeinheit (16) zur periodischen Abtastung des Überwachungsbereichs (18) mit den Lichtpulsen (42, 44), einem Lichtempfänger (24) zum Erzeugen eines Empfangssignals aus von den Objekten remittierten Lichtpulsen (20, 42, 44) sowie mit einer Auswertungseinheit (34) angegeben, die dafür ausgebildet ist, die Entfernung eines Objekts aus einer Laufzeit eines Lichtpulses (46, 48) zu bestimmen und den Lichtsender (12) so anzusteuern, dass für eine Entfernungsbestimmung mehrere Lichtpulse (42, 44) unterschiedlicher Intensität ausgesandt werden. Dabei ist die Auswertungseinheit (34) dafür ausgebildet, für die Entfernungsbestimmung einen der Lichtpulse (46, 48) unterschiedlicher Intensität anhand des Empfangssignals auszuwählen.

IMAGE GATED CAMERA FOR DETECTING OBJECTS IN A MARINE ENVIRONMENT

ИЗМЕРЕНИЯ РАССТОЯНИЯ НА ОСНОВЕ СИСТЕМЫ ЛИДАРА С МНОГОУРОВНЕВЫМ УПРАВЛЕНИЕМ МОЩНОСТЬЮ

Optoelektronische Sensorvorrichtung und Lichtsenderanordnung

Optoelektronische Sensorvorrichtung (10) zum Detektieren von Objekten in einem Überwachungsbereich (40), umfassend: ein Substrat (12), wenigstens einen gehäusefreien Laserlichtemitter (20), welcher auf dem Substrat (12) innerhalb einer in dem Substrat (12) vorgesehenen Vertiefung (26) angeordnet ist, wobei die Vertiefung (26) eine schräg zu einer Haupterstreckungsebene des Substrats (12) verlaufende Reflexionsfläche (28) aufweist, welche dazu eingerichtet ist, von dem Laserlichtemitter (20) zunächst parallel zu der Haupterstreckungsebene emittiertes Sendelicht (30) in Richtung des Überwachungsbereichs (40) umzulenken, und wenigstens einen auf dem Substrat (12) angeordneten Lichtempfänger (22), welcher dazu eingerichtet ist, aus dem Überwachungsbereich (40) remittiertes Sendelicht (32) zu empfangen und in elektrische Signale umzuwandeln, dadurch gekennzeichnet, dass die Reflexionsfläche (28) durch eine im Substrat (12) ausgebildete Wandungsfläche (28) der Vertiefung (26) gebildet ist.

Laserradargerät und Objekt-Ermittlungsverfahren

Laserradargerät (11), das in einem Fahrzeug vorgesehen ist, umfassend:ein Projektions-Bauteil (22), das dazu eingerichtet ist, wiederholt einen Arbeitsablauf eines Projizierens von Messlicht, welches ein gepulster Laserstrahl ist, auf einen vorgegebenen Überwachungsbereich in einem Messzeitraum, der eine vorgegebene erste Länge aufweist, durchzuführen, wobei der Arbeitsablauf in c Zyklen (c ≥ 2) in einem Ermittlungszeitraum, der eine vorgegebene zweite Länge aufweist, wiederholt wird;einen Licht-Empfänger (24), der n1 (n1 ≥ 2) Licht-Empfangselemente (202-1, ..., 202-16) umfasst, und dazu eingerichtet ist, reflektiertes Licht des Messlichts in Richtungen, die unterschiedlich voneinander sind, zu empfangen;eine Auswahlvorrichtung (251), die dazu eingerichtet ist, Licht-Empfangssignale der n1 Licht-Empfangselemente (202-1, ..., 202-16) in jedem Messzeitraum auszuwählen, und n2 (n2 ≥ 2) Licht-Empfangssignale auszugeben;ein Abtast-Bauteil (254), das dazu eingerichtet ist, die Licht-Empfangssignale ...

Entfernungsmessender Sensor

Entfernungsmessender Sensor (10) zur Erfassung und Abstandsbestimmung eines Objekts (18), mit einem Sender (12) zum Aussenden von Sendepulsen, einem Empfänger (20) zum Erzeugen von Empfangspulsen (102) aus dem an dem Objekt (18) reflektierten Sendepuls, einem Messkern (22), der dafür ausgebildet ist, über den Sender (12) eine Vielzahl von Sendepulsen auszusenden, die daraufhin in dem Empfänger (20) erzeugten Empfangspulse (102) in einem Histogramm (110) zu sammeln und daraus einen Empfangszeitpunkt (112) und somit einen Messwert für die Signallaufzeit von dem Sensor (10) zu dem Objekt (18) zu bestimmen, sowie einer Steuerung (24) zur Ablaufsteuerung in dem Sensor (10) und zur Aufbereitung und Ausgabe des Messwerts, wobei Messkern (22) und Steuerung (24) miteinander verbunden sind, um Messwerte von dem Messkern (22) an die Steuerung (24) zu übergeben und um der Steuerung (24) von dem Messkern (22) über ein getaktetes Synchronisierungssignal ein Zeitverhalten vorzugeben, indem die Steuerung ...

Method for identifying devices

The invention relates to a method for identifying friendly vehicles in order to be able to distinguish them by these means from hostile vehicles.

Distance measuring device

A distance measurement device comprising a light-sending unit 2 for sending pulsed light towards an object whose distance is to be measured a light-receiving unit 3 for receiving incident light including pulsed light reflected by the object a distance measurement unit 4 for measuring the time from the sending of the pulsed tight to the receiving of the incident light and calculating the distance to the object and an interference detection unit 5 for determining whether interference light exists in the incident light, based on whether the intensity of the incident light fluctuates with distance (as would be expected of reflected light) or not (indicating interference).

Underwater laser television and underwater laser visualisation device

RETURN-WAVE PHASE CONTROLLED ADAPTIVE ARRAY

... 1362155 Optical collimation HUGHES AIRCRAFT CO 8 May 1973 [8 May 1972] 21985/73 Heading H4D A wave energy transmission and reception system comprises means for transmitting energy at a target, means for receiving energy which has been returned from the target, an apertured image plane stop structure, modulation means in the path of the received beam for spatially modulating it with respect to said aperture, and detector means, disposed on the opposite side of said image plane stop structure from said modulation means. The system also comprises control means responsive to output signals from the detector means, which are indicative of the intensity of received energy passing through the aperture, for adjusting the relative phases of selected segments of the received energy beam so as to cause the energy in the adjusted received beam to approach an inphase condition. As described, an infra-red laser 10, Fig. 1, is synchronized by trigger pulses t x to emit output pulses, which are shaped ...

LASER SYSTEM WITH HETERODYNE DETECTION

LASER SYSTEM

... 1420784 Lasers SANDERS ASSOCIATES Inc 29 April 1973 [1 May 1972] 20269/73 Heading H1C [Also in Division H4] An optically pumped solid laser has an output at 0À85 microns at room temperature and is thus suited to applications where the output is in the range 0À8-0À9 microns where it is invisible to the human eye but where it may be detected by a photocathode device such as an image intensifier. The laser may be used with a receiver having a detector with a quantum efficiency in excess of 1% and a dark current less than 10-15 amps at 25‹ C., for use in a night viewing system, a range finder, a target designator or a communication system. The active medium is LiYF 4 doped with Er; other rare earths such as Tb, Tm or Dy may be added to increase the optical pumping efficiency and also to depopulate the terminal state of the lasing transition so as to increase the possible output pulse rate.

RANGEFINDERS

... 1322407 Laser rangefinders BRITISH AIRCRAFT CORP Ltd 8 Oct 1971 [15 Oct 1970] 49091/70 Heading H4D A rangefinder, which ignores discontinuities, such as fog patch 5, comprises an emitter of electromagnetic energy, e.g. laser 3, emitting pulses towards target 4. Whenever a pulse is emitted counter 2 is reset to zero and a count is initiated, the counter being driven by pulse generator 1. A reflection from 5 is received at 6 and the resultant signal is passed via amplifier 7 and threshold detector 8 to gate 9, transferring the count to store 10. If another reflection is received, the corresponding count in 2 is again passed to store 10, updating the stored count. This may occur several times. The last reflection will always be from the target so that the corresponding count will represent the desired range. When counter 2 fills a pulse via line 16 closes gate 15 stopping the counter and via link 17 opens gate 11. The count in store 10 from the last target reflection is therefore transferred ...

PROCEDURE FOR THE DETERMINATION OF THE TEMPORAL SITUATION OF IMPULSES

EYELID ACRE APPARATUS WITH INCREASED PULSE REPETITION RATE

OPTO-ELEKTRONISCHES VERMESSUNGSVERFAHREN

VORRICHTUNGEN UND VERFAHREN ZUM MESSEN DER EMPFANGSZEITPUNKTE VON IMPULSEN

VORRICHTUNGEN UND VERFAHREN ZUM MESSEN DER EMPFANGSZEITPUNKTE VON IMPULSEN

The device has a memory (28) in which a receiving signal of reference impulses of pre-determined different amplitudes exist as a reference signal related to a time scale. Evaluation devices (21) compare another receiving signal with another reference signal under varying time offset to determine the latter reference signal and time offset such that minimum comparison difference is achieved, where the latter reference signals overlap with each other. The varying time offset is provided as a receiving time point regarding the time scale. An independent claim is also included for a method for measuring a receiving time point of partial overlapping impulses in a receiving system.

OPTICAL SYSTEM FOR A MEANS LIGHT PULSES A WORKING RADAR DEVICE

METHOD FOR IMPROVED NEAR AND REMOTE DETECTION OF A LIDAR RECEIVING UNIT

The invention relates to a method for the improved near and remote detection of a LIDAR receiving unit (16) for motor vehicles. The receiving unit (16) has multiple sensor elements (22), wherein the sensor elements (22) can be activated and deactivated. At least some of the sensor elements (22) are activated at a first point in time within a measurement cycle, and one or more sensor elements are activated and/or one or more sensor elements are deactivated at a second point in time within the measurement cycle, said second point in time occurring after the first point in time. The invention additionally relates to another method for an improved near and remote detection of a LIDAR receiving unit (14) and to a LIDAR measuring system (10).

IMAGE GATED CAMERA FOR DETECTING OBJECTS IN A MARINE ENVIRONMENT

System for detecting objects protruding from the surface of a body of water in a marine environment under low illumination conditions, the system comprising a gated light source, generating light pulses toward the body of water illuminating substantially an entire field of view, a gated camera, sensitive at least to wavelengths of the light generated by the gated light source, the gated camera receiving light reflected from at least one object, within the field of view, protruding from the surface of the body of water and acquiring a gated image of the reflected light, and a processor coupled with the gated light source and with the gated camera, the processor gating the gated camera to be set 'OFF' for at least the duration of time it takes the gated light source to produce a light pulse in its substantial entirety in addition to the time it takes the end of the light pulse to complete traversing a determined distance from the system and back to the gated camera, the processor further ...

LASER TRANSPONDER AND METHOD FOR DISABLING LASER SPEED MONITORS

A laser tranponder and method for disabling a laser-based speed monitor of the type that transmits a monitor laser beam at a moving motor vehicle. The monitor laser beam transmitted by the speed monitor is detected when it arrives at the motor vehicle. In response to detecting the monitor laser beam, a warning is output to the motor vehicle driver and a jamming laser beam is transmitted toward the speed monitor. The jamming laser beam includes a plurality of pulses separated from each other by a time period that is less than or equal to an amount of time needed for the monitor laser beam to travel from the speed monitor to the motor vehicle and back to the speed monitor. The jamming laser beam disables the speed monitor for a time period sufficient to allow the motor vehicle driver to reduce the speed of the motor vehicle.

СТРОБОСКОПИЧЕСКИЙ ПРЕОБРАЗОВАТЕЛЬ

Изобретение относится к измерительной технике, а именно к измерению импульсов нано- и пикосекундной продолжительности, и может быть использовано для ввода "быстрых сигналов" в "медленные" устройства обработки, в частности в радиолокации, рефлектометрии и полиметрии жидких сред. Стробоскопический преобразователь содержит источник синхросигнала, смеситель, выход которого является выходом стобоскопического преобразователя, систему управляемого сдвига синхросигнала и источник сигнала, выход которого подключен к сигнальному входу смесителя. Система управляемого сдвига синхросигнала содержит два размещенных параллельно отдельно настраивавемых синтезатора частоты. Их входы подсоединены к выходу источника синхросигнала и относительное отклонение частоты на их выходах равняется относительному отклонению частоты источника синхросигнала. При этом выход одного синтезатора частоты соединен с входом источника сигнала, выход второго синтезатора частоты соединен со стробирующим входом смесителя, а оба ...

Signal processing method based on laser radar waveform of coherent system

The invention discloses a signal processing method based on a laser radar waveform of a coherent system. The method comprises the steps of conducting quantization on phases of chirp signals of the laser radar of the coherent system to obtain the laser radar waveform, generating laser phase modulating signals according to the laser radar waveform, on one hand, obtaining delayed laser phase modulation signals, on the other hand, amplifying and transmitting the laser phase modulating signals, conducting phase demodulating processing on received target echo signals and the delayed laser phase modulation signals, generating quadrature demodulation echo signals, utilizing an analog-digital converter for collecting and recording the quadrature demodulation echo signals, conducting phase error estimation and correction on the the quadrature demodulation echo signals to obtain the echo signals after phase error correction, conducting distance direction Fourier transform on the echo signals after ...

Brillouin scattering underwater laser imaging detector based on photonic crystal filter

The invention discloses a Brillouin scattering underwater laser imaging detector based on photonic crystal filter, comprising an impulse generator, a laser controller, a strobe controller, a logic processing component, a blue-green laser, a scanner, a Brillouin scattering filter, a strobe signal receiver, a signal processing component and a monitor, wherein the impulse generator is respectively connected to the laser controller, the strobe controller and the logic processing component; and the laser controller is connected to the blue-green laser. In the invention, a method of photonic crystal filter is used for collecting Brillouin scattering signals, displacing the currently adopted F-P (Fabry-Perot) interferometer, or the edge detection technology based on a bromine and iodine molecular filter, so that high requirements to the parallelism of incidents lights are not needed due to quite small solid angles received by the F-P interferometer, and bromine and iodine steams do not need constant ...

Beam splitting Prism subassembly and splitting system

OPTOELECTRONIC DEVICE Of OBSERVATION IMPROVES TO DETECT the TIRSLASER

OPTOELECTRIC DEVICE OF DETECTION, IN PARTICULAR OF LASER RADIATION, AND SYSTEM COMPRISING SUCH A DEVICE

OPTOELECTRIC DEVICE OF DETECTION, IN PARTICULAR OF LASER RADIATION, AND SYSTEM COMPRISING SUCH A DEVICE

RANGEFINDERS

OPTOELECTRONIC DEVICE Of OBSERVATION IMPROVES TO DETECT the SHOOTINGS LASER

... - La présente invention concerne un dispositif d'observation comprenant un système optique (1), un détecteur optoélectronique (2), des moyens d'affichage vidéo (4) et un dispositif de protection (3) réfléchissant et absorbant les faisceaux laser atteignant ledit dispositif d'observation. - Selon l'invention, ledit dispositif d'observation comporte de plus des moyens de mémoire (5, 6) susceptibles de stocker au moins deux images électroniques successives du champ (C) observé; des moyens de soustraction (8) permettant de soustraire l'une desdites images électroniques de l'autre pour en obtenir la différence; et des moyens de commande vidéo (9) permettant de superposer ladite différence auxdites images vidéo affichées par lesdits moyens d'affichage vidéo (4).

TRANSCEIVING DEVICE UTILIZED IN SCAN LASER RADAR

A transceiving device utilized in a scan laser radar comprises a laser light source used to emit a laser light and a lens (2) modifying a laser path of the laser light emitted from the light-emitting source. An optical fiber module (1) is disposed between the laser light source and the lens. The optical fiber module (1) receives the laser light emitted from the laser light source, and transmits, to the lens (2), an optical pulse of the laser light. The device is adopted to receive a laser signal completely, thereby increasing scan resolution.

OPTICAL SHIELDING DEVICE FOR SEPARATING OPTICAL PATHS

The invention relates to a sensor unit (33) for detecting reference and measurement radiation (7, 5) for a distance measurement device. The sensor unit (33) has a sensor element (3) and an optical shielding device (1). The sensor element (3) has a first detection region (35) for detecting measurement radiation (5) and a second detection region (37) for detecting reference radiation (7). The optical shielding device (1) is positioned in relation to the sensor element (33) and fastened and optically separates the first and second detection regions (35, 37) from each other. The optical shielding device (1) further comprises a first recess (16) and a second recess (15) which are permeable to optical radiation of a first wavelength range.

Method and apparatus for determining the range of vision of a motor vehicle driver upon encountering fog or other obstacle

A method and apparatus are provided for determining the range of vision of the driver of an motor vehicle upon encountering a fog. A transmitter and receiving member is mounted on the front portion of the motor vehicle. A series of beam are transmitted from the range finder to different measured portions of the roadway. The reflections from the roadway are monitored. When the atmospheric conditions change so that a fog or other obstacle appears in the roadway, the reflected signal will take on different characteristics or will not appear at all. The driver of the motor vehicle can have a visual and/or an acoustic warning indication inside the vehicle to note that some dangerous condition exists.

DETERMINING POSITIONAL INFORMATION FOR AN OBJECT IN SPACE

System and methods for locating objects within a region of interest involve, in various embodiments, scanning the region with light of temporally variable direction and detecting reflections of objects therein; positional information about the objects can then be inferred from the resulting reflections. 1. A method for obtaining positional information about an object within a region of interest , the method comprising:(a) activating sources directed to portions of the region of interest according to an ordering of points, such that each point in the ordering directs electromagnetic radiation of at least one source to one of the portions of the region of interest;(b) capturing a portion of the electromagnetic radiation reflected by an object;(c) forming a signal over time of at least one property of the captured electromagnetic radiation;(d) determining from the signal, at least one point in the ordering in which a dominant contributor to the captured electromagnetic radiation was activated;(e) determining an identity for the dominant contributor from the point in the ordering;(f) determining from the identity of the dominant contributor, a portion of the region of interest to which the electromagnetic radiation from the dominant contributor was directed; and(g) determining positional information for the object based at least in part upon the portion of the region of interest.2. The method of claim 1 , wherein capturing electromagnetic radiation reflected by the object comprises capturing data frames of the region with a pixelated sensor.3. The method of claim 2 , further comprising determining a direction of the reflected electromagnetic radiation relative to the sensor claim 2 , the positional information further being based in part on the direction of the reflected electromagnetic radiation.4. The method of claim 2 , wherein the data frames are captured at a rate exceeding a scan rate associated with the illuminating electromagnetic radiation.5. The method of ...

Laser radar utilizing pulse-tone waveform

Pulse-tone laser radar utilizing an acousto-optic angular multiplexer and frequency shifter. The laser radar includes both a pulsed laser and a CW laser. A portion of the CW laser beam is utilized as a reference or local oscillator. An acousto-optic angular multiplexer passes the output of the pulsed laser when the acousto-optic multiplexer is in its off state and passes and frequency shifts the output of the CW laser when the acousto-optic multiplexer is in its on state. The acousto-optic angular multiplexer is operated to pass a pulse followed by a CW tail to generate the pulse-tone waveform. The return signal from a target is beat together with the local oscillator signal derived from the CW laser. The resulting beat signal includes both range and velocity information.

Method for the recording of an object space

The invention relates to a method for the recording of an object space with an opto-electronic distance sensor by a signal propagation time method, with a transmitter for transmitting optical signals, in particular those of a laser, and a receiver device for receiving optical signals, in particular laser radiation, which is reflected from objects located in the target space. The distance sensor is combined with a scanning device for deflecting the optical axes of the transmitter and receiver device, and it has an evaluation device, which from the propagation time or phase angle of the optical signal emitted ascertains distance values. Downstream of the scanning device, that is, out of the region oriented toward the distance sensor, part of the beam is split off from the beam path of the transmitter and/or receiver device and is directed to receiver diodes or the like, and from the corresponding signals, a pixel is ascertained and each pixel is assigned a distance value and a space angle ...

Fault tolerant power liftgate obstruction detection system

A system and method detects an obstruction in the path of a vehicle access control member moving from an open position to a closed position. The method includes transmitting a detection signal along an edge of the member towards a reflective surface mounted on the member. The detection signal includes a sequence of pulses having different amplitudes with the amplitudes varying linearly moving from a first pulse to a final pulse of the sequence of pulses. The method further includes receiving a detection response signal corresponding to the detection signal following reflection of the detection signal by one of the reflective surface and the obstruction. The detection response signal includes another sequence of pulses and the method further includes generating an obstruction signal indicating whether the obstruction is in the path of the access control member responsive to differences in amplitude between adjacent pulses in the sequence of pulses.

COMBINED LOAS AND LIDAR SYSTEM

Method and apparatus for indicating visibility in fog to drivers of motor vehicles

PRE-BIASING TECHNIQUE FOR A TRANSISTOR BASED AVALANCHE CIRCUIT

A pre-biasing technique for a transistor based avalanche circuit which improves the initial rate of rise in the current applied through a laser diode or other light emitting device (122) in a laser based distance measurement and ranging instrument and, therefore, the sharpness of the leading edge of the laser pulse produced. Since the timing of the flight time of a laser pulse to a target and back to the ranging instrument is determined with reference to the leading edge of the emitted laser pulse, the inherent precision obtainable is enhanced by the production of a sharper leading edge pulse. The use of the pre-biasing technique disclosed also allows for the substitution of a much cheaper light emitting diode (122) in lieu of a conventional laser diode in an alternative implementation of a light pulsed-based distance measuring and ranging instrument.

CAMERA

Um eine hohe Bildaufnahme bei gleichzeitigem geringen Energieverbrauch einer Kamera 1 zu ermöglichen, wird eine Kamera (1), insbesondere 3D-Lichtlaufzeitkamera, zur Verfügung gestellt, umfassend eine Beleuchtungseinheit (2), die Lichtimpulse während einer Beleuchtungsphase (Bp) aussendet, einen Bildsensor (3), der aus den von einem Objekt reflektierten Lichtimpulsen Bilder erzeugt, einen Schaltregler (4), der Strom an die Beleuchtungseinheit (2) regelt, wobei der Schaltregler (4) in einem kontinuierlichen und einem diskontinuierlichen Modus (CCM; DCM) betreibbar ist, und eine Steuereinheit (5), die ausgebildet ist, den kontinuierlichen Modus (CCM) des Schaltreglers (4) in Abhängigkeit der Beleuchtungsphase (Bp) der Beleuchtungseinheit (2) zu aktivieren und zu deaktivieren.

ИЗМЕРЕНИЯ РАССТОЯНИЯ НА ОСНОВЕ СИСТЕМЫ ЛИДАРА С МНОГОУРОВНЕВЫМ УПРАВЛЕНИЕМ МОЩНОСТЬЮ

Использование: описываются способы и системы для управления мощностью освещения системы трехмерной визуализации на базе системы лидара, основанные на дискретных уровнях мощности освещения. Сущность: в одном из объектов интенсивность освещения импульсного пучка света освещения, испускаемого системой лидара, изменяется в соответствии с набором уровней мощности освещения на основании различия между желаемым и измеренным возвратным импульсом. В дополнительном объекте, уровень мощности освещения выбирается на основании того, превышает ли разность интенсивности одно из значений последовательности предварительно заданных многоуровневых пороговых значений. Таким образом, интенсивность измеряемых возвратных импульсов поддерживается в пределах линейного диапазона аналого-цифрового преобразователя для объектов, регистрируемых в широком диапазоне расстояний от системы лидара и в широком диапазоне условий окружающей среды на оптическом пути между системой лидара и регистрируемым объектом. Технический ...

Устройство для измерения координат протяженного источника светового излучения В.Г.Ошлакова

... 1. Устройство для измерения координат протяженного источника светового излучения , содержащее три поворотных фотоприемных блока, расположенных в вершинах прямоугольного треугольника и каждый из которых состоит из последовательно размещенных объектива, щелевой диафрагмы, установленной в фокальной плоскости объектива, и фоточувствительного элемента , установленного за фокальной плоскостью объектива, три привода для вращения фотоприемных блоков относительно осей, образующих острые углы с оптическими осями фотоприемных блоков, три датчика углов поворота фотоприемных блоков, и Изобретение относится к системам ориентации и технике слежения за протяженными источниками светового излучения и может использоваться в системах ориентации по световому лучу. Целью изобретения является повышение точности и скорости измерения координат протяженного источника светового излучения. блок обработки видеосигналов, соединенный входами с выходами фотоприемных блоков и датчиков углов поворота фотоприемных блоков ...

Vorrichtung zur Signalverzögerung unter Benutzung eines Referenzoszillators und deren Anwendung in einer TOF-Kamera

Es wird ein Verfahren zur Erfassung der Verzögerung zwischen einem Lichtpuls (LP) und einem Shutter-an-Signal (SON) zur Verbesserung von Verfahren und Vorrichtungen zur Messung der Lichtlaufzeit. Eine DLL erzeugt auf Basis eine Referenztakts (RCK) ein Regelsignal (RS) für eine Master-Verzögerungskette (MDL) sodass deren Verzögerung in einem vorgebbaren oder konstruktiv vorgegebenen festen Verhältnis zur Periodendauer des Referenztakts (RCK) steht. Mit dem Regelsignal (RS) wird eine zweite Slave-Verzögerungskette (SDL) nun in ihrer Verzögerung nachgeregelt und, da sie mit der Master-Verzögerungskette (MDL) durch Mikrointegration thermisch gut gekoppelt ist, thermisch stabilisiert. Die Verzögerung der Masterverzögerungskette (SDL) hängt somit nur noch von der Periodendauer des Referenztakts (RCK) ab. Die Slave-Verzögerungskette (SDL) wird benutzt, um die Verzögerung zwischen einem Shutter-an-Signal (SON) zur Steuerung der Belichtung der Pixel einer Time-of-Flight-Kamera einerseits und der ...

Lidar mit Schutzschaltung

Die Erfindung betrifft ein LiDAR-System (101); wobei das System (101) ausgebildet ist, ein erstes Strahlenbündel (203) einer ersten Laserklasse und eine zweite Strahlenbündels (103) einer zweiten Laserklasse auszusenden. Das erste Strahlenbündel (203) wird ausgesendet, wenn das System erkennt, dass sich mindestens ein Objekt (201) in einem ersten Bereich (105) befindet, der von dem zweiten Strahlenbündel (103) durchlaufen wird; wobei andernfalls das zweite Strahlenbündel (103) ausgesendet wird.

Vorrichtung und Verfahren zum Vermessen einer Oberfläche

Vorrichtung zum Vermessen einer Oberfläche (2; 112), umfassend eine Lichtquelle (3) zum Erzeugen einer Folge von Lichtpulsen (61) mit einer Repetitionsrate, eine Lichtlenkeinrichtung (4–6; 4, 114; 4, 132, 134), die kontrollierbar ist, um die Folge von Lichtpulsen auf einen Oberflächenbereich (25; 117) der Oberfläche (2; 112) zu lenken, der aus mehreren Oberflächenbereichen (25, 27; 117) wählbar ist, eine Detektoranordnung (10; 102; 120; 135), die eine Mehrzahl von Detektoren (11–14; 11–13, 104; 11–13) umfasst, die eingerichtet sind, um eine Mehrzahl von von dem Oberflächenbereich (25; 117) in unterschiedliche Richtungen gestreuten und/oder reflektierte Lichtsignalen (21–24; 21–23, 105; 121–123) zu empfangen, und eine Auswerteschaltung (15), die mit der Detektoranordnung (10; 102; 120; 135) gekoppelt ist und eingerichtet ist, um zum Bestimmen einer Position des Oberflächenbereichs (25; 117) für jedes Lichtsignal (21–24; 21–23, 105; 121–123) der Mehrzahl von Lichtsignalen (21–24; 21–23, 105 ...

Anordnung zum Feststellen von AEnderungen in einem periodischen Wellenzug

Device for measuring distance between transceiver and target in industrial application, has evaluating device scanning light pulses with respect to phase shifts, where pulses are transmitted by transmitter at certain pulse repetition rate

The device has a transmitter (1) producing a series of measuring light pulses (2) with a pulse repetition rate greater than 0.16 MHz. An evaluating device (6) comprises a filter filtering electrical signals in unconverted, received measuring light pulses (4) of a target object (3) at a receiver (5). Bandwidth of the filter is less than that of the light pulses. The evaluating device scans the light pulses with respect to small phase shifts, which are smaller than a sample period. An entire phase shift of the light pulses is smaller than or equal to the sample period. The transmitter is formed as a semiconductor light source such as laser diode or LED. The receiver is formed as a positive intrinsic negative (PIN) diode or avalanche photo diode (APD).

Codierte Laserlicht-Pulssequenzen für LIDAR

Ein Laserscanner (101) mit mindestens einer Laserlichtquelle und einem Detektor ist eingerichtet, um einen codierten ersten Pulszug (201, 202) und einen codierten zweiten Pulszug (201, 202) zu senden. Ein Bildpunkt eines LIDAR-Bilds wird basierend auf dem ersten Pulszug (201, 202) und dem zweiten Pulszug (201, 202) bestimmt. Es können CDMA-Techniken eingesetzt werden, um die Pulszüge in Messsignalen des Detektors zu erkennen.

Covert 3-dimensional imaging lidar

The tomoscopic laser detection device according to the invention comprises means (1, 2) to illuminate a target (3) at a wavelength that is unusual for a laser source, means (4) to obtain a temporal gate on the wave that is back-scattered or partially reflected by the target (3) following the laser illumination and means (5) to convert the unusual wavelength into a wavelength appropriate for an image sensor (6), enabling discretion of detection to be ensured. Application to reconnaissance, "de-camouflage", 3D navigation.

OPTICAL DISTANCE MEASURING SYSTEM

A laser ranging system in which a tunable pulsed laser (1) has its frequency locked to, but offset from, that of a frequency stable c.w. reference laser (8) by a feed back loop. The reference laser (8) is used to produce a heterodyne signal from the echo signal. The tunable laser (1) comprises a mirror (4) moved by a piezoelectric element (5) under the control of a frequency offset lock system (11), fed by the detected (10) product (beam splitter 9) of the outputs of the pulsed and reference lasers. ...

System and method for discriminating between direct and reflected electromagnetic energy

An energy beam threat discrimination system (110) adapted for use with laser beam energy (134). The system (110) includes a first detector (114) for detecting a first laser signal. A second detector (112) detects a coherent laser signal. A timer circuit (124, 126) establishes a time interval between the detection of the first laser signal and the detection of the coherent laser signal and provides an output (130) in response thereto. A control circuit (128, 130) determines, based on the output (130), if the first laser signal and/or the second laser signal is threatening. In a specific embodiment, the first detector (114) provides an event detection flag (118) as an output in response to the detection of a first laser signal. The first detector (114) includes a high sensitivity laser light detector (142), a pre-amplifier (144), and an analog threshold circuit (146). The coherent detector (112) provides a coherent detection flag (116) as an output in response to the detection of the coherent ...

LASER SYSTEM WITH HETERODYNE DETECTION

System and method for discriminating between direct and reflected electromagnetic energy

SYSTEM FOR THE COLLECTION OF MOTORING INFORMATION IN VEHICLES

OPTICAL INPUT DEVICE FOR THE MEASUREMENT OF FINGER MOVEMENTS

VERFAHREN ZUR AUFNAHME EINES OBJEKTRAUMES

PROCEDURE FOR THE MEASUREMENT OF THE MOVEMENT OF A MATERIAL SHEET AND OPTICAL SENSOR FOR THE EXECUTION OF THE PROCEDURE

Оптико-электронный модуль с защитой фотоприёмного тракта от воздействия лазерного излучения

Полезная модель относится к области оптического приборостроения, в частности к элементам защиты самих оптико-электронных приборов от воздействия лоцирующего лазерного излучения.Оптико-электронный модуль, содержит общее входное окно, видеокамеру с объективом, фотоприемной матрицей и блоком формирования изображения, лазерный дальномер с объективом, фотоприемником и блоком управления лазером, синхрогенератор, первый выход которого подключен к входу блока формирования изображения, а второй выход подключен к входу блока управления лазером.Технический результат заключается в повышении защиты фотоприемного тракта видеокамеры при ее совместной работе с лазерным дальномером как от внутриприборных засветок, так и от излучения, отраженного от объектов, находящихся в непосредственной близости от устройства. Другим техническим результатом является упрощение конструкции устройства. 2 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 169 946 U1 (51) МПК G02F 1/01 (2006.01) G02B 23/02 (2006.01) G01C 3/08 (2006.01) G01S 7/483 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ФОРМУЛА ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ РОССИЙСКОЙ ФЕДЕРАЦИИ (21)(22) Заявка: 2016100575, 11.01.2016 (24) Дата начала отсчета срока действия патента: 11.01.2016 07.04.2017 Приоритет(ы): (22) Дата подачи заявки: 11.01.2016 Адрес для переписки: 194044, Санкт-Петербург, ул. Чугунная, 14, АО "ГИРООПТИКА", генеральному директору И.В. Поповой (73) Патентообладатель(и): Российская Федерация, от имени которой выступает Министерство Обороны Российской Федерации (RU) (56) Список документов, цитированных в отчете о поиске: RU 2398252 C2 27.08.2010;SU (57) Формула полезной модели Оптико-электронный модуль, содержащий входное окно, корпус, в котором размещены: видеокамера, включающая телевизионный объектив, фотоприёмную матрицу и блок формирования изображения, лазерный дальномер, включающий объектив, плоское зеркало с осевым отверстием, фотоприемник и блок управления лазером, отличающийся тем, что введён синхрогенератор ...

Apparatus and optical method of ranging and of high bit-rate communication

An optical apparatus for ranging and communication in free space comprises a rangefinder comprising a device for transmitting an optical signal to a target and a device for receiving the signals backscattered by the target. A system for optical communication in free space comprises a device for transmitting an optical signal to a remote optical receiving device. The transmitting device of the rangefinder and transmitting device of the communication system is a transmitting device common to the rangefinder and communication system and transmitting pulses of peak power greater than 50 W and shape factor less than 0.01 or a modulated continuous signal of peak power less than 10 W and shape factor equal to approximately 0.5 and the apparatus comprises a supervisor controlling the common transmitting device according to two modes, the pulse mode to perform the ranging function, or the modulated continuous mode to perform the optical communication function.

THREE-DIMENSIONAL DISTANCE MEASUREMENT DEVICE

A three-dimensional distance measurement device includes a light emitting unit that irradiates a subject with light; a light receiving unit that detects reflected light from the subject; a distance calculation unit that calculates a three-dimensional distance to the subject on the basis of a transmission time of the detected reflected light; an image processing unit that generates a distance image of the subject on the basis of the calculated distance data; and a distance mode selection processing unit that selects a predetermined distance mode from a plurality of distance modes having different measurable distance ranges and sets a driving condition of the light emitting unit. By selecting a first distance mode in a first frame and selecting a second distance mode in a second frame, and by combining the distance data acquired in the respective frames, three-dimensional distance data of a frame to be output is generated. 1. A three-dimensional distance measurement device that outputs a position of a subject as a distance image , comprising:a light emitting unit that irradiates the subject with light;a light receiving unit that detects reflected light from the subject;a distance calculation unit that calculates a three-dimensional distance to the subject on the basis of a transmission time of the reflected light detected by the light receiving unit;an image processing unit that generates a two-dimensional distance image of the subject on the basis of a distance data calculated by the distance calculation unit; anda distance mode selection processing unit that selects a predetermined distance mode from a plurality of distance modes having different measurable distance ranges and sets a driving condition of the light emitting unit,wherein the distance mode selection processing unit acquires three-dimensional distance data from a first distance mode in a first frame and acquires three-dimensional distance data from a second distance mode in a second frame, andwherein ...

LIDAR APPARATUS AND CONTROL METHOD THEREOF

A method of acquiring distance information of an object by using a LiDAR apparatus includes: irradiating a first laser light of a first type toward surroundings of the LiDAR apparatus for a first time period; receiving a first reflected laser light of the first laser light reflected from a first object located around the LiDAR apparatus, by using an optical sensor of the LiDAR apparatus; irradiating a second laser light of a second type, which is different from the first type, toward the surroundings of the LiDAR apparatus for a second time period following the first time period; receiving a second reflected laser light of the second laser light reflected from a second object located around the LiDAR apparatus, by using the optical sensor; and acquiring an image frame including distance information representing a distance between the LiDAR apparatus and the first object and distance information representing a distance between the LiDAR apparatus and the second object, based on the first reflected laser light and the second reflected laser light.

Light Detection and Ranging (LIDAR) Device Range Aliasing Resilience by Multiple Hypotheses

A computing system may operate a LIDAR device to emit light pulses in accordance with a time sequence including a time-varying dither. The system may then determine that the LIDAR detected return light pulses during corresponding detection periods for each of two or more emitted light pulses. Responsively, the system may determine that the detected return light pulses have (i) detection times relative to corresponding emission times of a plurality of first emitted light pulses that are indicative of a first set of ranges and (ii) detection times relative to corresponding emission times of a plurality of second emitted light pulses that are indicative of a second set of ranges. Given this, the system may select between using the first set of ranges as a basis for object detection and using the second set of ranges as a basis for object detection, and may then engage in object detection accordingly. 1. A method comprising:operating, by a computing system, a Light Detection and Ranging (LIDAR) device to emit light pulses at emission times in accordance with an emission time sequence, wherein the emission time sequence includes a time-varying dither, and to detect return light pulses in accordance with a detection time sequence, wherein the detection time sequence includes, for each emitted light pulse, a corresponding detection period for detection of a corresponding return light pulse, and wherein a detection time of a return light pulse relative to a corresponding emission time of a corresponding emitted light pulse is indicative of a range to an object that reflected the corresponding emitted light pulse;making a determination, by the computing system, that the LIDAR device detected return light pulses during corresponding detection periods for each of two or more emitted light pulses;in response to making the determination, determining, by the computing system, that (i) the detected return light pulses have detection times relative to corresponding emission times ...

REAL TIME CALIBRATION FOR TIME-OF-FLIGHT DEPTH MEASUREMENT

A method for determining a distance to a target object includes transmitting light pulses to illuminate the target object and sensing, in a first region of a light-sensitive pixel array, light provided from an optical feedback device that receives a portion of the transmitted light pulses. The feedback optical device includes a preset reference depth. The method includes calibrating time-of-flight (TOF) depth measurement reference information based on the sensed light in the first region of the pixel array. The method further includes sensing, in a second region of the light-sensitive pixel array, light reflected from the target object from the transmitted light pulses. The distance of the target object is determined based on the sensed reflected light and the calibrated TOF measurement reference information. 1. (canceled)2. A time-of-flight (TOF) imaging system , comprising:an illuminator to transmit light pulses to illuminate a target object for determining a distance to the target object;an image sensor having a light-sensitive pixel array to receive optical signals from the light pulses, the pixel array including an active region and a feedback region; andan optical feedback device for directing a portion of the light from the illuminator to the feedback region of the pixel array, the optical feedback device including a preset reference depth;wherein the imaging system is configured to: transmit a group of calibration light pulses to illuminate the target object;', 'sense, in the feedback region of the pixel array, light from the optical feedback device, using a sequence of calibration shutter windows characterized by delay times representing a range of depth; and', 'calibrate TOF depth measurement reference information based on the sensed light in the feedback region of the pixel array;, 'in a calibration period,'} transmit a first measurement light pulse to illuminate the target object;', 'sense, in the active region of the light-sensitive pixel array, light ...

SOLID-STATE IMAGING DEVICE, DRIVING METHOD THEREOF, AND IMAGING SYSTEM

A solid-state imaging device comprises a first pixel group includes a first photoelectric conversion unit that converts into electric charges reflection light pulses from an object irradiated with an irradiation light pulse, a first electric charge accumulation unit accumulating the electric charges in synchrony with turning on the irradiation light pulses, and a first reset unit resetting the electric charges; and a second pixel group includes a second photoelectric conversion unit that converts the reflection light into electric charges, a second electric charge accumulation unit that accumulates the electric charges synchronously with a switching the irradiation light pulses from on to off, and a second reset unit that releases a reset of the electric charges converted by the second photoelectric conversion unit. 18.-. (canceled)9. A solid-state imaging device comprising:a first pixel, a second pixel, and a floating diffusion node shared by the first and second pixel,the first pixel including a first photoelectric conversion unit, a first electric charge accumulation unit, a first reset unit configured to reset the first photoelectric conversion unit, a first transfer unit configured to transfer the electric charge generated in the first photoelectric conversion unit to the first electric charge accumulation unit, and a second transfer unit configured to transfer the electric charge from the first electric charge accumulation unit to the floating diffusion node, andthe second pixel including a second photoelectric conversion unit, a second electric charge accumulation unit, a second reset unit configured to reset the second photoelectric conversion unit, a third transfer unit configured to transfer the electric charge generated in the second photoelectric conversion unit to the second electric charge accumulation unit, and a fourth transfer unit configured to transfer the electric charge from the second electric charge accumulation unit to the floating diffusion ...

MEMS PACKAGE WITH SHOCK AND VIBRATION PROTECTION

An optical micro-electromechanical system (MEMS) system is disclosed. The optical MEMS system includes a printed circuit board (PCB), and a MEMS optical integrated circuit (IC) package mounted to the PCB. The IC package includes a MEMS optical die, and a plurality of leads electrically and mechanically connected to the MEMS optical die and to the PCB. The optical MEMS system also includes one or more elastomeric grommets contacting one or more of the leads, where the grommets are configured to absorb mechanical vibration energy from the contacted leads. 1. An optical micro-electromechanical system (MEMS) system , comprising:a printed circuit board (PCB); a MEMS optical die, and', 'a plurality of leads electrically and mechanically connected to the MEMS optical die and to the PCB;, 'a MEMS optical integrated circuit (IC) package mounted to the PCB, the IC package comprisingone or more elastomeric grommets contacting one or more of the leads, wherein the grommets are configured to absorb mechanical vibration energy from the contacted leads.2. The optical MEMS package of claim 1 , wherein the grommets further contact the IC package and the PCB claim 1 , and wherein the grommets are further configured to absorb mechanical vibration energy from the IC package and the PCB.3. The optical MEMS package of claim 1 , wherein at least one of the grommets contacts a plurality of leads.4. The optical MEMS package of claim 1 , wherein at least one of the grommets comprises one or more holes claim 1 , wherein each hole surrounds one of the leads.5. The optical MEMS package of claim 1 , further comprising an elastomeric pad contacting the IC package and the PCB claim 1 , wherein the pad is configured to absorb mechanical vibration energy from the IC package and the PCB.6. The optical MEMS package of claim 5 , wherein the grommets are spaced apart from the pad.7. The optical MEMS package of claim 5 , wherein the grommets contact the pad.8. The optical MEMS package of claim 5 , ...

IMAGE ACQUISITION DEVICE TO BE USED BY VEHICLE AND VEHICLE PROVIDED WITH SAME

A vehicle image acquisition device includes a RGB light source unit having a red light source configured to emit red light, a green light source configured to emit green light, and a blue light source configured to emit blue light, the RGB light source unit being configured to emit respective color light at a predetermined light emission period in a predetermined direction, an image acquisition unit configured to capture reflected light returning from a target distance area at an imaging timing set according to the target distance area, and to acquire a plurality of captured images having different target distance areas, a timing controller configured to control light emission period of the respective color light and the imaging timing; and an image processor configured to combine the captured images each acquired by the respective color light to generate a color image. 1. A vehicle image acquisition device comprising:a RGB light source unit having a red light source configured to emit red light, a green light source configured to emit green light, and a blue light source configured to emit blue light, the RGB light source unit being configured to emit respective color light at a predetermined light emission period in a predetermined direction;an image acquisition unit configured to capture reflected light returning from a target distance area at an imaging timing set according to the target distance area, and to acquire a plurality of captured images having different target distance areas;a timing controller configured to control light emission period of the respective color light and the imaging timing; andan image processor configured to combine the captured images each acquired by the respective color light to generate a color image.2. The vehicle image acquisition device according to claim 1 ,wherein the timing controller temporally switches the light emission period of the respective color light and controls the imaging timing according to the light emission ...

Determining positional information of an object in space

The technology disclosed relates to determining positional information of an object in a field of view. In particular, it relates to calculating a distance of the object from a reference such as a sensor including scanning the field of view by selectively illuminating directionally oriented light sources and measuring one or more differences in property of returning light emitted from the light sources and reflected from the object. The property can be intensity or phase difference of the light. It also relates to finding an object in a region of space. In particular, it relates to scanning the region of space with directionally controllable illumination, determining a difference in a property of the illumination received for two or more points in the scanning, and determining positional information of the object based in part upon the points in the scanning corresponding to the difference in the property.

SCANNING LIDAR SYSTEMS WITH MOVING LENS ASSEMBLY

A scanning LiDAR system includes a base frame, an optoelectronic assembly, and a lens assembly. The optoelectronic assembly includes one or more laser sources and one or more photodetectors, and is fixedly attached to the base frame. The lens assembly includes one or more lenses. The one or more lenses have a focal plane. The scanning LiDAR system further includes a first flexure assembly flexibly coupling the lens assembly to the base frame. The first flexure assembly is configured such that the one or more laser sources and the one or more photodetectors are positioned substantially at the focal plane of the one or more lenses. The first flexure assembly is further configured to be flexed so as to scan the lens assembly laterally in a plane substantially perpendicular to an optical axis of the emission lens. 1. A scanning LiDAR system comprising:a base frame;an optoelectronic assembly including one or more laser sources and one or more photodetectors, the optoelectronic assembly being fixedly attached to the base frame;a lens assembly comprising one or more lenses, the one or more lenses having a focal plane; anda first flexure assembly flexibly coupling the lens assembly to the base frame, the first flexure assembly configured such that the one or more laser sources and the one or more photodetectors are positioned substantially at the focal plane of the one or more lenses, and the first flexure assembly further configured to be flexed so as to scan the lens assembly laterally in a plane substantially perpendicular to an optical axis of the scanning LiDAR system.2. The scanning LiDAR system of wherein the one or more lenses include an emission lens and a receiving lens.3. The scanning LiDAR system of further comprising:a first driving mechanism coupled to the first flexure assembly, and configured to cause the first flexure assembly to be flexed so as to scan the lens assembly laterally in the plane substantially perpendicular to the optical axis of the scanning ...

Light Detection and Ranging

There is disclosed herein a method of light detection and ranging. The method comprises a first step of illuminating a scene with a first light pattern and monitoring for first light return from the scene with an array of detection elements. The method comprises a second step of obtaining first point cloud data from first parts of the scene where the first light return exceeds a first threshold value. The method comprises a third step of determining a second light pattern by reducing, such as substantially zeroing, the intensity of the first light pattern in the areas wherein first point cloud data was obtained. The method comprises a fourth step of illuminating the scene with the second light pattern and monitoring for second light return from the scene with the array of detection elements. 1. A method of light detection and ranging , the method comprising:illuminating a scene with a first light pattern and monitoring for first light return from the scene with an array of detection elements;obtaining first point cloud data from first parts of the scene where the light return exceeds a first threshold value;determining a second light pattern by reducing an intensity of the first light pattern in areas wherein first point cloud data was obtained; andilluminating the scene with the second light pattern and monitoring for second light return from the scene with the array of detection elements.2. The method of claim 1 , further comprising obtaining second point cloud data from second parts of the scene where the second light return exceeds a second threshold value.3. The method of claim 2 , further comprising:determining an nth light pattern by reducing the intensity of the (nth−1) light pattern in the areas wherein (nth−1) point cloud data was obtained; andilluminating the scene with the nth light pattern and monitoring for nth light return from the scene with the array of detection elements.4. The method of claim 2 , wherein each point cloud obtained by the array of ...

LASER RANGE FINDING WITH ENHANCED UTILIZATION OF A REMOTELY LOCATED MIRROR

A LIDAR can encounter a remotely located mirror as it moves through a local environment (e.g. a convex roadside mirror). The remote mirror can occupy a small portion of the LIDAR field of view but offer a wealth of reflection data regarding a larger indirect field of view (e.g. around a corner). In one embodiment a LIDAR can learn the location of the remote mirror and then can dynamically increase the density of laser ranging measurements in an associated mirror region of the field of view. The LIDAR can track the mirror region as it moves in the local environment with an increased density of outgoing laser pulses and thereby interrogate the remote mirror for reflection data from a wide indirect field of view. 1. A laser range finder with a field of view comprising:a. electronic circuitry configured to obtain a location estimate for the remote mirror located in the field of view, and to generate a set of laser steering parameters based on the location estimate; and use the set of laser steering parameters to generate a set of laser pulses having an average spatial density in the field of view; the set of laser pulses comprising a first subset that is positioned in the field of view to overlap at least a portion of remote mirror; and', 'wherein the first subset of the set of laser pulses has a greater spatial density than the average spatial density of the set of laser pulses in the field of view., 'b. a steerable laser assembly, coupled to at least some of the electronic circuitry and configured to2. The laser range finder of further comprising a sensor to gather sensor data from a local environment claim 1 , the local environment being beyond the laser range finder and containing the remote mirror; andwherein the electronic circuitry is configured to process the sensor data to obtain the location estimate for the remote mirror.3. The laser range finder of wherein the remote mirror is separate from the laser range finder and is operable to have transient placement ...

DISTANCE MEASURING DEVICE AND MOVING OBJECT

A distance measuring device that measures a distance to an object. The distance measuring device includes: a light source that emits pulsed light; a reflector that reflects and radiates, as radiation light, the pulsed light emitted from the light source, and reflects object light that is the radiation light reflected by the object and returning; and an imager that captures the object light reflected by the reflector. The pulsed light emitted from the light source is diffused light. The light source and the imager are located to face the reflector. The reflector radiates, as the radiation light, light in a shape with a long axis and a short axis. The imager performs exposure in synchronization with the pulsed light to image the object light. 1. A distance measuring device that measures a distance to an object , the distance measuring device comprising:a light source that emits pulsed light;a reflector that reflects and radiates, as radiation light, the pulsed light emitted from the light source, and reflects object light that is the radiation light reflected by the object and returning; andan imager that captures the object light reflected by the reflector, whereinthe pulsed light emitted from the light source is diffused light,the light source and the imager are located to face the reflector,the reflector radiates, as the radiation light, light in a shape with a long axis and a short axis, andthe imager performs exposure in synchronization with the pulsed light to capture the object light.2. The distance measuring device according to claim 1 , whereinthe reflector has a cone shape including a base that is elongated and a vertex, andthe reflector is disposed with the vertex located closer to the light source than the base.3. The distance measuring device according to claim 2 , whereinthe reflector has an elliptical cone shape.4. The distance measuring device according to claim 3 , whereina lateral surface of the elliptical cone shape is a curve recessed inward.5. The ...

SYSTEM FOR DETERMINING A DISTANCE TO AN OBJECT

The invention pertains to a system for determining a distance, comprising: a light source for projecting a pattern of discrete spots of laser light towards the object in a sequence of pulses; a detector comprising picture elements, for detecting light representing the pattern as reflected by the object in synchronization with the sequence of pulses; and processing means to calculate the distance to the object as a function of exposure values generated by said picture elements. The picture elements generate exposure values by accumulating a first amount of electrical charge representing a first amount of light reflected during a first time window and a second electrical charge representing a second amount of light reflected during a second time window. The solid-state radiation source emits substantially monochromatic light having a wavelength spread of less than ±20 nm and the detector is equipped with a corresponding narrow bandpass filter. 2. The system according to claim 1 , wherein said solid-state light source is adapted to emit said pattern of discrete spots such that different spots have different respective wavelengths (λ claim 1 , λ) claim 1 , said different respective wavelengths (λ claim 1 , λ) corresponding to the maximum of the passband of the narrow bandpass filter under different angles of incidence.3. The system according to claim 2 , wherein said solid-state light source comprises a plurality of tiles emitting light at said different respective wavelengths (λ claim 2 , λ).4. The system according to claim 2 , wherein said solid-state light source comprises a VCSEL array equipped with micro-electro-mechanical systems arranged to adapt an emission wavelength of individual VCSELs among said VCSEL array so as to obtain said different respective wavelengths (λ claim 2 , λ) .5. The system according to claim 2 , wherein said solid-state light source comprises a VCSEL array equipped with piezo-electrical transducers arranged to adapt an emission wavelength ...

RANGE ESTIMATION FOR LIDAR SYSTEMS

Embodiments of the disclosure provide an optical sensing system, a range estimation system for the optical sensing system, and a method for the optical sensing system. The exemplary optical sensing system includes a transmitter configured to emit a laser pulse towards an object. The optical sensing system further includes a range estimation system configured to estimate a range between the object and the optical sensing system. The range estimation system includes an analog to digital converter (ADC) configured to generate a plurality of pulse samples based on the laser pulse returned from the object. The returned laser pulse has a substantially triangular waveform including a rising edge and a falling edge. The range estimation system further includes a processor. The processor is configured to generate synthesized pulse samples on the substantially triangular waveform based on the pulse samples. The processor is further configured to determine an arrival time of the returned laser pulse based on the ADC generated pulse samples and the synthesized pulse samples. The processor is also configured to estimate a range between the object and the optical sensing system based on the arrival time of the returned laser pulse. 1. A range estimation system for an optical sensing system , comprising:an analog to digital converter (ADC) configured to generate a plurality of pulse samples based on a laser pulse returned from an object, wherein a waveform of the returned laser pulse is substantially triangular including a rising edge and a falling edge; anda processor, configured to:generate synthesized pulse samples on the substantially triangular waveform based on the pulse samples;determine an arrival time of the returned laser pulse based on the ADC generated pulse samples and the synthesized pulse samples; andestimate a range between the object and the optical sensing system based on the arrival time of the returned laser pulse.2. The range estimation system of claim 1 , ...

HIGH FIDELITY SIMULATIONS FOR AUTONOMOUS VEHICLES BASED ON RETRO-REFLECTION METROLOGY

Aspects and implementations of the present disclosure address shortcomings of existing technology by enabling autonomous vehicle simulations based on retro-reflection optical data. The subject matter of this specification can be implemented in, among other things, a method that involves initiating a simulation of an environment of an autonomous driving vehicle, the simulation including a plurality of simulated objects, each having an identification of a material type of the respective object. The method can further involve accessing simulated reflection data based on the plurality of simulated objects and retro-reflectivity data for the material types of the simulated objects, and determining, using an autonomous vehicle control system for the autonomous vehicle, a driving path relative to the simulated objects, the driving path based on the simulated reflection data. 1. A method of using simulation software to test autonomous vehicle software , the method comprising:generating, using a computing device, a simulation of an environment around an autonomous vehicle, wherein the simulation includes representations of one or more objects based on retro-reflectivity data collected using test sensors;generating a representation of the autonomous vehicle driving in the simulation;generating, based on the representations of the one or more objects, simulated reflection data for a first location associated with the representation of the autonomous vehicle at a first instance of time relative to the one or more objects; andadjusting the simulated reflection data based on a motion of the representation of the autonomous vehicle between the first location and a second location associated with the representation of the autonomous vehicle at a second instance of time relative to the one or more objects.2. The method of claim 1 , further comprising:transmitting the simulated reflection data to a system that provides instructions for driving the autonomous vehicle in the simulation ...

Method and System for Ladar Transmission with Closed Loop Feedback Control of Dynamic Scan Patterns

Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where closed loop feedback control is used to finely control mirror scan positions. 1. A method comprising:processing a shot list, the shot list comprising a plurality of range points for targeting by a scanning ladar transmission system;controlling a dynamic scan pattern for the scanning ladar transmission system by scanning a mirror to a plurality of mirror scan positions based on the processed shot list using closed loop feedback control of the mirror scan positions to target the range points of the processed shot list, wherein the mirror scan positions define where the scanning ladar transmission system is targeted; andtransmitting, by the controlled scanning ladar transmission system, a plurality of ladar pulses toward the range points of the processed shot list in accordance with the dynamic scan pattern.2. The method of further comprising:receiving a priori data representative of an environmental scene;processing the a priori data;based on the processing, selecting a plurality of range points within the environmental scene to define a point group, the selected range points corresponding to less than all of the environmental scene, and the defined point group comprising the selected range points; andtranslating the point group into the shot list such that the shot list comprises less than all of the environmental scene; andwherein the steps of processing the a priori data, selecting, and generating are performed by a processor.3. The method of wherein the a priori data comprises an image of the environmental scene claim 2 , the image comprising a plurality of image points claim 2 , and wherein the selecting step comprises the processor applying a range point down selection algorithm to the image points to select a subset of the image points as the range points.4. The method of wherein the closed loop feedback control comprises closed ...

RANGE SENSOR

A range sensor includes a light source, a light receiver, a controller, and a range information generator. The light source repeatedly emits illumination light onto a target. The light receiver receives light from the start of a time period during which the illumination light is emitted. The controller controls the light source and the light receiver so that each of the amounts of light received by the light receiver is cumulated in synchronization with emission of the illumination light. The range information generator generates range information indicating the range to the target based on the cumulative amounts of received light. The controller changes the cumulative number that is the number of cumulating operations in which the light receiver cumulates each of the amounts of received light, in accordance with the magnitudes of the cumulative amounts of received light. 1. A range sensor comprising:a light source that repeatedly emits illumination light onto a target;a light receiver that receives light during a given time period from a start of an emission time period of the illumination light;a controller that controls the light source and the light receiver such that an amount of light received by the light receiver is cumulated in synchronization with emission of the illumination light; anda range information generator that generates, based on a cumulative amount of received light, range information indicating a range to the target; whereinthe controller changes a cumulative number in accordance with a magnitude of the cumulative amount of received light, the cumulative number being a number of cumulating operations in which the light receiver cumulates the amount of received light.2. The range sensor according to claim 1 , wherein claim 1 , when the magnitude of the cumulative amount of received light exceeds a given threshold claim 1 , the controller decreases the cumulative number.3. The range sensor according to claim 1 , further comprising:an averaging ...

DISTANCE MEASUREMENT DEVICE, DISTANCE MEASUREMENT METHOD, AND DISTANCE MEASUREMENT PROGRAM

A distance measurement device includes an imaging optical system, an imaging unit, an emission unit, a derivation unit which performs a distance measurement to derive a distance to a subject based on a timing at which directional light is emitted by the emission unit and a timing at which reflected light is received by a light receiving unit, a shake correction unit which performs shake correction as correction of shake of the subject image caused by variation of an optical axis of the imaging optical system, and a control unit which performs control such that the shake correction unit does not perform shake correction or performs shake correction with a correction amount smaller than a normal correction amount determined in advance in a case of performing the distance measurement and performs shake correction with the normal correction amount in a case of not performing the distance measurement. 1. A distance measurement device comprising:an imaging optical system which forms a subject image indicating a subject;an imaging unit which captures the subject image formed by the imaging optical system;an emission unit which emits directional light as light having directivity along an optical axis direction of the imaging optical system;a light receiving unit which receives reflected light of the directional light from the subj ect;a derivation unit which performs a distance measurement to derive a distance to the subject based on a timing at which the directional light is emitted by the emission unit and a timing at which the reflected light is received by the light receiving unit;a shake correction unit which performs shake correction as correction of shake of the subject image caused by variation of the optical axis of the imaging optical system; anda control unit which performs control such that the shake correction unit does not perform the shake correction, or performs the shake correction with a correction amount smaller than a normal correction amount determined ...

RANGE ESTIMATION FOR LIGHT DETECTING AND RANGING (LIDAR) SYSTEMS

Example range estimation apparatus disclosed herein include a first signal processor to process first data output from a light capturing device of a LIDAR system to estimate signal and noise power parameters of the LIDAR system. Disclosed example range estimation apparatus also include a second signal processor to generate templates corresponding to different possible propagation delays associated with second data output from the light capturing device while a modulated light beam is projected by the LIDAR system, the templates generated based on the signal and noise power parameters, and the second data having a higher sampling rate and a lower quantization resolution than the first data. In some examples, the second signal processor also cross-correlates the templates with the second data to determine an estimated propagation delay associated with the second data, the estimated propagation delay convertible to an estimated range to an object that reflected the modulated light beam. 1. A range estimation apparatus comprising:a first signal processor to process first data output from a light capturing device of a light detecting and ranging (LIDAR) system to estimate signal and noise power parameters of the LIDAR system; and generate templates corresponding to different possible propagation delays associated with second data output from the light capturing device while a modulated light beam is projected by the LIDAR system, the templates to be generated based on the signal and noise power parameters, the second data having a higher sampling rate and a lower quantization resolution than the first data; and', 'cross-correlate the templates with the second data to determine an estimated propagation delay associated with the second data, the estimated propagation delay convertible to an estimated range to an object that reflected the modulated light beam., 'a second signal processor to2. The apparatus of claim 1 , further including a range renderer to:convert the ...

TIME OF FLIGHT-BASED SYSTEMS OPERABLE FOR AMBIENT LIGHT AND DISTANCE OR PROXIMITY MEASUREMENTS

A time of flight-based system is operable for ambient light measurements. A method of operation includes detecting, in at least one active demodulation detection pixel, a first particular wavelength and generating amplitude data of the first particular wavelength; and detecting, in at least one spurious reflection detection pixel, a second particular wavelength and generating amplitude data of the second particular wavelength. In a computational device that stores spectrum data corresponding respectively to a plurality of different ambient light source types, an ambient lighting condition is determined based on the amplitude data of the first particular wavelength, the amplitude data of the second particular wavelength and the spectrum data of a particular one of the ambient light source types associated with the amplitude data of the first particular wavelength and the amplitude data of the second particular wavelength. 1. A time-of-flight-based optoelectronic system comprising:at least one active demodulation detection pixel operable to detect a first particular wavelength, and being further operable to generate amplitude data of the first particular wavelength;at least one spurious reflection detection pixel operable to detect a second particular wavelength, and being further operable to generate amplitude data of the second particular wavelength;outputs of the at least one active demodulation detection pixel and the at least one spurious reflection detection pixel being communicatively coupled to a computational device;the computational device including a computer storage medium storing spectrum data that corresponds, respectively, to a plurality of different ambient light source types, wherein the amplitude data of the first particular wavelength and the amplitude data of the second particular wavelength are associated with spectrum data of a particular one of the ambient light source types,wherein the computational device is operable to determine an ambient ...

ND:YAG OSCILLATOR-BASED THREE WAVELENGTH LASER SYSTEM

A laser system is provided that includes a master oscillator, a pre-amplifier, a power amplifier, a beam doubler, and a beam tripler. The laser system is configured to generate three different wavelengths, including, for example, wavelengths of 1064 nm, 532 nm, and 355 nm. The pre-amplifier can be optically aligned along a beam path exiting the master oscillator, to receive and pre-amplify a laser beam generated by the master oscillator. The amplifier can be optically aligned along a beam path exiting the pre-amplifier, and can be configured to receive a pre-amplified laser beam generated by the pre-amplifier. The beam doubler and beam tripler can be optically aligned along a beam path exiting the amplifier and can be configured to double and triple, respectively, an amplified laser beam generated by the amplifier. 1. A laser system comprising a master oscillator , a pre-amplifier , a power amplifier , a beam doubler , and a beam tripler , wherein the pre-amplifier is optically aligned to receive and pre-amplify a laser beam generated by the master oscillator , the amplifier is optically aligned to receive a pre-amplified laser beam generated by the pre-amplifier , the beam doubler and beam tripler are optically aligned to double and triple , respectively , an amplified laser beam generated by the amplifier , and the laser system is configured to produce pulse energies at 1064 nm of about 1 J.2. The laser system of claim 1 , wherein the master oscillator consists essentially of the following components:a laser head comprising a diode-side-pumped ND:YAG slab laser configured as a zig-zag slab gain medium, the laser head configured to produce a laser beam along an optical path;a ½ wave-plate aligned along the optical path and configured to polarize a laser beam produced by the laser head to form a polarized laser beam;a Q-switch aligned along the optical path and configured to pulse a polarized laser beam polarized by the ½ wave-plate;a ¼ wave-plate aligned along the ...

IMAGING SYSTEM AND METHOD FOR MONITORING A FIELD OF VIEW

An imaging system is provided for monitoring a field of view with a two-dimensional array of photo elements on which the field of view is imaged. The imaging system determines for each photo element a distance between the photo element and a surface of an object in the field of view by light emitted into the field of view and subsequently arriving on the photo elements and to determine a distance vector to form a coordinate image that includes the distance vector. A first memory unit stores the coordinate image, a second memory unit stores logical relations for the photo elements. A processing unit determines for each of the photo elements whether a logical relation is fulfilled and outputs a trigger signal when at least one of the logical relations is fulfilled. 1. An imaging system for monitoring an object in a field of view , the imaging system comprising:a two-dimensional array having a plurality of photo elements on which the field of view is imaged;said imaging system being configured to determine for each of the photo elements a distance between a respective photo element and a surface of the object located in the field of view by utilizing light emitted by said imaging system into the field of view and subsequently arriving on the plurality of photo elements, and by determining for each of the distances a distance vector to generate a coordinate image;said coordinate image including the distance vectors;said distance vectors including at least one component;a first memory unit configured to store said coordinate image;a second memory unit configured to store for at least one of the plurality of photo elements a logical relation;said logical relation defining for at least one of the components a form with a value of the respective component being larger than or equal to a predetermined lower value and the value of the respective component being smaller than or equal to a predetermined upper value; and,a processing unit configured to determine for each of the ...

SYSTEMS, METHODS, AND MEDIA FOR STOCHASTIC EXPOSURE CODING THAT MITIGATES MULTI-CAMERA INTERFERENCE IN CONTINUOUS WAVE TIME-OF-FLIGHT IMAGING

In accordance with some embodiments, systems, methods and media for stochastic exposure coding for continuous time-of-flight imaging are provided. In some embodiments, a method for estimating the depth of a scene is provided, comprising: stochastically selecting active slots based on a probability p; causing, during active slots, a light source to emit light modulated by a first modulation function toward a scene; causing, during active slots, an image sensor to generate a first, second, and third value based on received light from a portion of the scene and a first, second, and third demodulation function, respectively; inhibiting the light source during inactive slots; determining, for each of the active slots, depth estimates for the portion of the scene based on the first, second, and third value; and determining a depth estimate for the portion of the scene based on the depth estimates for the active slots. 1. A system for estimating the depth of a scene , the system comprising:a light source;an image sensor comprising at least one pixel; 'a first signal corresponding to a modulation function;', 'a signal generator configured to output at least stochastically select, from a plurality of slots each corresponding to a portion of a total capture time, a first subset of the plurality of slots as active slots and a second subset of the plurality of slots as inactive slots based on a probability p of activating each slot of the plurality of slots;', 'cause, during each of the active slots, the light source to emit first modulated light toward the scene with modulation based on the first signal;', 'cause, during each of the active slots, the image sensor to generate a first value based on the light received from a portion of the scene and a second signal corresponding to a first demodulation function;', 'cause, during each of the active slots, the image sensor to generate a second value based on light received from the portion of the scene and a third signal ...

PULSED LASER FOR LIDAR SYSTEM

A lidar system comprising with a light source, an optical link, and a sensor head. The light source can include a seed laser to produce pulses of light and an optical preamplifier to amplify the pulses of light. The optical link can convey amplified pulses of light to the sensor head remotely located from the light source. The sensor head can include an optical booster amplifier, a scanner to scan amplified output pulses of light across a field of regard, and a receiver to detect pulses of light scattered by a target located a distance from the sensor head. 1. A lidar system comprising: a seed laser configured to produce pulses of light; and', 'an optical preamplifier configured to amplify the pulses of light to produce amplified pulses of light;, 'a light source comprisingan optical link configured to convey at least a portion of the amplified pulses of light to a sensor head remotely located from the light source; and an optical booster amplifier configured to receive the portion of the amplified pulses of light and amplify the received pulses of light to produce amplified output pulses of light;', 'a scanner configured to scan the amplified output pulses of light across a field of regard; and', 'a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the sensor head., 'the sensor head, wherein the sensor head comprises2. The lidar system of claim 1 , wherein:the optical link comprises a fiber-optic cable terminated at the sensor head by an output collimator which produces a free-space optical beam directed to the optical booster amplifier; andthe optical booster amplifier comprises a free-space optical amplifier comprising a pump laser and a gain crystal configured to provide gain to the free-space optical beam.3. The lidar system of claim 2 , wherein:the pump laser has an operating wavelength of approximately 908 nm, 915 nm, 940 nm, 960 nm, 976 nm, 980 nm, 1050 nm, 1064 nm, 1450 nm, or 1480 ...

CONFIGURABLE PIXEL READOUT CIRCUIT FOR IMAGING AND TIME OF FLIGHT MEASUREMENTS

Imaging circuitry may include an array of pixels for capturing an image. A subset of the pixels in the array may be selected to perform depth sensing using region of interest (ROI) switching circuitry incorporated within an intermediate die that is stacked between a top image sensor die in which the array of pixels are formed and a bottom digital processing die. The imaging circuitry may be further provided with depth sensing circuitry having a current memory circuit, a current integrator circuit, a time-to-digital converter, and a loading circuit to compute a time of flight for a laser pulse by sensing changes in the pixel source follower gate current. Such depth sensing schemes may be applied to sense horizontally-oriented features, vertically-oriented features, diagonally-oriented features, or irregularly shaped features. 1. Imaging circuitry , comprising:a first pixel having a first source follower transistor with a first source follower drain terminal;a second pixel having a second source follower transistor with a second source follower drain terminal; andtime-of-flight (TOF) measurement circuitry selectively coupled to the first and second pixels, wherein the TOF measurement circuitry is configured to determine a distance to an external object by sensing a change in current at the first and second source follower drain terminals.2. The imaging circuitry of claim 1 , wherein the first and second pixels are part of an array of pixels formed in an image sensor die claim 1 , wherein the TOF measurement circuitry is formed in an additional die claim 1 , and wherein the image sensor die is stacked directly on the additional die.3. The imaging circuitry of claim 2 , further comprising:region of interest (ROI) switching circuitry that is formed in the additional die and that selectively shorts the first and second source follower drain terminals.4. The imaging circuitry of claim 1 , wherein the TOF measurement circuitry comprises:an integrating circuit configured to ...

IMAGING CONTROL APPARATUS, IMAGING CONTROL METHOD, IMAGING CONTROL PROGRAM, AND RECORDING MEDIUM HAVING IMAGING CONTROL PROGRAM RECORDED THEREON

There is provided an imaging control apparatus which can improve distance measurement precision of a time of flight distance measurement method. The imaging control apparatus includes: a clustering processor which clusters a region from which a feature point is extracted based on an infrared image or a distance image obtained by an imaging apparatus; and a distance measurer which derives a distance to a target corresponding to the region by a time of flight distance measurement method based on information of each pixel in the region clustered by the clustering processor. 1. An imaging control apparatus comprising:a clustering processor which clusters a region from which a feature point is extracted based on an infrared image or a distance image obtained by an imaging apparatus; anda distance measurer which derives a distance to a target corresponding to the region by a time of flight distance measurement method based on information of each pixel in the region clustered by the clustering processor.2. The imaging control apparatus according to claim 1 , wherein the distance measurerderives a distance to a target corresponding to each pixel of the clustered region by a time of flight distance measurement method, andcalculates the distance to the target corresponding to the region by calculating an arithmetic mean of the derived distance to the target corresponding to each pixel.3. The imaging control apparatus according to claim 1 , wherein the distance measurerintegrates a return light component of each pixel of the clustered region, andderives the distance to the target corresponding to the region by the time of flight distance measurement method based on an integration value of the return light component.4. The imaging control apparatus according to claim 1 , further comprising a controller which estimates a height of the target based on the distance to the target derived by the distance measurer.5. The imaging control apparatus according to claim 4 , wherein the ...

DISTANCE MEASUREMENT SYSTEM AND SOLID-STATE IMAGING SENSOR USED THEREFOR

A distance measurement system includes: a signal generator which generates a light emission signal that instructs light emission and an exposure signal that instructs exposure of reflected light; a first illumination and distance measurement light source which receives the light emission signal and, according to the signal received, performs the light emission for illumination without a purpose of distance measurement and the light emission with the purpose of distance measurement using the reflected light; an imaging device which receives the exposure signal, performs the exposure according to the signal received, and obtains an amount of light exposure of the reflected light; and a calculator which calculates distance information using the amount of light exposure and outputs the distance information, wherein the distance measurement system has operation modes including an illumination mode and a first distance measurement mode. 1. A distance measurement system to be used in transport equipment , the distance measurement system comprising:a signal generator that generates light emission pulse signals, of a plurality of types, that instruct light emission and an exposure signal that instructs exposure of reflected light;a light assembly that receives the light emission pulse signals and, according to the light emission pulse signals received, emits pulsed light for illumination without a purpose of distance measurement and emits pulsed light with the purpose of distance measurement using the reflected light;an imaging device that includes a solid-state imaging sensor which receives the exposure signal, performs the exposure according to the exposure signal received, and obtains an amount of light exposure of the reflected light to perform the distance measurement; anda calculator that calculates distance information using the amount of light exposure and outputs the distance information,wherein the light assembly includes a first light source and a second light ...

LIDAR MEASUREMENT SYSTEM

LIDAR measurement system with a LIDAR transmitting unit and a LIDAR receiving unit, which is configured in a focal-plane-array arrangement, wherein the LIDAR receiving unit has a plurality of sensor elements and wherein the LIDAR transmitting unit has a plurality of emitter elements, wherein a plurality of sensor elements form a macrocell, wherein the macrocell is associated with a single emitter element, wherein the distance between two adjacent emitter elements is unequal to an integer multiple of the distance between two adjacent sensor elements. 1. A LIDAR measurement system with a LIDAR transmitting unit and a LIDAR receiving unit , which is configured in a focal-plane-array arrangement , whereinthe LIDAR receiving unit has a plurality of sensor elements and whereinthe LIDAR transmitting unit has a plurality of emitter elements, whereina plurality of sensor elements form a macrocell, wherein the macrocell is associated with a single emitter element,wherein in that the distance between two adjacent emitter elements is unequal to an integer multiple of the distance between two adjacent sensor elements.2. The LIDAR measurement system according to claim 1 , whereinthe emitter elements and the macrocells are respectively arranged apart in a kind of row-column arrangement and whereinthe sensor elements are likewise arranged in a kind of row-column arrangement.3. The LIDAR measurement system with a LIDAR transmitting unit and a LIDAR receiving unit claim 1 , which is configured in a focal-plane-array arrangement claim 1 , whereinthe LIDAR receiving unit has a plurality of sensor elements and whereinthe LIDAR transmitting unit has a plurality of emitter elements, whereina plurality of sensor elements form a macrocell, wherein the macrocell is associated with a single emitter element, whereinthe emitter elements and the macrocells are respectively arranged apart in a kind of row-column arrangement and whereinthe sensor elements are likewise arranged in a kind of row- ...

Active Continuous Awareness Surveillance System (ACASS): a Multi-mode 3D LIDAR for Diverse Applications

The ACASS 3D LIDAR system operates in a fundamentally new manner combining features of flash LIDARS and scanning LIDARS simultaneously which enables mission and performance trades to be conducted by varying the sizes of illumination patches within the scenes being observed. Further the combination of these modes of operation into a single LIDAR system enables multiple modes of operation and multiple missions to be accomplished with single lasers obviating the need for multiple lasers and enabling significant simplification of beam control modes. Systems which result from the new, expanded size, weight, power, cost trade space enabled by the ACASS concept can provide new levels of performance at significantly reduced risks and costs. 1. A multi-mode LIDAR sensor system comprising a single laser , a single receiver telescope and its associated focal plane array and read out circuitry , an operating mode selection switch , one or more transmit channels each consisting of an optical element which shapes the outgoing beam , outgoing beam transmit optics , and an outgoing beam elevation steering element , a means which accomplishes azimuth scanning of the outgoing LIDAR beam , and a signal processing element that computes range and forms three dimensional images of the real illuminated scenes from the point cloud returns.2. The single laser of further comprising a laser which operates in the eye safe SWIR spectral region and is a high repetition rate fiber laser.3. The single receiver telescope of further comprising a wide field of view optical instrument that images the returned SWIR laser pulses on its focal plane array.4. The receiver of further comprising an SWIR sensitive focal plane array with integrated electronics and associated processing elements which measures the time of flight of a transmitted pulse when it is detected by the receiver focal plane array elements.5. The signal processing element of further comprising a) elements computing the range to scene ...

LIGHT CONTROL DEVICE, LIGHT CONTROL METHOD AND PROGRAM

The light control device emits a light from the emission unit, and receives the light reflected by an object by the light receiving unit. The acquisition unit acquires inclination information related to an inclination of the movable body, and the controller controls an emission direction of the light emitted by the emission unit based on the inclination information. 1. A light control device mounted on a movable body , comprising:an emission unit configured to emit a light such that an emission direction continuously moves in a scanning range;a light receiving unit configured to receive the light reflected by an object;an acquisition unit configured to acquire inclination information related to an inclination of the movable body; anda controller configured to control the emission unit to change a direction of the scanning range based on the inclination information.2. The light control device according to claim 1 , wherein the inclination information includes information indicating a directional angle of the movable body in a first direction and an inclination angle of the movable body in a second direction crossing the first direction.3. The light control device according to claim 1 , wherein the inclination information includes a directional angle of a rotational movement of the movable body in a first direction claim 1 , an amplitude angle of the rotational movement in a second direction crossing the first direction claim 1 , and a frequency of the rotational movement.4. The light control device according to claim 2 , wherein the emission unit continuously moves the emission direction of the light in the scanning range such that a transition locus of the light becomes helical.5. The light control device according to claim 1 , further comprising a detector configured to detect at least one of a distance to the object and an angle of the object claim 1 , based on light receiving result of the light receiving unit.6. A light control method executed by a light control ...

Lidar sensor including an optical filter

A LIDAR sensor including an optical receiver and an optical filter situated in the beam path upstream from the receiver. The filter is formed by connecting a transmission filter and a reflection filter in series. 1. A LIDAR sensor including an optical receiver and an optical filter situated in a beam path upstream from the receiver , wherein the filter is formed by connecting a transmission filter and a reflection filter in series.2. The LIDAR sensor as recited in claim 1 , wherein the transmission filter is situated in a propagation direction of received light upstream from the reflection filter.3. The LIDAR sensor as recited in claim 1 , wherein the reflection filter is a Bragg reflector.4. The LIDAR sensor as recited in claim 1 , wherein the reflection filter is a beam splitter claim 1 , which allows a portion of a light beam having a useful wavelength generated by a beam source to pass in transmission and exit into surroundings and decouples in reflection a portion of light received from the surroundings having the useful wavelength and guides it to the receiver.5. The LIDAR sensor as recited in claim 4 , wherein the reflection filter at the useful wavelength has a transmissivity of at least 50% for light which is incident from a side of the beam source claim 4 , and a reflectivity of at least 50% for light incident from a diametrically opposed side. The present application claims the benefit under 35 U.S.C. §119 of German Patent Application No. DE 102015217910.9 filed on Sep. 18, 2015, which is expressly incorporated herein by reference in its entirety.The present invention relates to a LIDAR sensor including an optical receiver and an optical filter situated in the beam path upstream from the receiver.LIDAR sensors are used, for example, in driver assistance systems for motor vehicles for detecting the traffic environment. A beam source, typically a semiconductor laser, generates a bundled laser beam having a sharply defined useful wavelength λ0, which, for ...

DISTANCE MEASURING DEVICE AND DISTANCE MEASURING METHOD

A distance measuring device according to this embodiment includes a plurality of sensors, a switching circuit, and a distance measurement circuit. The plurality of sensors that convert reflected light of laser light received via a light-receiving optical system into an electric signal. The plurality of sensors respectively have different light receiving positions with respect to the light-receiving optical system. The switching circuit switches and outputs an output signal output from a first sensor used for measurement and an output signal output from a second sensor used for measurement after the measurement by the first sensor among the plurality of sensors. The distance measurement circuit measures the distance to a measurement target object on the basis of a time difference between light emission timing of the laser light and timing of a peak position of a time-series luminance signal based on the output signal of the switching circuit. 1. A distance measuring device comprising:a plurality of sensors configured to convert reflected light of laser light received via a light-receiving optical system into an electric signal, light receiving positions of the plurality of sensors with respect to the light-receiving optical system being different from one another;a switching circuit configured to switch and output an output signal output from a first sensor used for measurement among the plurality of sensors and an output signal output from a second sensor used for measurement after the measurement by the first sensor among the plurality of sensors; anda distance measurement circuit configured to measure a distance to a measurement target object on the basis of a time difference between light emission timing of the laser light and timing of a peak position of a time-series luminance signal based on the output signal of the switching circuit.2. The distance measuring device according to claim 1 , wherein each of the plurality of sensors includes a plurality of pixels ...

Shape measurement method and shape measurement device

A shape measurement method of the present invention includes: a step of irradiating a measurement object with an optical pulse train in which a plurality of optical pulses that have predetermined frequency distributions on a time axis are disposed chronologically in numerical order; and a step of measuring an optical shape of the measurement object in accordance with a correspondent relation between numbers of the optical pulses of a plurality of detection target optical pulse trains after the emitted optical pulse train acts on the measurement object and a correspondent relation between the frequency distributions in the optical pulses.

LiDAR ADAPTIVE SCANNING SYSTEM AND METHOD USING IMAGE INFORMATION CONVERGENCE

The present invention relates to a light detection and ranging (LiDAR) adaptive scanning system and method using image information convergence, and more particularly, to a LiDAR adaptive scanning system and method using image information convergence, which are capable of deriving light ranging through LiDAR without restrictions on space and obstacles through adaptive scanning by converging multiple pieces of information according to images.

SIGNAL PROCESSING APPARATUS, DISTANCE MEASURING APPARATUS, AND DISTANCE MEASURING METHOD

According to one embodiment, a signal processing apparatus includes a memory and a processing circuit. The memory stores a learned model for generating restoration data by restoring deterioration of a signal based on data of the signal and data related to a position of a sample of the signal. The processing circuit inputs data of the signal and data related to the position to the learned model. The processing circuit generates the restoration data by using the learned model. 1. A signal processing apparatus comprising:a memory which stores a learned model for generating restoration data by restoring deterioration of a signal based on data of the signal and data related to a position of a sample of the signal; anda processing circuit which inputs the data of the signal and the data related to the position to the learned model and generates the restoration data by using the learned model.2. The signal processing apparatus according to claim 1 , wherein the data of the signal is data related to an image claim 1 , andthe position of the sample is coordinates of a pixel in the image.3. The signal processing apparatus according to claim 1 , wherein the signal is a time-series signal along time series claim 1 , andthe position of the sample is a time of the sample.4. The signal processing apparatus according to claim 1 , wherein the deterioration of the signal is noise.5. A distance measuring apparatus comprising:a light receiving element which receives reflected light including a pulse reflected from an object and converts the received reflected light into a reception signal;a memory which stores a learned model for generating noise removal data, in which noise of the reception signal is reduced, based on data of the reception signal and data related to a position of a sample of the reception signal; anda processing circuit which inputs the data of the reception signal and the data related to the position of the sample of the reception signal to the learned model, ...

DISTANCE-MEASURING/IMAGING APPARATUS, DISTANCE MEASURING METHOD OF THE SAME, AND SOLID IMAGING ELEMENT

A distance-measuring/imaging apparatus having a high S/N and a high distance measurement accuracy is provided. The distance-measuring/imaging apparatus includes: a signal generation unit for generating an emission signal and exposure signal; a light source unit for performing light irradiation by receiving the emission signal; an imaging unit for performing exposure by receiving the exposure signal and for acquiring the exposure amount of the reflected light; and a calculation unit for calculating and outputting the distance information on the basis of the exposure amount. The imaging unit acquires a first exposure amount corresponding to the exposure in a first emission/exposure period, in which the exposure is performed by receiving the exposure signal simultaneously with a receiving timing of the emission signal. The imaging unit acquires a second exposure amount corresponding to the exposure in a second emission/exposure period, in which the exposure is performed by receiving the exposure signal after a lapse of a delay time from the receiving timing of the emission signal. The calculation unit calculates the distance information on the basis of the first exposure amount and second exposure amount that are acquired by changing the repeat count of the emission signal in the first emission/exposure period 1. A distance-measuring/imaging apparatus comprising:a signal generation unit for generating an emission signal for commanding a light irradiation and an exposure signal for commanding an exposure to reflected light;a light source unit for performing the light irradiation by receiving the emission signal;an imaging unit for performing the exposure by receiving the exposure signal and for acquiring an exposure amount of the reflected light; anda calculation unit for calculating and outputting distance information based on the exposure amount, the imaging unit acquires a first exposure amount, of the exposure amount, corresponding to the exposure in a first ...

METHOD AND DEVICE FOR LASER SAFETY VERIFICATION

The present disclosure relates to a method of laser safety verification for a depth map sensor, comprising illuminating, during a first illumination phase, using a laser illumination system, a first cluster of one or more first pixels of a pixel array of the depth map sensor, while not illuminating a second cluster, different from the first cluster, of one or more second pixels of the pixel array of the depth map sensor; and detecting, during the first illumination phase, a level of illumination of the second cluster. 1. A method of laser safety verification for a depth map sensor , the method comprising:illuminating, during a first illumination phase, using a laser illumination system, a first cluster of one or more first pixels of a pixel array of the depth map sensor, while not illuminating a second cluster, different from the first cluster, of one or more second pixels of the pixel array of the depth map sensor; anddetecting, during the first illumination phase, a level of illumination of the second cluster.2. The method of claim 1 , further comprising comparing the detected level of illumination of the second cluster claim 1 , during the first illumination phase claim 1 , with a first threshold value to verify safety of the laser illumination system.3. The method of claim 2 , further comprising detecting claim 2 , during the first illumination phase claim 2 , a level of illumination of the first cluster claim 2 , the first threshold value being a variable threshold having a level generated based on the detected level of illumination of the first cluster.4. The method of claim 1 , further comprising:illuminating, during a second illumination phase, using the laser illumination system, the second cluster, while not illuminating the first cluster; anddetecting, during the second illumination phase, a level of illumination of the first cluster.5. The method of claim 4 , further comprising comparing the detected level of illumination of the first cluster claim 4 , ...

MONOSTATIC SCANNING LIDAR USING A MULTI-FACETED POLYGON MIRROR AS ONE OF DUAL REDIRECTING ELEMENTS

A sensor comprises two independently rotatable elements. The first element comprises facets in a polygonal configuration fully rotatable about a first axis at a first angle relative to a source's beam axis and redirects energy incident on a facet at a second angle to a facet plane at a reflected angle equal in magnitude to the second angle as the first element is rotated. The second element may be a wedge mirror fully and independently rotatable about a second axis at a third angle to the beam axis that redirects energy at a fourth angle to the second axis, in a direction within the FOV, receives reflected energy to the first element for redirection toward an element interposed between it and the source that allows the source energy to pass unimpeded, and on to a detector. Correlating data from the detector and the source determines the target range. 1. A head for directing energy radiated from a source along a beam axis to a coordinate in a field of view (FOV) defined by at least one of azimuth and elevational orientations , comprising:a first energy-redirecting element comprising a plurality of facets organized in a polygonal configuration, the facets being fully rotatable about a first axis that is at a first non-zero angle relative to the beam axis, for rotating the facets about the first axis, receiving the radiated energy incident along the beam axis on a facet facing the source at a second angle to a plane of the facet and redirecting it at a reflected angle having a magnitude equal to the second angle as the first energy-redirecting element is rotated; anda second energy-redirecting element fully and independently rotatable, in at least one of direction and rate relative to the first energy-redirecting element, about a second axis at a third angle to the beam axis, for receiving the redirected energy incident thereon and further redirecting it at a fourth angle to the second axis as it is rotated, in a direction within the FOV;wherein the second axis is at a ...

Waveform design for a LiDAR system with closely-spaced pulses

Depth-sensing apparatus includes a laser, which is configured to emit pulses of optical radiation toward a scene. One or more detectors are configured to receive the optical radiation that is reflected from points in the scene and to output signals indicative of respective times of arrival of the received radiation. Control and processing circuitry is coupled to drive the laser to emit a succession of output sequences of the pulses with different, respective temporal spacings between the pulses within the output sequences in the succession, and to match the times of arrival of input sequences of the signals to the temporal spacings of the output sequences in order to find respective times of flight for the points in the scene. 1. Depth-sensing apparatus , comprising:a laser, which is configured to emit pulses of optical radiation toward a scene;one or more detectors, which are configured to receive the optical radiation that is reflected from points in the scene and to output signals indicative of respective times of arrival of the received radiation; andcontrol and processing circuitry, which is coupled to drive the laser to emit a succession of output sequences of the pulses with different, respective temporal spacings between the pulses within the output sequences in the succession, and to match the times of arrival of input sequences of the signals to the temporal spacings of the output sequences in order to find respective times of flight for the points in the scene.2. The depth-sensing apparatus according to claim 1 , wherein the output sequences comprise temporally-separated tuples of the pulses.3. The depth-sensing apparatus according to claim 1 , wherein the output sequences are mutually overlapping.4. The depth-sensing apparatus according to claim 3 , wherein each output sequence comprises N pulses claim 3 , and wherein consecutive output sequences have N−1 pulses in common claim 3 , such that a second pulse of any given output sequence is a first pulse of ...

REAL TIME CALIBRATION FOR TIME-OF-FLIGHT DEPTH MEASUREMENT

A method for determining a distance to a target object includes transmitting light pulses to illuminate the target object and sensing, in a first region of a light-sensitive pixel array, light provided from an optical feedback device that receives a portion of the transmitted light pulses. The feedback optical device includes a preset reference depth. The method includes calibrating time-of-flight (TOF) depth measurement reference information based on the sensed light in the first region of the pixel array. The method further includes sensing, in a second region of the light-sensitive pixel array, light reflected from the target object from the transmitted light pulses. The distance of the target object is determined based on the sensed reflected light and the calibrated TOF measurement reference information. 1. A time-of-flight (TOF) imaging system , comprising:an illuminator to transmit light pulses to illuminate a target object for determining a distance to the target object;an image sensor having a light-sensitive pixel array to receive optical signals from the light pulses, the pixel arrays including an active region and a feedback region;an optical feedback device for directing a portion of the light from the illuminator to the feedback region of the pixel array, the optical feedback device including a preset reference depth;wherein the imaging system is configured to:transmit light pulses to illuminate a target object;sense, in the feedback region of the pixel array, light from the optical feedback device, using a sequence of shutter windows that includes delay times representing a range of depth;calibrate time-of-flight (TOF) depth measurement reference information based on the sensed light in the feedback region of the pixel array;sense, in the active region of the light-sensitive pixel array, light reflected from the target object; anddetermine the distance of the target object based on the sensed reflected light and the calibrated TOF measurement ...

Multi-mirror scanning depth engine

A scanning device includes a scanner, which includes a base and a gimbal, mounted within the base so as to rotate relative to the base about a first axis of rotation. A transmit mirror and at least one receive mirror are mounted within the gimbal so as to rotate in mutual synchronization about respective second axes, which are parallel to one another and perpendicular to the first axis. A transmitter emits a beam including pulses of light toward the transmit mirror, which reflects the beam so that the scanner scans the beam over a scene. A receiver receives, by reflection from the at least one receive mirror, the light reflected from the scene and generates an output indicative of the time of flight of the pulses to and from points in the scene. 1. A scanning device , comprising: a base;', 'a gimbal, mounted within the base so as to rotate relative to the base about a first axis of rotation; and', 'a transmit mirror and at least one receive mirror, mounted within the gimbal so as to rotate in mutual synchronization about respective second axes, which are parallel to one another and perpendicular to the first axis;, 'a scanner, which comprisesa transmitter, which is configured to emit a beam comprising pulses of light toward the transmit mirror, which reflects the beam so that the scanner scans the beam over a scene; anda receiver, which is configured to receive, by reflection from the at least one receive mirror, the light reflected from the scene and to generate an output indicative of the time of flight of the pulses to and from points in the scene.2. The device according to claim 1 , wherein the scanner comprises a substrate claim 1 , which is etched to define the base claim 1 , the gimbal claim 1 , and the transmit and receive mirrors in a microelectromechanical systems (MEMS) process.3. The device according to claim 1 , wherein the transmit and receive mirrors are connected to the gimbal by respective hinges disposed along the respective second axes and ...

Lidar system based on visible-near infrared-shortwave infrared light bands

A lidar system based on visible-near infrared-shortwave infrared light bands comprises a light source sub-system, a light receiving sub-system and a signal collecting and processing sub-system, and adopts a laser light source having a supercontinuum spectrum laser comprising the three bands of visible, near infrared and shortwave infrared light. The lidar system conveniently and effectively achieves hyperspectral measurement of three bands of visible, near-infrared, and shortwave infrared lights without needing to replace the laser light source, increasing the capability of detecting target spectrum information and application range, providing more accurate measurement results and post-processing algorithms, and strengthening the capability of simultaneously detecting visible-near infrared-shortwave infrared ligh bands of a lidar system.

Sensor-cooling apparatus

A sensor apparatus includes a sensor having a field of view, a sensor window through which the field of view extends; an air nozzle positioned to direct airflow across the sensor window; a surface fixed relative to the sensor window, the surface including a plurality of heat-dissipation fins; and a cover extending over the fins and including an inlet. The inlet is positioned at an opposite edge of the sensor window from the air nozzle. The air nozzle is aimed at the inlet.

Multi-wavelength image lidar sensor apparatus and signal processing method thereof

Disclosed are a next-generation lidar sensor apparatus that may acquire and process individual characteristic information about an object in addition to distance and shape information about the object, and a signal processing method thereof. According to the present invention, it is possible to accurately and quickly identify and track the object by adding a function of measuring unique material characteristics, such as a color and reflectance of the object, to the three-dimension image lidar sensor for measuring a position and speed of the object. In addition, when a plurality of lidar sensors are distributed on a space where measurable distances partially overlap with each other, it is possible to remove interference and naturally occurring noise between adjacent lidar sensor signals.

Integrated Optical Transmitter and Receiver

Technology for light detection and ranging (LIDAR) sensor can include an optical signal source, an optical modulation array and optical detector on the same integrated circuit (IC) chip, multi-chip module (MCM) or similar solid-state package. 1. A light detection and ranging (LIDAR) device comprising:a laser integrated in a chip;a splitter coupler integrated in the chip, the coupler including an input coupled to the laser and a plurality of outputs;a phase modulation array integrated in the chip, the phase modulation array including a plurality of inputs each coupled to a respective one of the plurality of outputs of the splitter coupler;an output array coupler integrated in the chip, the output array coupler coupled to the plurality of outputs of the phase modulation array; a normal incidence photodetector portion; and', 'a waveguide photodetector portion coupled to the normal incidence photodetector portion., 'a photodetector integrated in the chip, the photodetector including'}2. The LIDAR device of claim 1 , wherein the chip comprises a silicon on insulator (SOI) substrate.3. The LIDAR device of claim 2 , wherein an optical waveguide of the waveguide photodetector portion is integrated in a silicon layer of the SOI substrate.4. The LIDAR device of claim 1 , wherein the photodetector comprises: an optical waveguide integrated in a first semiconductor layer;', 'a first photodetector disposed on the optical waveguide, wherein the first photodetector is integrated in a second semiconductor layer and third semiconductor layer, and wherein the optical waveguide is configured to couple light to the first photodetector;, 'the waveguide photodetector portion including,'} 'a second photodetector disposed on the first photodetector, wherein the second photodetector is integrated in the third semiconductor layer and a fourth semiconductor layer.', 'the normal incidence photodetector portion including,'}5. The LIDAR device of claim 4 , wherein the waveguide photodetector ...

LIDAR with Field of View Extending Window

The present disclosure relates to systems, methods, and vehicles that could include a rotatable base configured to rotate about a first axis and a refractive optical window coupled to the rotatable base. The refractive optical window includes a flat window portion and a prism window portion or a curved refractive optical window. The LIDAR system could additionally include a mirror assembly coupled to the rotatable base. The mirror assembly includes a plurality of reflective surfaces. The mirror assembly is configured to rotate about a second axis. The second axis is substantially perpendicular to the first axis. The LIDAR system also includes a light-emitter device coupled to the rotatable base. The light-emitter device is configured to emit light pulses that interact with the mirror assembly and the refractive optical window such that the light pulses are directed into a first field of view within an environment of the LIDAR system. 1. A light detection and ranging (LIDAR) system comprising:a rotatable base configured to rotate about a first axis;a refractive optical window coupled to the rotatable base, wherein the refractive optical window comprises: i) a flat window portion and a prism window portion or ii) a curved refractive optical window;a mirror assembly coupled to the rotatable base; anda light-emitter device coupled to the rotatable base, wherein the light-emitter device is configured to emit light pulses that interact with the mirror assembly and the refractive optical window such that the light pulses are directed into a first field of view within an environment of the LIDAR system.2. The LIDAR system of claim 1 , further comprising a second optical window coupled to the rotatable base claim 1 , wherein the second optical window comprises a flat window claim 1 , wherein the light-emitter device is configured to emit light pulses that interact with the mirror assembly and the second optical window such that the light pulses are directed into a second ...

ADJUSTABLE SCAN PATTERNS FOR LIDAR SYSTEM

In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light along a scan pattern contained within an adjustable field of regard. The scanner includes a first scanning mirror configured to scan the portion of the emitted pulses of light substantially parallel to a first scan axis to produce multiple scan lines of the scan pattern, where each scan line is oriented substantially parallel to the first scan axis. The scanner also includes a second scanning mirror configured to distribute the scan lines along a second scan axis that is substantially orthogonal to the first scan axis, where the scan lines are distributed within the adjustable field of regard according to an adjustable second-axis scan profile. 1. A lidar system comprising:a light source configured to emit pulses of light; a first scanning mirror configured to scan the portion of the emitted pulses of light substantially parallel to a first scan axis to produce a plurality of scan lines of the scan pattern, wherein each scan line is oriented substantially parallel to the first scan axis; and', the scan lines are located between the minimum scan angle and the maximum scan angle; and', 'the scan-line distribution represents a distribution of scan lines between the minimum and maximum scan angles and corresponds to one or more positions or one or more scanning speeds of the second scanning mirror;, 'a second scanning mirror configured to distribute the scan lines along a second scan axis that is substantially orthogonal to the first scan axis, wherein the scan lines are distributed within the adjustable field of regard according to an adjustable second-axis scan profile that comprises a minimum scan angle along the second scan axis, a maximum scan angle along the second scan axis, and a scan-line distribution, wherein], 'a scanner configured to scan at least a portion of the emitted pulses of ...

LIDAR ASSEMBLY WITH MODULARIZED COMPONENTS

Embodiments of the disclosure provide an integrated transmitter-receiver module for a LiDAR assembly. The integrated transmitter-receiver module includes a laser emitter configured to emit optical signals to an environment surrounding the LiDAR assembly. The integrated transmitter-receiver module also includes a receiver configured to detect returned optical signals from the environment. The laser emitter and the receiver are pre-aligned to focus the returned optical signal on one or more detectors of the receiver and are disposed on a shared base wherein the shared base is configured to assemble the integrated transmitter-receiver module to the LiDAR assembly. 1. An integrated transmitter-receiver module for a LiDAR assembly , comprising:a laser emitter configured to emit optical signals to an environment surrounding the LiDAR assembly; anda receiver configured to detect returned optical signals from the environment, wherein the laser emitter and the receiver are pre-aligned to focus the returned optical signal on one or more detectors of the receiver and are disposed on a shared base wherein the shared base is configured to assemble the integrated transmitter-receiver module to the LiDAR assembly.2. The integrated transmitter-receiver module of claim 1 , wherein the receiver further comprises a receiving lens pre-adjusted to focus the returned optical signal on the one or more detectors.3. The integrated transmitter-receiver module of claim 1 , further comprising optics configured to shape the optical signals emitted from the laser emitter claim 1 , wherein the laser emitter is pre-adjusted to:focus the emitted optical signal to a center of the optics such that the optical signal is emitted at a predetermined direction towards the optics.4. The integrated transmitter-receiver module of claim 1 , wherein the laser emitter further comprises a first connector interface configured to connect with an interface module of the LiDAR assembly through a ribbon cable claim 1 ...

Transimpedance amplifier for lidar system

A Lidar system, photonic chip and method of detecting an object. The photonic chip includes a laser and one or more photodetectors. The laser generates a transmitted light beam. The one or more photodetectors are receptive to a reflected light beam that is a reflection of the transmitted light beam from an object and generate an electrical signal as output in response to the reflected light beam signal. An amplifier is configured to amplify a signal related to the reflected light beam to amplify the output signal of the one or more photodetectors. A processor determines a parameter of the object from the amplified output signal.

SYSTEM AND METHOD FOR GLINT REDUCTION

Systems and methods for reducing the deleterious effects of specular reflections (e.g., glint) on active illumination systems are disclosed. An example system includes an illuminator or light source configured to illuminate a scene with electromagnetic radiation having a defined polarization orientation. The system also includes a receiver for receiving portions of the electromagnetic radiation reflected or scatter from the scene. Included in the receiver is a polarizer having a polarization axis crossed with the polarization orientation of the emitted electromagnetic radiation. By crossing the polarizer with the polarization of the emitted electromagnetic radiation, the polarizer may filter out glint or specular reflections in the electromagnetic radiation returned from the scene. 1. A method of reducing glint from a returned electromagnetic radiation signal , comprising:illuminating a scene with an electromagnetic radiation signal having a predetermined first polarization;receiving, at a receiver, the returned electromagnetic radiation signal that is scatter or reflected from the scene as a result of illuminating the scene with the electromagnetic radiation signal; andpassing the returned electromagnetic radiation signal through a polarizer included in the receiver, the polarizer having a second polarization that differs from the predetermined first polarization of the electromagnetic radiation signal.2. The method of claim 1 , wherein the polarizer is orthogonally crossed with the predetermined first polarization.3. The method of claim 1 , wherein the polarizer is a plastic sheet polarizer.4. The method of claim 1 , wherein the polarizer is a thin film polarizer.5. The method of claim 1 , wherein the polarizer is a crystal polarizer.6. The method of claim 1 , wherein the polarizer is selected from the group consisting of a linear polarizer claim 1 , a circular polarizer claim 1 , and elliptical polarizer.7. The method of claim 1 , wherein the electromagnetic ...

TOF CAMERA SYSTEM AND A METHOD FOR MEASURING A DISTANCE WITH THE SYSTEM

The invention relates to a method for measuring a distance between an object of a scene and a Time-Of-Flight camera system, and providing a depth map of the object, the Time-Of-Flight camera system comprising an illumination unit, an imaging sensor having a matrix of pixels and image processing means, the method being characterized by the following steps: modifying in a discrete way the illumination of said illumination unit in order to illuminate elementary areas of the scene with different incident intensities, respectively, for distinguishing the direct incident light beams from the indirect incident light beams; receiving onto the pixels of the matrix of the sensor the beams reflected by said elementary areas and providing the image processing means with corresponding data; processing the said corresponding data for eliminating the influence of the indirect light beams in the depth map of the object. 1. A method for measuring a distance between an object of a scene and a Time-Of-Flight camera system , and providing a depth map of the object , the Time-Of-Flight camera system comprising an illumination unit , an imaging sensor having a matrix of pixels and image processing means , the method being characterized by the following steps:modifying in a discrete way the illumination of said illumination unit in order to illuminate elementary areas of the scene with different incident intensities, respectively, for distinguishing the direct incident light beams from the indirect incident light beamsreceiving onto the pixels of the matrix of the sensor the beams reflected by said elementary areas and providing the image processing means with corresponding complex data, obtained by time of flight measurement of light;identifying on an intermediary depth map, elementary areas on which no direct incident light beam can impinge, these areas being associated to areas of the patterning means where the light is blocked or where the light intensity is reduced;processing the ...

Ranging device and light reception method thereof

Ranging devices and light reception methods wherein the modulation frequencies of a light source and a ToF sensor are synchronized are disclosed. In one example, a ranging device includes a reception section that generates, by executing a synchronization process on a transmission signal transmitted from a separate device through wireless communication, a signal synchronized with a synchronization clock signal of the separate device, a reference clock generation section that generates, on the basis of the synchronization clock signal, a reference clock signal to be used as a reference for light emission from the light source, and a ToF sensor that receives, on the basis of the reference clock signal, reflection light resulting from irradiation light applied from the light source and reflected by an object.

OBJECT RECOGNITION SYSTEM AND OBJECT RECOGNITION METHOD

A data processing device performs an abnormality determination process in which i) a relative moving distance indicating a distance by which a tracking target moves relatively to a movable body is predicted, in a range of a data set for expressing point group data until the lapse of a predetermined time from a present timing, ii) the relative moving distance includes a vertical distance and a horizontal distance, iii) an estimated intensity of reflected light is calculated, when the vertical distance or the horizontal distance is equal to or longer than a predetermined distance, and iv) it is determined that there is an abnormality in the predetermined section when it is determined that a difference between the estimated intensity of the reflected light and an actual intensity of the reflected light is higher than a predetermined intensity. 1. An object recognition system that recognizes an object around a movable body , the object recognition system comprising:a main body portion of a laser imaging detection and ranging that outputs a laser pulse to an area around the movable body and that acquires data on a reflection point around the movable body by detecting reflected light of the laser pulse reflected at the reflection point;a cover surface that protects the main body portion; anda data processing device that performs an object recognition process based on point group data obtained by processing the data on the reflection point, whereinthe cover surface includes a scan range indicating a range that is passed by the laser pulse and the reflected light,the data processing device further performs an abnormality determination process for determining whether or not there is an abnormality in a predetermined section of the scan range,the data processing device predicts a relative moving distance indicating a distance by which a tracking target recognized through the object recognition process moves relatively to the movable body, in a range of a data set for ...

Pulsed light irradiation/detection device, and optical radar device

A pulsed light emitting element emits pulsed light that is linearly polarized in a first polarization direction, the pulsed light passes through a polarizing beam splitter and a lens in this order and is radated onto a target object, reflected light passes through the lens and the polarizing beam splitter in this order, is linearly polarized in a second polarization direction that is different from the first polarization direction, and is concentrated on a light receiving element, the pulsed light emitting element and the light receiving element are provided on a focal plane of the lens, and the optical axis of the pulsed light and the optical axis of the reflected light overlap.

DISTANCE MEASURING METHOD USING DYNAMIC PULSE WIDTH ADAPTATION

A method for measuring a distance to an object with emitting pulsed laser light with defined measurement pulse width is disclosed. In some embodiments, the pulse width of the laser light is dynamically adjustable. The method may include receiving at least a part of the pulsed laser light with defined measurement pulse width reflected from the object, and precisely determining the distance to the object by means of the received laser light. Some embodiments may include pre-adjusting an actual pulse width of the emitted laser light in an automated and continuous manner for providing the defined measurement pulse width by performing a test measurement by emitting an amount of adjusting laser light with the actual pulse width. Some embodiment may include receiving at least a part of the adjusting laser light reflected from the object and determining a test distance to the object using the received adjusting laser light. 114-. (canceled)15. A method for measuring a distance to an object , the method comprising:emitting pulsed laser light with defined measurement pulse width, wherein the pulse width of the laser light is adjustable;receiving at least a part of the pulsed laser light with defined measurement pulse width reflected from the object; andprecisely determining the distance (d) to the object by means of the received laser light; [ emitting an amount of adjusting laser light with the actual pulse width,', 'receiving at least a part of the adjusting laser light reflected from the object, and', 'determining a test distance to the object by means of the received adjusting laser light;, 'performing a test measurement by, 'defining a measurement pulse width region (R1-Rj) on basis of a defined distance criterion (MPEF), wherein the distance criterion (MPEF) provides at least a maximum laser emission level in dependency of the test distance; and', 'pre-adjusting the actual laser pulse width so that the pre-adjusted pulse width lies within limits of the measurement pulse ...

Systems and methods for laser generation based on polarized beams

Embodiments of the disclosure provide a laser beam generation system. The laser beam generation system includes a first laser chip configured to generate a first polarized laser beam and a second laser chip configured to generate a second polarized laser beam. The laser beam generation system also includes a polarizer configured to combine the first polarized laser beam and the second polarized laser beam to generate a third laser beam.

THREE-DIMENSIONAL-MAPPING TWO-DIMENSIONAL-SCANNING LIDAR BASED ON ONE-DIMENSIONAL-STEERING OPTICAL PHASED ARRAYS AND METHOD OF USING SAME

A plurality of one-dimensional planar beam forming and steering optical phased array chips form a two-dimensional-scanning solid-state lidar, enabling manufacturing of three-dimensional mapping time-of-flight lidars at high yield and low cost resulting from the simplicity of said one-dimensional optical phased array chips. 1. A method , comprising:forming an emitter array of one-dimensional planar beam forming and steering optical phased array photonic integrated circuit chips in a first vertical dimension, each photonic integrated circuit chip emitting optical phase controlled unmodulated pulses of coherent light waves that interfere with each other to form an optical beam pointed in a plurality of directions in a second dimension perpendicular to the first vertical dimension; andcollecting at a receiver array reflected pulses indicative of the distance and the reflectivity of a sensed object, the distance of the sensed object establishing a third dimension.2. The method of further comprising utilizing at least one off-chip lens.3. The method of wherein the off-chip lens is selected from a refractive lens claim 2 , a graded index lens claim 2 , a diffractive optical element and a holographic optical element.4. The method of further comprising utilizing at least one on-chip grating.5. The method of wherein the unmodulated pulses of coherent light waves are generated from a single laser.6. The method of wherein the unmodulated pulses of coherent light waves are generated by a plurality of lasers claim 1 , with the optical input into each photonic integrated circuit chip being generated from one of the plurality of lasers. This application is a continuation of U.S. patent application Ser. No. 14/460,369 filed Aug. 15, 2014, the contents of which are incorporated herein by reference.The present invention relates generally to the field of environment sensing, and more particularly to the use of Time of Flight (ToF) lidar sensors for real-time three-dimensional mapping ...

Depth sensor calibration using internal reflections

Depth sensing apparatus includes a radiation source, which emits a first array of beams of light pulses through a window toward a target scene. Objective optics image the target scene onto a second array of sensing elements, which output signals indicative of respective times of incidence of photons. A first calibration, which associates the beams in the first array with respective first locations on the second array onto which the beams reflected from the target scene are imaged, is used in processing the signals in order to measure respective times of flight of the light pulses. A second calibration indicates second locations on which stray radiation is incident on the second array due to reflection of the beams from the window. Upon detecting a change in the second locations relative to the second calibration, the first calibration is corrected so as to compensate for the detected change. 1. Depth sensing apparatus , comprising:a transparent window;a radiation source, which is configured to emit a first array of beams of light pulses through the window toward a target scene;an imaging assembly, which comprises a second array of sensing elements, configured to output signals indicative of respective times of incidence of photons on the sensing elements, and objective optics configured to image the target scene onto the second array; andprocessing and control circuitry, which is coupled to store a first calibration associating the beams in the first array with respective first locations on the second array onto which the beams reflected from the target scene are imaged, and to process the signals in accordance with the first calibration in order to measure respective times of flight of the light pulses,wherein the processing and control circuitry is configured to store a second calibration indicating second locations on which stray radiation is incident on the second array due to reflection of the beams from the window, and to detect, responsively to the signals, a ...

TIME-OF-FLIGHT DEPTH MEASUREMENT USING MODULATION FREQUENCY ADJUSTMENT

In a method for time-of-flight (ToF) based measurement, a scene is illuminated using a ToF light source modulated at a first modulation frequency F. While the light is modulated using F, depths are measured to respective surface points within the scene, where the surface points are represented by a plurality of respective pixels. At least one statistical distribution parameter is computed for the depths. A second modulation frequency Fhigher than Fis determined based on the at least one statistical distribution parameter. The depths are then re-measured using Fto achieve a higher depth accuracy. 1. A time-of-flight (ToF) camera comprising:an interface configured to receive a first ToF light source modulated at a first modulation frequency and a second ToF light source modulated at a second modulation frequency; andan image sensor coupled to an image signal processor configured to measure first depths of a region of interest (ROI) based on the first ToF light source and second depths of the ROI based on the second ToF light source,wherein the image signal processor is configured to determine the second modulation frequency based on a measuring result of the first depths.2. The ToF camera of claim 1 , wherein the ToF camera is configured to illuminate a scene using the first ToF light source and to identify the ROI within the scene.3. The ToF camera of claim 2 , wherein the RoI is represented by an entire frame of a captured image.4. The ToF camera of claim 2 , wherein the ToF camera is configured as a 2-tap ToF camera.5. The ToF camera of claim 2 , wherein the ToF camera is configured as a 4-tap ToF camera.6. The ToF camera of claim 4 , wherein the image signal processor is configured to compute at least one statistical distribution parameter for the first depths and to determine the second modulation frequency based on the at least one statistical distribution parameter for the first depths.7. The ToF camera of claim 6 , wherein the at least one statistical ...

Optoelectronic device and method for distance measurement

An optoelectronic device for distance measurement in a detection zone using a phase based time of light method is provided that has a transmitter device for transmitting a light signal that is modulated by at least one first modulation frequency f1, a reception device having at least one light reception element for generating a received signal from the light signal reflected back in the detection zone, and a control and evaluation unit that is configured to determine a phase offset between the transmitted light signal and the light signal reflected back and to determine a time of flight therefrom, and to evaluate a first amplitude determined from the received signal to determine an erroneous measurement by reflection of the light signal at an object in the detection zone outside an unambiguity range of the phase based time of light method.

DISTANCE SENSOR, AND METHOD FOR DRIVING DISTANCE SENSOR

The present embodiment relates to a distance sensor configured to inject an equal amount of current into storage nodes coupled, respectively, to charge collection regions where charges of a photosensitive region is distributed by driving of first and second transfer electrodes and obtain a distance to an object based on difference information on charge amounts of the respective storage nodes. Saturation caused by disturbance light of each storage node is avoided by injecting the equal amount of current to each storage node, and the difference information on the charge amounts of the respective storage nodes, which is not easily affected by the current injection, is obtained by driving the first and second transfer electrodes according to the plurality of frames representing the electrode drive pattern, respectively. 1: A distance sensor configured to irradiate an object with light and measure a distance to the object by detecting reflected light from the object , the distance sensor comprising:a light irradiation unit configured to repeatedly irradiate the object with the light in a pulsed state;a semiconductor substrate having a photosensitive region generating charges corresponding to a light amount of the reflected light, and first and second charge collection regions each collecting the charges from the photosensitive region, the first and second charge collection regions disposed in a state of being spaced apart from the photosensitive region by a predetermined distance;a first transfer electrode disposed on a region between the photosensitive region and the first charge collection region, the first transfer electrode being settable to an on-potential configured to enable charge transfer from the photosensitive region to the first charge collection region or an off-potential configured to stop the charge transfer;a second transfer electrode disposed on a region between the photosensitive region and the second charge collection region, the second transfer ...

Methods and Systems for Mapping Retroreflectors

One example method involves a light detection and ranging (LIDAR) device focusing light from a target region in a scene for receipt by a detector. The method also involves emitting a primary light pulse. The method also involves directing, via one or more optical elements, the primary light pulse toward the target region. The primary light pulse illuminates the target region according to a primary light intensity of the primary light pulse. The method also involves emitting a secondary light pulse. At least a portion of the secondary light pulse illuminates the target region according to a secondary light intensity of the secondary light pulse. The secondary light intensity is less than the primary light intensity. 1. A method comprising:focusing, by a light detection and ranging (LIDAR) device, light from a target region in a scene for receipt by a detector; and emitting a primary light pulse,', 'directing, via one or more optical elements, the primary light pulse toward the target region, wherein the primary light pulse illuminates the target region according to a primary light intensity of the primary light pulse, and', 'emitting a secondary light pulse, wherein at least a portion of the secondary light pulse illuminates the target region according to a secondary light intensity of the secondary light pulse, and wherein the secondary light intensity is less than the primary light intensity., 'transmitting a plurality of light pulses toward the scene, wherein transmitting the plurality of light pulses comprises2. The method of claim 1 , further comprising:detecting an object in the scene based on the detector indicating detection of a reflected portion of the primary light pulse in the focused light.3. The method of claim 2 , further comprising:identifying the object as a retroreflector based on the detector indicating detection of a reflected portion of the secondary light pulse in the focused light.4. The method of claim 2 , further comprising:identifying a ...

DISTANCE-MEASURING IMAGING DEVICE AND SOLID-STATE IMAGING DEVICE

A distance-measuring imaging device includes: a drive controller that outputs a light emission signal and an exposure signal; a light source; a solid-state imager that performs exposure to reflected light; and a TOF calculator that calculates a distance to an object using an imaging signal. The drive controller: cyclically outputs a first exposure signal group in which, before an exposure period of one exposure signal ends, an exposure period of at least one other exposure signal starts; and outputs a second exposure signal group having a dead zone period during which all exposure signals are in a non-exposure period. The TOF calculator calculates a first distance value using a first imaging signal obtained according to the first exposure signal group, calculates a second distance value using a second imaging signal obtained according to the second exposure signal group, and calculates the distance based on the first and second distance values. 1. A distance-measuring imaging device that measures a distance to an object by applying pulse light to and receiving reflected light from the object , the distance-measuring imaging device comprising:a controller that outputs a light emission signal and an exposure signal;a light source that applies the pulse light at timing indicated by the light emission signal;a solid-state imaging device that performs exposure to the reflected light at timing indicated by the exposure signal, and outputs an imaging signal indicating an exposure amount; anda calculator that calculates the distance to the object using the imaging signal,wherein the controller: cyclically outputs a first exposure signal group that is made up of a plurality of exposure signals different from each other in delay time with respect to the light emission signal and in which, before an exposure period of one exposure signal ends, an exposure period of at least one other exposure signal starts; and outputs a second exposure signal group that is made up of one or ...

Synchronization of Multiple Rotating Sensors of a Vehicle

One example system includes a first light detection and ranging (LIDAR) device that scans a first field-of-view defined by a first range of pointing directions associated with the first LIDAR device. The system also includes a second LIDAR device that scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device. The second FOV at least partially overlaps the first FOV. The system also includes a first controller that adjusts a first pointing direction of the first LIDAR device. The system also includes a second controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device. 1. A system comprising:a first light detection and ranging (LIDAR) device mounted to a vehicle at a first mounting position, wherein the first LIDAR device scans a first field-of-view (FOV) defined by a first range of pointing directions associated with the first LIDAR device and the first mounting position;a second LIDAR device mounted to the vehicle at a second mounting position, wherein the second LIDAR device scans a second FOV defined by a second range of pointing directions associated with the second LIDAR device and the second mounting position, wherein the second FOV at least partially overlaps the first FOV;a first LIDAR controller that adjusts a first pointing direction of the first LIDAR device; anda second LIDAR controller that adjusts a second pointing direction of the second LIDAR device synchronously with the adjustment of the first pointing direction of the first LIDAR device.2. The system of claim 1 , further comprising:a system controller, wherein the system controller generates a point cloud representation of an environment based on a first scan of the first FOV by the first LIDAR device and a second scan of the second FOV by the second LIDAR device.3. The system of claim 2 , wherein the first scan is based on first sensor ...

OBJECT SPECIFIC MEASURING WITH AN OPTO-ELECTRONIC MEASURING DEVICE

A method for controlling an opto-electronic measuring device for radiation based object point measuring such as a laser tracker, laser scanner, multi beam scanner, laser profiler, scanning total station, flash lidar, airborne scanning lidar or scanning multi station. The power of the emitted measurement radiation is object individually automatically varied specific for a direction and distance to respective objects whereby the power is adjusted in such a way that it does not exceed a predefined distance dependent power limit applying to the respective object distance precisely when the measurement radiation is emitted in the respective object direction. 1. A method for automatic control of an opto-electronic measuring device , the method comprising:emitting of measurement radiation in a targeting direction into free space towards an object point by the opto-electric measuring device;receiving at least part of the measurement radiation reflected by the object point;time resolved or location resolved detection of said reflected measurement radiation by the opto-electric measuring device; andmeasuring of an accurate object point distance based on said measurement radiation detection,wherein an automatic object specific variation of the power of the measurement radiation emitted for said accurate object point distance measuring such that:respective rough distances and directions from the measuring device to objects within a field of view intended to be measured are determined,said rough distances are checked against stored predefined distance dependent power limits in order to adjust the power of the measurement radiation according to a respective power limit applying to the respective rough object distance such that a respective distance dependent power limit is not exceeded precisely when the measurement radiation is emitted in the respective object direction,the accurate object point distance is measured with measurement radiation individually adapted to a respective ...

DISTANCE MEASUREMENT SYSTEM AND SOLID-STATE IMAGING SENSOR USED THEREFOR

A distance measurement system includes: a signal generator which generates a light emission signal that instructs light emission and an exposure signal that instructs exposure of reflected light; a first illumination and distance measurement light source which receives the light emission signal and, according to the signal received, performs the light emission for illumination without a purpose of distance measurement and the light emission with the purpose of distance measurement using the reflected light; an imaging device which receives the exposure signal, performs the exposure according to the signal received, and obtains an amount of light exposure of the reflected light; and a calculator which calculates distance information using the amount of light exposure and outputs the distance information, wherein the distance measurement system has operation modes including an illumination mode and a first distance measurement mode. 1. A distance measurement system comprising:a signal generator that generates a light emission pulse signal that instructs light emission and an exposure signal that instructs exposure of reflected light;an illumination and distance measurement light source that receives the light emission pulse signal and, according to the light emission pulse signal received, emit pulsed light for illumination without a purpose of distance measurement and emit pulsed light with the purpose of distance measurement using the reflected light;an imaging device that includes a solid-state imaging sensor which receives the exposure signal, performs the exposure according to the exposure signal received, and obtains an amount of light exposure of the reflected light to perform the distance measurement; anda calculator that calculates distance information using the amount of light exposure and output the distance information,wherein the illumination and distance measurement light source includes a high beam light source that emits infrared light and a low beam ...

METHOD FOR DRIVING SOLID-STATE IMAGING DEVICE

Provided is a method for driving a solid-state imaging device including a unit pixel which includes at least a first pixel including: a photoelectric converter which receives reflected light from an object and converts the reflected light into charge; an exposure resetter which switches between exposure and discharge of the charge in the photoelectric converter; and a plurality of readers which read the charge from the photoelectric converter and include at least a first reader and a second reader. The method includes: performing a first exposure as the exposure that is performed in a first period in which a gate of the first reader is ON; and performing a second exposure as the exposure that is performed in a second period which is started in conjunction with the end of the first period and in which a gate of the second reader is ON. 1. A method for driving a solid-state imaging device which captures a distance measurement image for measuring a distance to an object irradiated with a pulsed beam and includes a plurality of pixels including at least a first pixel including:a photoelectric converter which receives reflected light from the object and converts the reflected light into charge;an exposure resetter which switches between exposure and discharge of the charge in the photoelectric converter; anda plurality of readers which read the charge from the photoelectric converter and include at least a first reader and a second reader, the method for driving the solid-state imaging device comprising:performing a first exposure as the exposure that is performed in a first period in which a gate of the first reader is ON; andperforming a second exposure as the exposure that is performed in a second period which is started in conjunction with an end of the first period and in which a gate of the second reader is ON.2. The method for driving the solid-state imaging device according to claim 1 ,wherein the first exposure or the second exposure is started by switching OFF ...

Method of Providing Interference Reduction and a Dynamic Region of Interest in a LIDAR System

A system and method for providing a dynamic region of interest in a lidar system can include scanning a light beam over a field of view to capture a first lidar image, identifying a first object within the captured first lidar image, selecting a first region of interest within the field of view that contains at least a portion of the identified first object, and capturing a second lidar image, where capturing the second lidar image includes scanning the light beam over the first region of interest at a first spatial sampling resolution, and scanning the light beam over the field of view outside of the first region of interest at a second spatial sampling resolution, wherein the second sampling resolution is different the first spatial sampling resolution. 1. A method for providing a dynamic region of interest and reduced interference in a lidar system , the method comprising:scanning a light beam over a field of view to capture a first lidar image;selecting a first region of interest within the field of view;scanning the light beam over the first region of interest to capture a second lidar image; andrandomly or pseudo-randomly varying a parameter associated with the capturing of the first or-second lidar images, the varying producing a signature in the captured first or second image to characterize an identity of the lidar system that produced the light beam.2. The method of claim 1 , wherein randomly or pseudo-randomly varying the parameter comprises introducing a randomly or pseudo-randomly varying time delay before capturing the first lidar image.3. The method according to any of claim 1 , wherein randomly or pseudo-randomly varying the parameter comprises introducing a randomly or pseudo-randomly varying time delay before capturing the second lidar image.4. The method according to any of claim 1 , wherein randomly or pseudo-randomly varying the parameter comprises repeatedly capturing the second lidar image and introducing a randomly or pseudo-randomly varying ...

FLUORESCENCE IMAGING WITH FIXED PATTERN NOISE CANCELLATION

Fluorescence imaging with reduced fixed pattern noise is disclosed. A method includes actuating an emitter to emit a plurality of pulses of electromagnetic radiation and sensing reflected electromagnetic radiation resulting from the plurality of pulses of electromagnetic radiation with a pixel array of an image sensor. The method includes reducing fixed pattern noise in an exposure frame by subtracting a reference frame from the exposure frame. The method is such that at least a portion of the plurality of pulses of electromagnetic radiation emitted by the emitter comprises electromagnetic radiation having a wavelength from about 770 nm to about 790 nm. 130-. (canceled)31. A method comprising:actuating an emitter to emit a plurality of pulses of electromagnetic radiation;sensing reflected electromagnetic radiation resulting from the plurality of pulses of electromagnetic radiation with a pixel array of an image sensor to generate a plurality of exposure frames; andgenerating a reference frame for use in removing fixed pattern noise from the plurality of exposure frames, wherein the reference frame is based on dark frame data captured when the emitter is not emitting electromagnetic radiation;wherein at least a portion of the plurality of pulses of electromagnetic radiation emitted by the emitter comprises a fluorescence excitation wavelength for fluorescing a reagent.321. The method of claim , wherein the fluorescence excitation wavelength comprises electromagnetic radiation having a wavelength from about 770 nm to about 790 nm.331. The method of claim , further comprising:stopping the emitter from pulsing electromagnetic radiation; andsensing the dark frame data with the pixel array when the emitter is not emitting electromagnetic radiation.341. The method of claim , wherein:the plurality of pulses of electromagnetic radiation are emitted in a pattern of varying wavelengths of electromagnetic radiation comprising a zero-emission period wherein the emitter does not ...

Real-Time Adjustment Of Vehicle Sensor Field Of View Volume

Disclosed are systems and methods that can be used for adjusting the field of view of one or more sensors of an autonomous vehicle. In the systems and methods, each sensor of the one or more sensors is configured to operate in accordance with a field of view volume up to a maximum field of view volume. The systems and methods include determining an operating environment of an autonomous vehicle. The systems and methods also include based on the determined operating environment of the autonomous vehicle, adjusting a field of view volume of at least one sensor of the one or more sensors from a first field of view volume to an adjusted field of view volume different from the first field of view volume. Additionally, the systems and methods include controlling the autonomous vehicle to operate using the at least one sensor having the adjusted field of view volume. 1. A system for controlling operation of an autonomous vehicle , the system comprising:one or more sensors, each sensor of the one or more sensors being configured to operate in accordance with a field of view volume, the field of view volume representing a space surrounding the autonomous vehicle within which the sensor is expected to detect objects at a confidence level higher than a predefined confidence threshold;one or more processors coupled to the one or more sensors; and identifying a plurality of operational design domains (ODDs) for the autonomous vehicle, wherein each ODD includes at least one of an environmental condition, a geographical condition, a time-of-day condition, a traffic condition, or a roadway condition, and wherein each ODD is associated with a predetermined field of view volume for at least one of the one or more sensors;', 'associating the autonomous vehicle with a first ODD of the plurality of ODDs;', 'detecting a change in an operating environment of the autonomous vehicle;', 'in response to the detecting, associating the autonomous vehicle with a second ODD of the plurality of ...

Flash Lidar with Adaptive Illumination

A light detection and ranging (lidar) system is provided that is incorporated into a vehicle and which is configured to efficiently adapt to varying road conditions as well as potential obstacles that may lie in the vehicle's pathway. The system employs a spatial light modulator (SLM) to create a plurality of illumination zones within the system's field of view. The SLM allows the lidar system to alter the size of each illumination zone as well as the light intensity within each of the zones as required by road conditions and potential obstacles. 1. A flash light detection and ranging (lidar) system incorporated into a vehicle , comprising:a lidar transmitter incorporated into said vehicle, said lidar transmitter comprising a periodically modulated light source and a spatial light modulator (SLM), wherein an output light beam generated by said periodically modulated light source is reflected by said SLM prior to transmittance by said lidar transmitter, and wherein within a first field of view (FoV) corresponding to said lidar transmitter and within a single pulse of said periodically modulated light source said SLM generates a plurality of illumination zones of differing light intensity;a lidar receiver incorporated into said vehicle, said lidar receiver further comprising a sensor array, wherein light reflected by objects within a second FoV corresponding to said lidar receiver is captured by said sensor array; anda lidar processing system coupled to said lidar transmitter and to said lidar receiver, said lidar processing system configured to adapt said SLM to achieve a predetermined zone size and a predetermined light intensity for each illumination zone of said plurality of illumination zones generated by said SLM, and said lidar processing system configured to perform time of flight (ToF) measurements on data acquired by said sensor array.2. The flash lidar system of claim 1 , said SLM further comprising an active matrix backplane located on a first side of a ...

LASER REPEATER

Systems and methods for remote sensing. In one implementation, the system includes an overhead reflector, a ground-based laser, and an overhead sensor. The ground-based laser directs a beam to the overhead reflector. The overhead reflector reflects at least some of the beam to the ground, and at least some of the light from the beam reaching the ground reflects from the ground. The overhead sensor detects at least some of the light reflected from the ground. The system may be monostatic or bistatic, and may include a lidar sensor, for three dimensional mapping of a target area. 1. A system , comprising:an overhead reflector;a ground-based laser; andan overhead sensor;wherein the ground-based laser directs a beam to the overhead reflector;and wherein the overhead reflector reflects at least some of the beam to a target area;and wherein at least some of the light from the beam reaching the target area reflects from the target area;and wherein the overhead sensor detects at least some of the light reflected from the target area.2. The system of claim 1 , wherein the overhead reflector comprises at least one steerable mirror.3. The system of claim 2 , wherein the overhead reflector comprises an array of steerable mirrors.4. The system of claim 1 , wherein the overhead reflector is mounted on a platform selected from the group consisting of an unmanned aerial vehicle claim 1 , an aircraft claim 1 , and a satellite.5. The system of claim 1 , wherein the overhead sensor is mounted on a platform selected from the group consisting of an unmanned aerial vehicle claim 1 , an aircraft claim 1 , and a satellite.6. The system of claim 1 , wherein the overhead sensor gathers imagery of the target area.7. The system of claim 1 , wherein the system measures the time of flight of laser pulses from the overhead reflector to the overhead sensor claim 1 , and characterizes the topography of the target area based on the time of flight measurements.8. The system of claim 7 , wherein the ...

APPARATUS FOR MAKING A DISTANCE DETERMINATION

An apparatus includes a camera module configured to generate at least one image and a ToF SPAD based range detecting module configured to generate at least one distance determination to an object within a field of view of the camera module. A processor receives the at least one image from the camera module output and receives the at least one distance determination from the ToF SPAD based range detecting module. This data is processed by the processor to determine a depth map. 1. An apparatus , comprising:at least one camera module configured to generate at least one image;at least one time of flight (ToF) single photon avalanche diode (SPAD) based range detecting module configured to generate at least one distance determination between the apparatus and an object within a module field of view; anda processor configured to receive at least one image from the at least one camera module output and at least one distance determination from the ToF SPAD based range detecting module output and determine a depth map based on the at least one camera module output and at least one distance determination.2. The apparatus as claimed in claim 1 , wherein the processor is configured to determine a mode of operation and wherein the determination of the depth map based on the at least one camera module output and at least one distance determination is further based on the mode of operation.3. The apparatus as claimed in claim 2 , wherein the mode of operation is a light intensity mode claim 2 , wherein the light intensity mode is determined based on an ambient light level determined by the apparatus.4. The apparatus as claimed in claim 3 , wherein the determination of the depth map is further based on the mode of operation and further comprises the processor configured to:determine the depth map substantially based on the at least one distance determination from the ToF SPAD based range detecting module when the light intensity mode is low ambient light;determine the depth map ...

Determining positional information of an object in space

The technology disclosed relates to determining positional information of an object in a field of view. In particular, it relates to calculating a distance of the object from a reference such as a sensor including scanning the field of view by selectively illuminating directionally oriented light sources and measuring one or more differences in property of returning light emitted from the light sources and reflected from the object. The property can be intensity or phase difference of the light. It also relates to finding an object in a region of space. In particular, it relates to scanning the region of space with directionally controllable illumination, determining a difference in a property of the illumination received for two or more points in the scanning, and determining positional information of the object based in part upon the points in the scanning corresponding to the difference in the property.

PULSED LASER FOR LIDAR SYSTEM

A lidar system with a seed laser to produce seed pulses with wavelengths between approximately 1400 nm and 2050 nm. A first amplifier amplifies the seed pulses to produce amplified seed pulses and amplified spontaneous emission (ASE). An optical filter removes at least a portion of the ASE. A second amplifier amplifies the seed pulses to produce output pulses having a repetition frequency less than or equal to 100 MHz, a duration less than or equal to 20 nanoseconds, a duty cycle less than or equal to 1%, an energy greater than or equal to 10 nanojoules, a peak power greater than or equal to 1 watt, and an average power less than or equal to 50 watts, the ASE comprising less than or equal to 25% of the average power. A sensor head directs the output pulses into a field of view and detects reflected light therefrom. 1. A lidar system comprising:a seed laser configured to produce optical seed pulses at one or more operating wavelengths between approximately 1400 nm and 2050 nm;a first fiber-optic amplifier configured to amplify the optical seed pulses with a first gain to produce a first amplifier output that comprises amplified seed pulses and amplified spontaneous emission (ASE);a first optical filter configured to remove from the first-amplifier output at least a portion of the ASE by transmitting light at the one or more operating wavelengths and attenuating light at other wavelengths by at least 20 dB;a second fiber-optic amplifier configured to receive the amplified seed pulses from the first optical filter and to amplify them with a second gain to produce output pulses having a pulse repetition frequency less than or equal to 100 MHz, a pulse duration less than or equal to 20 nanoseconds, a duty cycle less than or equal to 1%, a pulse energy greater than or equal to 10 nanojoules, a peak power greater than or equal to 1 watt, and an average power less than or equal to 50 watts, the ASE comprising less than or equal to 25% of the average power; anda sensor head ...

OPTICAL PHASED ARRAY FOCUS CONTROL FOR ACTIVE ILLUMINATED SWIR RANGE SELECTION

Electro-optical sighting systems and methods are provided. One example includes a optical transmitter configured to emit an infrared beam along an optical path toward a target, a beam director positioned in the optical path and having a plurality of optical elements configured to direct the infrared beam and to collect reflected infrared radiation from reflection of the beam from the target, a focal plane array detector configured to receive reflected infrared radiation from the beam director, an optical phased array (OPA) positioned in the optical path between the optical transmitter and the beam director, and a controller operatively coupled to the OPA and configured to direct the OPA to defocus the infrared beam to broaden a field of view of the optical transmitter for active illumination, and focus the infrared beam to narrow the field of view of the optical transmitter for range determination and/or target designation. 1. An electro-optical sighting system comprising:a first optical transmitter configured to emit an infrared beam along an optical path toward a target;a beam director positioned in the optical path and having a plurality of optical elements configured to direct the infrared beam and to collect reflected infrared radiation from reflection of the beam from the target;a focal plane array detector configured to receive collected reflected infrared radiation from the beam director;an optical phased array positioned in the optical path between the first optical transmitter and the beam director; anda controller operatively coupled to the optical phased array and configured to direct the optical phased array to defocus the infrared beam to broaden a field of view of the first optical transmitter for active illumination, and focus the infrared beam to narrow the field of view of the first optical transmitter for range determination and/or target designation.2. The system of claim 1 , further comprising a beam splitter configured to direct the reflected ...

LASER RADAR APPARATUS AND METHOD OF ACQUIRING IMAGE THEREOF

Disclosed is a laser radar apparatus. The laser radar apparatus includes: a light transmission unit configured to output a laser pulse by using a light source; a light reception unit configured to receive a reflected laser pulse in connection with the laser pulse; and a controller configured to adjust a repetition rate of the laser pulse of the light source, in which the controller adjusts the repetition rate of the laser pulse based on at least one of reception power, a target distance, a movement speed, a vertical angle, and a radiation angle. 1. A laser radar apparatus , comprising:a light transmission unit configured to output a laser pulse by using a light source;a light reception unit configured to receive a reflected laser pulse in connection with the laser pulse; anda controller configured to adjust a repetition rate of the laser pulse of the light source,wherein the controller adjusts the repetition rate of the laser pulse based on at least one of reception power, a target distance, a movement speed, a vertical angle, and a radiation angle.2. The laser radar apparatus of claim 1 , wherein the controller changes the repetition rate of the laser pulse into one form between a linear change and a non-linear change claim 1 , and the change is one of a continuous increase and a continuous decrease.3. The laser radar apparatus of claim 1 , wherein the controller changes the repetition rate of the laser pulse into one among repetition rates corresponding to a plurality of predetermined stages.4. The laser radar apparatus of claim 1 , wherein the controller measures the reception power from the reflected laser pulse claim 1 , and when the reception power is increased claim 1 , the controller increases the repetition rate of the laser pulse claim 1 , and when the reception power is decreased claim 1 , the controller decreases the repetition rate of the laser pulse.5. The laser radar apparatus of claim 1 , wherein the controller outputs an initial laser pulse to a ...

MULTI FREQUENCY LONG RANGE DISTANCE DETECTION FOR AMPLITUDE MODULATED CONTINUOUS WAVE TIME OF FLIGHT CAMERAS

A time of flight (ToF) system includes a light source, a photosensor, a signal generator and a processor. The signal generator outputs a reference signal corresponding to a modulation function for modulated light and a modified transmitted light signal corresponding to a phase shift of the reference signal. The light source outputs the modified transmitted light signal and pixels in the photosensor receives its reflections off the scene. The reference signal is applied to the pixels and the processor determines a depth map for the scene based on values recorded by the pixels. In some examples, the phase shift is implemented using a phase locked loop controller. One or more component phases of the phase shift and an exposure time for each component phase are determined and output by the phase locked loop controller. 1. A method for performing a search for an object over a range of distances using a time of flight system , comprising:generating an amplitude-modulated light signal to be transmitted by an illumination source, wherein the light signal includes a plurality of modulation frequencies; applying the reference signal to each pixel in an array of pixels,', 'determining a cross correlation of the reference signal and an incident light signal representing reflections of the transmitted light signal received by each pixel, wherein the cross correlation corresponds to a time period and the range of distances;', 'calculating, based on the cross correlation, depths of a scene;', 'determining, based on the depths, that an object is in the range of distances;, 'searching a range of distances with an electrical reference signal representing the modulation frequencies of the light signal by wherein a cross correlation of the reference signal and the modified incident light signal corresponds to a modified time period and the modified range of distances,', 'wherein the modified range of distances is included in but smaller than the range of distances, and', 'wherein ...

LASER-BASED RANGEFINDING INSTRUMENT

A laser-based rangefinding instrument for, inter alia, golfing or hunting activities having an unique ergonomic design and an external multi-function switch for controlling display brightness, selectable display of differing distance units and a slope selection switch for enabling display of line of sight distance or angle of slope and “Compensated Golf Distance” angle corrected distance to a target. 1. A rangefinding instrument comprising:a hand holdable housing;a processor disposed within said housing;a signal transmitting section coupled to said processor for directing a ranging signal toward a target;a signal receiving section coupled to said processor for detecting at least a portion of said ranging signal as reflected from said target;a user viewable display in said housing coupled to said processor for displaying a range to said target based upon data received from said signal transmitting and receiving sections;a dedicated user actuatable switching mechanism external to said housing, said switching mechanism comprising a first display brightness control function and a second distance units display function.2. The rangefinding instrument of wherein said user actuatable switching mechanism is isolated from and remotely coupled to a sensor mechanism internal to said housing and coupled to said processor for providing input thereto with respect to said first display brightness control and second distance units display functions.3. The rangefinding instrument of wherein said user actuatable switching mechanism is magnetically coupled to said sensor mechanism internal to said housing.4. The rangefinding instrument of wherein said user actuatable switching mechanism is illuminated by a light source internal to said housing through a light pipe in said housing.5. The rangefinding instrument of wherein said second distance units display function selects between a display of said range to said target in one of yards and/or meters.6. The rangefinding instrument of ...

USING DIRECTION OF ARRIVAL WITH UNIQUE AUDIO SIGNATURE FOR OBJECT LOCATION DETECTION

Multiple independently movable devices are located upon a platform. On the platform is a directional microphone array. Each of the movable devices is assigned a unique audio signature, which may be a pulse train of chirps or a pseudo random signal or some other audio sequence that is unique to the respective device. Each movable device announces itself with its unique audio signature, and the platform's directional microphone system determines the location from which the unique audio signature comes from. For range, a difference between the time of flight (TOF) of the light relative to the sound signature is used. As another technique a unique audio signature may be an audio water mark concealed in normal audio which may be emitted by the movable device. The watermark provides the identifying information of each movable device. 1. A device comprising:at least one computer medium that is not a transitory signal and that comprises instructions executable by at least one processor to:receive, via at least one sound sensor, respective sound signals emitted by respective movable objects in an environment;identify each of the movable objects based at east in part on at least one unique characteristic in the respective sound signal; anddetermine at least a bearing to each of the movable objects based at least n part on the respective sound signals.2. The device of claim 1 , wherein the instructions are executable to:determine a range to each movable object based at least in part on time of flight (TOF) information.3. The device of claim 2 , wherein each sound signal comprises a respective time stamp indicating time of transmission claim 2 , and the TOF information comprises a time period from the time of transmission to a time of reception of the respective sound signal by the sound sensor.4. The device of claim 1 , wherein the at least one sound sensor comprises a directional ay of microphones.5. The device of claim 4 , wherein the instructions are executable to:determine ...

TIME-OF-FLIGHT IMAGE SENSOR WITH DISTANCE DETERMINATION

A time-of-flight camera includes a light generator that generates an emitted light wave, a light sensor that receives a reflected light wave that corresponds to the emitted light wave reflected from an object, and distance determination circuitry. The distance determination circuitry determines response signals based on the reflected light wave, calculates signs corresponding to differences between pairs of the response signals, determines a phase region based on the signs, and determines a distance between the time-of-flight camera and the object based on a ratio of the differences. 1. A time-of-flight camera , comprising:a light generator configured to generate an emitted light wave;a light sensor configured to receive a reflected light wave, the reflected light wave corresponding to the emitted light wave reflected from an object; and determine a plurality of response signals based on the reflected light wave,', 'calculate a first sign corresponding to a first difference between a first pair of the plurality of response signals and a second sign corresponding to a second difference between a second pair of the plurality of response signals,', 'determine a phase region based on the first sign and the second sign, and', 'determine a distance between the time-of-flight camera and the object based on a ratio including the first difference and the second difference., 'distance determination circuitry configured to2. The time-of-flight camera according to claim 1 , wherein the plurality of response signals includes four response signals.3. The time-of-flight camera according to claim 1 , wherein a numerator of the ratio includes the first difference claim 1 , and a denominator of the ratio includes the first difference and the second difference.4. The time-of-flight camera according to claim 1 , wherein the emitted light wave is a periodic wave having a predetermined frequency.5. The time-of-flight camera according to claim 4 , wherein a range of the distance ...

LIDAR SYSTEMS AND METHODS WITH BEAM STEERING AND WIDE ANGLE SIGNAL DETECTION

Embodiments discussed herein refer to using LiDAR systems for steering consecutive light pulses using micro electro-mechanical system (MEMS) to illuminate objects in a field of view. Embodiments discussed herein also refer to using a multiple lens array to process returned light pulses. 1. A light detection and ranging (LiDAR) system , comprising: a micro-electrical mechanical system (MEMS) structure; and', 'a mirror;, 'a beam steering system comprisinga laser system operative to emit light pulses that are steered by the beam steering system such that each emitted light pulse is steered along an optical path within a field of view (FOV); and an optical lens; and', 'a detector array comprising a plurality of detector segments; and, 'receiver system operative to receive return pulses from the FOV, the receiver system comprising activate a subset of the detector segments based on the optical path;', 'deactivate the detector segments not included within the subset; and', 'process a return pulse detected by the activated subset of detector segments., 'control circuitry operative to2. The LiDAR system of claim 1 , wherein the MEMS structure is a MEMS polygon.3. The LiDAR system of claim 1 , wherein the MEMS structure is a liquid crystal.4. The LiDAR system of claim 1 , wherein the MEMS structure comprises at least one micro mirror.5. The LiDAR system of claim 1 , wherein the optical lens is a wide angle lens.6. The LiDAR system of claim 1 , wherein the detector array is positioned at or near a focal plane of the optical lens.7. The LiDAR system of claim 1 , wherein the control circuitry is operative to register the optical path with the selective activation of the subset of detector segments such that only the subset of detector segments is active to receive the return pulse.8. The LiDAR system of claim 1 , wherein a deactivated detector segment is powered off and wherein an activated detector segment is powered on.9. The LiDAR system of claim 1 , wherein the beam ...

DISTANCE DETECTION DEVICE AND DISTANCE DETECTION METHOD

A distance detection device generates a distance image indicating a distance to an object positioned within a distance range targeted for measurement using a TOF system. The distance detection device includes a light source that illuminates the object with light, a light sensor that generates a detection signal by receiving a reflection light which is the illumination light reflected from the object, a controller that controls an exposure timing of the light sensor with respect to an illumination timing of the light from the light source in each of measurement ranges of a plurality of measurement ranges obtained by dividing the distance range, and a processor. The processor generates distance information by calculating distances to objects within the measurement ranges based on the detection signal in each of the measurement ranges, and generates the distance image indicating the distance to the object within the distance range targeted for measurement using the generated plural distance information items. 1. A distance detection device that generates a distance image indicating a distance to an object positioned within a distance range for measurement by a time of flight (TOF) system , the distance detection device comprising:a light source that emits light;a light sensor that generates a detection signal by receiving a reflection light obtained by reflecting the light emitted from the light source on the object;a controller that controls an exposure timing of the light sensor with respect to illumination timing of the light from the light source in each measurement range of a plurality of measurement ranges into which the distance range is divided; and generate distance information by calculating a distance to the object within the each measurement range based on the detection signal in the each measurement range, and', 'generate the distance image indicating the distance to the object within the distance range based on the distance information within the each ...

AUTOMATED GENERATION OF A THREE-DIMENSIONAL SCANNER VIDEO

A method for automatically generating a three-dimensional (3D) video of a scene by measuring and registering 3D coordinates at a first position and a second position of a 3D measuring device, the 3D video generated by combining two-dimensional images extracted at trajectory points along a trajectory path. 1. A method of automatically generating a three-dimensional (3D) video of a scene , the method comprising:measuring a first plurality of 3D coordinates of the scene with a 3D measuring instrument at a first position;measuring a second plurality of 3D coordinates of the scene with the 3D measuring instrument at a second position different than the first position;determining by a processor a trajectory path, the trajectory path having a plurality of trajectory poses for a corresponding plurality of trajectory points on the trajectory path, each trajectory pose having a trajectory position and a trajectory direction;generating for each trajectory point a two-dimensional (2D) image based at least in part on the corresponding trajectory pose and the common plurality of 3D coordinates;displaying the video on a display device based at least in part on the generated 2D images.2. The method of claim 1 , wherein the determining by a processor a trajectory path further includes arranging some of the plurality of trajectory points at intervals along a straight line connecting the first position and the second position.3. The method of claim 1 , wherein the determining by a processor a trajectory path further includes selecting the trajectory path to avoid obstacles.4. The method of claim 1 , wherein the 3D measuring instrument further includes a 2D camera configured to capture 2D images of the scene.5. The method of claim 4 , wherein the determining by a processor a trajectory path further includes the selecting the trajectory path based at least in part on a first captured 2D image obtained from the 2D camera.6. The method of claim 1 , wherein the determining by a processor a ...

SOLID-STATE IMAGING DEVICE, DISTANCE MEASUREMENT DEVICE, AND DISTANCE MEASUREMENT METHOD

A plurality of pixels in a solid-state imaging device each include: a light receiving circuit that includes a light receiving element performing photoelectric conversion, sets, by an exposure signal, a photoelectric time for performing the photoelectric conversion, and outputs a light reception signal depending on whether or not incident light has reached the pixel within the photoelectric time; a counter circuit that counts, as a count value, the number of times the incident light has reached the pixel, based on the light reception signal; a comparison circuit that sets a value corresponding to the count value as a threshold, and sets a comparison signal to an on state in the case where the count value is greater than the threshold; and a storage circuit that stores, as a distance signal, a time signal when the comparison signal is in the on state. 1. A solid-state imaging device comprising:a plurality of pixels in a two-dimensional array, the plurality of pixels including a first pixel group that includes an infrared transmission filter,wherein each pixel in the first pixel group includes:a light receiving circuit that includes a light receiving element for performing photoelectric conversion of converting received light into an electrical signal, sets, by an exposure signal, a photoelectric time for performing the photoelectric conversion in the light receiving element, and outputs a light reception signal depending on whether or not incident light has reached the pixel within the photoelectric time;a counter circuit that counts, as a count value, the number of times the incident light has reached the pixel, based on the light reception signal received from the light receiving circuit;a comparison circuit that sets a value corresponding to the count value as a threshold, and sets a comparison signal to an on state in the case where the count value is greater than the threshold; anda storage circuit that receives the comparison signal and a time signal changing ...

Disturbance Light Identifying Apparatus, Disturbance Light Separating Apparatus, Disturbance Light Identifying Method, and Disturbance Light Separating Method

Disclosed are a disturbance light identifying apparatus, a disturbance light separating apparatus, a disturbance light identifying method, and a disturbance light separating method capable of precisely identifying whether or not light exiting an optical system contains a disturbance light component or capable of separating such a disturbance light component by using a simple technique. Provided are: a modulated light irradiation unit that irradiates an optical system with modulated light; a light receiving unit that receives light exiting the optical system in response to an incidence of the modulated light from the modulated light irradiation unit; and a controlling unit that controls the modulated light irradiation unit and the light receiving unit. 1. A disturbance light identifying apparatus comprising:a modulated light irradiation unit that irradiates an optical system with modulated light;a light receiving unit that receives light exiting the optical system in response to an incidence of the modulated light from the modulated light irradiation unit; anda controlling unit that controls the modulated light irradiation unit and the light receiving unit, whereinwhile a light beam incident on the light receiving unit after traveling through an optical path exceeding a reference distance determined on a basis of a designed optical path length of the optical system is defined as a disturbance light component, the controlling unit identifies whether or not the light exiting the optical system contains the disturbance light component, on a basis of a light beam traveling distance obtained from the light exiting the optical system.2. The disturbance light identifying apparatus according to claim 1 , whereinthe modulated light irradiation unit is a light source that irradiates the optical system with the modulated light.3. The disturbance light identifying apparatus according to claim 1 , whereinthe modulated light irradiation unit includes a first shutter provided on an ...

TOF SENSOR WITH TEST EMITTER

A sensor for monitoring a monitoring area having a transmitter for transmitting radiation into the monitoring area for reflection at an object in the monitoring area, a test transmitter for transmitting a test signal comprising radiation, a receiver for receiving the radiation of the transmitter that is reflected at the object or the radiation of the test transmitter, and an evaluation device for ascertaining a distance value on the basis of the delay in the transit time or the phase of a modulation between the transmitted and received radiation of the sensor. The sensor further comprises a memory for storing an expectation value for the expected distance value of the received test signal, and a comparison device for comparing a distance value on the basis of the received test signal with the expectation value and for outputting a safety signal on the basis of the comparison. 111-. (canceled)12. A sensor for monitoring a monitoring area comprising:a transmitter for transmitting radiation into the monitoring area for reflection at an object in the monitoring area;a test transmitter for transmitting a test signal comprising radiation;a receiver for receiving the radiation of the transmitter that is reflected at the object or the radiation of the test transmitter; andan evaluation device for ascertaining a distance value on the basis of the delay in the transit time or the phase of a modulation between the transmitted and received radiation of the sensor,wherein the sensor further comprises a memory for storing an expectation value for the expected distance value of the received test signal, and a comparison device for comparing a distance value on the basis of the received test signal with the expectation value and for outputting a safety signal on the basis of the comparison.13. The sensor according to claim 12 , wherein the test transmitter is arranged for irradiating the receiver over an invariable distance claim 12 , or for irradiation by means of invariable ...

DETERMINING POSITIONAL INFORMATION OF AN OBJECT IN SPACE

The technology disclosed relates to determining positional information of an object in a field of view. In particular, it relates to measuring, using a light sensitive sensor, one or more differences in an intensity of returning light that is (i) emitted from respective directionally oriented non-coplanar light sources of a plurality of directionally oriented light sources that have at least some overlapping fields of illumination and (ii) reflected from the target object as the target object moves through a region of space monitored by the light sensitive sensor, and recognizing signals in response to (i) positional information of the target object determined based on, a first position in space at a first time t0 and a second position in space at a second time t1 sensed using the measured one or more differences in the intensity of the returning light and (ii) a non-coplanar movement of the target object. 1. A method of determining positional information of a target object in a region of space within range of a light sensitive sensor , the method including:measuring, using a light sensitive sensor, one or more differences in an intensity of returning light that is (i) emitted from respective directionally oriented non-coplanar light sources of a plurality of directionally oriented light sources that have at least some overlapping fields of illumination and (ii) reflected from the target object as the target object moves through a region of space monitored by the light sensitive sensor; andrecognizing signals in response to (i) positional information of the target object determined based on at least, a first position in space at a first time t0 and a second position in space at a second time t1 sensed using the measured one or more differences in the intensity of the returning light and (ii) a non-coplanar movement of the target object.2. The method of claim 1 , wherein the light sensitive sensor is internally or externally mounted to an automobile and the target ...

DISTANCE IMAGE MEASURING DEVICE

A distance image measuring device includes: a light source; an image sensor receiving a reflected light generated by reflection of a projected light from an object; a housing accommodating the light source and the image sensor; a window provided in the housing and through which the projected light and the reflected light pass; a distance calculation section calculating a distance to the object; a reflection state switching member disposed on an optical path of the projected light; and an abnormality determination section determining whether there is an abnormality in a function of detecting the object. 1. A distance image measuring device comprising:a light source that is configured to project a light;an image sensor that is configured to receive a reflected light generated by reflection of a projected light from an object, the projected light being the light projected by the light source;a housing that accommodates the light source and the image sensor;a window that is provided in the housing and through which the projected light and the reflected light pass;a distance calculation section that is configured to calculate a distance to the object based on a flight time, which is a time from projection of the projected light from the light source to reception of the reflected light by the image sensor;a reflection state switching member that is disposed on an optical path of the projected light away from the window within the housing, capable of switching between a reflection state in which the projected light is reflected in a direction toward the image sensor and a transmission state in which the projected light is transmitted, and is fixed to an inside of the device; andan abnormality determination section that is configured to determine whether there is an abnormality in a function of detecting the object existing in an observation field of view of the image sensor,wherein:a light receiving surface of the image sensor includes a visual field corresponding region, ...

TOF CAMERA DEVICE FOR ERROR DETECTION

A TOF camera apparatus for transmitting light signals and recording the light that is scattered back at an object and also for determining the distance of the TOF camera apparatus from the object is proposed, wherein the TOF camera apparatus comprises: a transmitter for transmitting light signals, a receiver for detecting the light scattered back at the object, embodied in the form of a pixel matrix having at least one pixel, a modulation device for producing a modulation signal in order to modulate light signals that are to be transmitted by the transmitter, an evaluation device for evaluating the light detected by the receiver, which evaluation device is connected to the modulation device to obtain the modulation signal for evaluating and determining the distance. In order to make possible particularly reliable error detection, a check apparatus for error detection in at least one of the pixels is provided. 1. A TOF camera apparatus for transmitting light signals and recording the light that is scattered back at an object and also for determining the distance of the TOF camera apparatus from the object , wherein the TOF camera apparatus comprises:a transmitter for transmitting light signals,a receiver for detecting the light scattered back at the object, embodied in the form of a pixel matrix having at least one pixel,a modulation device for producing a modulation signal, wherein the modulation device is connected to the transmitter to modulate light signals that are to be transmitted by the transmitter,an evaluation device for evaluating the light detected by the receiver, which evaluation device is connected to the modulation device to obtain the modulation signal for evaluating and determining the distance, anda check apparatus for error detection in at least one pixel.2. The TOF camera apparatus according to claim 1 , wherein the check apparatus has a test apparatus for testing the TOF camera apparatus claim 1 ,wherein a delay line that is checkable by the ...

AMPLIFIER INPUT PROTECTION CIRCUITS

Amplifier input protection circuits are described. In one embodiment, a photoreceiver for a lidar system has a photodetector configured to generate an output current in response to received light. A transimpedance amplifier is configured to receive the output current and generate a voltage output corresponding to the output current in response thereto, and a diode circuit has a cathode coupled at a node between the photodetector output and the transimpedance amplifier input. 1. A transimpedance amplifier protection circuit comprising:a photoreceiver for a lidar system having a photodetector configured to generate an output current in response to received light;a transimpedance amplifier configured to receive the output current and generate a voltage output corresponding to the output current in response thereto; anda diode circuit having a cathode coupled at a node between the photodetector output and the transimpedance amplifier input.2. The circuit of claim 1 , wherein the diode circuit has a grounded anode.3. The circuit of claim 1 , wherein the diode circuit is configured to reduce the capacitance at the transimpedance amplifier input.4. The circuit of claim 1 , wherein the diode circuit has a barrier voltage above which the diode circuit provides a current path to ground claim 1 , wherein the barrier voltage is below the damage threshold of the transimpedance amplifier.5. The circuit of claim 1 , wherein the diode circuit comprises a first and a second parallel diode claim 1 , each with grounded anodes and each with cathodes coupled to the node and a resistor between the two cathodes.6. The circuit of claim 4 , wherein the resistor is an active resistor.7. The circuit of claim 4 , wherein the first diode cathode is between the photodetector and the resistor and wherein the second diode has a higher barrier voltage than the first diode.8. The circuit of claim 4 , wherein the first diode cathode is between the photodetector and the resistor and wherein the first ...

Vehicle with Multiple Light Detection and Ranging Devices (LIDARs)

A vehicle is provided that includes one or more wheels positioned at a bottom side of the vehicle. The vehicle also includes a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side. The first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis. The first LIDAR has a first resolution. The vehicle also includes a second LIDAR configured to scan a field-of-view of the environment that extends away from the vehicle along a viewing direction of the second LIDAR. The second LIDAR has a second resolution. The vehicle also includes a controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR. 1. A vehicle comprising:one or more wheels positioned at a bottom side of the vehicle;a first light detection and ranging device (LIDAR) positioned at a top side of the vehicle opposite to the bottom side, wherein the first LIDAR is configured to scan an environment around the vehicle based on rotation of the first LIDAR about an axis, and wherein the first LIDAR has a first resolution;a second LIDAR configured to scan a field-of-view (FOV) of the environment that extends away from the vehicle along a viewing direction of the second LIDAR, wherein the second LIDAR has a second resolution; anda controller configured to operate the vehicle based on the scans of the environment by the first LIDAR and the second LIDAR.2. The vehicle of claim 1 , wherein the second LIDAR is positioned adjacent to the first LIDAR at the top side of the vehicle.3. The vehicle of claim 1 , further comprising a light filter shaped to enclose the first LIDAR and the second LIDAR claim 1 , wherein the light filter is configured to allow light within a wavelength range to propagate through the light filter claim 1 , wherein the first LIDAR is configured to emit light having a first wavelength within the wavelength range claim 1 , ...

COMPUTATION DEVICE, SENSING DEVICE AND PROCESSING METHOD BASED ON TIME OF FLIGHT

A computation device, a sensing device and a processing method based on time-of-flight (ToF) ranging are provided. In the method, intensity information of at least two phases corresponding to at least one pixel is obtained. The intensity information is generated by sensing a modulation light with time delays using these phases. Whether to abandon the intensity information of the at least two phases corresponding to the pixel is determined according to the difference between the intensity information of the at least two phases. Accordingly, the influence caused by motion blur would be reduced on depth information estimation. 1. A computation device based on time-of-flight (ToF) ranging , comprising:a memory, recording intensity information of at least two phases corresponding to at least one pixel and a programming code corresponding to a processing method for the computation device, wherein the intensity information is generated by sensing modulation light with time delays using the at least two phases; and obtaining the intensity information of the at least two phases; and', 'determining, according to a difference between the intensity information of the at least two phases, whether to abandon the intensity information of the at least two phases corresponding to the pixel., 'a processor, coupled to the memory, and configured to execute the programming code, the processing method comprising2. The computation device based on ToF ranging according to claim 1 , wherein the processing method further comprises:adaptively adjusting an exposure time of detecting the modulation light of the at least two phases to obtain again the intensity information of at least two phases corresponding to the pixel at a different time point.3. The computation device based on ToF ranging according to claim 1 , wherein the processing method further comprises:determining whether the difference is greater than a difference threshold;in response to the difference being greater than the ...

SCANNING LIDAR HAVING OPTICAL STRUCTURE THAT SHARES A TRANSMISSION RECEIVING LENS

One aspect is a scanning light detection and ranging (LiDAR) having an optical structure which shares a transmitting and receiving lens. In one embodiment, the LiDAR includes a hole mirror disposed to have a first angle with respect to a horizontal surface and including a hole and a reflecting surface and a beam source configured to output a pulsed laser beam from one side of the hole mirror toward the hole. The LiDAR also includes a transmitting and receiving lens configured to generate a collimated beam to move the pulsed laser beam which passed through the hole toward a measurement target, receive a beam reflected from the measurement target, and transmit the reflected beam to the hole mirror. The LiDAR further includes a beam detector disposed to face the reflecting surface of the hole mirror and configured to receive the beam reflected from the hole mirror and convert the reflected beam into an electronic signal. 1. A scanning light detection and ranging (LiDAR) having an optical structure which shares a transmitting and receiving lens , the scanning LiDAR comprising:a hole mirror disposed to have a first angle with respect to a horizontal surface and including a hole and a reflecting surface;a beam source configured to output a pulsed laser beam from one side of the hole mirror toward the hole;a transmitting and receiving lens configured to generate a collimated beam to move the pulsed laser beam which passed through the hole toward a measurement target, receive a beam reflected from the measurement target, and transmit the reflected beam to the hole mirror; anda beam detector disposed to face the reflecting surface of the hole mirror and configured to receive the beam reflected from the hole mirror and convert the reflected into an electronic signal.28-. (canceled)9. The scanning LiDAR of claim 1 , wherein the hole mirror includes a reflecting surface on a surface facing the transmitting and receiving lens.10. The scanning LiDAR of claim 9 , wherein:the beam ...

HIGH RESOLUTION LIDAR USING MULTI-STAGE MULTI-PHASE SIGNAL MODULATION, INTEGRATION, SAMPLING, AND ANALYSIS

The present disclosure describes techniques for implementing high resolution LiDAR using multiple-stage multiple-phase signal modulation, integration, sampling, and analysis technique. In one embodiment, a system includes a pulsed light source, one or more optional beam steering apparatus, an optional optical modulator, an optional imaging optics, a light detection with optional modulation capability, and a microprocessor. The optional beam steering apparatus is configured to steer a transmitted light pulse. A portion of the scattered or reflected light returns and optionally goes through a steering optics. An optional optical modulator modulates the returning light, going through the optional beam steering apparatus, and generates electrical signal on the detector with optional modulation. The signal from the detector can be optionally modulated on the amplifier before digitally sampled. One or multiple sampled integrated signals can be used together to determine time of flight, thus the distance, with robustness and reliability against system noise. 1. A light detection and ranging (LiDAR) system , comprising:a first light source configured to transmit one or more light pulses through a light emitting optics;a light receiving optics configured to receive one or more returned light pulses corresponding to the transmitted one or more light pulses, wherein the returned light pulses are reflected or scattered from an object in a field-of-view of the LiDAR system;a light detection device configured to convert at least a portion of the received one or more returned light pulses into an electrical signal; 'wherein at least one of the signal processing device, light receiving optics and the light detection device is further configured to modulate one or more signals with respect to time in accordance with a modulation function;', 'a signal processing device configured to process the converted electrical signal, wherein the processing includes amplifying, attenuating or ...

ENVIRONMENT MONITORING SYSTEM AND IMAGING APPARATUS

An environment monitoring system being mountable on a vehicle and including: a light source that emits invisible light; a plurality of first optical/electrical converters that output a signal indicating an amount of incident light, upon reception of invisible light emitted from the light source and reflected off a target in a first visual field that is a part of visual field in surroundings of the vehicle; a plurality of second optical/electrical converters that constitute a optical/electrical converter array together with the plurality of first optical/electrical converters and output a signal indicating an amount of incident light, upon reception of visual light from a second visual field containing the first visual field; and a control device that derives a distance to the target in accordance with output signals from the plurality of first optical/electrical converters. The light source emits invisible light toward the first visual field. 1. An environment monitoring system mountable on a vehicle , comprising:a light source that emits invisible light;a plurality of first optical/electrical converters output a signal upon reception of invisible light emitted from the light source and reflected off a target in a first visual field that is a part of visual field in surroundings of the vehicle, the signal indicating an amount of incident light;a plurality of second optical/electrical converters that constitute an optical/electrical converter array together with the plurality of first optical/electrical converters and output a signal upon reception of visual light from a second visual field containing the first visual field, the signal indicating an amount of incident light; anda control apparatus that derives a distance to the target in accordance with output signals from the plurality of first optical/electrical converters, whereinthe light source emits invisible light toward the first visual field.2. The environment monitoring system according to claim 1 , wherein ...

HIGH DYNAMIC RANGE ANALOG FRONT-END RECEIVER FOR LONG RANGE LIDAR

A system and method for operating a high dynamic range analog front-end receiver for long range LIDAR with a transimpedance amplifier (TIA) include a clipping circuit to prevent saturation of the TIA. The output of the clipping circuit is connected via a diode or transistor to the input of the TIA and regulated such that the input voltage of the TIA remains close to or is only slightly above the saturation threshold voltage of the TIA. The regulation of the input voltage of the TIA can be improved by connecting a limiting resistor in series with the diode or transistor. A second clipping circuit capable of dissipating higher input currents and thus higher voltages may be connected in parallel with the first clipping circuit. A resistive element may be placed between the first and second clipping circuits to further limit the input current to the TIA. 1. A front-end receiver , comprising:a transimpedance amplifier (TIA) configured to convert an input current applied to an input port of the TIA into an output voltage, anda first clipping circuit, coupled to the input port by way of a diode path having a rectifying element with a turn-on voltage and configured to, in response to a clip voltage applied to the first clipping circuit, limiting a maximum value of an input voltage of the TIA to a value that exceeds a saturation threshold voltage of the TIA by no more than the turn-on voltage of the rectifying element.2. The front-end receiver of claim 1 , further comprising a photodiode having a signal output coupled to the input port and providing the input current in response to an optical signal.3. The front-end receiver of claim 1 , wherein the first clipping circuit is an adaptive clipping circuit comprising a first amplifier having a first input terminal coupled to the clip voltage and a second input terminal coupled to the input port of the TIA claim 1 , wherein the diode path couples an output terminal of the first amplifier and the input port of the TIA.4. The ...